Research And Design Of EtherCAT Master Controller Based On X86 Platform

In the 1990 s,industrial control technology developed rapidly.In the field of industrial control,the field bus was used to solve the problem of industrial field data transmission.However,with the increasing demand for industrial control,the shortcomings of the traditional fieldbuses have gradually emerged.Therefore,domestic and foreign companies have turned their research directions to industrial Ethernet with the advantages of strong openness and simple structure,including real-time industrial Ethernet represented by Ether CAT.Due to its flexible topology and good real-time performance,it has gained wide recognition and attention.So this text has carried on research design based on X86 platform Ether CAT master station controller,the main research content is as follows:This article first summarizes the research status of industrial Ethernet at home and abroad,and compares and analyzes the six mainstream real-time industrial Ethernet networks in detail.It also discusses the development history of EtherCAT technology and the research status at home and abroad.In-depth discussion of the EtherCAT protocol structure and operating principles and other aspects,according to the Ether CAT master station control requirements and the advantages of the X86 architecture,to determi ne the Ether CAT hardware platform program.In the design of the main station software system structure,two main open source master software frameworks were compared in detail,and the IgH Ether CAT Master open source protocol framework was selected and migrated.Finally,in order to ensure the real-time performance of the master station,a real-time Linux operating system was built based on the Xenomai dual-core mechanism.Secondly,a detailed research and discussion was made on the key technologies of real-time and synchronization of Ether CAT master.In the real-time aspect of the Ether CAT master,the kernel layer of the master uses the dual-kernel mechanism of Linux and Xenomai.The Xenomai micro-kernel is responsible for the real-time tasks of the system.The Linux kernel is responsible for the non-real-time tasks of the system.In terms of synchronization of Ether CAT masters,the differences between the master-slave synchronization methods are elaborated,and theoretically real-time offset compensation and drift compensation are studied and optimized in detail to improve the synchronization of Ether CAT masters.The use of Linux's libxml2 open source library for communication program design has enabled the parsing of slave XML files.Based on the servo and motion control Ci A402 profile,the communication protocol between the Ether CAT master and the servomotor was designed.Finally,using the Ether CAT master station and Sanyo R-Advanced series of servos,a system test platform was built to test the synchroniz ation and real-time performance of the Ether CAT master station.Theoretical analysis and experimental test results show that the Ether CAT master station based on the X86 platform developed in this paper has good real-time and synchronization,which verifies the feasibility of the program.