CANopen之EtherCAT伺服馬達驅動系統開發

Development Of Combining CANopen Over EtherCAT With PMSM Control System

鄭鎧偉(Kai-Wei Cheng)

指導教授 ： 蔡孟勳

國立中正大學/工學院/機械工程學系/碩士(2014年)

摘要

工具機已成為國內的重要發展設備之一，傳統CNC控制器與馬達驅動器介面是採用集中配線式，集中配線式系統有許多缺點：對外界雜訊敏感度高、命令解析度低、以及繁瑣配線使得擴展性易受限制。因此，近年來乙太網路通訊技術應用於伺服控制/自動化設備逐漸受到關注，而EtherCAT是乙太網路通訊技術之一，其特色是高速傳輸、精確同步、節省線材、硬體成本低、維修方便，正好可以為集中配線式系統提供一個解決方案。
本文主要是使用DSP F28335與EtherCAT ET1100網路晶片，來開發具EtherCAT網路通訊之馬達控制系統，對於即時控制、即時監控、多軸控制及未來開發EtherCAT系統有很大的幫助。論文主要先對於市面上常見的工業即時通訊協定作個簡單的比較，來討論說為什麼要選擇EtherCAT，然後對EtherCAT作了詳細的介紹，包括整體架構、協定及各個功能模組的說明；之後對於EtherCAT與馬達控制系統兩邊整合做一個詳細的說明，例如如何做通訊協定，EtherCAT主站如何傳資料到DSP，DSP如何將資料回傳給主站。另外，我們也對市售具有EtherCAT通訊的Yaskawa Σ-Ⅴ驅動器，進行分析，並且了解CANopen over EtherCAT(CoE)的概念，把此概念加入到DSP中來與Yaskawa Σ-Ⅴ驅動器進行連線控制，最終我們設計了一個串列通訊實驗，串接了自身系統和商用驅動器、商用IO模組，透過EtherCAT主站可以控制馬達的定位，達到串列通訊、馬達即時控制與監控之目的。

關鍵字

馬達驅動系統開發 ； 串列通訊

並列摘要

CNC machine toolsare that the government fully support in recent years. Many of CNC machine tools have used dedicated analog links for the connection of the central motion controller and the drivers.However, analog link-based systems have many drawbacks: analog links are sensitive to external noise, have low resolutions, and limit the expandability due to the complex analog cabling. Therefore, the Ethernet based network technology attracts manufacturers and researchers' attention, and is applied to servo control/automation systems. EtherCAT is one of the Ethernet based network technology, and it has the advantages of high speed communication, precise synchronization, wire saving, low hardware costs, and the maintenance is convenient. EtherCAT can support solutions for those problems of analog link-based systems exactly.
In this thesis, we use the DSP F28335 and the EtherCAT ET1100 chip to develop the PMSM control system with the EtherCAT protocol. The develop system can be of great help for real-time control, monitoring, multi-axis controllers, and developingEtherCAT systems.This thesis starts with the comparisons between the commonly use of industrial communication protocols and EtherCAT such that the comparison provides us with choosing EtherCAT rationally. Then we introduce the framework, the protocol,modules of the EtherCAT in detail and describe how to build the communicationbetween the EtherCAT masterandslave. In addition, we briefly analyze the framework of commercial off-the-shelf Yaskawa Σ-Ⅴservo drives with EtherCAT, and understood howtoimplementtheconceptof CoE.
Finally, we have designed a serial communication experiment thatseries of our PMSM control system and commercial drivers, commercial IO Modules.They communicate with each other through the EtherCAT and follow CANopen Cia402.

並列關鍵字

EtherCAT ； CANopen

參考文獻

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