基于EtherCAT的伺服控制系统研究和设计

发布时间：2018-04-02 12:07

本文选题：EtherCAT协议　切入点：网络化运动控制系统　出处：《浙江工业大学》2015年硕士论文

【摘要】：近年来,随着工业4.0的盛行,“智能工厂”、“智能生产”和“智能物流”也在不断影响着当今复杂的工业过程,工业控制规模的日益扩大,控制必须要网络化,同时德国倍福公司提出的EtherCAT协议是一种高速率和高有效利用率的工业以太网协议,非常适用于构建高性能网络化运动控制系统。本文设计一种基于EtherCAT通信协议的伺服控制系统,主站用一台PC机实现,使用Windows 7系统,通过CoDeSys组态软件来实现主站功能。从站采用倍福公司的从站控制器芯片ET1100和TI公司生产的数字信号处理芯片TMS320F28035来设计实现。论文完成的主要工作有:(1)对多种以太网协议进行分析;详细介绍了实时以太网EtherCAT的通信协议,包括EtherCAT运行原理、物理层、数据链路层和CoE应用层等相关内容和寄存器的配置等问题。(2)设计搭建基于EtherCAT的伺服控制系统从站。利用从站接口控制器芯片ET1100和DSP芯片TMS320F28035协同开发了基于EtherCAT的伺服系统的从站,并给出了从站硬件接口设计。(3)设计编写基于EtherCAT的伺服控制系统程序。设计并编写了从站设备描述文件,设计了DSP与ET1100的数据交换程序,主初始化和主执行程序,以及带有矢量控制算法的电机驱动程序。(4)对所设计的基于EtherCAT的伺服控制系统进行实验测试,验证系统的可行性。最后总结了本文的创新与不足,指出了下一步的研究工作。
[Abstract]:In recent years, with the prevalence of industry 4.0, "intelligent factory", "intelligent production" and "intelligent logistics" are also constantly affecting the complex industrial process. With the increasing scale of industrial control, the control must be networked. At the same time, the EtherCAT protocol proposed by Beefer is a kind of industrial Ethernet protocol with high speed and high efficient utilization, which is very suitable for constructing high performance networked motion control system. A servo control system based on EtherCAT communication protocol is designed in this paper. The master station is implemented by a PC, and the Windows 7 system is used. The primary station function is realized by CoDeSys configuration software. The slave station is designed and implemented by using the slave station controller chip ET1100 and the digital signal processing chip TMS320F28035 produced by TI company. The main work accomplished in this paper is: 1) to many kinds of etheric. Network protocol analysis; The communication protocol of real-time Ethernet EtherCAT is introduced in detail, including the principle of EtherCAT, the physical layer, The slave station of servo control system based on EtherCAT is designed and constructed. The slave station of servo control system based on EtherCAT is developed by ET1100 and TMS320F28035, which is based on the slave station interface controller chip and DSP chip TMS320F28035. The slave station hardware interface design. 3) programming the servo control system program based on EtherCAT, designing and compiling the slave station device description file, designing the data exchange program between DSP and ET1100, master initialization and main execution program. And the motor driver with vector control algorithm. 4) the design of servo control system based on EtherCAT is tested to verify the feasibility of the system. Finally, the innovation and deficiency of this paper are summarized, and the next research work is pointed out.
【学位授予单位】：浙江工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP273

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