面向伺服运动控制的实时EtherCAT主站开发  

Real-time EtherCAT master development for servo motion control

作　　者：庆鹏展 刘建群[1,2] 李强[1,2] 高伟强[1,2] QING Peng-zhan;LIU Jian-qun;LI Qiang;GAO Wei-qiang(School of Electromechanical Engineering,Guangdong University of Technology,Guangzhou 510006,China;Guangdong Provincial Key Laboratory for Micro/Nano Manufacturing Technology and Equipment,Guangdong University of Technology,Guangzhou 510006,China)

机构地区：[1]广东工业大学机电工程学院,广东广州510006 [2]广东工业大学广东省微纳加工技术与装备重点实验室,广东广州510006

出　　处：《机电工程》2019年第11期1216-1220,共5页Journal of Mechanical & Electrical Engineering

基　　金：广东省科技计划资助项目(2016B090911001);广东省联合培养研究生示范基地项目(2017XJJD-06)

摘　　要：针对实时工业以太网EtherCAT在伺服运动控制中的应用问题,对嵌入式Linux系统实时化、EtherCAT主站的构建、伺服电机控制模式等方面进行了研究,提出了将Linux+Xenomai实时系统和IGH EtherCAT主站协议栈相结合的主站软件方案。基于AM4377的硬件平台,构建了嵌入式EtherCAT主站,开发了主站应用程序,阐述了总线配置流程,实现了周期性实时任务;设计了基于EtherCAT的伺服运动控制系统,实现了主站对多轴伺服的运动控制,并进行了主站周期性实时任务处理性能测试,以及机床加工实验。研究结果表明:构建的嵌入式实时EtherCAT主站能准确执行周期性实时任务,具有良好的实时性,可以满足伺服运动控制系统的性能要求。Aiming at the application problems of real-time industrial Ethernet EtherCAT in servo motion control,the real-time embedded Linux system,the construction of EtherCAT master and the servo motor control mode were studied.The master software solution combining Linux&Xenomai real-time system and IGH EtherCAT master protocol stack was put forward.The embedded EtherCAT master was built based on the AM4377 hardware platform,the application program of the master was developed,the bus configuration flow was expounded,and the periodic real-time task was realized.The servo motion control system based on EtherCAT was designed and the multi-axis servo motion control was realized.Moreover,the master periodic real-time task performance test and machine tool processing experiments were carried out.The results indicate that the embedded real-time EtherCAT master can accurately perform periodic real-time tasks,and has good real-time performance,which can meet the performance requirements of servo motion control system.

关 键 词：ETHERCAT 实时工业以太网 嵌入式系统 伺服运动控制 

分 类 号：TH16[机械工程—机械制造及自动化] TH-39