基于AM3358处理器的EtherCAT主站研究与实现

发布时间：2018-04-06 03:12

  本文选题：EtherCAT　切入点：工业以太网　出处：《桂林电子科技大学》2017年硕士论文

【摘要】：面对不断扩大的生产规模、日益复杂的生产工艺。传统的工业总线如WorldFip、CC-Link(ControlCommunication Link)、CAN(Controller Area Network)、Devicenet等已无法满足现代化工业生产需求。Ether CAT(Ethernet for Control Automation Technology)作为目前最高速的工业现场总线网络。由于其高带宽利用率,低堆栈延迟、低交换机延迟,使用简单等优点,近些年被广泛应用在智能机器人、高速数控机床等运动控制中。因此深入研究EtherCAT协议,开发、扩展EtherCAT功能,对于实现工业复杂网络的建立,以实现大数据的快速采集有及其重要的意义。但是目前EtherCAT仍处于发展初期,一些功能不太完善,需要不断开发新型功能以适应不断发展的工业生产。该文对EtherCAT协议的开发主要做了以下研究工作:(1)设计主站与主站之间通信新协议为满足EtherCAT主站与主站之间的通信,进一步扩展EtherCAT组网功能,在不影响原有主站与从站通信功能情况下,设计了支持主站与主站之间通信的新协议,扩充IgH开源驱动功能,在AM3358处理器硬件平台上实现了EtherCAT主站与主站的通信。该文分别在实时RT-Preempt Linux系统和原生Linux系统中对设计方案进行测试,结果表明该方案运行稳定且可以满足主从、主主之间相互通信,满足了工业组网需求。(2)提出解决EtherCAT主站协议栈热插拔问题的方法针对EtherCAT主站协议栈无法在线更换损坏从站、无法在线增加从站模块的问题,提出了一种解决EtherCAT主站协议栈热插拔问题的方法。实验设计基于Xenomai硬实时操作系统,通过在内核层扩充原生IgH开源驱动、在应用层设计EtherCAT数据处理构架,实现了EtherCAT热插拔功能。实验结果表明,该方法打破了之前EtherCAT主站协议栈只能依靠冗余来保证系统稳定的设计方案,由于整个设计方案基于软件实现无需额外硬件支持,因此这方案可为企业生产降低生产成本,同时也为企业生产规模的扩展提供了更多的选择。
[Abstract]:In the face of continuous expansion of production scale, increasingly complex production process.The traditional industrial bus, such as World Fip-CC-LinkCon Control Communication Area Controller Area Network device and so on, can not meet the needs of modern industrial production. Other CAT(Ethernet for Control Automation technology is the most high-speed industrial fieldbus network at present.Due to its advantages of high bandwidth utilization, low stack delay, low switch delay and simple use, it has been widely used in motion control of intelligent robots and high-speed CNC machine tools in recent years.Therefore, it is of great significance to study the EtherCAT protocol, develop and extend the functions of EtherCAT in order to realize the establishment of complex industrial network and to realize big data's rapid collection.However, EtherCAT is still in the early stage of development, and some functions are not perfect, so it is necessary to develop new functions to adapt to the continuous development of industrial production.In this paper, the development of EtherCAT protocol is studied as follows: 1) Design a new protocol of communication between master station and master station to satisfy the communication between master station and master station of EtherCAT, and further extend the function of EtherCAT network.Without affecting the communication function between master and slave station, a new protocol is designed to support the communication between master station and master station, and the open source drive function of IgH is extended. The communication between master station and master station is realized on the hardware platform of AM3358 processor.This paper tests the design scheme in real time RT-Preempt Linux system and native Linux system respectively. The results show that the scheme runs stably and can satisfy master and slave, and the master and master communicate with each other.To solve the hot plug problem of EtherCAT master station protocol stack, aiming at the problem that EtherCAT master station protocol stack can not replace damaged slave station on line and add slave station module on line.This paper presents a method to solve the hot-plug problem of EtherCAT master station protocol stack.The experimental design is based on the Xenomai hard real-time operating system. By extending the native IgH open source driver in the kernel layer and designing the EtherCAT data processing framework in the application layer, the hot-plug function of EtherCAT is realized.Experimental results show that this method breaks the previous EtherCAT master station protocol stack can only rely on redundancy to ensure the stability of the system design, because the entire design based on software implementation without additional hardware support,Therefore, this scheme can reduce the production cost and provide more choices for the expansion of the production scale.
【学位授予单位】：桂林电子科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

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