Research And Design Of The Embedded Soft PLC For Motion Controller

The rapid development of the industrial robot technology and wide application,continuously push forward the industrial automation technology.Modern industrial production for desktop robot real-time,operability,and the openness of the programming work are put forward higher requirements.Motion controller as a core part of desktop robot work,directly determines the performance of the robot.In recent years,with the embedded system,the rapid development of PC and PLC technology,motion controller is in the direction of standardization,modular and open type and embedded development.The embedded soft PLC has good real-time performance,reliability,efficient and low consumption,flexible system,at the same time both the embedded operating system and the advantages of soft PLC is widely applied and industrial automation field,can be very good to adapt to the development trend of motion controller.Based on the motion controller as the research object,on the basis of widely consult literature at home and abroad,analyzes the adapt to the need of the embedded soft PLC design of motion controller and puts forward a set of complete contains the embedded soft PLC development system and running system of the overall plan,for the open movement controller to meaningful exploration,research and extension of work mainly has the following several aspects:(1)introduced the soft PLC technology research status at home and abroad,analyzes the embedded soft PLC system for motion controller design requirements,according to the requirements for the embedded soft PLC overall scheme design,including the development system and running system design scheme.(2)this paper discusses the design and implementation of the embedded soft PLC development system,choose the Codesys iec61131-3 standard,as editor of the ST source file and compile platform,based on the automatic generation of the scanner tool flex and bison automatic syntax analysis tool,designed the ST language compiler,implements the embedded soft PLC target file compiler generates,and other functions.(3)in view of the motion controller based on OMAPL138,complete the construction of the embedded soft PLC running system.On the hardware platform to achieve the embedded Linux operating system kernel and Uboot transplantation,while considering the problem of real-time Linux operating system is not high,realize the real-time kernel patch Xenomai transplantation.(4)analysis and discusses the embedded soft PLC running system under Linux and Xenomai double kernel system task partitioning and communication interface design,etc.,discusses the operation and management tasks the system design and implementation of a virtual machine task,realizes the management,the target file system runtime interpretive execution,etc.Finally,the overall test of embedded soft PLC was carried out.