基于Linux嵌入式平台的EtherCAT主站系统研究与设计

发布时间：2018-03-08 20:28

本文选题：EtherCAT　切入点：主站　出处：《浙江大学》2017年硕士论文　论文类型：学位论文

【摘要】：EtherCAT协议是一种开放的实时以太网通讯协议,广泛应用于工业控制领域。本文提出了一套完整的基于Linux嵌入式平台的EtherCAT主站系统设计方案,旨在打通整个EtherCAT协议技术环节。从主站和从站的硬件层面到软件层面再到上位机软件,开发出整套拥有自主知识产权的EtherCAT主站系统。设计EtherCAT从站模块,选用从站控制芯片ET1100设计通信板,STM32单片机设计控制板,将通信板和控制板通过SPI总线接口组合,组成两套从站模块,分别实现数字输入信号检测和模拟输入信号检测的功能。设计EtherCAT主站模块,选用基于.AM3358处理器的BeagleBone Black作为Linux嵌入式开发平台,并且在该平台上运行集成Xenomai实时补丁的Linux操作系统,接着在操作系统上构建IgH EtherCAT Master for Linux开源框架和配置开发环境,最后基于这套开源框架进行应用程序的设计,完成整套主站模块设计。设计EtherCAT主站程序的两种交互模式,一种是基于命令行操作的控制台模式,还有一种是基于Qt开发的图形用户界面模式。用户可以通过任意模式,实现过程数据通信和服务数据通信的数据读写,并且执行一些其他的必要功能操作。实验结果表明,从站模块的基本功能实现,可以有效检测输入的数字信号和模拟信号。主站模块的基本功能实现,可以与从站模块建立起有效的过程数据通信和服务数据通信,性能上同步误差在ns级,报文的传输时间在us级,通讯抖动在us级别,可以满足工业控制系统对实时性的要求。控制台模式和图形用户界面模式交互有效。
[Abstract]:EtherCAT protocol is a real-time Ethernet communication protocol is an open, widely used in the field of industrial control. This paper puts forward a design scheme of EtherCAT station system based on Linux embedded platform to complete, open up the entire EtherCAT protocol link. From the master and slave station hardware level to the software level and then to develop the PC software. EtherCAT master system complete with independent intellectual property rights. The design of EtherCAT slave station module, selected from the station control chip ET1100 design of communication board, STM32 MCU control board, communication board and control board through SPI bus interface, consisting of two sets of slave station module, to implement the digital input signal detection and analog input signal detection function. Design of EtherCAT master module based on.AM3358 processor, BeagleBone Black as Linux embedded development platform, and the platform. Linux operating system for integrated real-time Xenomai patch, then construct the IgH EtherCAT Master for Linux open source framework and development environment configuration in the operating system, the application of this set of open source framework based on design, complete the design of the master module set. Two kinds of interactive mode design of EtherCAT master station program, a command line operation the console mode based on, there is a graphical user interface model based on Qt is developed. The user can use any model, implementation process of data communication and data communication service data read and write, and perform some necessary functions of other operations. The experimental results show that the implementation of the main function of the module, the digital signal and the analog signal can be effectively detection of the input. The basic function of the master module and slave module, can establish the effective process of data communication and data communication services,. The upper synchronization error is at ns level, the message transmission time is at us level, the communication jitter is at us level, which can meet the real-time requirement of the industrial control system. The console mode and the graphical user interface mode interact effectively.

【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

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