Research On Multi-axis Motion Control System Based On Main And Auxiliary Control Linear Real-time Ethernet

Multi axis motion control technology is one of hot technologies of modern control system.It influences the machining accuracy and efficiency of the field equipment directly.In recent years,with the wide application of Ethernet technology in multi axis motion control system,the research of real-time Ethernet's multi axis performance and clock synchronization has become the main direction of Real-time Ethernet technology.Based on linear Ethernet,this paper designs the linear real-time Ethernet with Primary and Auxiliary controller,which aims to provide a better real-time performance and synchronization for multi axis network motion control system.The main research content is as follows:Firstly,through a comprehensive comparison of network delay time,laying difficulty,economic cost,applicability and some other key factors in popular Ethernet topology now.This paper finally chose the linear cascade Ethernet network topology as basal topology.And put forward the control model based on the linear real-time Ethernet with Primary and Auxiliary controller.Secondly,this paper analyzes the sources of the network delay time in the Ethernet link layer.And for the boundedness of the real-time Ethernet node,this paper establishes a time delay jitter model.Research the driving and coordination mode of each node and the allocation strategy of subordinate nodes of the main and auxiliary control nodes in the linear real-time Ethernet with Primary and Auxiliary controller.Meanwhile,in view of the particularity of two-way transmission between the main and auxiliary real-time Ethernet,t redesign the Ethernet frame structure which is suitable for the main and secondary control network based on IEEE 802.3.Thirdly,in this paper,the control network startup process based on the linear real-time Ethernet with Primary and Auxiliary controller is divided into 5 processes: initialization,distribution clock,main slave control slave node assignment,periodic communication and system stop,then analyze the detail in each process.In order to ensure clock synchronization between master and slave nodes,a master slave node clock model is designed based on IEEE 1588 precise clock protocol.Based on this model,a master slave node clock synchronization algorithm is proposed.Finally,this paper conducts a simulation analysis of control network delay and clock synchronization performance of master and slave nodes based on Matlab/Simulink and True Time toolbox,the result of the simulation shows that the clock synchronization performance of the system has been improved more than the single line network control system based on Ether CAT and meets the requirements of multi axis coordination,high speed and high precision proposed by modern control system.At the same time,in order to adapt to the rapid development of the mobile Internet,a mobile phone control terminal App is developed to match the master and side control real-time Ethernet based on the Android system.The App has remote control and real-time monitoring and other functions.Meanwhile,in order to secure the security of the data,two encryption methods of Https communication encryption and Sm4 local data encryption are adopted to secure the network data.