Research On The Networked Motion Control Systems Based On Precision Time Protocol

Motion control requires high real-time performance and fast dynamic response (millisecond or microsecond level), but uncertain of network and clock synchronization problem impose difficulty on the networked motion control system. This requires applying the network and communication technology to motion controls and using the control theory and strategy to resolve the control issues in the networks.The precondition of the high performance of networked motion control is that communication system ensures real-time and synchronization of data transmission. In former study, special network and interface module are mainly adopted to ensure distribution and synchronization of clock of control system and transmission of control data.This paper expounded system structure of networked motion control system, system Mathematical Modeling, mechanism of clock synchronization and control strategy of network delay based on the study of network synchronization mechanism. The development trend of network technique and Motion Control technique is analyzed, as well as the system structure of the networked motion control system based on Precision Time Protocol (PTP). Real-time ability is further analyzed to solve problems of networked motion control system. What is more, math modeling of networked motion system based on clock synchronization is established and the mechanism and control measure of network clock protocol is analyzed. PTP is studied and the infection and characters of different clock synchronization control measure is analyzed.Implement of clock synchronization in Java is lucubrated, network transmission delay is analyzed, and compensation control measure of network delay is studied. Evaluated simulation platform of the networked motion control system is established. The compensation control measure of network transmission delay using Sliding Window and timestamp is presented. It realized control of synchronization of networked clock and transmission delay using analysis of datagram timestamp through the Sliding Window of the controller and actuator. Finally, the experiment platform of the networked motion control system based on embedded system is built. The embedded networked motion intelligent control unit based on ARM is realized and used in network robot.