面向多轴运动控制的EtherCAT主站设计与实时性优化  

EtherCAT Master Design and Real-time Optimization for Multi-axis Motion Controle

作　　者：张建军 李涵 刘群坡[1] 李后生 ZHANG Jianjun;LI Han;LIU Qunpo;LI Housheng(School of Electrical Engineering and Automation,Henan Polytechnic University)

机构地区：[1]河南理工大学电气工程与自动化学院

出　　处：《仪表技术与传感器》2024年第10期105-110,共6页Instrument Technique and Sensor

基　　金：国家自然科学基金项目(61903126);河南省科技厅重点研发与推广专项(212102210197,202102210094,212102210145);河南理工大学博士基金项目(B2020-22)。

摘　　要：针对传统现场总线在多轴运动控制中存在带宽低、实时性不强、同步性能差的问题,提出了基于IgH EtherCAT Master开源软件框架和嵌入式硬件平台的EtherCAT主站实现方案。在以AM64x Sitara处理器为核心的硬件平台上,构建基于Xenomai实时内核的Linux实时操作系统,移植IgH主站框架,实现了高性能EtherCAT主站,并对EtherCAT总线的配置过程进行阐述,开发出主站应用程序,提出主站进程独占CPU和优化网卡驱动的方式对主站进行实时性能优化。最后通过六轴伺服控制平台进行实验验证,对主站发送的周期性EtherCAT数据帧进行抓包分析。实验结果表明:优化后的主站在500μs的高速通信周期下,最大抖动控制在20μs以内,均值抖动控制在1μs以内,能够满足高精度多轴运动控制的要求。Aiming at the problems of low bandwidth,weak real-time and poor synchronization performance of traditional fieldbus in multi axis motion control,an implementation scheme of EtherCAT master station based on IgH EtherCAT Master Opensource software framework and embedded hardware platform was proposed.On the hardware platform with AM64x Sitara processor as the core,the Linux real-time operating system based on Xenomai real-time kernel was constructed,and the IgH master station framework was transplanted to realize the high-performance EtherCAT master station.The configuration process of EtherCAT bus was described,and the master station application program was developed.The way of the master station process monopolizing the CPU and optimizing the network card driver was proposed to optimize the real-time performance of the master station.Finally,experimental verification was conducted on a six axis servo control platform to capture and analyze the periodic EtherCAT data frames sent by the main station.The experimental results show that under a high-speed communication cycle of 500μs,the optimized master station has a maximum jitter control of less than 20μs and a mean jitter control of less than 1μs,which can meet the requirements of high-precision multi-axis motion control.

关 键 词：嵌入式平台 ETHERCAT IGH Linux实时系统 运动控制 优化 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]