基于RTOS的多轴运动控制系统研究

设计了一种基于RTOS（嵌入式实时操作系统）的步进电机多轴运动控制开发平台。系统由ARM微处理器与现场可编程控制器FPGA共同组成，ARM端的开发基于嵌入式实时操作系统μCOS-II进行，配置灵活，开发周期短，且便于后期维护。步进电机多轴运动插补算法采用了基于虚拟长轴的数字积分插补DDA算法，具体算法实现由FPGA完成。通过EDA软件仿真得出的结果表明系统达到设计要求。该系统成本低，可适用于多种场合。

The Research of Multi-Axis Motion Control System Based on Embedded Operation System

This paper introduces a new kind of multi-axis motion control platform based on embedded operation system. The whole control platform is composed of ARM module and FPGA module. The development of ARM module uses μ COS-II which makes system flexible and easy to develop. FPGA module implements DDA algorithm to control the action of multi-axis stepper motors. At last, this paper provides the simulation result.