基于DSP的EtherCAT分布式伺服运动控制系统设计

摘要

充分利用 EtherCAT拓扑结构灵活，配置简单，数据传输高速高效，实时性、同步性好等优点，以及TMS320F28335 DSP芯片丰富的外设功能，设计具有EtherCAT网络接口功能的从站设备，构建EtherCAT分布式伺服运动控制系统，并提供了系统硬件及软件的设计方案，可实现位置控制、速度控制、转矩控制3种伺服系统控制模式和实时数据传输。%Taking full advantages of the EtherCAT,such as flexible topology,simple configuration,high-speed and high-efficient data transmission,good real-time and synchronism as well as TMS320F28335’s rich peripheral functions,a slave device with Ether-CAT network port was designed,and a distributed servo motion control system was constructed based on EtherCAT. The hardware and software design of the system were given. Three servo system control models were realized,that were position control,speed control, torque control as well as real-time data transmission.