中文摘要：

摘要：研究了嵌入式三轴运动控制系统的以太网通信问题；采用LM3S9892微控制器设计主控制器和各轴电动机控制器，通过移植实时操作系统μC／OS--Ⅱ和TCP／IP协议栈Lw[P，实现主控制器与各轴电机控制器之间的信息交互；按电动机控制数据传输紧急程度要求不同，在以太网MAC层之上建立调度表，优先传输紧急数据，提高三轴运动控制系统实时性；实验结果表明嵌入式三轴运动控制系统实现了以太网数据的无差错传输，并且在重载情况下时间延迟大约为系统改进前的72％，改进了系统的实时性。

英文摘要：

Abstract： The paper deals with the problem how to implement Ethernet communication of three--axis motion control systems. Micro- controller LM3SgB92 is chosen ,to design the main controller and the motion controller. The communication between the main controller and the motion controller is implemented using the real-- time operation system μC/OS-- I[ and the embedded TCP/IP stack LwIP. A communi- cation scheduling management entity is built On top of the Ethernet MAC layer according tO the urgency of the transmission data for motor control systems. Some emergency data are priority transmitted to enhance the real--time performance. Experiment show that the communi- cation performance of the system is validated and meet the real--time reouirement.