基于IgH EtherCAT的时钟同步补偿方案设计与性能测试  

Design and Performance Testing of Clock Synchronization Compensation Scheme Based on IgH EtherCAT

作　　者：陈敏峰 王桂荣 金英连 周坤 王斌锐 CHEN Min-feng;WANG Gui-rong;JIN Ying-lian;ZHOU Kun;WANG Bin-rui(College of Mechanical and Electrical,China Jiliang University,Hangzhou 310018,China)

机构地区：[1]中国计量大学机电工程学院,杭州310018

出　　处：《科学技术与工程》2025年第3期1150-1156,共7页Science Technology and Engineering

基　　金：浙江省自然科学基金(LGG22F030001);浙江省基础公益项目(TGG24E050007)。

摘　　要：为了提升机器人通信系统多时钟同步性能,通过对分布式时钟同步补偿方案进行研究,设计时钟误差定量补偿与动态补偿算法,采用基于IgH EtherCAT通信协议栈实现同步补偿方案,最后在六轴机械臂上开展轨迹跟踪与通讯性能测试。结果表明,与非IgH同步方案相比,该同步方案的应用提高了机械臂末端执行器的轨迹圆精度。时钟同步误差降至54 ns,同步误差容许范围在±200 ns以内。可见补偿方案提高了时钟同步性能,满足机械臂的应用需求。To enhance the synchronization performance of multiple clocks in robotic communication systems,a study was conducted on a distributed clock synchronization compensation scheme.Quantitative compensation and dynamic compensation algorithms for clock errors were designed.The synchronization compensation scheme,based on the IgH EtherCAT communication protocol stack,was im-plemented,and trajectory tracking and communication performance tests were conducted on a six-axis robotic arm.The results show that the application of this synchronization scheme improves the circular trajectory precision of the robotic arms end effector compared to non-IgH synchronization schemes.The clock synchronization error is reduced to 54 ns,with the error tolerance within±200 ns.It is evident that the compensation scheme enhances clock synchronization performance and meets the application requirements of the ro-botic arm.

关 键 词：时钟同步 误差补偿 ETHERCAT 通信性能 机械臂 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]