基于Linux平台的EtherCAT运动控制系统研究

发布时间：2018-01-29 18:24

本文关键词： 工业以太网运动控制技术 EtherCAT Linux DSP FPGA　出处：《华南理工大学》2012年硕士论文　论文类型：学位论文

【摘要】：随着计算机、通信、网络等信息技术的发展，传统运动控制系统由于自身结构的封闭性，系统兼容性差，缺乏网络通信等缺陷，远远不能满足现代制造业的需求。基于Linux系统的EtherCAT运动控制技术已经成为运动控制系统发展的趋势。本文在对工业以太网技术和运动控制技术进行研究的基础上，以“DSP+FPGA”为基础，引入目前的主流工业以太网EtherCAT和具有开源性的Linux操作系统，设计了具有EtherCAT通信接口功能的运动控制器，构建基于Linux平台的EtherCAT运动控制系统，并重点研究了系统主站单元的软硬件和从站单元的软硬件。在主站单元的硬件结构方面，普通PC机加一块标准的NIC网卡即可，软件代码则安装在Linux内核上。在从站单元的硬件结构方面，采用TI的DSP TMS320F28335作为从站的核心处理器，以Altera公司的CycloneII EP2C8FPGA为协处理器，采用倍福的ET1100芯片作为从站的通信芯片，，实现与Linux主站的EtherCAT通信，此外，对各主芯片的外围接口电路和伺服接口模块等电路模块进行了详细分析与设计。软件开发方面，实现了周期性数据的收发。最后，在软硬件设计的基础上，搭建了基于Linux平台的EtherCAT运动控制系统实验仿真平台，实验效果良好，为进一步研究开发奠定良好基础。
[Abstract]:With the development of information technology, such as computer, communication and network, the traditional motion control system is short of network communication because of its closed structure, poor system compatibility and lack of network communication. EtherCAT motion control technology based on Linux system has become the trend of motion control system development. Based on the research of industrial Ethernet technology and motion control technology, this paper is based on "DSP FPGA". With the introduction of current mainstream industrial Ethernet EtherCAT and open source Linux operating system, a motion controller with EtherCAT communication interface is designed. The EtherCAT motion control system based on Linux platform is constructed, and the hardware and software of the master station unit and the slave station unit are studied. In the main station unit hardware structure, ordinary PC with a standard NIC network card, software code installed on the Linux kernel. In the hardware structure of slave unit, TI's DSP TMS320F28335 is used as the core processor of slave station. The CycloneII EP2C8FPGA of Altera Company is used as coprocessor, and the ET1100 chip of Beifu is used as the communication chip of slave station. The EtherCAT communication with Linux master station is realized. In addition, the peripheral interface circuit and servo interface module of each main chip are analyzed and designed in detail. The periodic data is sent and received. Finally, based on the design of software and hardware, the experimental simulation platform of EtherCAT motion control system based on Linux platform is built, and the experimental results are good. To lay a good foundation for further research and development.
【学位授予单位】：华南理工大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TP273;TP368.1

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