基于X86架构下Xenomai的EtherCAT主站设计和实时性优化方案的实现  

Design and Real-time Optimization of EtherCAT Master Based on Xenomai Under X86 Architecture

作　　者：胡旭 张力平[1,2] 李征 冯建华 郭梦宇 Hu Xu

机构地区：[1]长安大学工程机械学院,陕西西安710064 [2]长安大学公路养护装备国家工程实验室,陕西西安710068

出　　处：《工业控制计算机》2025年第2期1-3,6,共4页Industrial Control Computer

摘　　要：目前国内关于EtherC AT主站的研究较少,且用开源协议栈搭建的方式多基于ARM架构的嵌入式设备。在ARM架构的硬件系统上,由于硬件本身的性能限制,应用软件的功能通常无法得到充分发挥。因此,在基于X86架构的基础上,搭载Linux操作系统,主站采用IgHEtherCAT Master开源软件设计应用程序,结合实时扩展补丁Xenomai,设计实时性稳定的EtherCAT主站并提出基于内核的实时性优化方案。设定应用层通信周期为1 ms,利用压力测试工具模拟高负载工况下主站与从站的通信实时性。测试表明:最大抖动量从24 ms左右优化到50μs之内,实现了ms级到μs级的优化效果,抖动量均值从12.5μs改进到1μs内,满足工业控制任务对高性能、高实时性的要求。There is limited domestic research on EtherCAT master stations,and traditional deployment methods primarily rely on ARM architecture embedded devices.On ARM hardware systems,application software functionality often remains underutilized due to hardware performance limitations.This paper proposes a design for an application program using the open-source software IgH EtherCAT Master in the master station based on X86 architecture and Linux operating system.It presents a kernel-based real-time optimization solution combined with the real-time extension patch Xenomai.By setting the communication cycle at 1ms at the application layer and conducting communication real-time testing under high load conditions using stress testing tools.

关 键 词：ETHERCAT 实时性 优化 XENOMAI 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]