摘要
提出一种在异构多核处理器AM3359平台上搭建用于多轴伺服电机驱动运动控制系统的高集成度EtherCAT从站的方案,并实现伺服运动控制行规CiA402,最多高达8轴实时控制。首先描述整体结构,之后介绍硬件及软件设计,重点描述多轴系统搭建过程及原理。最后对从站实时性、多轴同步性,及安全性进行实验测试与分析,实验结果表明,基于AM3359的多轴EtherCAT从站能够满足高速度、高精度、高可靠性的控制要求。
A scheme of building a highly integrated EtherCAT slave for multi-axis servo motor drive motion control system on the heterogeneous multi-core processor AM3359 platform has been proposed,and the servo motion control profile CiA402 has been realized up to 8-axis real-time control.The overall structure has been described firstly and then the hardware and software design have been introduced,focusing on describing the process and principles of multi-axis system construction.Finally,the real-time performance,multi-axis synchronization and safety of the slave station have been tested and analyzed.The experimental results show that the multi-axis EtherCAT slave station based on AM3359 can meet the control requirements of high speed,high accuracy and high reliability.
作者
齐勇胜
刘曰涛
杨梦超
曹彬
仲伟正
QI Yongsheng;LIU Yuetao;YANG Mengchao;CAO Bin;ZHONG Weizheng(School of Mechanical Engineering,Shandong University of Technology,Zibo 255049,Shandong China)
出处
《锻压装备与制造技术》
2020年第3期104-107,共4页
China Metalforming Equipment & Manufacturing Technology
