EtherCAT总线分布式多电机控制研究

针对工业现场多电机控制需求,研究了基于现场总线的多电机控制原理,采用EtherCA工业实时以太网作为现场网络,构建现场与远程测控相结合的多电机控制系统。基于DSP和ESC实现电机控制器与数据采集从站,针对系统中周期性与非周期性控制任务,设计了基于FPGA的嵌入式主站,通过实时操作系统调度控制与采集任务。在系统内,设计授时单元基于DC分布时钟实现网络内从站同步功能,其精度＜1 μs。基于虚拟仪器技术设计配置管理软件,实现了系统运行参数配置,电机控制参数整定及控制效果图形化显示与评估。应用结果表明,该分布式多电机控制系统运行稳定可靠,且实时性好。

Research on Distributed Control System of Multi-motor Based on EtherCAT Bus

A multi motors control system is established for use in industrial fields based on the characteristic a nalysis of multi motors control, in which the EthCAT industrial real-time Bus is used to combine the locale and remote fields. The slave nodes are motor controllers and data acquisition unit is based on DSP and ESC. Both FPGA and real-time OS are used to accomplish the master control nodes for periodic and aperiodic tasks. In this system, the time service unit is design to realize the time synchronization function based on DC clock of ESC with a synchronous precision better than 1 μs. The configuration and management software is designed for setting operation parameters, analyzing motor running performance and controlling parameters, displaying the dynamic parameters waveform, and estimating the system performance. Application results show that the system features easy and stable operation with good real-time performance.