Research On Real-time And Synchronous Ethernet For Motion Control

Motion control system combined with network technology is the trend of developing motion control system. In order to realize high-speed, high-precision and smooth movement, motion control network is developing toward faster speed, smaller jitter, longer transmission and more reliability. As the result of Ethernet's notable privileges such as high-speed, low-cost and mature technology, it has a bright prospect in motion control system. In the thesis, motion control network based on Ethernet is systematically researched. A real-time and synchronous Ethernet for motion control is proposed on the basis of the standard Ethernet technology.First of all, requirements of motion control network and disadvantages of Standard Ethernet used in motion control system are discussed, solutions to real-time and synchronous of Industrial Ethernet are analyzed and defects of them are pointed out, a real-time and synchronous motion control network scheme based on Ethernet is presented.According to ISO/OSI model,communication model for real-time and synchronous Ethernet is established and network topology is given. After considering the real-time communication associated with synchronization, the implementation methods of real-time communication and net nodes synchronization are studied. On reference of the Ethernet's frame formats and standard of serial data real- time communication between controls and drives of Industrial Mechanical and Electrical Equipment, the message structure is defined, the network timing is designed, the mechanism of transmitting non-periodic data is researched.With the design of motion control card based on real-time and synchronous Ethernet, the development methods of intelligent net nodes is discussed, circuits of communication and motor motion control are designed in details.At last, basically accomplish experimental platform's software development which includes communication program of upper computer and software in DSP of motor motion control card. According to tests and analysis, the performance of network is able to meet given requirements.The feasibility of real-time and synchronous Ethernet is verified.