| 崔海彬， 马钧华.基于EtherCAT分布时钟的伺服控制系统研究[J].轻工机械,2019,37(5):51-56 |
| 基于EtherCAT分布时钟的伺服控制系统研究 |
| Research of Servo Control System Based on Distributed Clock of EtherCAT |
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| DOI：10.3969/j.issn.1005 2895.2019.05.010 |
| 中文关键词: 伺服控制系统 EtherCAT总线技术 LAN9252 分布时钟 时钟同步 |
| 英文关键词:servo control system EtherCAT LAN9252 distributed clock clock synchronization |
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| 中文摘要: |
| 为解决运动控制领域多轴伺服系统同步问题，提出了基于EtherCAT分布时钟的控制策略。研究了EtherCAT分布时钟同步机制及实现过程，分析了从站在SM模式和DC模式下的中断信号误差，在DC模式下获得误差小于10 ns的高精度同步信号。搭建了基于LAN9252 和ARM的具有同步功能的伺服控制平台；利用EtherCAT从站在DC模式下产生的的同步信号对位置环、速度环和电流PWM环的定时器进行同步，实现了伺服系统的同步算法架构。在一个二轴的系统上进行了实验，实验结果表明系统具有较好的可靠性和实时性，能够实现从站间的精确同步。 |
| 英文摘要: |
| Aiming at the synchronization problem of multi axis servo system in motion control field, a control strategy based on EtherCAT distributed clock was proposed. The EtherCAT distributed clock synchronization mechanism and its implementation process were studied. The errors of the interrupt signal in the SM mode and the DC mode were analyzed. The high precision synchronization signal with the error less than 10 ns was obtained in the DC mode. A servo control platform based on LAN9252 and ARM with synchronization function was built. The synchronization algorithm architecture of the servo system was realized by using the synchronization signals generated by the EtherCAT slave station in the DC mode to synchronize the timer of the position loop, the speed loop and the current PWM loop. Experimental verification was performed on a two axis system. The experimental results show that the system has better reliability and real time, and can achieve accurate synchronization between slave stations. |
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