Motion coordination control system with dual CPU based on ARM

LU Guan-jun， YAN Yi， ZHAO Jian-yong
（College of Computer， Hangzhou Dianzi University， Hangzhou 310018， China）

Abstract： As the hardware resource of single embedded CPU was very limited，it was hard to meet the requirements of multi-axis synchronization control and complex control algorithm. Aiming at the problem，multi-core processing technology was applied to the embedded motion control system，and design approach of motion coordination control system with dual CPU based on ARM was proposed. Firstly，the structure of the dual CPU motion control system was introduced. Then the realizing process of motion control with dual CPU was expounded，which contained tasks division in dual CPU，data communication between the two of the CPUs，and the method to change the mode of pluses. A method of sharing memory based communications was stressed，which solved the difficulty of data exchange between the two of the CPUs. Based on analysis of system structure，the programming method with the framework of three layers was presented. Finally，a motion controller with dual CPU was designed，which verified the feasibility of this system. The results indicate that the system has sound function，stable performance，highly accurate positioning and worth popularizing.
Key words： motion control system；embedded system；dual CPU；ARM；multi-axis synchronous control