基于实时工业以太网EtherCAT的双电机驱动控制应用研究

发布时间：2018-04-02 21:44

本文选题：实时工业以太网　切入点：EtherCAT　出处：《中国科学院大学(中国科学院光电技术研究所)》2017年硕士论文

【摘要】：地平式望远镜中俯仰轴系一般多采用单电机驱动,随着望远镜口径的逐渐增大,单电机驱动因其局限性已无法满足系统的要求,故考虑使用双电机来驱动轴系。本文采用实时工业以太网EtherCAT技术,搭建相应的双电机驱动控制系统,利用其高实时性、高同步精度的优秀性能,保证了双电机间的精准同步。采用IntervalZero公司的KingStar Motion软件,开发实现EtherCAT主站功能;由Phase公司的AxN伺服驱动器作从站;搭建实验平台,测试了双电机控制的性能。论文首先介绍了大口径望远镜中俯仰轴系采用单电机驱动控制所存在的局限性,引出双电机同步控制。为保证多电机控制系统在通信上的实时性与同步性,工业以太网技术被提了出来。其中由德国Beckhoff公司提出的实时工业以太网EtherCAT,以其优越性能得到广泛使用和快速发展。通过对比分析多种实时工业以太网,阐明了EtherCAT可以很好的应用到多电机同步控制系统中。其次,深入研究了EtherCAT技术,包括其通信原理及系统组成、物理传输介质、帧结构定义、报文寻址方式、主站操作从站的通信服务命令、分布时钟同步机制、通信模式等方面。然后,设计了一种基于EtherCAT实时通信的电机驱动控制系统。重点讲述了如何利用KingStar Motion软件实现基于PC的EtherCAT主站功能,简单介绍AxN如何配置为EtherCAT从站。详细讲述了EtherCAT主从站通信软件设计。搭建相应实验平台,由简单的跟踪实验测试,验证了系统的可行性。最后,在单电机驱动的基础上,搭建基于EtherCAT的双电机驱动控制系统。介绍了多种双电机同步控制策略,实验对比各自的跟踪、同步性能。还对单、双电机驱动控制进行了相关实验对比分析,阐明了双电机驱动控制的优势。
[Abstract]:The pitching shafting of horizontal telescopes is usually driven by single motor. With the increasing of telescope caliber, the single motor drive can not meet the requirements of the system because of its limitation, so it is considered to use double motor to drive shafting.In this paper, the real-time industrial Ethernet EtherCAT technology is used to set up the corresponding dual motor drive control system. The excellent performance of high real-time and high synchronization precision is used to ensure the accurate synchronization between the two motors.The function of EtherCAT master station is developed by using KingStar Motion software of IntervalZero company, the slave station of AxN servo driver of Phase company is used as slave station, the experimental platform is set up and the performance of double motor control is tested.In this paper, the limitations of single motor drive control for pitch shafts in large aperture telescopes are introduced, and the synchronous control of double motors is introduced.In order to ensure the real-time and synchronization of multi-motor control system, industrial Ethernet technology has been put forward.Among them, EtherCAT, which was proposed by Beckhoff Company in Germany, has been widely used and developed rapidly because of its superior performance.By comparing and analyzing several real-time industrial ethernet, it is shown that EtherCAT can be applied to multi-motor synchronous control system.Secondly, the EtherCAT technology, including its communication principle and system composition, physical transmission medium, frame structure definition, message addressing mode, communication service command of master station operation slave station, distributed clock synchronization mechanism, communication mode, etc.Then, a motor drive control system based on EtherCAT real-time communication is designed.This paper focuses on how to use KingStar Motion software to realize the function of EtherCAT master station based on PC, and briefly introduces how to configure AxN as EtherCAT slave station.The communication software design of EtherCAT master-slave station is described in detail.The feasibility of the system is verified by simple tracking test.Finally, on the basis of single motor drive, a dual motor drive control system based on EtherCAT is built.Several synchronous control strategies of dual motors are introduced, and their tracking and synchronization performance are compared experimentally.A comparative analysis of single and double motor drive control is made, and the advantages of double motor drive control are illustrated.
【学位授予单位】：中国科学院大学(中国科学院光电技术研究所)
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273;TH751

【相似文献】