基于EtherCAT的多轴运动控制系统设计  

Design of Motion Control System Based on EtherCAT

作　　者：谢锴[1] 颜钢锋[1] 

机构地区：[1]浙江大学电气工程学院,杭州310027

出　　处：《组合机床与自动化加工技术》2017年第2期68-72,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然基金(61175106)

摘　　要：针对多轴控制系统中的同步性问题,设计了一款基于EtherCAT的多轴运动控制系统,并提出了对主站和从站均采用实时操作系统的解决方案。对于EtherCAT主站,在嵌入式平台上,构建了基于Xenomai-Linux和Etherlab的主站方案,人机界面使用Qt来编写,EtherCAT从站采用的是u C/OSIII实时操作系统,通过抢占式内核保证了从站之间的数据实时性。通过主从站的双实时设计方案,保证了系统中多轴之间的同步性。实验结果表明,基于双实时操作系统的EtherCAT运动控制系统,连接便利,同步时间在微秒级别,具有很好的实时性。For the shortages of current multi-axis motion control system in synchronization and the control ability,a multi-axis motion control system based on EtherCAT is designed. The master station and slave station are constructed using real-time operating system. A solution of building embedded EtherCAT master is presented,which uses IgH EtherCAT Master open source components for RT-Linux,and Qt for GUI. The slave of this system is based on uC / OS-III operating system,which uses preemptive kernel to guarantee the real-time data among slaves. Thus,this system can ensure the synchronization among multi-axis. The results shows that,the multi-axis motion control system based on EtherCAT has a facilitate connection and the synchronization time is at microsecond level,which can meet the requirement of real-time and synchronization.

关 键 词：实时以太网EtherCAT ARM Xenomai-Linux uC/OS-III Qt 多轴运动控制系统 

分 类 号：TH166[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]