基于EtherCAT通信的双直线电机位置联动控制系统设计  

Design of Dual-Linear-Motor Position Linkage Control System Based on EtherCAT Communication

作　　者：苏明垢 鲁文其[1] 纪科辉[1] 王秀锋 董汉卿 SU Minggou;LU Wenqi;JI Kehui;WANG Xiufeng;DONG Hanqing(Faculty of Mechanical Engineering & Automation,Zhejiang Sci-Tech University,Hangzhou 310018,China;Hangzhou Qixing Robot Technology Co.,Ltd.,Hangzhou 310010,China)

机构地区：[1]浙江理工大学机械与自动控制学院,浙江杭州310018 [2]杭州琦星机器人科技有限公司,浙江杭州310010

出　　处：《电机与控制应用》2019年第4期48-56,共9页Electric machines & control application

基　　金：浙江省自然科学基金项目(LY18E070006);浙江省科技厅重点研发项目(2018C01074,2018C01061)

摘　　要：针对传统脉冲、模拟量控制系统在实时性、稳定性和同步性方面的不足,提出了一种基于EtherCAT工业实时以太网通信的双直线电机位置联动控制方案。设计了3种位置联动控制模式,详细分析了EtherCAT的分布时钟补偿算法,并搭建了联动控制试验平台,对所设计的控制系统进行了试验验证。试验结果表明,采用EtherCAT通信的双直线电机位置联动控制系统实时性高,双轴同步、交替响应性能良好,适用于同步精度和响应速度要求都较高的应用场合。In view of the shortcomings of traditional pulse or analog control systems in terms of real-time performance, stability and synchronization, a dual-linear-motor position linkage control scheme based on EtherCAT communication was proposed. Three position linkage control modes were designed. Moreover, the distributed clock mechanism of EtherCAT was analyzed in detail. The linkage control experiment platform was built. The experiment results showed that the dual-linear-motor position linkage control system based on EtherCAT communication had the advantages of fast response, good dual-axis synchronization and good alternating performance. It was suitable for applications which required high synchronization accuracy and high speed response.

关 键 词：联动控制 直线电机 ETHERCAT 同步 分布时钟 

分 类 号：TM301.2[电气工程—电机]