用于工业机器人控制的实时以太网的设计  

Design of Real-time Ethernet for Industrial Robot Control

作　　者：莫云杰 林明[1] 林永才 MO Yunjie;LIN Ming;LIN Yongcai(School of Electronic Information,Jiangsu University of Science and Technology,Zhenjiang 212000;Suzhou Fortune Robot Co.,Ltd.,Suzhou 215600)

机构地区：[1]江苏科技大学电子信息学院,镇江212000 [2]苏州时运机器人有限公司,苏州215600

出　　处：《计算机与数字工程》2020年第11期2750-2754,2760,共6页Computer & Digital Engineering

基　　金：国家自然科学青年基金项目(编号:61401179)资助。

摘　　要：根据工业机器人的伺服控制要求改进了一种新型的用于机器人控制的以太网总线。具体分析了传统的控制总线和传统的以太网优缺点,为了满足工业机器人控制所需要实时性高,易于扩展,方便维护的要求。论文设计一种专用于工业机器人伺服控制总线。采用100Mbps实时以太网。设计内容主要包括传输帧的设计,精确时钟同步协议的应用,以及FPGA的MAC核的设计。介绍了主从站相应的控制程序流程。使用Modelsim仿真MAC核的收发的可行性,最后通过对硬件电路工作情况的持续观察,证明可以有效地解决传统控制总线不足,具有高实时性,同步性满足工业机器人控制需求。According to the servo control requirements of industrial robots,a new type of Ethernet bus for robot control is im⁃proved.By analyzing the traditional control bus and the traditional Ethernet advantages and disadvantages.In order to meet the in⁃dustrial robot control requires high real-time performance,easy to expand,easy to maintain the requirements.This paper designes a industrial robot servo control bus,the use of 100Mbps real-time Ethernet,including transmission frame design,accurate synchro⁃nization clock application,as well as FPGA Mac kernel design.The corresponding control program flow of the master and slave sta⁃tion are introduced.Using Modelsim to simulate the feasibility of sending and receiving function of the MAC kernel,and finally through the continuous observation of the operation of the hardware circuit,it is proved that the traditional control bus shortage can be effectively solved,the real-time performance is improved,and the synchronization meets the needs of industrial robot control.

关 键 词：工业机器人控制 实时以太网 精确时钟同步 FPGA Modelsim仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]