学术论文

      基于EtherCAT技术的多轴运动控制系统

      Ether CAT Based Multi-axis Motion Control System

      摘要:
      以EtherCAT通信技术为基础,设计了一种基于ARM和FPGA双核的EtherCAT总线式多轴运动控制系统.提出了STM32作为系统管理芯片,通过SPI通信控制ET1200从站控制芯片实现Eth-erCAT总线从站通信功能的解决方案;并采用FPGA作为协处理器,完成运动控制算法的实现和执行.完成了运动控制系统的硬件电路设计和软件开发,并制作了样机.经试验测试,实现了EtherCAT总线通信功能,采用TwinCAT完成了闭环运动控制,并且可以独立工作实现运动规划,满足工业控制工程中的应用要求.
      Abstract:
      An EtherCAT bus based multi axis motion control system was designed based on ARM and FPGA , after systemat-ically study on EtherCAT technology .The solution of main control chip STM 32 controlling ET1200 through SPI was presented .A motion control algorithm based on FPGA was developed .The specific hardware circuit and software of control system was de-signed, and a prototype was produced .The experiment demonstrates that the communication function of EtherCAT bus was real -ized, and the closed-loop motion control was completed by TwinCAT .Motion control system can work independently to achieve motion planning , meetting the application of industrial control in engineering .
      作者: 张从鹏 赵康康
      Author: ZHANG Cong-peng ZHAO Kang-kang
      作者单位: 北方工业大学机械与材料工程学院,北京,100144
      刊 名: 仪表技术与传感器 ISTICPKU
      年,卷(期): 2017, (1)
      分类号: TP23
      在线出版日期: 2017年3月31日