南京航空航天大学硕士学位论文 I摘 要 嵌入式系统是近年来发展最快的技术之一。采用嵌入式系统可以缩短产品研发周期，提高系统的可靠性和性价比。由于嵌入式系统既有单片机系统成本低、体积小、功耗低的特点，又具有 PC 平台的开发环境好、资源丰富、具备操作系统、用户界面友好的特点，因而在数控技术领域会有良好的发展前景。 本课题在江苏省自然科学基金重大（招标）项目（BK2003005）资助下，在对嵌入式系统、数控系统进行深入分析研究的基础上，完成了基于 ARM 微处理器的嵌入式数控系统的设计与开发。系统采用模块化设计，主要模块包括：ARM 微处理器模块、存储器模块、人机交互模块、通信接口模块、CPLD/FPGA 模块、输入输出模块。系统采用二次插补法，即 ARM 微处理器实现粗插补，FPGA 实现 DDA 硬插补，同时配合良好的加减速控制，保证了插补的连续性和稳定性。软件系统以 C/OSII 嵌入式实时操作系统为核心，开发系统所需的底层设备驱动程序和应用程序接口（API）函数。该数控系统可以控制四轴联动，具有大量 I/O 接口，具有主轴和手脉信号接口，具备友好的人机交互功能， 可应用于数控车床和数控铣床。 目前本系统已经基本实现了预期的目标，运动轴信号输出频率可达到 1MHz，最大快速移动速度为 60m/min，主要性能指标达到数控系统先进水平。 关键词关键词：数控系统，嵌入式系统，ARM 处理器，C/OSII。 基于 ARM 和 C/OS-的嵌入式数控系统的设计与开发 IIAbstract Embeded system is one of the most rapid developing technologies recently. It is a kind of special application-oriented computer system. The application of embedded system can shorten the developing cycle of products and improving the reliability and performance of products. In addition, it has other excellent features such as less system cost, tiny volume and low power consumption of single-chip devices as well as perfect developing environment, abundant resources and supporting operating system of PC platforms. Therefore, embedded system will have a good development future in the field of CNC. Supported by Natural Science Foundation of Jiangsu Province (BK2003005), and based on in-depth study of embedded system and NC system, a novel design of embedded CNC system based on microprocessor ARM is presented in this thesis. The system is designed by module, which includes microprocessor ARM module, memory module, human interface module, communication interface module, CPLD/FPGA module, input and output module. Two-step interpolation method is adopted in system in which microprocessor ARM implements rough-interpolation and FPGA system implements DDA fine-interpolation combined with an excellent accelerate/decelerate control algorithm. It ensures the continuity and stability of the CNC system. The software is developed based on C/OSII real-time embedded operating system. The device drivers and API functions is developed. The CNC system can control four axes and has a huge quantity of I/O ports, the spindle and handwheel signal interface. It has a friendly interface to operators. It can be used with lathe or milling machine. The CNC system has implemented and applied successfully on a lathe. The frequency of the axis output signal can reach 1MHz. The maximum feed speed of the axis can reach 60m/min. The whole performance of the CNC system has reached advanced level of CNC. Key word: CNC system, Embeded system, ARM processor, C/OS-II. 基于 ARM 和 C/OS-的嵌入式数控系统的设计与开发 VI图表索引 图 2.1 系统硬件总体结构图.8 图 2.2 D/A 转换子系统框图.9 图 3.1 S3C44B0X 微处理器体系结构框图 .13 图 3.2 S3C44B0X 系统存储器映射图 .14 图 3.3 SDRAM 硬件连接图.17 图 3.4 NAND-Flash 与 S3C44B0X 的接口电路.19 图 3.5 NAND-Flash 控制信号产生电路 .19 图 3.6 5V2.5V 和 5V3.3V 的转换电路 .20 图 3.7 MAX791 应用电路.22 图 3.8 键盘接口电路.23 图 3.9 LCD 接口电路.27 图 3.10 串行接口电路.29 图 3.11 SL811HS 结构示意图 .30 图 3.12 USB 接口电路.31 图 3.13 D/A 隔离电路.32 图 3.14 D/A 转换电路.32 图 3.15 D/A 放大电路.33 图 3.16 JTAG 在线配置电路 .35 图 3.17 CPLD 配置 FPGA 接口示意图 .36 图 3.18 输入输出模块框图.37 图 3.19 差分信号输入输出.38 图 4.1 任务的状态.