Research And Development Of Motion Controller Based On EtherCAT

This thesis conducted in-depth research on networked motion control technology.By devising the overall scheme,designing software and hardware,researching on high-speed and stable motion control technology,a principle prototype of multi-axis motion controller on the embedded system was completed.The main research work and results of this thesis are as follows:(1)The overall development plan of the motion controller based on the Ether CAT bus and the software and hardware architecture were analyzed and designed,and a research plan was formulated for key motion control technologies.(2)Transformed and transplanted a real-time Linux operating system,compiled and transplanted the open-source master station protocol stack,developed the Ether CAT communication master station,and designed and implemented the main functional modules such as Ether CAT communication,TCP communication,and motion control,etc.(3)The algorithm of high-smooth acceleration and deceleration and algorithm of continuous smooth motion control of straight-line segments were researched.A continuous jerk equation was constructed based on Chebyshev polynomials,from which a new high-stable acceleration and deceleration plan and a complete control algorithm were derived.Based on the kinetic method,a one-step corner transition algorithm was designed,and a further algorithm with forward-looking and dynamic adjustment was formed,and verified by simulation.(4)Used the controller prototype developed in this thesis to build a multi-axis control experimental platform,based on which the Ether CAT communication,single-axis acceleration and deceleration control,multi-axis linear interpolation and other software function modules were tested.The results reached the expected design goals and laid a good foundation for further research.