基于实时以太网的多轴运动控制网络
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摘要
针对多轴运动控制网络中存在的数据传输的不确定性和非实时性问题,提出了一种基于时隙划分的网络通信方案,使得在每个时隙中只有一个运动控制器在网络中传输数据。采用改进的时钟同步算法完成网络中各节点的时钟同步,按照时隙划分策略进行任务调度,分别为各任务创建线程,并由时间和事件触发线程的执行。通过搭建两轴跟随平台测试网络通信性能,结果表明:以1 s为周期进行时钟同步时,主从时钟偏差的平均值为5. 79μs,标准差为7. 43μs,稳定性可靠;两轴跟随效果良好,数据传输具有较好的确定性和实时性。
Aiming at the problem of uncertainty and non real-time data transmission in multi axis motion control network,a network communication scheme based on time slot partition is proposed,so that only one motion controller in every slot can transmit data in the network. An improved clock synchronization algorithm is used to complete the clock synchronization of nodes in the network,according to the time slot partitioning strategy,tasks are scheduled,threads are created for each task,and the execution of threads are triggered by time and events. A two axis following platform is built to test the performance of network communication,the results show that when the clock synchronization cycle is one second,the average value of the master slave clock deviation is 5. 79 μs,standard deviation is 7. 43 μs,and the stability is reliable; the two axis following effect is good,and the data transmission has good deterministic and real-time performance.
Aiming at the problem of uncertainty and non real-time data transmission in multi axis motion control network,a network communication scheme based on time slot partition is proposed,so that only one motion controller in every slot can transmit data in the network. An improved clock synchronization algorithm is used to complete the clock synchronization of nodes in the network,according to the time slot partitioning strategy,tasks are scheduled,threads are created for each task,and the execution of threads are triggered by time and events. A two axis following platform is built to test the performance of network communication,the results show that when the clock synchronization cycle is one second,the average value of the master slave clock deviation is 5. 79 μs,standard deviation is 7. 43 μs,and the stability is reliable; the two axis following effect is good,and the data transmission has good deterministic and real-time performance.
引文
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[2]石永华,华磊.一种基于PC全软件多轴运动控制器的实现和测试[J].机床与液压,2014,42(21):71-74.
[3]王成功,付丽霞,张勇,等.交换式以太网控制系统传感器变采样调度研究[J].传感器与微系统,2016,35(12):27-29.
[4]邱爱华,张涛,顾逸东.航天器可应用实时以太网分析[J].空间科学学报,2015,35(3):368-380.
[5] WANG L C,HAN J,XIA L. Design and simulation for a real-time Ethernet protocol under a self-similar traffic[C]∥The 14th IFTOMM World Congress,Taipei,Taiwan,2015:1-5.
[6]张立众.工业以太网实时性的解决方案[J].光通信技术,2010,34(1):28-30.
[7]黄威然,楼佩煌,钱晓明.基于实时以太网的网络化数控系统高精度时钟同步和短周期通信[J].计算机集成制造系统,2015,21(10):2668-2676.
[8] CHALOUPKA Z,ALSINDI N,AWEYA J. Clock skew estimation using Kalman filter and IEEE 1588v2 PTP for telecom networks[J]. IEEE Communications Letters,2015,19(7):1181-1184.
[9]宋波,孙超,姜守达.一种基于PTP协议的局域网高精度时钟同步方法[J].自动化技术与应用,2010,29(1):67-70.