基于EtherCAT的多轴运动控制系统设计

摘要

针对多轴控制系统中的同步性问题,设计了一款基于EtherCAT的多轴运动控制系统,并提出了对主站和从站均采用实时操作系统的解决方案.对于EtherCAT主站,在嵌入式平台上,构建了基于Xenomai-Linux和Etherlab的主站方案,人机界面使用Qt来编写,EtherCAT从站采用的是uC/OS-III实时操作系统,通过抢占式内核保证了从站之间的数据实时性.通过主从站的双实时设计方案,保证了系统中多轴之间的同步性.实验结果表明,基于双实时操作系统的EtherCAT运动控制系统,连接便利,同步时间在微秒级别,具有很好的实时性.%For the shortages of current multi-axis motion control system in synchronization and the control a-bility, a multi-axis motion control system based on EtherCAT is designed. The master station and slave sta-tion are constructed using real-time operating system. A solution of building embedded EtherCAT master is presented, which uses IgH EtherCAT Master open source components for RT-Linux, and Qt for GUI. The slave of this system is based on uC/OS-III operating system, which uses preemptive kernel to guarantee the real-time data among slaves. Thus, this system can ensure the synchronization among multi-axis. The results shows that, the multi-axis motion control system based on EtherCAT has a facilitate connection and the syn-chronization time is at microsecond level, which can meet the requirement of real-time and synchronization.