基于EtherCAT通信的双直线电机位置联动控制系统设计
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摘要
针对传统脉冲、模拟量控制系统在实时性、稳定性和同步性方面的不足,提出了一种基于EtherCAT工业实时以太网通信的双直线电机位置联动控制方案。设计了3种位置联动控制模式,详细分析了EtherCAT的分布时钟补偿算法,并搭建了联动控制试验平台,对所设计的控制系统进行了试验验证。试验结果表明,采用EtherCAT通信的双直线电机位置联动控制系统实时性高,双轴同步、交替响应性能良好,适用于同步精度和响应速度要求都较高的应用场合。
In view of the shortcomings of traditional pulse or analog control systems in terms of real-time performance, stability and synchronization, a dual-linear-motor position linkage control scheme based on EtherCAT communication was proposed. Three position linkage control modes were designed. Moreover, the distributed clock mechanism of EtherCAT was analyzed in detail. The linkage control experiment platform was built. The experiment results showed that the dual-linear-motor position linkage control system based on EtherCAT communication had the advantages of fast response, good dual-axis synchronization and good alternating performance. It was suitable for applications which required high synchronization accuracy and high speed response.
In view of the shortcomings of traditional pulse or analog control systems in terms of real-time performance, stability and synchronization, a dual-linear-motor position linkage control scheme based on EtherCAT communication was proposed. Three position linkage control modes were designed. Moreover, the distributed clock mechanism of EtherCAT was analyzed in detail. The linkage control experiment platform was built. The experiment results showed that the dual-linear-motor position linkage control system based on EtherCAT communication had the advantages of fast response, good dual-axis synchronization and good alternating performance. It was suitable for applications which required high synchronization accuracy and high speed response.
引文
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[6] 王彦,左为恒,李昌春.基于变频器和PLC的四辊轴交流传动控制系统设计[J].电机与控制应用,2010,37(4):54.
[7] 王小博,祖龙起,刘顺利,等.基于西门子S120的矫直机控制系统设计[J].大连工业大学学报,2017,36(2):151.
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[9] LEE D E,NGUYEN Q V,KIM T,et al.Development of independent EtherCAT slave module and application to closed loop step motor drive with multi-axis[C]//2006 International Conference on Computing,Communication and Automation (ICCA),2016:912.
[10] LANGLOIS K,HOEVEN T V D,CIANCA D R,et al.EtherCAT tutorial:an introduction for real-time hardware communication on windows[J].IEEE Robotics & Automation Magazine,2018,25(1):22.
[11] CHEN X,LI D,WAN J F,et al.A clock synchronization method for EtherCAT master[J].Microprocessors & Microsystems,2016,46:211.
[12] 张淑珍,于子然,孔民秀,等.基于RTX弧焊机器人控制系统的设计与实现[J].上海交通大学学报,2016,50(10):1540.
[13] CHEN Z Y,SHENG B Y,YANG H Y,et al.Tile cut synchronization control and compensation design and implement for multi-wire saw[J].International Journal of Advanced Manufacturing Technology,2018,97:3493.
[14] KIM I,KIM T.Guaranteeing isochronous control of networked motion control systems using phase offset adjustment[J].Sensors,2015,15(6):13945.
[15] LUO Y,JIAO X D,ZHOU C F,et al.Welding robot system applied in sub-sea pipeline-installation[J].Industrial Robot,2015,42(1):83.
[16] 林梦云,马文礼,熊皑,等.基于EtherCAT实时通信的电机驱动控制[J].微型机与应用,2017,36(10):1.
[17] LIU J M,YANG L,XU D,et al.A high precision clock synchronization algorithm for the EtherCAT[C]//2017 12th IEEE Conference on Industrial Electronics & Applications (ICIEA),2017:1369.
[18] LI N N,MA H B,FEI Q,et al.Motion control of 6-DOF manipulator based on EtherCAT[J].Journal of Advanced Computational Intelligence and Intelligent Informatics,2018,22(4):415.
[19] IEC.Industrial communication networks-fieldbus specifications-part 1:overview and guidance for the IEC 61158 and IEC 61784 series IEC 61158:2014[S].Geneva:2014.
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[21] PARK S ,KIM H,KIM H,et al.Synchronization improvement of distributed clocks in EtherCAT networks[J].IEEE Communications Letters,2017,21(6):1277.