Research On Embedded Emotion Controller Based On ARM

The embedded motion controller based on ARM integrates the techniques of computer numerical control, ARM, the trajectory planning algorithm and the embedded operation system, etc. It's a new attempt to research on a motion controller that is low cost and high capability. The research on total model design of the CNC system software based on dual-port RAM, the trajectory planning algorithm, building the system software and device driver developing of the motion controller are the key of this thesis. The following are the primary work and achievements of this dissertation.1.Aiming at the information interaction between the PC and motion controller are too frequent, a communication method base on dual-port RAM is presented to satisfy such interation. And the total model of the CNC application software based on dual-port RAM is designed.2. Some key problems of the trajectory planning in high-speed CNC machine field is deeply studyed and the research findings are presented. A smoothing algorithm for high-speed machining at corner is presented to make feed speed smooth along the corner of two adjoining moves to protect machine tools and assure the machining quality and the efficiency. When machining small line blocks with high-speed, the efficiency is too low and the machine tools is shocked with special severity, a looa-ahead smoothing algorithm is presented.3. Builded suitable system software for the embedded motion controller. Porting bootloader, optimum configuring Linux kernel and building the root filesystem for the motion controller is deeply studied.4. The principle and flow of the device drivers developing based on Linux is emphasized; and taking the device driver developing of dual-port RAM as an example then ways of developing device drivers based on Linux is given out.