EtherCAT分布时钟同步算法的研究与优化  

Research and Optimization of EtherCAT Distributed Clock Synchronization Algorithm

作　　者：荣锋[1,2] 孙亚硕 RONG Feng;SUN Ya-shuo(School of Electronics and Information Engineering,Tianjin Polytechnic University,Tianjin 300387,China;Tianjin Key Laboratory of Optoelectronic Detection Technology and System,Tianjin 300387,China)

机构地区：[1]天津工业大学电子与信息工程学院,天津300387 [2]天津市光电检测技术与系统重点实验室,天津300387

出　　处：《仪表技术与传感器》2022年第12期113-118,共6页Instrument Technique and Sensor

摘　　要：传统的EtherCAT分布时钟同步算法忽略了主站与参考从站之间的传输延时,导致各从站的初始时钟偏移量的计算结果偏大,降低了主从控制系统的时钟同步精度。针对这一问题,提出了一种优化的分布时钟同步算法,首先测量主站和参考从站之间的传输延时,之后利用该传输延时对各从站的初始时钟偏移进行补偿。为了验证优化算法的有效性,利用搭载Xenomai/Linux系统的实时性EtherCAT主站和多个具有分布时钟的从站搭建了测试平台,对系统的时钟同步性能进行测试。测试结果表明,主站与参考从站之间的系统时间偏差可降低72%,EtherCAT主从控制系统的时钟同步精度有明显提高。The traditional EtherCAT distributed clock synchronization algorithm ignores the transmission delay between the master station and the reference slave station, which causes the large calculation result of the initial clock offset of each slave station and reduces the clock synchronization accuracy of master-slave control system.For this problem, an optimized distributed clock synchronization algorithm was proposed, that firstly measured the transmission delay between the master station and the reference slave station, and then compensated for the initial clock offset of each slave station by this transmission delay.In order to verify the effectiveness of the optimized algorithm, the real-time EtherCAT master station equipped with Xenomai/Linux system and multiple slave stations with distribution clock were used to set up the test platform, to test the clock synchronization performance of the system.The test results show that the system time deviation between the master station and the reference slave station can be reduced by 72%,and the clock synchronization accuracy of the EtherCAT master-slave control system is significantly improved.

关 键 词：ETHERCAT 时钟同步 分布时钟 传输延时 

分 类 号：TP393[自动化与计算机技术—计算机应用技术]