摘要
为实现多轴系统的同步运动控制,课题组提出了基于EtherCAT实时工业以太网的伺服系统设计方案。首先,基于EtherCAT的技术原理进行了系统的整体结构与软硬件的设计;然后,采用LAN9252芯片与TMS320F28379D双核芯片实现从站搭建并基于该双核芯片设计了从站程序,实现了通信功能与伺服驱动控制功能;最后,提出了一种同步方案,利用EtherCAT在分布时钟模式下产生的高精度同步信号精准同步各从站的控制环周期,从而实现运动控制的同步,并在一个2轴系统中进行了实验验证。实验结果表明:该基于EtherCAT的伺服系统可以实现各从站控制环周期的精准同步,使通信数据同步更新。系统能够满足高精度的多轴同步控制要求。
In order to realize synchronous motion control of multi-axis system,a servo system design scheme based on EtherCAT real-time industrial Ethernet was proposed.Firstly,the technical principle of EtherCAT was briefly introduced.Then,the overall structure of the system and the specific design of software and hardware were described.The slave station was built by using LAN9252 and TMS320 F28379 D dual-core chip.The slave station program was designed based on the dual-core chip to realize the communication function and servo drive control function.Finally,a synchronization scheme was proposed,in which the high precision synchronization signals generated by EtherCAT in distributed clock mode were used to accurately synchronize the control cycle of each slave station to achieve the synchronization of motion control and the results were verified in a two-axis system.Experimental results show that the servo system based on EtherCAT can meet the requirements of high precision multi-axis synchronous control.
作者
施鲁强
马钧华
SHI Luqiang;MA Junhua(College of Electrical Engineering,Zhejiang University,Hangzhou 310027,China)
出处
《轻工机械》
CAS
2022年第3期66-73,共8页
Light Industry Machinery
