IV
§2.4 本章小结............................................................................................................20
第三章 磁悬浮球控制系统远程监控设计方案...........................................................21
§3.1 磁悬浮球控制系统............................................................................................21
§3.1.1 磁悬浮球控制系统方程.............................................................................21
§3.1.2 磁悬浮球控制系统可控性分析.................................................................23
§3.2 CAN 总线磁悬浮球远程监控总体架构 ...........................................................24
§3.2.1 实时通信架构..............................................................................................24
§3.2.2 CAN 总线磁悬浮球远程控制架构 ............................................................25
§3.3 CAN 总线磁悬浮球远程监控硬件设计 ...........................................................26
§3.3.1 通用 CAN 节点 ..........................................................................................27
§3.3.2 远程控制节点.............................................................................................30
§3.4 CAN 总线磁悬浮球远程监控软件设计 ...........................................................33
§3.4.1 CAN 通信软件实现 ....................................................................................33
§3.4.2 CAN 驱动软件实现 ....................................................................................35
§3.4.3 CGI 程序 ......................................................................................................37
§3.5 本章小结............................................................................................................39
第四章 实验平台的构建...............................................................................................40
§4.1 嵌入式 Linux 软件开发环境构建 ....................................................................40
§4.1.1 嵌入式操作系统的选型.............................................................................40
§4.1.2 交叉开发环境的搭建.................................................................................41
§4.1.3 NFS 的配置..................................................................................................43
§4.2 嵌入式 Linux 构建的基本流程 ........................................................................43
§4.2.1 引导程序概述.............................................................................................44
§4.2.2 内核定制与移植.........................................................................................45
§4.2.3 根文件系统.................................................................................................46
§4.3 Boa 的搭建 .........................................................................................................47
§4.4 本章小结............................................................................................................47
第五章 系统测试与分析...............................................................................................48
§5.1 测试要求、方法以及准则................................................................................48
§5.2 测试案例设计以及输出结果分析....................................................................48
§5.3 系统的实时性分析.............................................................................................50
§5.4 本章小结............................................................................................................52
第六章 总结与展望.....................................................................................................53