本文選題：EtherCAT　切入點(diǎn)：工業(yè)以太網(wǎng)　出處：《桂林電子科技大學(xué)》2017年碩士論文

【摘要】：面對(duì)不斷擴(kuò)大的生產(chǎn)規(guī)模、日益復(fù)雜的生產(chǎn)工藝。傳統(tǒng)的工業(yè)總線(xiàn)如WorldFip、CC-Link(ControlCommunication Link)、CAN(Controller Area Network)、Devicenet等已無(wú)法滿(mǎn)足現(xiàn)代化工業(yè)生產(chǎn)需求。Ether CAT(Ethernet for Control Automation Technology)作為目前最高速的工業(yè)現(xiàn)場(chǎng)總線(xiàn)網(wǎng)絡(luò)。由于其高帶寬利用率,低堆棧延遲、低交換機(jī)延遲,使用簡(jiǎn)單等優(yōu)點(diǎn),近些年被廣泛應(yīng)用在智能機(jī)器人、高速數(shù)控機(jī)床等運(yùn)動(dòng)控制中。因此深入研究EtherCAT協(xié)議,開(kāi)發(fā)、擴(kuò)展EtherCAT功能,對(duì)于實(shí)現(xiàn)工業(yè)復(fù)雜網(wǎng)絡(luò)的建立,以實(shí)現(xiàn)大數(shù)據(jù)的快速采集有及其重要的意義。但是目前EtherCAT仍處于發(fā)展初期,一些功能不太完善,需要不斷開(kāi)發(fā)新型功能以適應(yīng)不斷發(fā)展的工業(yè)生產(chǎn)。該文對(duì)EtherCAT協(xié)議的開(kāi)發(fā)主要做了以下研究工作:(1)設(shè)計(jì)主站與主站之間通信新協(xié)議為滿(mǎn)足EtherCAT主站與主站之間的通信,進(jìn)一步擴(kuò)展EtherCAT組網(wǎng)功能,在不影響原有主站與從站通信功能情況下,設(shè)計(jì)了支持主站與主站之間通信的新協(xié)議,擴(kuò)充IgH開(kāi)源驅(qū)動(dòng)功能,在AM3358處理器硬件平臺(tái)上實(shí)現(xiàn)了EtherCAT主站與主站的通信。該文分別在實(shí)時(shí)RT-Preempt Linux系統(tǒng)和原生Linux系統(tǒng)中對(duì)設(shè)計(jì)方案進(jìn)行測(cè)試,結(jié)果表明該方案運(yùn)行穩(wěn)定且可以滿(mǎn)足主從、主主之間相互通信,滿(mǎn)足了工業(yè)組網(wǎng)需求。(2)提出解決EtherCAT主站協(xié)議棧熱插拔問(wèn)題的方法針對(duì)EtherCAT主站協(xié)議棧無(wú)法在線(xiàn)更換損壞從站、無(wú)法在線(xiàn)增加從站模塊的問(wèn)題,提出了一種解決EtherCAT主站協(xié)議棧熱插拔問(wèn)題的方法。實(shí)驗(yàn)設(shè)計(jì)基于Xenomai硬實(shí)時(shí)操作系統(tǒng),通過(guò)在內(nèi)核層擴(kuò)充原生IgH開(kāi)源驅(qū)動(dòng)、在應(yīng)用層設(shè)計(jì)EtherCAT數(shù)據(jù)處理構(gòu)架,實(shí)現(xiàn)了EtherCAT熱插拔功能。實(shí)驗(yàn)結(jié)果表明,該方法打破了之前EtherCAT主站協(xié)議棧只能依靠冗余來(lái)保證系統(tǒng)穩(wěn)定的設(shè)計(jì)方案,由于整個(gè)設(shè)計(jì)方案基于軟件實(shí)現(xiàn)無(wú)需額外硬件支持,因此這方案可為企業(yè)生產(chǎn)降低生產(chǎn)成本,同時(shí)也為企業(yè)生產(chǎn)規(guī)模的擴(kuò)展提供了更多的選擇。
[Abstract]:In the face of continuous expansion of production scale, increasingly complex production process.The traditional industrial bus, such as World Fip-CC-LinkCon Control Communication Area Controller Area Network device and so on, can not meet the needs of modern industrial production. Other CAT(Ethernet for Control Automation technology is the most high-speed industrial fieldbus network at present.Due to its advantages of high bandwidth utilization, low stack delay, low switch delay and simple use, it has been widely used in motion control of intelligent robots and high-speed CNC machine tools in recent years.Therefore, it is of great significance to study the EtherCAT protocol, develop and extend the functions of EtherCAT in order to realize the establishment of complex industrial network and to realize big data's rapid collection.However, EtherCAT is still in the early stage of development, and some functions are not perfect, so it is necessary to develop new functions to adapt to the continuous development of industrial production.In this paper, the development of EtherCAT protocol is studied as follows: 1) Design a new protocol of communication between master station and master station to satisfy the communication between master station and master station of EtherCAT, and further extend the function of EtherCAT network.Without affecting the communication function between master and slave station, a new protocol is designed to support the communication between master station and master station, and the open source drive function of IgH is extended. The communication between master station and master station is realized on the hardware platform of AM3358 processor.This paper tests the design scheme in real time RT-Preempt Linux system and native Linux system respectively. The results show that the scheme runs stably and can satisfy master and slave, and the master and master communicate with each other.To solve the hot plug problem of EtherCAT master station protocol stack, aiming at the problem that EtherCAT master station protocol stack can not replace damaged slave station on line and add slave station module on line.This paper presents a method to solve the hot-plug problem of EtherCAT master station protocol stack.The experimental design is based on the Xenomai hard real-time operating system. By extending the native IgH open source driver in the kernel layer and designing the EtherCAT data processing framework in the application layer, the hot-plug function of EtherCAT is realized.Experimental results show that this method breaks the previous EtherCAT master station protocol stack can only rely on redundancy to ensure the stability of the system design, because the entire design based on software implementation without additional hardware support,Therefore, this scheme can reduce the production cost and provide more choices for the expansion of the production scale.
【學(xué)位授予單位】：桂林電子科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP273

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本文編號(hào)：1717703