Design And Implementation Of Industrial Control Communication Unit Based On ZynQ Embedded Platform

With the continuous development of computer,communication and industrial control,the traditional fieldbus communication unit has been gradually eliminated.EtherCAT protocol stack has been widely supported by many manufacturers because of its flexible topology,high reliability and good openness.Supported by the national key research and development plan "research and application of key technologies for real-time fault diagnosis of intelligent production line based on industrial Internet of things",this paper makes an in-depth study on the application of EtherCAT in intelligent production line.Aiming at the application of the EtherCAT protocol stack on the Zynq embedded platform,the EtherCAT industrial control communication unit solution was implemented.The EtherCAT master unit was successfully built on the Zynq-7000 platform to enable the embedded device to send and receive EtherCAT data frames.Compared with the PC platform,the embedded platform has the characteristics of low power consumption,small size and cheap price,etc.,which reduces the industrial cost.The paper uses Vivado to configure FPGA hardware information for Xilinx Zynq-7000 platform,exports the platform hardware description file,and completes the construction of the hardware platform.Use PetaLinux to configure the external source tree,tailor the Linux system based on QEMU simulation design,and complete the transplantation to the embedded physical device after debugging.Use RT real-time patch to make real-time operating system,make Linux a preemptible kernel,test the real-time performance of operating system to meet the requirements of EtherCAT environment.Explain the EtherCAT protocol model and state machine conversion,and analyze the basic principles of EtherCAT such as topology,data frame format and distributed clock algorithm.With the help of the IgH-EtherCAT open source framework,the PetaLinux embedded system realizes the function of sending and receiving EtherCAT data frames,and completes the deployment of the system on the Zynq-7000 series target board.Use the IgH open source framework to design the application layer program to achieve periodic tasks and verify that the communication unit has good periodic jitter,which can meet the real-time requirements of most embedded platform industrial control communication units.