Time Triggered Ethernet Research And Application In Multi-Axis Synchronization Control

Since this century,Ethernet as one of the electronic network communication technology has made great progress,the Network Motion control System field is getting more and more attention,intelligent,networked,open network control system becomes the future development trend of the industry of all countries.Time triggered Ethernet is widely used in the field of industrial automation for its high bandwidth,high real-time,deterministic communication and high precision clock synchronization.At the same time,the traditional fieldbus technology suitable for multi-axis synchronous control system can not meet the development demand of modern industrial control field.Therefore,in the design field of Multi-Axis Network motion control system,it is very necessary to introduce the TTE network,which not only can make the communication of the master-slave site become faster,but also can make the system control have more extended space,and can effectively solve the problem of axle number limitation,in addition,the system will have a higher real-time and stability.Based on the research of TTE,the key algorithm of TTE clock synchronization and the application of TTE in Multi-Axis synchronous control are studied in this paper.The main contents of the paper are as follows:1.This paper studies the present situation of the TTE network and Multi-Axis synchronization control,analyzes the shortcomings of them,and highlights the importance of introducing the TTE network into the Multi-Axis synchronous control system.In this paper,the architecture and data transmission of TTE network system are studied in detail,and the distribution and scheduling principle of TTE network transmission data type and different frame are introduced in details.2.The key algorithm of TTE clock synchronization is studied,the clock synchronization flow is planned,and the key parameters and related algorithms of TTE clock synchronization are analyzed.On this basis,the TTE protocol is modeled,and the simulation results show that the clock synchronization mechanism of TTE can ensure that the clock deviation between devices is within the set clock precision range of 5us.3.On the basis of deep research on real-time Ethernet and multi-axis control system,a master-slave multi-axis network motion control system with TTE network function is constructed with DSP FPGA as the application layer.At the same time,based on the realization of high precision clock synchronization,an application layer based on Altera is proposed to realize the network motion control system with the function of Altera slave station.In addition,the lumped frame model,TTE network model and servo interface module based on TTE network clock synchronization control system are designed.Finally,the experimental simulation platform is built on the basis of software and hardware,and the experiment achieves the desired results,which lays a good foundation for further research and development.