【作者】 赵巍；

【导师】 于刚；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2013， 硕士

【摘要】 随着嵌入式技术的进步，工业以太网开始快速发展，采用传统现场总线的运动控制系统，在实时性和同步精度等方面已经不能满足当前行业的发展需求，而且统一标准的缺乏导致开放性不足。将工业以太网技术应用到运动控制系统，成为一种发展趋势和新的研究热点，开发基于工业以太网的运动控制器，对进一步开发多轴同步控制系统具有重要意义和应用价值。本文在全面分析研究主流工业以太网技术的基础上，将新型的实时工业以太网EtherCAT技术引入运动控制系统，深入研究了EtherCAT总线技术，给出了运动控制器主从站方案，分别对主站和从站的EtherCAT通信系统进行了软硬件设计。运动控制器主站采用ARM平台Linux下设计主站软件的方式实现，基于TI公司的AM3359微处理器设计了EtherCAT通信系统的网络接口硬件，软件架构分为硬件驱动模块、主站模块和应用模块，并重点阐述了主站的状态机、分布时钟同步及总线配置等功能的设计。从站采用ARM+FPGA的架构，采用AM3359作为主处理器，Altera公司的CycloneIII EP3C16Q240C8N作为协处理器，对EtherCAT通信系统的物理层模块和数据链路层模块进行了硬件设计，并在ARM单元了设计应用层通信接口软件，实现了通信功能。最后，在软硬件设计完成基础上，利用设计的主站和标准的EtherCAT伺服驱动器搭建了基于EtherCAT的运动控制器通信实验平台，通过以太网分析仪和Wireshark软件对EtherCAT总线性能进行分析，并和CAN总线做了对比；通过主从站通信平台，对从站输出的脉冲控制信号进行抓取分析。最终实验结果表明，本文硬件和软件设计是可行的，达到了预期目标。更多还原

【Abstract】 With the development of embedded technology, industrial Ethernet developsrapidly. Motion control system based on the traditional field-bus cannot meet therequirements of real-time and high synchronization accuracy. The traditional field-bus also has a weakness: lack of uniform standards and lack of openness. Tointegrate the industrial Ethernet technology to the motion control system hasbecome a trend and a new hotspot. The design of a new type motion controllerbased on the Industrial Ethernet is good for the further development of multi-axissynchronous control system, and has great significance and application value.In this paper, the author makes a comprehensive analysis of the mainstreamindustrial Ethernet technology, and applies a real-time industrial Ethernet-EtherCATto motion control systems. Then, the paper studies the EtherCAT bus technologyand gives a master solution and a slave solution in motion controller. This paperuses TI’s AM3359as the microprocessor of the master controller and gives ahardware design about network interface. A software master is designed underLinux and runs on this ARM platform, and the software architecture is divided intothree modules: hardware driver module, master module and the application module.This paper describes the design and implementation like state machine, distributedclock synchronization and bus configuration functions. The hardware design ofslave based on ARM and FPGA, the main processor is AM3359and the coprocessoris CycloneIII EP3C16Q240C8N. This paper give the design of the physical layermodule and data-link layer module of EtherCAT communication system.The ARMunit is used for application layer design of the software.Finally, the author builds a communication platform of EtherCAT-based motioncontroller with the master and the standard EtherCAT servo drives, use Ethernetanalyzer and Wireshark to analysis the performance of the EtherCAT bus and makea performance comparison to CAN bus. At last, the author make a analysis of thepulse control signal Crawled by the master and slave communication platform. Finalexperimental results show that the hardware and software design is feasible toachieve the desired objectives.更多还原