Supervising & Scheduling Of Multi-DSPs In Motion Control System

In motion control system, interpolation calculation and tracking control are hard real-time tasks. The interpolation calculation and tracking control algorithm of complicated curve are difficult to implement, and require high performance control computer. So it is obvious to prompt the speed of the compute procedure through adopting the parallel and reconfigurable multi-processors architecture. Management and scheduling of multi-DSPs(Digital Signal Processing) is the basic elements of controller with parallel and reconfigurable architecture.In this article, we build a control model based on the multi-processors parallel and reconfigurable architecture according to the interpolation calculation and tracking control algorithm. A pipeline mode based on double-DSPs and scheduling strategy is proposed. It changes the computation mode from serial to parallel. And the buffer technique is used to implement the communication and synchronization between double-DSPs. Meanwhile, the management and scheduling including Interpolation calculation and tracking control are discussed in detail to prompt the performance of the control system.With the requirement of real-time and multitask in the control system, another work of this article is to migrate the μC/OS-Ⅱ into TMS320F2812 DSP platform. It implements the management of CPU by RTOS(Real Time Operation System), and guarantees the performance of multitask and multi-process in TMS320F2812 DSP, meanwhile, separates the control tasks from hardware of DSP platform. The experiments prove that migration is successful and it implements autorun, multitask management and communication of multitask.The next step of the plan will focused on the interpolation calculation and the scheduling of tracking control algorithm in μC/OS-Ⅱ.