?? ?摘? 要： 一種新型智能化航跡儀" title="航跡儀">航跡儀的設(shè)計(jì)。系統(tǒng)采用基于ARM的嵌入式結(jié)構(gòu)，軟件選用VxWorks實(shí)時(shí)操作系統(tǒng)，接口板" title="接口板">接口板部分采用基于FPGA芯片的設(shè)計(jì)。詳細(xì)介紹了航跡儀系統(tǒng)的軟硬件設(shè)計(jì)。
??? 關(guān)鍵詞： 航跡儀；ARM；VxWorks；FPGA

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??? 航跡儀是艦船導(dǎo)航系統(tǒng)中的主要配套設(shè)備之一，它能根據(jù)陀螺羅經(jīng)、計(jì)程儀提供的航向航程信息或其他導(dǎo)航設(shè)備提供的定位信息，在海圖上自動(dòng)連續(xù)地繪制出船舶航行的航跡與標(biāo)記。航跡儀具備的繪制航線導(dǎo)航功能，可使航海人員非常直觀的了解到己船位置、偏航程度及未來(lái)海域的安全程度。
??? 隨著計(jì)算機(jī)技術(shù)的發(fā)展，智能化航跡儀的發(fā)展趨勢(shì)是進(jìn)一步拓寬功能、縮小體積、降低功耗、減少成本、提高可靠性，而傳統(tǒng)的航跡儀系統(tǒng)不完全具備上述功能，存在局限性。
1 航跡儀工作原理
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title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" 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title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" 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title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" 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title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" 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??? 傳統(tǒng)的航跡儀系統(tǒng)有一定的局限性，存在有待改進(jìn)之處：(1)傳統(tǒng)的航跡儀系統(tǒng)的接口、控制、傳動(dòng)等部分采用分立式設(shè)計(jì)，占用了大量的空間，且價(jià)格較貴。(2)隨著導(dǎo)航數(shù)據(jù)信息化程度的提高，設(shè)備間的通訊越發(fā)頻繁，信息量亦隨之增大，使用單一的串行口通訊已不能滿足系統(tǒng)要求。(3)航跡儀與綜導(dǎo)臺(tái)使用同一操作界面，缺少獨(dú)立的人機(jī)交互系統(tǒng)。(4)傳統(tǒng)的航跡儀為開(kāi)環(huán)系統(tǒng)，無(wú)檢測(cè)反饋裝置，影響了走筆的精度。(5)接口板的設(shè)計(jì)動(dòng)態(tài)初始化要求嚴(yán)格，不能完全滿足實(shí)時(shí)性要求。另外，傳統(tǒng)航跡儀傳動(dòng)部分的振動(dòng)及噪音較大，從另一方面影響了繪筆的精度。新型智能化航跡儀的設(shè)計(jì)對(duì)以上問(wèn)題給出了解決方案。
2 航跡儀系統(tǒng)的硬件設(shè)計(jì)
2.1 硬件系統(tǒng)的總體構(gòu)成
??? 航跡儀微機(jī)控制系統(tǒng)" title="控制系統(tǒng)">控制系統(tǒng)是以ARM處理器S3C44B0X模塊為中心的控制系統(tǒng)。系統(tǒng)由以下幾部分組成：基于ARM處理器S3C44B0X的開(kāi)發(fā)板， STN 型320像素X240行LCD彩色液晶觸摸屏，基于FPGA元件XC2S50的接口板，步進(jìn)電機(jī)驅(qū)動(dòng)及控制電路，步進(jìn)電動(dòng)機(jī)，數(shù)字化板。系統(tǒng)的硬件結(jié)構(gòu)如圖1所示。

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2.2 S3C44B0X主板
??? 傳統(tǒng)的航跡儀采用嵌入式PC/104模塊為核心控制系統(tǒng)。系統(tǒng)的接口、控制、傳動(dòng)等部分采用分立式設(shè)計(jì)，占用的空間較大，且價(jià)格昂貴。因此在改進(jìn)設(shè)計(jì)中使用基于Samsung公司生產(chǎn)的ARM處理器S3C44B0X芯片。由于使用基于芯片開(kāi)發(fā)的主板提高設(shè)計(jì)開(kāi)發(fā)的靈活性，為本系統(tǒng)所專用，因此所用接口、外設(shè)均為自主設(shè)計(jì)的電路，節(jié)省了不必要的開(kāi)銷。這種設(shè)計(jì)提高了系統(tǒng)的響應(yīng)速度，降低了成本。另外，S3C44B0X自帶LCD控制器，能夠保證改進(jìn)設(shè)計(jì)中觸摸屏顯示部分的順利實(shí)現(xiàn)。
??? S3C44B0X主板主要包括CPU模塊及其輔助電路、存儲(chǔ)器系統(tǒng)模塊、通信模塊、系統(tǒng)調(diào)試模塊、人機(jī)接口模塊及擴(kuò)展總線部分。
??? 主板外接CAN總線控制器及總線驅(qū)動(dòng)器等設(shè)備，接收CAN總線上由綜合導(dǎo)航顯控臺(tái)發(fā)送的實(shí)時(shí)位置、航向信息；通過(guò)人機(jī)接口接收到的觸摸屏發(fā)送的控制信息，經(jīng)處理后將控制命令（主要是控制脈沖頻率、脈沖個(gè)數(shù)、開(kāi)始停止等命令）通過(guò)擴(kuò)展I/O口發(fā)送給接口板，另外，將顯示信息發(fā)送給LCD觸摸顯示屏。
2.3 XC2S50接口板
??? 傳統(tǒng)航跡儀使用接口板CDT800，其中包括 Am9513計(jì)數(shù)器與μPD71055I/O接口。CDT800為成品接口板，其計(jì)數(shù)器Am9513相關(guān)資料相對(duì)有限，且動(dòng)態(tài)初始化要求嚴(yán)格，在實(shí)際應(yīng)用過(guò)程中，對(duì)系統(tǒng)資源的占用過(guò)大，嚴(yán)重影響系統(tǒng)的實(shí)時(shí)性。在改進(jìn)設(shè)計(jì)中，采用基于Xilinx公司生產(chǎn)的FPGA元件XC2S50的接口板。這種設(shè)計(jì)提高了系統(tǒng)的集成化，保證了實(shí)時(shí)性，使得硬件的設(shè)計(jì)開(kāi)發(fā)更加簡(jiǎn)便。
??? XC2S50接口板包括FPGA芯片XC2S50、配置芯片18V01、輸出驅(qū)動(dòng)芯片SN74LS244及外部接口電路。其原理圖見(jiàn)圖2。

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??? 接口板的主要功能是：接收S3C44B0X主板通過(guò)數(shù)據(jù)總線發(fā)送的數(shù)據(jù)命令信息(包括：X、Y方向的分頻值、脈沖個(gè)數(shù)、運(yùn)行方向，以及開(kāi)始/終止運(yùn)行、抬落筆、報(bào)警等），經(jīng)FPGA芯片XC2S50處理后，轉(zhuǎn)化為相應(yīng)頻率的脈沖信號(hào)；再經(jīng)輸出驅(qū)動(dòng)芯片SN74LS244，通過(guò)接口HJY傳遞給X、Y向的步進(jìn)電機(jī)驅(qū)動(dòng)器。運(yùn)行程序通過(guò)JTAG口或DOWNLOAD口燒寫入配置芯片18V01中。
2.4 步進(jìn)電機(jī)及其驅(qū)動(dòng)器
??? 對(duì)于航跡儀系統(tǒng)，標(biāo)繪精度是極其重要的一項(xiàng)技術(shù)指標(biāo)，而電機(jī)及傳動(dòng)機(jī)構(gòu)的精度則對(duì)其產(chǎn)生直接影響。
?? ?航跡儀控制系統(tǒng)對(duì)快速性及定位精度均有很高的要求?？紤]到系統(tǒng)是針對(duì)數(shù)字量及位移的控制系統(tǒng)，因此選用步進(jìn)電機(jī)作為其執(zhí)行元件。步進(jìn)電機(jī)是一種將電脈沖轉(zhuǎn)換成相應(yīng)角位移的電機(jī)元件，當(dāng)外加一個(gè)脈沖信號(hào)于電機(jī)的控制裝置時(shí)，其轉(zhuǎn)軸就轉(zhuǎn)過(guò)一個(gè)固定的角度（步距角），即前進(jìn)了一步。
??? 系統(tǒng)要求繪筆繪制大量細(xì)小折線，這就要求電機(jī)工作在低頻區(qū)且需要頻繁地執(zhí)行起動(dòng)、停止、調(diào)速等操作。因此步進(jìn)電機(jī)極易出現(xiàn)低頻振蕩，產(chǎn)生工作噪音，影響繪筆的穩(wěn)定性及標(biāo)繪精度。因此，改進(jìn)方案采用了先進(jìn)的細(xì)分驅(qū)動(dòng)器，大大降低了低頻振蕩。
??? 本設(shè)計(jì)選用RORZE公司生產(chǎn)的5相混合式步進(jìn)電機(jī)M56853D及相應(yīng)的5相細(xì)分步步進(jìn)電機(jī)驅(qū)動(dòng)器RD－0534M。
??? 步進(jìn)電機(jī)M56853D各技術(shù)參數(shù)：
??? 最大靜轉(zhuǎn)矩M_k=8.0kg·cm；電流I=3.5A/相；轉(zhuǎn)子轉(zhuǎn)動(dòng)慣量J_r=0.240g·cm·S²；步距角（整步時(shí)）θ_b= = 0.72°；容許徑向負(fù)載10.5kg；容許軸向負(fù)載1.5kg；轉(zhuǎn)子齒數(shù)Z_r=100。
??? 細(xì)分驅(qū)動(dòng)器RD－0534M各技術(shù)參數(shù)：
??? 供電電壓 DC18V～40V；細(xì)分?jǐn)?shù)選用m＝80；最大響應(yīng)頻率f_MAX=500kpps，則可獲得最大轉(zhuǎn)速n_MAX=60000/m=750r/min
??? 改進(jìn)后航跡儀系統(tǒng)電機(jī)步距角變?yōu)樵到y(tǒng)的1/80，步距分辨率及控制脈沖頻率均得到提高。提高后的控制脈沖頻率大大超過(guò)了自由振動(dòng)頻率f₀，從而避免了系統(tǒng)的低頻振蕩。
2.5 電磁感應(yīng)式數(shù)字化板
??? 傳統(tǒng)的航跡儀為開(kāi)環(huán)系統(tǒng)，無(wú)檢測(cè)反饋裝置。改進(jìn)設(shè)計(jì)中增添了數(shù)字化板。這一反饋模塊，構(gòu)成了一套完整的閉環(huán)控制系統(tǒng)，增強(qiáng)了穩(wěn)定性，降低了誤差。
?? ?數(shù)字化板的工作原理：在標(biāo)繪儀的繪圖平板上布上導(dǎo)線形成格柵，把電磁發(fā)射線圈安裝到繪筆上，此時(shí)把線圈圓心和繪筆圓心標(biāo)定在同一直線上；繪筆在平板上繪圖，而線圈不斷發(fā)射磁場(chǎng)脈沖，導(dǎo)線切割磁場(chǎng)產(chǎn)生感應(yīng)電流，通過(guò)接收電路和信號(hào)處理電路得到繪筆在繪圖平臺(tái)上的相對(duì)位置（繪筆位置）。把電磁感應(yīng)定位得到的位置作為繪筆當(dāng)前真實(shí)位置，此位置通過(guò)UART口反饋給S3C44B0X控制器。目標(biāo)位置與該位置進(jìn)行比較，得到需要的位置差量，計(jì)算后作出響應(yīng)的位置補(bǔ)償調(diào)整。數(shù)字化板工作原理如圖3所示。

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3 航跡儀系統(tǒng)的軟件設(shè)計(jì)
3.1 S3C44B0X主板部分的軟件設(shè)計(jì)
??? 操作系統(tǒng)是控制和管理計(jì)算機(jī)軟硬件資源、合理組織計(jì)算機(jī)工作流程、方便用戶的程序集合。航跡儀功能的完成，很大程度上取決于操作系統(tǒng)軟件平臺(tái)的選擇和應(yīng)用程序的編制。在航跡儀的設(shè)計(jì)中，軟件平臺(tái)選用基于Tonardo集成開(kāi)發(fā)環(huán)境的實(shí)時(shí)操作系統(tǒng)VxWorks，應(yīng)用程序則采用VxWorks支持的標(biāo)準(zhǔn)C語(yǔ)言編制。
??? 主板軟件系統(tǒng)主要由主程序、命令解釋部分、底層部分組成。其中，主程序到命令解釋部分的調(diào)用通過(guò)函數(shù)shibie( )進(jìn)行；命令解釋部分到底層部分的調(diào)用通過(guò)函數(shù)zxcb( )進(jìn)行。
3.1.1 主程序
??? 主程序主要對(duì)綜導(dǎo)臺(tái)命令和觸摸屏命令進(jìn)行管理、調(diào)度。程序執(zhí)行過(guò)程中查詢隨機(jī)命令數(shù)和推位命令數(shù)這兩個(gè)變量。變量小于等于零時(shí)，沒(méi)有綜導(dǎo)臺(tái)命令，程序查詢觸摸屏有無(wú)按下及鍵值，執(zhí)行響應(yīng)操作。當(dāng)兩個(gè)變量大于零，說(shuō)明有了綜導(dǎo)臺(tái)命令，就會(huì)自動(dòng)進(jìn)入跟蹤狀態(tài)。在跟蹤狀態(tài)，不響應(yīng)觸摸屏命令，控制程序只查詢有無(wú)隨機(jī)命令及推位命令，轉(zhuǎn)入響應(yīng)的命令解釋程序。
3.1.2 命令解釋部分
??? 命令解釋部分主要功能：通過(guò)函數(shù)shibie( )對(duì)每一條命令進(jìn)行識(shí)別及格式檢查。對(duì)于隨機(jī)命令和推位命令，每從CAN總線上接收一條命令，相應(yīng)的命令條數(shù)加1。每執(zhí)行完一條，相應(yīng)的命令條數(shù)減1，同時(shí)指向下一條。只要這兩個(gè)變量不為零，就說(shuō)明有綜導(dǎo)臺(tái)命令未處理。通過(guò)檢查隨機(jī)命令數(shù)和推位命令數(shù)，即可按先后次序順次執(zhí)行所有命令。
??? 本部分中還包括海圖坐標(biāo)轉(zhuǎn)換程序，其主要功能：主板接收裝海圖命令的同時(shí)，會(huì)讀取CAN總線上由綜導(dǎo)臺(tái)發(fā)送的海圖信息，包括海圖類型（墨卡托或高斯海圖）、大小、比例等。程序根據(jù)這些信息，將海圖上的經(jīng)緯度值折算成XY軸坐標(biāo)，以便于底層的直線差補(bǔ)程序?qū)Y坐標(biāo)量轉(zhuǎn)換成步進(jìn)電機(jī)的走步脈沖數(shù)。
3.1.3 底層部分
??? 底層包括所有的畫線、寫標(biāo)記符等繪筆執(zhí)行動(dòng)作的程序，及與硬件有關(guān)的I/O操作子程序、中斷服務(wù)程序。下面介紹幾個(gè)主要的程序。
?? (1)直線差補(bǔ)程序
???線段是航跡儀繪制的基本圖形，其他各種曲線都是以線段逼近的。設(shè)線段終點(diǎn)到起點(diǎn)坐標(biāo)長(zhǎng)度分量分別為Δx、Δy。令X、Y向步進(jìn)電動(dòng)機(jī)同時(shí)起動(dòng)，同時(shí)停止，分別以均勻速度V_x、V_y運(yùn)動(dòng)。這樣，即。其中T代表電機(jī)運(yùn)行時(shí)間，V_x、V_y分別為X、Y向電機(jī)速度，f_x、f_y分別為運(yùn)轉(zhuǎn)頻率，k為步進(jìn)電機(jī)脈沖當(dāng)量。
?程序設(shè)計(jì)中，已知X、Y向的增量?駐x、?駐y，選增量大的方向的走步頻率為最大走步頻率f₁=f_M，另一方向頻率即為f₂=f_M×Δy/Δx。已知兩個(gè)方向的走步頻率，由接口板計(jì)數(shù)器的初始頻率12MHz可計(jì)算出X、Y向的分頻值；已知的脈沖當(dāng)量可求出X、Y向各自需要的走步脈沖數(shù)。將分頻值、脈沖數(shù)及開(kāi)始/停止等控制信息傳送給接口板，使其產(chǎn)生相應(yīng)頻率的脈沖信號(hào)，以控制步進(jìn)電機(jī)，即可實(shí)現(xiàn)航跡儀的直線差補(bǔ)功能。
??? (2)CAN總線通訊任務(wù)模塊
??? 設(shè)計(jì)中采用PHILIPS公司的CAN總線控制器SJA1000，CAN總線驅(qū)動(dòng)器選用82C250。
??? 綜導(dǎo)臺(tái)將導(dǎo)航數(shù)據(jù)通過(guò)CAN總線發(fā)送給航跡儀。通訊模塊主要實(shí)現(xiàn)對(duì)航跡儀數(shù)據(jù)報(bào)文接收、解析等。當(dāng)有CAN報(bào)文到達(dá)，SJA1000產(chǎn)生中斷釋放信號(hào)量。設(shè)備工作任務(wù)中輪詢等待信號(hào)量接收CAN報(bào)文。對(duì)接收的CAN報(bào)文，首先存入CAN接收數(shù)據(jù)結(jié)構(gòu)，解析后讀入航跡儀數(shù)據(jù)結(jié)構(gòu)。CAN接收數(shù)據(jù)結(jié)構(gòu)在接收CAN報(bào)文時(shí)臨時(shí)分配。在報(bào)文解析過(guò)程中，接收的報(bào)文通常為BCD碼，因此要將其還原為ASCII碼。解析過(guò)程中，若出現(xiàn)格式錯(cuò)誤，則置錯(cuò)誤狀態(tài)標(biāo)志。
??? (3)LCD屏顯示及觸摸程序
??? 本設(shè)計(jì)采用SHARP公司的144.78mm、LM057QC1T01型STN彩色液晶顯示器，其顯示格式為320像素(×3)×240行，即顯示屏每行有320個(gè)像素點(diǎn)，共240行，每個(gè)像素點(diǎn)由RGB（紅、綠、籃）三種顏色組成。
??? LCD觸摸屏程序主要分為顯示任務(wù)FsceShow，觸摸屏查詢?nèi)蝿?wù)TouchCheck，觸摸屏狀態(tài)查詢?nèi)蝿?wù)TouchStateCheck。TouchCheck入口函數(shù)Touch_check( )查詢觸摸屏中斷，TouchStateCheckt( )查詢觸摸屏狀態(tài)改變，F(xiàn)aceShow執(zhí)行響應(yīng)，顯示圖形。程序框圖如圖4所示。

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??? (4)位置補(bǔ)償模塊
??? 如前文所述，在步進(jìn)電機(jī)運(yùn)行完一次由運(yùn)行到靜止的過(guò)程后，把目標(biāo)位置與從數(shù)字化板發(fā)送的實(shí)際位置做差比較得到的位置差量Δd作為一次操作補(bǔ)償。其特點(diǎn)是在一次繪圖過(guò)程中有兩次電機(jī)的開(kāi)始和停止，補(bǔ)償速度慢，但所繪的是近似真實(shí)的圖形。程序框圖如圖5所示。

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3.2 XC2S50接口板部分的軟件設(shè)計(jì)
??? XC2S50接口板軟件部分采用VHDL語(yǔ)言編寫。編譯后通過(guò)JTAG口燒寫入配置芯片18V01中。軟件部分主要包括頂層模塊jkb_top、接口模塊jiekou、脈沖發(fā)生模塊pulse_generate、速度控制模塊speed_ctr、脈沖計(jì)數(shù)模塊counter、方波發(fā)生器counter32等。其結(jié)構(gòu)框圖如圖6所示。

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??? 在脈沖發(fā)生模塊pulse_generate中，速度控制模塊speed_ctr的主要功能是：通過(guò)查詢發(fā)送、剩余脈沖數(shù)，計(jì)算出響應(yīng)的速度控制級(jí)別（可分為4種模式），將速度控制信息傳送給脈沖計(jì)數(shù)模塊counter。兩個(gè)脈沖計(jì)數(shù)模塊counter分別控制X、Y兩個(gè)步進(jìn)電機(jī)的走步步數(shù)。它們分別以X、Y向驅(qū)動(dòng)脈沖作為輸入時(shí)鐘信號(hào)，紀(jì)錄兩向脈沖數(shù)，發(fā)出使能信號(hào)以控制counter32，其原理如圖7所示。兩個(gè)方波發(fā)生模塊counter32分別對(duì)X向、Y向步進(jìn)電機(jī)驅(qū)動(dòng)器輸出方波，其輸出波形的頻率即為步進(jìn)電機(jī)的走步頻率，如圖8所示。接口模塊jiekou接收來(lái)自主板發(fā)送的X、Y向分頻值、脈沖數(shù)數(shù)據(jù)信息，以及運(yùn)行方向、開(kāi)始終止、抬落筆、報(bào)警等控制信息，并將數(shù)據(jù)信息發(fā)送給pulse_generate模塊，將控制信息發(fā)送給驅(qū)動(dòng)板。所有的軟件模塊封裝在頂層模塊jkb_top中。

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