基于EtherCAT的高性能交流伺服控制系统设计

高性能伺服控制系统已从模拟控制发展到全数字控制,性能不断提高,在军用和民用方面具有广阔的应用前景。基于现场总线网络的伺服控制系统因其高可靠性、快速性和稳定性,成为伺服运动控制系统的发展趋势。本文针对高性能伺服控制系统在控制现场需要多个伺服电机并联,组网困难,实时性要求高等使用特点,引入实时以太网EtherCAT技术。阐述了EtherCAT的组成、工作原理及报文协议,设计了基于EtherCAT的高性能伺服控制系统,利用EtherCAT从站接口控制器ET1100和DSP芯片TMS320F2812开发了EtherCAT从站设备,构建了一主多从的EtherCAT网络结构,并给出了系统硬件和软件的设计方案,实现伺服系统的位置控制和实时数据传输。

Design of the High-performance AC Servo Control Systems Based on EtherCAT

High-performance servo control system has been developed from analog control to digital control, with performance being improved and with a broad application in military and civilian areas. The servo control system based on fieldbus with high reliability, speed and stability becomes the development trend of servo motor control systems. This paper discusses the difficulty of organizing the net structure and the rigorous real-time requirement in the scene of high-performance servo control system, and proposes to use the Ethernet for control automation technology. On the data link layer, EtherCAT adopts a real-time soft core，and uses independent channels for the process data transmission，which improves the real-time quality of the system. The EtherCAT's architecture, the working principle and the communication protocol are reviewed in this paper, high-performance AC serve control systems are designed based on EtherCAT, together with a slave device by using EtherCAT slave controller ET1100 and DSP TMS320F2812, which can achieve an accurate position control by using the EtherCat structure of one-master and more-slaves. The hardware and software design of the servo system is given, which realizes the real-time data transmission and position control.