Research Of The High-performance Servo Control System Based On EtherCAT Network

The servo motion control systems have developmented from DC to AC, andfrom analog control to digital control. Ethernet-based servo motion control systemwith its high reliability, speed and stability has been the trends of servo controlsystem. EtherCAT(Ethernet for control automation technology) is a real-time Ethernettechnology based on a new type of industrial fieldbus communication protocol, and itsperformance is superior, easy to operate and support a variety of physical topology.Based on the study of EtherCAT, this paper designed a high-performance servocontrol system with the structure of one master and more slaves. The main researchwork is carried out as the following:Firstly, this paper gave an overview of the EtherCAT technology developmentstatus at home and abroad, the technical characteristics and applications of theEtherCAT. Then discussed the high-performance servo control system in details,described the structure of the servo motion control system components, the basicrequirements and digital control system structure based on the DSP chip, rearched thehigh-performance servo motor system based on the mainstream of network.Systematic information of the EtherCAT has been introduced, such as theworking principle, the system structure, communication protocols, data framestructure, packet addressing, distributed clock, EtherCAT interface initialization andapplication layer protocol, etc. And analyzed the data link layer protocol which canachieved the basic functions of EtherCAT Slave Controller, highlighting the goodfortune of the ET1100slave controller.According to the requirements of high performance servo control system, thisthesis designed one master and more slaves high-performance servo control systembased on the EtherCAT. Master station used the standard Ethernet communicationscard, and the master functions configured by the system configurationsoftware—TwinCAT. The slave station can use a dedicated control chip. We designedthe slave equipment based on the ET1100slave controller and the DSP chipTMS320F2812in this system.The last chapter deeply studied the structure, communication protocol andcommunication mode of the high-performance servo control system based onEtherCAT, then designed the software implementation of the master and slave station. Finally, this article summarizes the innovation and the shortage, and prospects theapplication of EtherCAT, and points out the further research work.