本文選題：實(shí)時(shí)工業(yè)以太網(wǎng)　切入點(diǎn)：EtherCAT　出處：《中國(guó)科學(xué)院大學(xué)(中國(guó)科學(xué)院光電技術(shù)研究所)》2017年碩士論文

【摘要】：地平式望遠(yuǎn)鏡中俯仰軸系一般多采用單電機(jī)驅(qū)動(dòng),隨著望遠(yuǎn)鏡口徑的逐漸增大,單電機(jī)驅(qū)動(dòng)因其局限性已無(wú)法滿足系統(tǒng)的要求,故考慮使用雙電機(jī)來(lái)驅(qū)動(dòng)軸系。本文采用實(shí)時(shí)工業(yè)以太網(wǎng)EtherCAT技術(shù),搭建相應(yīng)的雙電機(jī)驅(qū)動(dòng)控制系統(tǒng),利用其高實(shí)時(shí)性、高同步精度的優(yōu)秀性能,保證了雙電機(jī)間的精準(zhǔn)同步。采用IntervalZero公司的KingStar Motion軟件,開(kāi)發(fā)實(shí)現(xiàn)EtherCAT主站功能;由Phase公司的AxN伺服驅(qū)動(dòng)器作從站;搭建實(shí)驗(yàn)平臺(tái),測(cè)試了雙電機(jī)控制的性能。論文首先介紹了大口徑望遠(yuǎn)鏡中俯仰軸系采用單電機(jī)驅(qū)動(dòng)控制所存在的局限性,引出雙電機(jī)同步控制。為保證多電機(jī)控制系統(tǒng)在通信上的實(shí)時(shí)性與同步性,工業(yè)以太網(wǎng)技術(shù)被提了出來(lái)。其中由德國(guó)Beckhoff公司提出的實(shí)時(shí)工業(yè)以太網(wǎng)EtherCAT,以其優(yōu)越性能得到廣泛使用和快速發(fā)展。通過(guò)對(duì)比分析多種實(shí)時(shí)工業(yè)以太網(wǎng),闡明了EtherCAT可以很好的應(yīng)用到多電機(jī)同步控制系統(tǒng)中。其次,深入研究了EtherCAT技術(shù),包括其通信原理及系統(tǒng)組成、物理傳輸介質(zhì)、幀結(jié)構(gòu)定義、報(bào)文尋址方式、主站操作從站的通信服務(wù)命令、分布時(shí)鐘同步機(jī)制、通信模式等方面。然后,設(shè)計(jì)了一種基于EtherCAT實(shí)時(shí)通信的電機(jī)驅(qū)動(dòng)控制系統(tǒng)。重點(diǎn)講述了如何利用KingStar Motion軟件實(shí)現(xiàn)基于PC的EtherCAT主站功能,簡(jiǎn)單介紹AxN如何配置為EtherCAT從站。詳細(xì)講述了EtherCAT主從站通信軟件設(shè)計(jì)。搭建相應(yīng)實(shí)驗(yàn)平臺(tái),由簡(jiǎn)單的跟蹤實(shí)驗(yàn)測(cè)試,驗(yàn)證了系統(tǒng)的可行性。最后,在單電機(jī)驅(qū)動(dòng)的基礎(chǔ)上,搭建基于EtherCAT的雙電機(jī)驅(qū)動(dòng)控制系統(tǒng)。介紹了多種雙電機(jī)同步控制策略,實(shí)驗(yàn)對(duì)比各自的跟蹤、同步性能。還對(duì)單、雙電機(jī)驅(qū)動(dòng)控制進(jìn)行了相關(guān)實(shí)驗(yàn)對(duì)比分析,闡明了雙電機(jī)驅(qū)動(dòng)控制的優(yōu)勢(shì)。
[Abstract]:The pitching shafting of horizontal telescopes is usually driven by single motor. With the increasing of telescope caliber, the single motor drive can not meet the requirements of the system because of its limitation, so it is considered to use double motor to drive shafting.In this paper, the real-time industrial Ethernet EtherCAT technology is used to set up the corresponding dual motor drive control system. The excellent performance of high real-time and high synchronization precision is used to ensure the accurate synchronization between the two motors.The function of EtherCAT master station is developed by using KingStar Motion software of IntervalZero company, the slave station of AxN servo driver of Phase company is used as slave station, the experimental platform is set up and the performance of double motor control is tested.In this paper, the limitations of single motor drive control for pitch shafts in large aperture telescopes are introduced, and the synchronous control of double motors is introduced.In order to ensure the real-time and synchronization of multi-motor control system, industrial Ethernet technology has been put forward.Among them, EtherCAT, which was proposed by Beckhoff Company in Germany, has been widely used and developed rapidly because of its superior performance.By comparing and analyzing several real-time industrial ethernet, it is shown that EtherCAT can be applied to multi-motor synchronous control system.Secondly, the EtherCAT technology, including its communication principle and system composition, physical transmission medium, frame structure definition, message addressing mode, communication service command of master station operation slave station, distributed clock synchronization mechanism, communication mode, etc.Then, a motor drive control system based on EtherCAT real-time communication is designed.This paper focuses on how to use KingStar Motion software to realize the function of EtherCAT master station based on PC, and briefly introduces how to configure AxN as EtherCAT slave station.The communication software design of EtherCAT master-slave station is described in detail.The feasibility of the system is verified by simple tracking test.Finally, on the basis of single motor drive, a dual motor drive control system based on EtherCAT is built.Several synchronous control strategies of dual motors are introduced, and their tracking and synchronization performance are compared experimentally.A comparative analysis of single and double motor drive control is made, and the advantages of double motor drive control are illustrated.
【學(xué)位授予單位】：中國(guó)科學(xué)院大學(xué)(中國(guó)科學(xué)院光電技術(shù)研究所)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP273;TH751

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