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基于RT-Linux的嵌入式PLC設計及實現
在數控機床中,通常用可編程控制器(PLC)對機床開關量信號進行控制。PLC可靠性高,使用方便。但在大多數數控機床,特別是經濟型數控機床中,要求的輸入輸出點數并不多,通常在60點以下,因此,為了降低數控機床成本,在基于工業PC機的數控系統中,可以采用開關量I/O板加外接繼電器,配合主機的軟件對機床開關進行控制。但如果PC機采用單任務操作系統(如DOS),數控系統的所有任務運行都置于一個總體的消息循環中,軟件的模塊化和可維護性較差,系統故障的風險相對集中,而且不能充分利用PC機系統資源。而采用非實時多任務操作系統(如Windows)時,Win32API的設計沒有考慮到實時環境的開發用途,其系統調用的效率不高,不能滿足數控系統PLC控制的實時性要求。
為此,本文提出一種基于RT-Linux操作系統的嵌入式PLC,利用RT-Linux的開放性、模塊化和可擴展性的系統結構特性和多線程/多任務的系統環境,在保證實時性的同時,使故障風險相對分散。
數控系統嵌入式PLC的硬件結構
數控系統硬件建立在通用工業PC的開放體系之上,數控系統嵌入式PLC硬件包括:工控機及其外圍設備,基于ISA總線的開關量輸入輸出接口卡,光電隔離模塊,繼電器輸出模塊。其結構如圖1所示。
工控機采用RedHatLinux810+RTLinux311操作系統,數控系統的人機界面、數控代碼處理、軌跡規劃、參數管理以及PLC控制都通過工控機由軟件來實現,不需要獨立的PLC控制器,減少了數控系統對硬件的依賴,有利于提高系統的開放性。
I/O輸入輸出信息通過PC機I/O接口卡實現主機與伺服接口模塊和I/O接口模塊之間的信息交換,PC機I/O接口卡基于ISA或者PCI總線。
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