茹毅,毛征,刘松松,罗子安,孟灿.基于3片C8051F020仲裁热备份舵机控制系统硬件设计[J].国外电子测量技术,2016,35(3):93-97
基于3片C8051F020仲裁热备份舵机控制系统硬件设计
Hardware design for servos control system based on three C8051F020 arbitration hot backup
  
DOI:
中文关键词:  C8051F020  舵机控制系统  仲裁热备份  双口RAM
英文关键词:C8051F020  servos control system  arbitration hot backup  double port RAM
基金项目:
作者单位
茹毅 北京工业大学电子信息与控制工程学院,北京 100124 
毛征 北京工业大学电子信息与控制工程学院,北京 100124 
刘松松 北京工业大学电子信息与控制工程学院,北京 100124 
罗子安 北京工业大学电子信息与控制工程学院,北京 100124 
孟灿 北京工业大学电子信息与控制工程学院,北京 100124 
AuthorInstitution
Ru Yi College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China 
Mao Zheng College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China 
Liu Songsong College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China 
Luo Zi′an College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China 
Meng Can College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China 
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中文摘要:
      本文基于3片C8051F020仲裁热备份技术设计了舵机控制系统。该单片机是完全集成的混合信号系统级芯片,它采用了高速流水线结构。与标准的51单片机相比指令执行速度具有很大提高,而且引进了数字交叉开关技术,使系统资源分配合理化。它通过采集大量传感器数据并实时计算输出给舵机控制板,从而精确控制舵机。对于仲裁热备份技术,本文设计了故障检测模块,双机通信模块,双机仲裁切换模块和舵机驱动模块。其中两台CPU通过双端口RAM进行通信,它们与仲裁单片机串口通信,通过仲裁切换极大缩短了切换时间,降低了系统故障率,提高了系统可靠性和稳定性。
英文摘要:
      We design a servos control system based on three C8051F020 arbitration hot backup. C8051F020 is completely integrated of hybrid signals system on chip, provided with a high speed pipeline structure. The instruction execution speed is greatly improved compared with standard MCS 51, and the introduction of digital cross switch technology makes the allocation of system resources reasonably. It can control the actuator accurately by collecting and calculating a large number of sensor data out to the actuator control board. For the arbitration hot backup technology, we design fault detection module, communication module, dual engine arbitration switching module and servo drive module. Two CPUs communicate through double port RAM. In addition, communicating with the arbitration microcontroller serial greatly shorten the switch time, reduce the system failure rate and improve the systems reliability and stability.
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