CN104539412A - Ethercat master-slave synchronization method and device and master-slave station system - Google Patents
Ethercat master-slave synchronization method and device and master-slave station system Download PDFInfo
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Abstract
The embodiment of the invention provides an Ethercat master-slave synchronization method and device and a master-slave station system. The method comprises the steps that synchronization configuration stages between Ethercat slave stations are configured in an Ethercat master station, and a fixed configuration period serves as the configuration period of the configuration stages; synchronization configuration stages of the Ethercat master station and the Ethercat slave stations are configured in the Ethercat master station, and synchronization of the Ethercat master station configuration period and the Ethercat slave station synchronization signal period is dynamically determined in the configuration stages. The effect of the configured Ethercat master station is better.
Description
Technical field
The present invention relates to technical field of automatic control, more particularly, relate to a kind of Ethercat master-slave synchronisation method and device and master-salve station system.
Background technology
Ethercat (Ethernet for Control Automation Technology, Ethernet auto-control technology) be open real-time ethernet network communications protocol, it is a field bus system based on Ethernet, it is primarily of Ethercat main website, and multiple Ethercat slave station and Ethercat bus are formed.Ethercat bus has at a high speed and the efficient feature of high data, supports that plurality of devices connects topological structure; Therefore Ethercat technology is applied in kinetic control system etc. in the higher control system of the requirement of real-time of data processing, the response speed and control precision that make control system are increased dramatically.
Ethercat main website is the equipment in Ethercat master-salve station system; When building Ethercat main website, need be configured Ethercat main website, generating Ethercat master station module; The configuration mode of current Ethercat main website mainly carries out the configuration in each stage with fixing time delay, it is synchronous that this mode is not considered between Ethercat main website with Ethercat slave station, therefore the allocative effect of Ethercat main website is poor, and the Ethercat main website configured cannot well be applicable in the higher kinetic control system of requirement of real-time.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of Ethercat master-slave synchronisation method and device and master-salve station system, with the problem that the allocative effect solving the Ethercat main website existing for existing Ethercat main website configuration mode is poor.
For achieving the above object, the embodiment of the present invention provides following technical scheme:
A kind of Ethercat master-slave synchronisation method, described method comprises:
Each configuration phase synchronous between Ethercat main website configuration Ethercat slave station, the configuration cycle using the fixed configurations cycle as each configuration phase;
At each configuration phase that configuration Ethercat main website of Ethercat main website is synchronous with Ethercat slave station, in each configuration phase, dynamically determine that Ethercat main website configuration cycle is synchronous with Ethercat slave station synchronous signal cycle.
Wherein, described method also comprises:
Create timer;
Described each configuration phase synchronous between Ethercat main website configuration Ethercat slave station, the configuration cycle using the fixed configurations cycle as each configuration phase comprises:
Each configuration phase synchronous between Ethercat main website configuration Ethercat slave station, the configuration cycle using the timed interrupt cycle of described timer as each configuration phase, the timed interrupt cycle of described timer is fixed value;
Described at configuration Ethercat main website of the Ethercat main website each configuration phase synchronous with Ethercat slave station, in each configuration phase, dynamically determine that Ethercat main website configuration cycle and Ethercat slave station synchronous signal cycle synchronously comprise:
At each configuration phase that configuration Ethercat main website of Ethercat main website is synchronous with Ethercat slave station, described Ethercat main website configuration cycle is the timed interrupt cycle of described timer, and the timed interrupt cycle of described timer is dynamically synchronous with Ethercat slave station synchronous signal cycle.
Wherein, described each configuration phase synchronous between Ethercat main website configuration Ethercat slave station, comprises using the fixed configurations cycle as the configuration phase in the configuration cycle of each configuration phase:
Ethercat main website scanning Ethercat slave station, obtains the topology information of Ethercat main website;
Ethercat main website carries out parameter configuration to Ethercat slave station;
Ethercat main website calculates the clock initial offset between Ethercat slave station, and the transfer of data delay time between each Ethercat slave station;
Ethercat main website carries out static shift compensation to the initial clock between Ethercat slave station;
Ethercat main website carries out " initialization " configuration to Ethercat slave station;
The mailbox of configuration Ethercat slave station, and " prerun " configuration is carried out to Ethercat slave station.
Wherein, describedly in each configuration phase, dynamically determine that Ethercat main website configuration cycle and Ethercat slave station synchronous signal cycle synchronously comprise:
At each configuration phase that configuration Ethercat main website of Ethercat main website is synchronous with Ethercat slave station, determine the system time of the Ethercat slave station that current configuration phase is corresponding, and the synchronizing cycle of the Ethercat slave station of Ethercat main website setting;
Using the synchronizing cycle of described system time and described Ethercat slave station as the input parameter of PI algorithm, calculate the deviant of described system time and described synchronizing cycle;
Is added the master-slave synchronisation cycle of described deviant as Ethercat main website corresponding to current configuration phase and Ethercat slave station the synchronizing cycle of described Ethercat slave station.
Wherein, described at configuration Ethercat main website of the Ethercat main website each configuration phase synchronous with Ethercat slave station, in each configuration phase, dynamically determine that the Ethercat main website configuration cycle configuration phase synchronous with Ethercat slave station synchronous signal cycle comprises:
In Ethercat main website, synchronization parameter configuration is carried out to Ethercat slave station, activate, and the configuration phase of clock dynamic offset compensation, Ethercat main website with the determined current master-slave synchronisation cycle for the cycle, synchronization parameter configuration is carried out to Ethercat slave station, activate, and clock dynamic offset compensation;
At the configuration phase of Ethercat main website configuration Ethercat slave station safe operation, Ethercat main website with the determined current master-slave synchronisation cycle for the cycle, configuration Ethercat slave station " safe operation ", and clock dynamic offset compensation is carried out to Ethercat slave station;
At the configuration phase of Ethercat main website configuration Ethercat slave station " RUN ", Ethercat main website is with the determined master-slave synchronisation cycle for the cycle, and configuration Ethercat slave station runs, and carries out clock dynamic offset compensation to Ethercat slave station;
Each configuration phase of exchanges data is carried out at Ethercat main website configuration Ethercat slave station, Ethercat main website with master-slave synchronisation cycle corresponding to determined each configuration phase for the cycle, configuration Ethercat slave station carries out exchanges data, and carries out clock dynamic offset compensation to Ethercat slave station.
The embodiment of the present invention also provides a kind of Ethercat master-slave synchronisation device, and described device comprises:
Fixed cycle configuration module, for each configuration phase synchronous between Ethercat main website configuration Ethercat slave station, the configuration cycle using the fixed configurations cycle as each configuration phase;
Cycle dynamics configuration module, for configuring the Ethercat main website each configuration phase synchronous with Ethercat slave station in Ethercat main website, dynamically determines that in each configuration phase Ethercat main website configuration cycle is synchronous with Ethercat slave station synchronous signal cycle.
Wherein, described device also comprises:
Creation module, for creating timer;
Described fixed cycle configuration module comprises:
First configuration cycle determining unit, for each configuration phase synchronous between Ethercat main website configuration Ethercat slave station, configuration cycle using the timed interrupt cycle of described timer as each configuration phase, the timed interrupt cycle of described timer is fixed value;
Described cycle dynamics configuration module comprises:
Second configuration cycle determining unit, for configuring the Ethercat main website each configuration phase synchronous with Ethercat slave station in Ethercat main website, described Ethercat main website configuration cycle is the timed interrupt cycle of described timer, and the timed interrupt cycle of described timer is dynamically synchronous with Ethercat slave station synchronous signal cycle.
Wherein, described cycle dynamics configuration module comprises:
Setting determining unit synchronizing cycle, for configuring the Ethercat main website each configuration phase synchronous with Ethercat slave station in Ethercat main website, determine the system time of the Ethercat slave station that current configuration phase is corresponding, and the synchronizing cycle of the Ethercat slave station of Ethercat main website setting;
Computing unit, for using the synchronizing cycle of described system time and described Ethercat slave station as the input parameter of PI algorithm, calculate the deviant of described system time and described synchronizing cycle;
Master-slave synchronisation cycle determining unit, for adding the master-slave synchronisation cycle of described deviant as Ethercat main website corresponding to current configuration phase and Ethercat slave station using the synchronizing cycle of described Ethercat slave station.
The embodiment of the present invention also provides a kind of master-salve station system, comprising: multiple Ethercat slave station, and Ethercat main website; Described Ethercat main website comprises Ethercat master-slave synchronisation device described above.
Wherein, described master-salve station system also comprises: function expanding module; There is data interaction in described function expanding module and described Ethercat main website.
Based on technique scheme, the Ethercat master-slave synchronisation method that the embodiment of the present invention provides, each configuration phase that can be synchronous between Ethercat main website configuration Ethercat slave station, the configuration cycle using the fixed configurations cycle as each configuration phase; At each configuration phase that configuration Ethercat main website of Ethercat main website is synchronous with Ethercat slave station, in each configuration phase, dynamically can determine that Ethercat main website configuration cycle is synchronous with Ethercat slave station synchronous signal cycle, thus realize the configuration of Ethercat main website, complete the realization of Ethercat master station module.Because the embodiment of the present invention configures the Ethercat main website each configuration phase synchronous with Ethercat slave station in Ethercat main website, Ethercat main website configuration cycle is all synchronous with Ethercat slave station synchronous signal cycle, carry out the configuration of each configuration phase thus, therefore the synchronism between configured Ethercat main website and Ethercat slave station is better, and the allocative effect of Ethercat main website also will be better.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments of the invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to the accompanying drawing provided.
The flow chart of the Ethercat master-slave synchronisation method that Fig. 1 provides for the embodiment of the present invention;
The Ethercat master station module that Fig. 2 provides for the embodiment of the present invention arranges schematic diagram;
Another flow chart of the Ethercat master-slave synchronisation method that Fig. 3 provides for the embodiment of the present invention;
The configuration phase schematic diagram that Fig. 4 provides for the embodiment of the present invention;
Another schematic diagram of the configuration phase that Fig. 5 provides for the embodiment of the present invention;
The schematic diagram of the desirable cycle synchronisation that Fig. 6 provides for the embodiment of the present invention;
Fig. 7 shows the method flow diagram in the determination master-slave synchronisation cycle that the embodiment of the present invention provides;
The synchronous schematic diagram in the master-slave synchronisation cycle that Fig. 8 provides for the embodiment of the present invention;
A flow chart again of the Ethercat master-slave synchronisation method that Fig. 9 provides for the embodiment of the present invention;
The structured flowchart of the Ethercat master-slave synchronisation device that Figure 10 provides for the embodiment of the present invention;
Another structured flowchart of the Ethercat master-slave synchronisation device that Figure 11 provides for the embodiment of the present invention;
The structured flowchart of the fixed cycle configuration module that Figure 12 provides for the embodiment of the present invention;
The structured flowchart of the cycle dynamics configuration module that Figure 13 provides for the embodiment of the present invention;
Another structured flowchart of the cycle dynamics configuration module that Figure 14 provides for the embodiment of the present invention;
The structured flowchart of the master-salve station system that Figure 15 provides for the embodiment of the present invention;
The connection diagram of the Ethercat slave station that Figure 16 provides for the embodiment of the present invention and Ethercat main website.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
The flow chart of the Ethercat master-slave synchronisation method that Fig. 1 provides for the embodiment of the present invention, the method can be applicable to Ethercat main website, realizes the configuration of Ethercat main website; With reference to Fig. 1, the method can comprise:
Step S100, each configuration phase synchronous between Ethercat main website configuration Ethercat slave station, the configuration cycle using the fixed configurations cycle as each configuration phase;
Each configuration phase synchronous between Ethercat main website configuration Ethercat slave station, can think Ethercat main website Ethercat slave station is synchronously activated before each configuration phase, hereafter will be described specifically again.
Step S110, at configuration Ethercat main website of the Ethercat main website each configuration phase synchronous with Ethercat slave station, in each configuration phase, dynamically determine that Ethercat main website configuration cycle is synchronous with Ethercat slave station synchronous signal cycle.
Configuration Ethercat main website of the Ethercat main website each configuration phase synchronous with Ethercat slave station, can think Ethercat main website Ethercat slave station is synchronously activated after each configuration phase, hereafter will be described specifically again.
The Ethercat master-slave synchronisation method that the embodiment of the present invention provides, each configuration phase that can be synchronous between Ethercat main website configuration Ethercat slave station, the configuration cycle using the fixed configurations cycle as each configuration phase; At each configuration phase that configuration Ethercat main website of Ethercat main website is synchronous with Ethercat slave station, in each configuration phase, dynamically can determine that Ethercat main website configuration cycle is synchronous with Ethercat slave station synchronous signal cycle, thus realize the configuration of Ethercat main website, complete the realization of Ethercat master station module.Because the embodiment of the present invention configures the Ethercat main website each configuration phase synchronous with Ethercat slave station in Ethercat main website, Ethercat main website configuration cycle is all synchronous with Ethercat slave station synchronous signal cycle, carry out the configuration of each configuration phase thus, therefore the synchronism between configured Ethercat main website and Ethercat slave station is better, and the allocative effect of Ethercat main website also will be better.
Find after deliberation, when configuring each configuration phase synchronous between Ethercat slave station, adopting the fixed configurations cycle to carry out, basic synchronization between Ethercat slave station can be kept; When each configuration phase that configuration Ethercat main website is synchronous with Ethercat slave station, the Ethercat main website configuration cycle of each configuration phase and Ethercat slave station synchronous signal cycle dynamic synchronization, Ethercat main website and Ethercat slave station dynamic synchronization can be kept, and realize Complete Synchronization between slave station; After above-mentioned two synchronizing processes, synchronous effect between slave station is optimized, experiment finds that the simultaneous bias between slave station is less than 150ns (nanosecond), slave station synchronizing frequency can reach 20K, and the synchronous effect of Ethercat main website and Ethercat slave station is better, experiment finds that the simultaneous bias of Ethercat main website and Ethercat slave station is less than 3us (microsecond).The present invention is interrupted realizing main website and master-slave synchronisation by the timer of mechanical periodicity and Ethernet, and shared cpu resource is few.
Optionally, the Ethercat master-slave synchronisation method that the embodiment of the present invention provides can based on Sysbios (real-time kernel) operating system, and the configuration namely carrying out Ethercat main website in Sysbios operating system realizes; It is main that being configured to of Ethercat main website realizes Ethercat master station module.
Optionally, namely Ethercat main website based on AM335x chip, can pass through the function structure of AM335x chip bearing Ethercat master station module; Ethercat master station module arranges schematic diagram as shown in Figure 2, Ethercat master station module is based on AM335x chip, and in Sysbios operating system except there is Ethercat master station module, function expanding module can also be had, function expanding module can be based on Sysbios operating system realize other functional modules, function expanding module can with Ethercat master station module interaction data; The embodiment of the present invention realizes Ethercat master station module by operating system, and this modularized design of function expanding module, and secondary development and the function that can be convenient to whole system are added.
Obviously, the Ethercat master-slave synchronisation method that the embodiment of the present invention provides, also can based on other operating systems such as Dspbios operating systems except based on except Sysbios operating system.
The embodiment of the present invention, by creating timer (as Sysbios timer, Dspbios timer etc.), by the configuration cycle of each configuration phase in Timer Controlling Ethercat main website layoutprocedure, realizes the configuration of Ethercat main website; Fig. 3 shows another flow process of the Ethercat master-slave synchronisation method that the embodiment of the present invention provides, and the method can based on operating systems such as Sysbios, Dspbios, and with reference to Fig. 3, the method can comprise:
Step S200, establishment timer;
Step S210, each configuration phase synchronous between Ethercat main website configuration Ethercat slave station, the configuration cycle using the timed interrupt cycle of described timer as each configuration phase, the timed interrupt cycle of described timer is fixed value;
Configuration phase schematic diagram as shown in Figure 4, between Ethercat main website configuration Ethercat slave station, synchronous each configuration phase can be each configuration phase before Ethercat main website synchronously activates Ethercat slave station, in these configuration phases, the configuration cycle all using the fixed configurations cycle as each configuration phase; These configuration phases comprise:
Ethercat main website scanning Ethercat slave station, obtains the configuration phase of the topology information of Ethercat main website;
Ethercat main website carries out the configuration phase of parameter configuration to Ethercat slave station;
Ethercat main website calculates the clock initial offset between Ethercat slave station, and the configuration phase of transfer of data time delay between each Ethercat slave station;
Specifically refer to, Ethercat main website calculate clock initial offset between other slave stations and an Ethercat slave station and, transfer of data delay time between other slave stations and an Ethercat slave station.An above-mentioned Ethercat slave station is any one slave station, preferably, can be the Ethercat slave station nearest apart from Ethercat main website.
Ethercat main website carries out the configuration phase of static shift compensation to the initial clock between Ethercat slave station;
Ethercat main website carries out to Ethercat slave station the configuration phase that " initialization " (" Init ") configure;
The configuration phase that Ethercat main website configuration Ethercat slave station mailbox and slave station " prerun " (" Pre_Op ") configure.
Each configuration phase synchronous between Ethercat main website configuration Ethercat slave station, the embodiment of the present invention, by using the fixing timed interrupt cycle of timer as the configuration cycle of each configuration phase, carries out the configuration of Ethercat main website; If each configuration phase is successfully completed corresponding configuration in this configuration phase, then enter next configuration phase, if each configuration phase is unsuccessful configuration in each self configuration phase, then in next fixing timed interrupt cycle, re-execute this configuration phase, until just enter next configuration phase after this configuration phase successfully configures.
Be that Ethercat main website carries out " prerun " to Ethercat slave station and is configured to example with Ethercat main website to the next stage that Ethercat slave station carries out the configuration phase that state " initialization " configures, if Ethercat main website carries out state to Ethercat slave station, " " configuration phase of configuration successfully configures in this configuration phase, then enter Ethercat main website and carry out to Ethercat slave station the configuration phase that " prerun " configure in initialization.
It should be noted that the configuration sequence of configuration phase shown in Fig. 4 is only optional manner, the configuration sequence concrete according to practical application also can adjust.
Step S220, at configuration Ethercat main website of the Ethercat main website each configuration phase synchronous with Ethercat slave station, described Ethercat main website configuration cycle is the timed interrupt cycle of described timer, and the timed interrupt cycle of described timer is dynamically synchronous with Ethercat slave station synchronous signal cycle.
Optionally, Ethercat main website and the master-slave synchronisation of Ethercat slave station can be the synchronous of Ethercat main website and arbitrary Ethercat slave station, be preferably the master-slave synchronisation of Ethercat main website and an Ethercat slave station, an Ethercat slave station can be the Ethercat slave station nearest apart from Ethercat main website.
At each configuration phase that configuration Ethercat main website of Ethercat main website is synchronous with Ethercat slave station, the embodiment of the present invention will in each configuration phase, dynamically determine that Ethercat main website configuration cycle is synchronous with Ethercat slave station synchronous signal cycle, in each configuration phase, using determined Ethercat slave station synchronous signal cycle as the configuration cycle of corresponding configuration phase, carry out the configuration of Ethercat main website; Each configuration phase determined Ethercat slave station synchronous signal cycle is synchronously the timed interrupt cycle of timer at corresponding configuration phase.
Fig. 5 shows another schematic diagram of configuration phase, and each configuration phase that Ethercat main website configures Ethercat main website synchronous with Ethercat slave station can be, each configuration phase after Ethercat main website synchronously activates Ethercat slave station; In these configuration phases, the Ethercat main website configuration cycle of each configuration phase and Ethercat slave station synchronous signal cycle dynamic synchronization; These configuration phases comprise:
Ethercat main website carries out synchronization parameter configuration to Ethercat slave station, activates, and the configuration phase of clock dynamic offset compensation;
Ethercat main website configuration Ethercat slave station " safe operation ", and Ethercat is carried out to the configuration phase of dynamic offset compensation from station clock;
Ethercat main website configuration Ethercat slave station " RUN ", and Ethercat is carried out to the configuration phase of dynamic offset compensation from station clock;
Ethercat main website configuration Ethercat slave station carries out exchanges data, Ethercat is carried out to the configuration phase of dynamic offset compensation from station clock.
It should be noted that, Ethercat main website configuration Ethercat slave station carries out exchanges data and Ethercat is carried out to the configuration phase of dynamic offset compensation from station clock, by Ethercat main website configuration Ethercat slave station " RUN " and Ethercat is carried out to dynamic offset compensation from station clock configuration phase after, the cycle performs.
At each configuration phase that configuration Ethercat main website of above-mentioned Ethercat main website is synchronous with Ethercat slave station, at each configuration phase, the embodiment of the present invention will all determine that Ethercat main website configuration cycle is synchronous with Ethercat slave station synchronous signal cycle, using determined Ethercat slave station synchronous signal cycle as the configuration cycle of the configuration phase of correspondence, carry out the configuration of Ethercat main website; If each configuration phase successfully configures in the configuration phase of correspondence, then enter next configuration phase, otherwise, reconfigure current configuration phase, until current configuration phase in the configuration phase of correspondence successfully configuration after, enter next configuration phase.
The Ethercat master-slave synchronisation method that the embodiment of the present invention provides, by creating timer, each configuration phase synchronous between Ethercat main website configuration Ethercat slave station, using the fixing interrupt cycle of the timer set as the configuration cycle of each configuration phase; At each configuration phase that configuration Ethercat main website of Ethercat main website is synchronous with Ethercat slave station, to dynamically determine that Ethercat main website configuration cycle is synchronous with Ethercat slave station synchronous signal cycle in each configuration phase, using determined Ethercat slave station synchronous signal cycle as timer in the timed interrupt cycle that each configuration phase is corresponding, timer is Ethercat main website configuration cycle corresponding to each configuration phase in the timed interrupt cycle that each configuration phase is corresponding; Thus realize the configuration of Ethercat main website, complete the realization of Ethercat master station module.Because the embodiment of the present invention configures the Ethercat main website each configuration phase synchronous with Ethercat slave station in Ethercat main website, it is all the Ethercat main website configuration cycles synchronous with Ethercat slave station synchronous signal cycle dynamically determined, complete the configuration of each configuration phase, therefore the synchronism between configured Ethercat main website and Ethercat slave station is better, and the allocative effect of Ethercat main website also will be better; Experiment finds that the simultaneous bias of Ethercat main website and Ethercat slave station is less than 3us.
The embodiment of the present invention configures the Ethercat main website each configuration phase synchronous with Ethercat slave station in Ethercat main website, the timed interrupt cycle of the timer of Ethercat main website, with Ethercat slave station synchronous signal cycle synchronised (i.e. master-slave synchronisation), realize the configuration of each configuration phase, therefore the embodiment of the present invention need carry out the simultaneous operation between the timer of Ethercat main website and Ethercat slave station synchronous signal cycle.
For Sysbios timer, Fig. 6 is the schematic diagram being synchronized with Ethercat slave station synchronous signal cycle with the Sysbios timer period that Sysbios timer is realized ideal, wherein, and T
syncfor Ethercat slave station synchronous signal cycle, set by Ethercat main website, T
mfor the time migration of Ethercat main website timer event and Ethercat slave station synchronizing signal event, T
timerfor Sysbios timer period; Can find out, the skew of Sysbios timer event moment and Ethercat slave station synchronizing signal event time keeps fixed value.
But in real operation, the clock of Ethercat main website timer clock and Ethercat slave station cannot be completely the same, namely there is drift in each clock itself, and the Sysbios timer event moment of such Ethercat main website and the deviant of Ethercat slave station synchronizing signal event time will change; In order to realize the fixing of deviant, keep master-slave synchronisation, the embodiment of the present invention configures the Ethercat main website each configuration phase synchronous with Ethercat slave station in Ethercat main website, the deviant of the Sysbios time of timer of Ethercat main website and the synchronizing signal event time of Etherca slave station can be calculated, then by PI algorithm " pinning " this deviant.Corresponding, Fig. 7 shows the method flow diagram in the determination master-slave synchronisation cycle that the embodiment of the present invention provides, and the method can based on Sysbios operating system, and with reference to Fig. 7, the method can comprise:
Step S300, at configuration Ethercat main website of the Ethercat main website each configuration phase synchronous with Ethercat slave station, determine the system time of the Ethercat slave station that current configuration phase is corresponding, and the synchronizing cycle of the Ethercat slave station of Ethercat main website setting;
Optionally, can an Ethercat slave station be object, at each configuration phase that configuration Ethercat main website of Ethercat main website is synchronous with Ethercat slave station, determine the system time of the Ethercat slave station that current configuration phase is corresponding, and the synchronizing cycle of the Ethercat slave station of Ethercat main website setting.
Step S310, using the synchronizing cycle of described system time and described Ethercat slave station as the input parameter of PI algorithm, calculate the deviant of described system time and described synchronizing cycle;
Step S320, is added the master-slave synchronisation cycle of described deviant as Ethercat main website corresponding to current configuration phase and Ethercat slave station the synchronizing cycle of described Ethercat slave station.
The master-slave synchronisation cycle that determined each configuration phase is corresponding can be the timed interrupt cycle of timer (as Sysbios timer) at corresponding configuration phase.
For Sysbios timer, visible, within this cycle of the Sysbios timer of Ethercat main website, the embodiment of the present invention can obtain the system time T of Ethercat slave station
sys, with Ethercat slave station synchronous signal cycle T
sync(setting of Ethercat main website) as the input parameter of PI algorithm, obtains the deviant △ t of described system time and described synchronous signal cycle, and then obtains the new cycle T of Sysbios timer together through PI algorithm
sync+ △ t, wherein T
sync+ △ t is the current timed interrupt cycle of Sysbios timer.Fig. 8 shows the synchronous schematic diagram in master-slave synchronisation cycle, can carry out reference.
Optionally, the system time that the embodiment of the present invention is also configured with each Ethercat slave station is consistent with the system time of an Ethercat slave station, namely dynamic offset compensation is passed through, the system clock of each Ethercat slave station is consistent, make the Sysbios timer of Ethercat main website accomplish synchronous with an Ethercat slave station synchronous signal cycle after, what can realize with other Ethercat slave station synchronous signal cycles is synchronous.
The Sysbios timer that Fig. 9 shows the embodiment of the present invention to be provided realizes a flow chart again of Ethercat master-slave synchronisation method, with reference to Fig. 9, wherein time T
0for the fixing interrupt cycle of Sysbios timer, time T
1, T
2, T
3and T
4for corresponding in each configuration phase that configuration Ethercat main website of Ethercat main website is synchronous with Ethercat slave station, the Ethercat main website configuration cycle (i.e. the timed interrupt cycle of timer) synchronous with Ethercat slave station synchronous signal cycle; The method can comprise:
Step S10, Ethercat main website with the timed interrupt cycle of Sysbios timer for T
0, scanning Ethercat main website, obtains the topology information of Ethercat main website;
Wherein, if step S10 is at T
0interior unsuccessful configuration, then return step S10 and re-execute, if at T
0inside successfully configure, then enter step S11.
Step S11, Ethercat main website with the timed interrupt cycle of Sysbios timer for T
0, parameter configuration is carried out to Ethercat slave station;
Wherein, if step S11 is at T
0interior unsuccessful configuration, then return step S11 and re-execute, if at T
0inside successfully configure, then enter step S12.
Step S12, Ethercat main website with the timed interrupt cycle of Sysbios timer for T
0, calculate the clock initial offset between Ethercat slave station, and the transfer of data delay time between each Ethercat slave station;
Clock initial offset between Ethercat slave station refers to, the initial system time deviation between each Ethercat slave station and an Ethercat slave station; If step S12 is at T
0interior unsuccessful configuration, then return step S12 and re-execute, if at T
0inside successfully configure, then enter step S13.
Step S13, Ethercat main website with the timed interrupt cycle of Sysbios timer for T
0, static shift compensation is carried out to the initial clock between Ethercat slave station;
Static shift compensates and refers to, is as the criterion, the system time of each Ethercat slave station is adjusted to consistent with the system time of an Ethercat slave station with the system time of an Ethercat slave station.If step S13 is at T
0interior unsuccessful configuration, then return step S13 and re-execute, if at T
0inside successfully configure, then enter step S14.
Step S14, Ethercat main website with the timed interrupt cycle of Sysbios timer for T
0, Ethercat slave station is carried out " initialization ";
If step S14 is at T
0interior unsuccessful configuration, then return step S14 and re-execute, if at T
0inside successfully configure, then enter step S15.
Step S15, with the timed interrupt cycle of Sysbios timer for T
0, the mailbox of configuration Ethercat main website, and Ethercat slave station is carried out " prerun ";
If step S15 is at T
0interior unsuccessful configuration, then return step S15 and re-execute, if at T
0inside successfully configure, then enter step S16.
Step S16, Ethercat main website with the timed interrupt cycle of Sysbios timer for T
1, synchronization parameter configuration is carried out to Ethercat slave station, activates, and clock dynamic offset compensation;
At each follow-up configuration phase, for keeping system time synchronization between Ethercat slave station, Ethercat main website is as the criterion with the system time of an Ethercat slave station, the system time of the one Ethercat slave station is informed other Ethercat slave stations, the system time of other Ethercat slave stations is made to keep consistent with an Ethercat slave station system time, to realize clock dynamic offset compensation;
Wherein, T
1for the timed interrupt cycle of the timer of current configuration phase, synchronous with the Ethercat slave station synchronous signal cycle of current configuration phase; If step S16 is at T
0interior unsuccessful configuration, then return step S16 and re-execute, if at T
1inside successfully configure, then enter step S17.
Step S17, Ethercat main website with the timed interrupt cycle of Sysbios timer for T
2, configuration Ethercat slave station " safe operation ", and clock dynamic offset compensation is carried out to Ethercat slave station;
Each configuration phase after synchronously activating Ethercat slave station in Ethercat main website keeps by the configuration of dynamic offset compensation; T
2for the timed interrupt cycle of the timer of current configuration phase, synchronous with the Ethercat slave station synchronous signal cycle of current configuration phase; If step S17 is at T
2interior unsuccessful configuration, then return step S17 and re-execute, if at T
2inside successfully configure, then enter step S18.
Step S18, Ethercat main website with the timed interrupt cycle of Sysbios timer for T
3, configuration Ethercat slave station " RUN ", and clock dynamic offset compensation is carried out to Ethercat slave station;
T
3for the timed interrupt cycle of the timer of current configuration phase, synchronous with the Ethercat slave station synchronous signal cycle of current configuration phase; If step S18 is at T
3interior unsuccessful configuration, then return step S18 and re-execute, if at T
3inside successfully configure, then enter step S19.
Step S19, Ethercat main website with the timed interrupt cycle of Sysbios timer for T
4, configuration Ethercat slave station carries out exchanges data, and carries out clock dynamic offset compensation to Ethercat slave station;
T
4for the timed interrupt cycle of current configuration phase timer, synchronous with the Ethercat slave station synchronous signal cycle of current configuration phase.It should be noted that, step S19 will perform at subsequent cycle, and step S19 often performs once, the timed interrupt cycle of timer will dynamically be determined once, configures the cycle of the Ethercat main website each configuration phase synchronous with Ethercat slave station using the timed interrupt cycle of timer as Ethercat main website.
The Ethercat master-slave synchronisation method that the embodiment of the present invention provides, when configuring each configuration phase synchronous between Ethercat slave station, adopting the fixed configurations cycle to carry out, can keep basic synchronization between Ethercat slave station; When each configuration phase that configuration Ethercat main website is synchronous with Ethercat slave station, the Ethercat main website configuration cycle of each configuration phase and Ethercat slave station synchronous signal cycle dynamic synchronization, Ethercat main website and Ethercat slave station dynamic synchronization can be kept, and realize Complete Synchronization between slave station; After above-mentioned two synchronizing processes, synchronous effect between slave station is optimized, experiment finds that the simultaneous bias between slave station is less than 150ns (nanosecond), slave station synchronizing frequency can reach 20K, and the synchronous effect of Ethercat main website and Ethercat slave station is better, experiment finds that the simultaneous bias of Ethercat main website and Ethercat slave station is less than 3us (microsecond).The present invention is interrupted realizing main website and master-slave synchronisation by the timer of mechanical periodicity and Ethernet, and shared cpu resource is few;
Meanwhile, realize based on operating systems such as Sysbios, Dspbios, make Ethercat main station system have good stability, and the modularized design of Ethercat main website can be realized, be convenient to secondary development and the Function Extension of system.
The embodiment of the present invention dynamically can determine in each configuration phase that Ethercat main website configuration cycle is synchronous with Ethercat slave station synchronous signal cycle, complete the configuration of each configuration phase synchronous between Ethercat main website configuration Ethercat slave station, therefore the synchronism between configured Ethercat main website and Ethercat slave station is better, and the allocative effect of Ethercat main website also will be better.
Below the Ethercat master-slave synchronisation device that the embodiment of the present invention provides is introduced, Ethercat master-slave synchronisation device described below can with the mutual corresponding reference of above-described Ethercat master-slave synchronisation method.
The structured flowchart of the Ethercat master-slave synchronisation device that Figure 10 provides for the embodiment of the present invention, this device can based on Sysbios operating system, and with reference to Figure 10, this device can comprise:
Fixed cycle configuration module 100, for each configuration phase synchronous between Ethercat main website configuration Ethercat slave station, the configuration cycle using the fixed configurations cycle as each configuration phase;
Cycle dynamics configuration module 200, for configuring the Ethercat main website each configuration phase synchronous with Ethercat slave station in Ethercat main website, in each configuration phase, dynamically determine that Ethercat main website configuration cycle is synchronous with Ethercat slave station synchronous signal cycle.
Optionally, the Ethercat master-slave synchronisation device that the embodiment of the present invention provides can based on operating systems such as Sysbios, Dspbios, Figure 11 shows another structured flowchart of the Ethercat master-slave synchronisation device that the embodiment of the present invention provides, and shown in Figure 10 and Figure 11, this device can also comprise:
Creation module 300, for creating timer.
Corresponding, Figure 12 shows a kind of alternate configurations of the fixed cycle configuration module 100 that the embodiment of the present invention provides, and with reference to Figure 12, fixed cycle configuration module 100 can comprise:
First configuration cycle determining unit 110, for each configuration phase synchronous between Ethercat main website configuration Ethercat slave station, configuration cycle using the timed interrupt cycle of described timer as each configuration phase, the timed interrupt cycle of described timer is fixed value.
Optionally, Figure 13 shows a kind of alternate configurations of the cycle dynamics configuration module 300 that the embodiment of the present invention provides, and with reference to Figure 13, cycle dynamics configuration module 200 can comprise:
Second configuration cycle determining unit 210, for configuring the Ethercat main website each configuration phase synchronous with Ethercat slave station in Ethercat main website, described Ethercat main website configuration cycle is the timed interrupt cycle of described timer, and the timed interrupt cycle of described timer is dynamically synchronous with Ethercat slave station synchronous signal cycle.
Optionally, Figure 14 shows the another kind of alternate configurations of the cycle dynamics configuration module 200 that the embodiment of the present invention provides, and with reference to Figure 14, cycle dynamics configuration module 200 can comprise:
Setting determining unit synchronizing cycle 220, for configuring the Ethercat main website each configuration phase synchronous with Ethercat slave station in Ethercat main website, determine the system time of the Ethercat slave station that current configuration phase is corresponding, and the synchronizing cycle of the Ethercat slave station of Ethercat main website setting;
Computing unit 221, for using the synchronizing cycle of described system time and described Ethercat slave station as the input parameter of PI algorithm, calculate the deviant of described system time and described synchronizing cycle;
Master-slave synchronisation cycle determining unit 222, for adding the master-slave synchronisation cycle of described deviant as Ethercat main website corresponding to current configuration phase and Ethercat slave station using the synchronizing cycle of described Ethercat slave station.
The Ethercat master-slave synchronisation device that the embodiment of the present invention provides, Ethercat slave station synchronous signal cycle corresponding to each configuration phase that can dynamically determine is as configuration cycle, complete the configuration of each configuration phase synchronous between Ethercat main website configuration Ethercat slave station, therefore the synchronism between configured Ethercat main website and Ethercat slave station is better, and the allocative effect of Ethercat main website also will be better.
Below the master-salve station system that the embodiment of the present invention provides is introduced, master-salve station system described below can with the mutual corresponding reference of above-described Ethercat master-slave synchronisation device.
The structured flowchart of the master-salve station system that Figure 15 provides for the embodiment of the present invention, with reference to Figure 15, this system can comprise: multiple Ethercat slave station 1 and Ethercat main website 2; Wherein Ethercat main website 2 can comprise Ethercat master-slave synchronisation device described above.
Figure 16 shows the connection diagram of a kind of Ethercat slave station and Ethercat main website, can carry out reference, and as shown in figure 16, multiple Ethercat slave station sequentially connects according to sequence number; Ethercat main website is only connected with an Ethercat slave station, and an Ethercat slave station is the Ethercat slave station nearest apart from Ethercat main website.Obviously, connect shown in Figure 16 and be only a kind of optional connected mode, Ethercat main website 2 can also direct-connected multiple Ethercat slave station 1, and the number of the Ethercat slave station that Ethercat main website 2 can be direct-connected can be 65535 in theory.
The embodiment of the present invention can arrange function expanding module in master-salve station system, and this function expanding module based on the operating system at Ethercat main website place, as Sysbios operating system creates, can carry out data interaction with Ethercat main website.The instruction that function expanding module generates is sent to Ethercat slave station by Ethercat main website by function expanding module, achieves the modularized design of Ethercat main website, is convenient to secondary development and the Function Extension of system.
Based on the Ethercat master-salve station system that the embodiment of the present invention provides, the embodiment of the present invention also can be improved existing kinetic control system; The present inventor's research also finds:
In motion control field, kinetic control system is widely used in the field such as Digit Control Machine Tool, industrial robot; Along with motion control requires more and more higher to response speed, precision etc., this has higher requirement to the disposal ability of control system bus and real-time, and in kinetic control system, mainly adopt PC (personal computer) to add the control mode of motion control card at present, its real-time etc. is limited to the responding ability of PC, and net synchronization capability between PC and motion control card is poor, with high costs;
Because Ethercat technology has at a high speed and the efficient feature of high data, support that plurality of devices connects topological structure, therefore Ethercat technology is applied in kinetic control system and will kinetic control system is increased dramatically to the response speed of motion control and precision.
For Motion Function Module, in embodiments of the present invention, Motion Function Module is mainly used in the generation of motion control instruction, and Ethercat main website is mainly used in the transmission of motion control instruction;
Concrete, as Motion Function Module can be used for generating motion control instruction, be directly sent to Ethercat slave station by Ethercat main website; Ethercat slave station performs described motion control instruction, thus controlled motion control system performs the operation corresponding with described motion control instruction.
Visible, the master-salve station system that the embodiment of the present invention provides is applied to kinetic control system, can avoid the use of motion control card hardware, the response speed of lifter motion control system and precision.
In this specification, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.For device disclosed in embodiment, because it corresponds to the method disclosed in Example, so description is fairly simple, relevant part illustrates see method part.
Professional can also recognize further, in conjunction with unit and the algorithm steps of each example of embodiment disclosed herein description, can realize with electronic hardware, computer software or the combination of the two, in order to the interchangeability of hardware and software is clearly described, generally describe composition and the step of each example in the above description according to function.These functions perform with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can use distinct methods to realize described function to each specifically should being used for, but this realization should not thought and exceeds scope of the present invention.
The software module that the method described in conjunction with embodiment disclosed herein or the step of algorithm can directly use hardware, processor to perform, or the combination of the two is implemented.Software module can be placed in the storage medium of other form any known in random asccess memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. an Ethercat master-slave synchronisation method, is characterized in that, described method comprises:
Each configuration phase synchronous between Ethercat main website configuration Ethercat slave station, the configuration cycle using the fixed configurations cycle as each configuration phase;
At each configuration phase that configuration Ethercat main website of Ethercat main website is synchronous with Ethercat slave station, in each configuration phase, dynamically determine that Ethercat main website configuration cycle is synchronous with Ethercat slave station synchronous signal cycle.
2. Ethercat master-slave synchronisation method according to claim 1, it is characterized in that, described method also comprises:
Create timer;
Described each configuration phase synchronous between Ethercat main website configuration Ethercat slave station, the configuration cycle using the fixed configurations cycle as each configuration phase comprises:
Each configuration phase synchronous between Ethercat main website configuration Ethercat slave station, the configuration cycle using the timed interrupt cycle of described timer as each configuration phase, the timed interrupt cycle of described timer is fixed value;
Described at configuration Ethercat main website of the Ethercat main website each configuration phase synchronous with Ethercat slave station, in each configuration phase, dynamically determine that Ethercat main website configuration cycle and Ethercat slave station synchronous signal cycle synchronously comprise:
At each configuration phase that configuration Ethercat main website of Ethercat main website is synchronous with Ethercat slave station, described Ethercat main website configuration cycle is the timed interrupt cycle of described timer, and the timed interrupt cycle of described timer is dynamically synchronous with Ethercat slave station synchronous signal cycle.
3. Ethercat master-slave synchronisation method according to claim 1 and 2, it is characterized in that, described each configuration phase synchronous between Ethercat main website configuration Ethercat slave station, comprises using the fixed configurations cycle as the configuration phase in the configuration cycle of each configuration phase:
Ethercat main website scanning Ethercat slave station, obtains the topology information of Ethercat main website;
Ethercat main website carries out parameter configuration to Ethercat slave station;
Ethercat main website calculates the clock initial offset between Ethercat slave station, and the transfer of data delay time between each Ethercat slave station;
Ethercat main website carries out static shift compensation to the initial clock between Ethercat slave station;
Ethercat main website carries out " initialization " configuration to Ethercat slave station;
The mailbox of configuration Ethercat slave station, and " prerun " configuration is carried out to Ethercat slave station.
4. Ethercat master-slave synchronisation method according to claim 1 and 2, is characterized in that, describedly in each configuration phase, dynamically determines that Ethercat main website configuration cycle and Ethercat slave station synchronous signal cycle synchronously comprise:
At each configuration phase that configuration Ethercat main website of Ethercat main website is synchronous with Ethercat slave station, determine the system time of the Ethercat slave station that current configuration phase is corresponding, and the synchronizing cycle of the Ethercat slave station of Ethercat main website setting;
Using the synchronizing cycle of described system time and described Ethercat slave station as the input parameter of PI algorithm, calculate the deviant of described system time and described synchronizing cycle;
Is added the master-slave synchronisation cycle of described deviant as Ethercat main website corresponding to current configuration phase and Ethercat slave station the synchronizing cycle of described Ethercat slave station.
5. Ethercat master-slave synchronisation method according to claim 4, it is characterized in that, described at configuration Ethercat main website of the Ethercat main website each configuration phase synchronous with Ethercat slave station, in each configuration phase, dynamically determine that the Ethercat main website configuration cycle configuration phase synchronous with Ethercat slave station synchronous signal cycle comprises:
In Ethercat main website, synchronization parameter configuration is carried out to Ethercat slave station, activate, and the configuration phase of clock dynamic offset compensation, Ethercat main website with the determined current master-slave synchronisation cycle for the cycle, synchronization parameter configuration is carried out to Ethercat slave station, activate, and clock dynamic offset compensation;
At the configuration phase of Ethercat main website configuration Ethercat slave station safe operation, Ethercat main website with the determined current master-slave synchronisation cycle for the cycle, configuration Ethercat slave station " safe operation ", and clock dynamic offset compensation is carried out to Ethercat slave station;
At the configuration phase of Ethercat main website configuration Ethercat slave station " RUN ", Ethercat main website is with the determined master-slave synchronisation cycle for the cycle, and configuration Ethercat slave station runs, and carries out clock dynamic offset compensation to Ethercat slave station;
Each configuration phase of exchanges data is carried out at Ethercat main website configuration Ethercat slave station, Ethercat main website with master-slave synchronisation cycle corresponding to determined each configuration phase for the cycle, configuration Ethercat slave station carries out exchanges data, and carries out clock dynamic offset compensation to Ethercat slave station.
6. an Ethercat master-slave synchronisation device, is characterized in that, described device comprises:
Fixed cycle configuration module, for each configuration phase synchronous between Ethercat main website configuration Ethercat slave station, the configuration cycle using the fixed configurations cycle as each configuration phase;
Cycle dynamics configuration module, for configuring the Ethercat main website each configuration phase synchronous with Ethercat slave station in Ethercat main website, dynamically determines that in each configuration phase Ethercat main website configuration cycle is synchronous with Ethercat slave station synchronous signal cycle.
7. Ethercat master-slave synchronisation device according to claim 6, it is characterized in that, described device also comprises:
Creation module, for creating timer;
Described fixed cycle configuration module comprises:
First configuration cycle determining unit, for each configuration phase synchronous between Ethercat main website configuration Ethercat slave station, configuration cycle using the timed interrupt cycle of described timer as each configuration phase, the timed interrupt cycle of described timer is fixed value;
Described cycle dynamics configuration module comprises:
Second configuration cycle determining unit, for configuring the Ethercat main website each configuration phase synchronous with Ethercat slave station in Ethercat main website, described Ethercat main website configuration cycle is the timed interrupt cycle of described timer, and the timed interrupt cycle of described timer is dynamically synchronous with Ethercat slave station synchronous signal cycle.
8. Ethercat master-slave synchronisation device according to claim 6, is characterized in that, described cycle dynamics configuration module comprises:
Setting determining unit synchronizing cycle, for configuring the Ethercat main website each configuration phase synchronous with Ethercat slave station in Ethercat main website, determine the system time of the Ethercat slave station that current configuration phase is corresponding, and the synchronizing cycle of the Ethercat slave station of Ethercat main website setting;
Computing unit, for using the synchronizing cycle of described system time and described Ethercat slave station as the input parameter of PI algorithm, calculate the deviant of described system time and described synchronizing cycle;
Master-slave synchronisation cycle determining unit, for adding the master-slave synchronisation cycle of described deviant as Ethercat main website corresponding to current configuration phase and Ethercat slave station using the synchronizing cycle of described Ethercat slave station.
9. a master-salve station system, is characterized in that, comprising: multiple Ethercat slave station, and Ethercat main website; Described Ethercat main website comprises the Ethercat master-slave synchronisation device described in any one of claim 6-8.
10. master-salve station system according to claim 9, is characterized in that, also comprise: function expanding module; There is data interaction in described function expanding module and described Ethercat main website.
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| CN111176164A (en) * | 2019-12-30 | 2020-05-19 | 深圳市英威腾电气股份有限公司 | Method, device and medium for expanding multiple remote input and output modules |
| CN111176164B (en) * | 2019-12-30 | 2021-03-30 | 深圳市英威腾电气股份有限公司 | Method, device and medium for expanding multiple remote input and output modules |
| CN111181681A (en) * | 2020-01-07 | 2020-05-19 | 成都卡诺普自动化控制技术有限公司 | Master-slave station clock synchronization method based on EtherCAT real-time Ethernet |
| CN111478834A (en) * | 2020-03-25 | 2020-07-31 | 武汉迈信电气技术有限公司 | EtherCAT master station synchronization method based on non-real-time system |
| CN111478834B (en) * | 2020-03-25 | 2022-04-29 | 武汉迈信电气技术有限公司 | EtherCAT master station synchronization method based on non-real-time system |
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