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1、DevelopmentofaWindowsNTReal-TimeOperatingSystemforNCMachineControlbySokwooRheeB.S.,MechanicalEngineeringSeoulNationalUniversity,1995SubmittedtotheDepartmentofMechanicalEngineeringinPartialFulfillmentoftheRequirementsfortheDegreeofMasterofScienceinMechanicalEngin
2、eeringattheMassachusettsInstituteofTechnologyFebruary1997@1997MassachusettsInstituteofTechnologyAllrightsreservedSignatureofAuthorDepartmentofMechanicalEngineeringJanuary16,1997CertifiedbyHaruhikoH.AsadaProfessorofMechanicalEngineeringThesisSupervisorAcceptedbyA
3、inA.SoninChairman,DepartmentCommitteeonGraduateStudentsAPR161997DevelopmentofaWindowsNTReal-TimeOperatingSystemforNCMachineControlbySokwooRheeSubmittedtotheDepartmentofMechanicalEngineeringonJanuary16,1997inPartialFulfillmentoftheRequirementsfortheDegreeofMaster
4、ofScienceinMechanicalEngineeringAbstractAWindowsNTreal-timeoperatingsystemforcontrollingmulti-axisservodrivesispresentedinthisthesis.ItisguaranteedthatthesystemcanaccessI/0deviceswithinafixedlatency,i.e.6jlsonaPentiumPro200MHzPC.Whileperformingreal-timemotioncon
5、trol,thecomputercanaccessdiskdrivesandperformGUI(GraphicUserInterface)operation.Toguaranteereal-timeoperation,mosttime-criticalcomputationsandI/OoperationsareembeddedinthekerneloftheWindowsoperatingsystemasadevicedriver,andprocessedatthelevelofInterruptServiceRo
6、utine.Thisreal-timeoperatingsystemallowsustoeliminatetheneedforadedicatedcoprocessorhardwareboard,oftentermedaMotionControlCard,thatisdesignedtooff-loadtheburdenofreal-timecomputation.FirsttheinterruptprocedureintheWindowsNToperatingsystemisbrieflydescribed,anda
7、wayforguaranteeingreal-timeoperationsispresented.Thetimebudgetforinterruptservices,datainputandoutput,andcontrolcomputationsisanalyzed.Basedontheproposedinterrupthandlingtechniqueandtimebudgetanalysis,amulti-axisACservomotorcontrolsystemisdesigned,builtandtested
8、.Notonlyvelocityandpositionfeedbackbutalsocurrentfeedback,commutation,andPWMcomputationsformultipleaxesareperformedallbysoftwarewithasamplingintervalof100ps.Experimen
