基於工業乙太網路系統的同步伺服控制

Based on industrial Ethernet system synchronization servo control

林柏村(Po-Tsun Lin)

指導教授 ： 蔡孟勳

國立中正大學/工學院/機械工程學系/碩士(2013年)

摘要

本文主要對EtherCAT工業網路與DSP控制器作系統整合應用，這部份在即時控制與多軸伺服控制技術上有很多使用，由於進行多軸伺服控制時，通訊部分從站與從站之間採用串列式連接，主站發送命令給各個從站，經過一個循環，訊框返回主站，每個從站接收到的命令時間會不一致，從站之間會有時間誤差，故在前述系統整合應用上，需要配合EtherCAT工業網路中的Distributed Clocks模組，最終結果，運動控制可達到更精確的同步。
論文會先對EtherCAT詳細的介紹，包括整體架構、協定及各個功能模組的說明，然後針對工業乙太網路EtherCA中Distributed Clocks模組的同步功能作介紹，並使用實驗室製作的具有工業乙太網路通訊EtherCAT控制卡，進行多軸同步的實驗。

關鍵字

數位訊號處理 ； 分佈時鐘 ； 工業乙太網路

並列摘要

In this thesis, we combine EtherCAT technology with DSP-based controller for system integration applications. The developed system could be great help to real-time control and multi-axis servo control technology. When performing the multi-axis servo control, they are serial connection between the slave and the slave . The master sends commands to the respective slave through a loop frame returns to the master. Each slave’s local time is not the same when the frame has arrived. There is a time deviation from the slaves. Therefore, we need to meet the EtherCAT Distributed Clocks industrial network modules in the system integration applications. In the final,Focusing on servo motion control can achieve more accurate synchronization.
First, we make a detailed introduction which include the overall framework, the protocols, and the modules of the EtherCAT. Then, for introduction about Distributed Clocks synchronization module . We had used the DSP based control system with embedded industrial ethernet for multi-axis synchronization experiments.

並列關鍵字

Distributed Clock ； EtherCAT ； DSP

參考文獻

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