【作者】 张亮；

【导师】 宋宝；

【作者基本信息】 华中科技大学 ， 机械电子工程， 2018， 硕士

【摘要】 EtherCAT现场总线由于其优良的实时同步性能在工业控制系统中得到了广泛的应用,但是当进行多轴的协调运动控制或者复杂曲面的轮廓检测时,需要同时采集多个轴的位置以进行分析和处理,而当前工业控制系统中存在的大量位置检测装置又无法接入EtherCAT总线控制系统。为此本文提出了一种能够将通用位置检测装置接入EtherCAT总线控制系统的同步位置检测装置的实现方案。主要的研究内容如下:针对实际应用工程项目进行了相关的背景介绍及需求分析,规划同步位置检测装置的两大主要功能模块:EtherCAT从站通信功能模块和同步位置检测功能模块,并结合功能需求和分层设计思想提出了相应的总体设计方案。针对同步位置检测装置中的EtherCAT从站通信接口,采用了基于FPGA的IP核硬件编程设计方案,实现EtherCAT从站控制器(ESC)的功能,并设计了相应的硬件接口电路和基于STM32的EtherCAT从站通信协议状态机,而且对其进行了仿真验证。针对同步位置检测装置中涉及到的位置检测接口——光栅尺位置信号输入接口和激光位移传感器触发信号输出接口进行了详细分析,并通过硬件接口电路设计以及FPGA固件程序实现了相应的接口功能,同时还提出并实现了一种同步位置检测策略。搭建了测试平台,主要针对同步位置检测装置中的EtherCAT通信功能和位置检测接口功能进行了相应的测试与分析,测试结果表明,本文开发的基于EtherCAT的同步位置检测装置实现了将位置检测装置接入EtherCAT总线控制系统的能力。更多还原

【Abstract】 EtherCAT fieldbus has been widely used in the industrial control system due to its excellent real-time synchronization performance.However,a large number of position detection devices in the current industrial control system have no access to the EtherCAT fieldbus when they have to be applied,such as detecting the position of multiple axes at the same time in the system of the multi-axis coordinated motion control and the complex surfaces contour detection.Therefore,a synchronous Positon Detection Equipment Based on EtherCAT is designed.The main research contents are as follows:After analyzing the demand of the practical engineering project,two main functional modules of the synchronous position detection equipment are proposed — the EtherCAT slave station communication function module and the synchronous position detection function module,and then the overall design scheme are put forward combining the functional requirements and the hierarchical design ideas.In view of the communication interface of the EtherCAT slave station,the hardware programming design of IP core based on FPGA is adopted to realize the function of the EtherCAT slave controller(ESC),and the corresponding hardware interface circuit is designed as well as the EtherCAT slave station communication protocol state machine based on STM32,what’s more,the design is verified by simulation.Through the analysis on the position detection interface involved in the synchronous position detection equipment — the position signal input interface of the grating ruler and the trigger signal output interface of the laser displacement sensor,the corresponding interface design scheme is proposed.And then it is realized through the design of the hardware interface circuit and the FPGA firmware program.Besides,a synchronous position detection strategy is proposed and implemented.An experimental platform is set up to test the function of the EtherCAT communication and the position detection interface in the synchronous position detection equipment.The results show that the position detection device can be connected to the EtherCAT fieldbus control system with the synchronous Positon Detection Equipment Based on EtherCAT.更多还原