The Study On Network Motion Control Technology Based On DSP

As the servo motion control system is widely used, the requirements of neatly control it is increasing. In many cases, the execution unit in field experimental are distance between the control room, it takes long transmission lines, so we need to consider how to avoid delay and interference problems caused by long transmission. As the network has a high degree of reliability, rapidity and stability, it can be considered to introduced in servo motion control system. EtherCAT technology which is proposed by Beckhoff is a real-time Ethernet communication protocol with a flexible network topology, simple system configuration and low-cost, it sets a new performance standard for fieldbus. It stands for "Ethernet Control Automation Technology" and opens source codes, so it is very suitable for motion control field to improve the system's real-time performance and the anti-jamming capability.Motor frequent commutation generates amplitude response error in servo motion control system. The amplitude response error seriously affects the system control precision. In order to improve the control precision, we need to form a digital closed-loop in the external and to tuning the PID parameter.The traditional PID parameter adjustment which is resorted by the experience of technical staff is difficult to up to the actual control requirements, so using the fuzzy PID control methods in real time adjustment is a great practical significance. In the control process, we need to adopt advanced control theory and complex control algorithms to control it and common MCU can not more and more complete the control task, as DSP using multibus Harvard structure, pipeline mode, special hardware multiplier and DSP instructions and so on, it has strong data processing ability and high-speed data processing speed, it is able to complete the complex control algorithms in real time, so the development of DSP technology provides strong support.Based on the above, this paper is based on the wave-maker which is used in the sea field, applying EtherCAT network technology, using its interface controller ET1100 and application controller DSP to develop its slave devices. The eQEP module of the new DSP chip TMS320F28335 and the encoder are used to motor real-time position detecting and the fuzzy PID technology is introduced to revise the motor running error. Therefore, the system dynamic performance is greatly improved.This paper introduces the composition of the system and control theory, analysis the principle of the EtherCAT network, technical characteristics and key technologies of master and slave, introduces the TI company's new TMS320F28335 DSP chip for industrial control and related model, gives the fuzzy PID control algorithm.The experiment results show that the servo tracking accuracy is greatly increased.