CN111478834B - EtherCAT master station synchronization method based on non-real-time system - Google Patents
EtherCAT master station synchronization method based on non-real-time system Download PDFInfo
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- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
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- H—ELECTRICITY
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
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Abstract
The invention provides an EtherCAT master station synchronization method based on a non-real-time system, which specifically comprises the following steps: initializing a master station; the master station enables the slave station to start a DC synchronous signal and work in a free running mode; the master station and the slave station realize real-time dynamic synchronous adjustment by adopting a reference clock, and the master station receives and transmits slave station data by adopting an optimized periodic communication mode; the master station closes the communication interface. The invention has the beneficial effects that: under the condition of not changing the universality and compatibility of an operating system, the defect of poor synchronization precision caused by the fact that a slave station cannot operate a DC synchronization mode under a non-real-time system is overcome, and the synchronization precision and stability between the master station and the slave station are improved.
Description
Technical Field
The invention relates to the field of industrial Ethernet field bus communication, in particular to an EtherCAT master station synchronization method based on a non-real-time system.
Background
There are several synchronization methods between master station and slave station in EtherCAT protocol:
firstly, a soft master station implementation mode driven by a real-time expansion system and a special network card is adopted. At present, commercial real-time patches such as RTX, INTIME and the like are mainly arranged on a Windows platform. The master station protocol is implemented by interfaces such as real-time threads and message events provided by a real-time system, for example, a master station system such as TwinCAT. The method has the disadvantages that only limited and specific models of network cards can be supported, related licenses and cost are needed, the kernel characteristic of an operating system is modified, the compatibility of the operating system is poor, and even the existing industry software cannot be run for cooperative work.
And secondly, a hard master station mode of an FPGA hardware board card is adopted. In the scheme, the master station protocol runs in the FPGA, the hardware parallel processing characteristic is utilized, the communication period can be shortened to 100 microseconds, the precision of the slave station synchronous action time is less than 1 microsecond, and the method can be applied to a high-speed and high-precision motion control system. The method adopts a hardware master station mode to ensure the communication reliability between the master station and the slave station, but the hardware and development cost is higher, and a driver program and an SDK application interface between the driver program and various operating system platforms or master control chips need to be developed.
And finally, adopting a soft master station mode of a non-real-time system and a common network card. The master station realizes the communication of the slave stations by adopting a method for capturing an original network data packet, and can support various network cards by adopting a network intermediate layer driving protocol provided by a system. The method has good universality, but various connection or overtime errors are easy to generate due to poor timing precision and unstable communication of a non-real-time system, and the method is mainly used as a tool for modifying and reading the configuration and parameters of the slave station and cannot be used for an actual motion control system.
According to the difference of the real-time modes of the master station, the EtherCAT slave station mainly works in a DC synchronous mode and a free running mode. The DC synchronization mode achieves synchronization through a distributed clock and time compensation mechanism, which can only be employed when the master timing cycle accuracy and real-time are very high. In the free running mode, the slave stations finish data receiving processing and transmitting independently, and no synchronization adjustment is carried out between the slave stations and the master station. The method is more suitable for a master station platform of a non-real-time system, but due to the reasons of master station cycle jitter and transmission distance delay, the arrival times of different slave station data packets are inconsistent, and the synchronization precision is greatly influenced.
The main reasons for adopting the EtherCAT synchronization mode of the non-real-time system are three points: (1) for some commercial operating systems, licensing fees for using a real-time solution are costly; (2) for many open source operating system platforms, no real-time scheme or immature scheme exists at present, such as Linux customized for various CPU chips, Andriod and the like; (3) many large industry software, such as various simulation, testing, gaming/VR, related control systems can only run on commercial non-real-time operating system platforms.
In view of wide requirements of practical application, the EtherCAT bus synchronization mode based on the non-real-time system has very important significance, and even exceeds the EtherCAT of the real-time system in many application scenarios. Therefore, the method has wide practical value in adopting the traditional non-real-time system master station and improving the synchronization precision between the master station and the slave station.
Disclosure of Invention
In view of this, the invention provides an EtherCAT master station synchronization method based on a non-real-time system.
The invention provides an EtherCAT master station synchronization method based on a non-real-time system, which comprises the following steps:
s101: initializing a master station;
s102: in the configuration stage, the master station enables the slave station to start a DC synchronous signal and work in a free running mode by modifying a register and related parameters of the slave station;
s103: the master station starts the slave station; in the operation stage, the master station and the slave station adopt a DC reference clock to carry out dynamic synchronous adjustment, and adopt an optimized periodic communication mode to receive and transmit slave station data;
s104: the master station closes the communication interface.
Further, step S101 specifically includes: the master station creates a communication thread, a timer task and a message event; the master station initializes each network card in the network, automatically scans the slave stations connected to the network, initializes the slave station registers, and sets each slave station to an initial state.
Further, in step S102, the master station modifies the slave station register and related parameters to enable the slave station to enable the DC synchronization signal and operate in a free running mode, specifically:
s201: the master station sets the DC synchronous periods of all the slave stations as master station communication periods and starts a DC clock; the master station reconfigures a PDI configuration register and an AL event request register of the slave station, adds an interrupt signal SYNC0 of a DC synchronization mode, and shields a slave station synchronization management event signal;
s202: and the master station modifies related parameters in an SDO mode to force the slave station to work in a free running mode, wherein the related parameters comprise the objects sub 1 and 4 contained in the synchronization management parameter 0x1C32/0x1C33, namely the current synchronization type and the synchronization type support set.
Further, in step S201, the master station sets the DC synchronization periods of all the slave stations as a master station communication period, and starts the DC clock, specifically:
s301: the master station initializes each slave station and sets the state of each slave station as a pre-running state;
s302: the master station latches the data frame receiving time of each slave station network port in a broadcasting command mode, thereby calculating the system time deviation, transmission delay and clock drift value of the slave station DC, and writing the system time deviation, transmission delay and clock drift value into a clock offset and drift register of each slave station;
s303: and the master station sets the DC clock period of the slave station as a communication period, sets starting time and starts a DC synchronous signal.
Further, in step S103, in the operation phase, the master station receives and transmits slave station data in a master-slave station time synchronization and optimized periodic communication manner, where the optimized periodic communication manner is a periodic thread + timing task manner; the periodic thread + timing task mode specifically includes:
s401: the master station orders all the slave stations to enter a running state and starts a periodic thread and a timer;
s402: the master station adopts a communication thread to send periodic data messages at TiStarting a timer at all times to wait for the slave station to return to receive the data message;
s403: the master station is at t1The slave station returns a data message and activates a receiving completion message event;
s404: after the periodic thread finishes sending, waiting for a periodic data receiving completion event to enter a suspended state, and releasing CPU occupation;
s405: periodic thread at t2Receiving a data packet receiving completion message event at all times, and calculating and outputting according to received periodic data;
s406: communication thread is at t3Starting to read the local CPU time at the moment and setting T in advanceiAnd transmitting the data message again at +1 moment.
Further, in step S402, when the master station uses the communication thread to perform periodic transmission, adding a data packet for acquiring a reference clock in a transmission data frame; the reference clock is the DC clock of the first slave station.
Further, the thread is at t in step S4052When receiving the data packet receiving completion event at any time, the method also comprisesAnd analyzing and returning a data message containing the reference clock from the received data frame.
Further, step S104 specifically includes: and the master station closes the communication interface, finishes the thread, clears the buffer area and sets the slave station to return to the initialization state.
In step S402, the master station transmits a time TiThe specific calculation method is as follows:
s501: the master station records the local CPU time T when the periodic thread is started0；
S502: the master station calculates the transmission time Ti＝Ti-1+Tc(ii) a Wherein T iscIs a communication cycle; t isi-1Indicating the transmission time of the previous cycle, and having an initial value of T0；TiRepresents the transmission time of the ith period;
s503: the master station obtains the DC reference clock T of the slave station from the periodically received data packetref；
S504: calculating deviation d of slave station DC reference clock and bus communication periodt＝Tref％Tc(ii) a Calculating the cumulative d of the DC reference clock and the master current time offseti＝di-1+(Ti–Tref)％Tc；di-1Indicating the last accumulated value
S505: according to deviation d of slave station DC reference clock and bus communication periodtUsing proportional and integral adjustment to the transmission time TiCarry out updating Ti＝Ti+Kp*dt+Ki*di；KpFor a predetermined scaling factor, KiThe coefficients are adjusted for a preset integral.
S506: dynamically adjusting the transmission time T of each period of the main station by utilizing the steps S502-S505i。
The technical scheme provided by the invention has the beneficial effects that: under the condition of not changing the universality and compatibility of an operating system, the defect that a non-real-time system cannot operate a DC synchronization mode is overcome, and the synchronization accuracy between the master station and the slave station is improved.
Drawings
FIG. 1 is a flow chart of an EtherCAT master station synchronization method based on a non-real-time system according to the present invention;
FIG. 2 is a schematic diagram of a conventional periodic communication scheme of a non-real-time system;
FIG. 3 is a schematic diagram of the optimized periodic communication mode of the master station according to the present invention;
FIG. 4 shows a periodic transmission time T of a master station in the present inventioniA flow chart of the calculation;
fig. 5 is a block diagram of the overall communication synchronization process between the master and the slave.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1, an embodiment of the present invention provides a flow chart of an EtherCAT master station synchronization method based on a non-real-time system, which specifically includes:
s101: initializing a master station;
s102: in the configuration stage, the master station enables the slave station to start a DC synchronous signal and work in a free running mode by modifying a register and related parameters of the slave station;
s103: the master station starts the slave station; in the operation stage, the master station and the slave station adopt a DC reference clock to carry out dynamic synchronous adjustment, and adopt an optimized periodic communication mode to receive and transmit slave station data;
s104: the master station closes the communication interface.
Step S101 specifically includes: the master station creates a communication thread, a timer task and a message event; the master station initializes each network card in the network, automatically scans the slave stations connected to the network, initializes the slave station registers, and sets each slave station to an initial state.
In step S102, the master station modifies the slave station register and related parameters to enable the slave station to enable the DC synchronization signal and operate in a free running mode, specifically:
s201: the master station sets the DC synchronous periods of all the slave stations as master station communication periods and starts a DC clock; the master station reconfigures a PDI configuration register and an AL event request register of the slave station, adds an interrupt signal SYNC0 of a DC synchronization mode, and shields a slave station synchronization management event signal;
s202: and the master station modifies related parameters in an SDO mode to force the slave station to work in a free running mode, wherein the related parameters comprise the objects sub 1 and 4 contained in the synchronization management parameter 0x1C32/0x1C33, namely the current synchronization type and the synchronization type support set.
In step S201, the master station sets the DC synchronization periods of all the slave stations as master station communication periods, and starts a DC clock, specifically:
s301: the master station initializes each slave station and sets the state of each slave station as a pre-running state;
s302: the master station latches the data frame receiving time of each slave station network port in a broadcasting command mode, thereby calculating the system time deviation, transmission delay and clock drift value of the slave station DC, and writing the system time deviation, transmission delay and clock drift value into a clock offset and drift register of each slave station;
s303: and the master station sets the DC clock period of the slave station as a communication period, sets starting time and starts a DC synchronous signal.
Referring to fig. 2, fig. 2 shows a periodic communication method of a conventional non-real-time system, in which a master station periodically transmits and receives PDO data packets according to a preset transceiving timer. The main defects of the method are that the timing jitter of each period is large, which causes the PDO sending time to be inaccurate, and the waiting receiving time is uncertain, thereby wasting CPU resources and easily influencing the normal work of the timer.
Referring to fig. 3, fig. 3 illustrates an optimized periodic communication manner of the master station; in step S103, the master station receives and transmits slave station data in an operation stage by adopting a master-slave station time synchronization and optimized periodic communication mode, wherein the optimized periodic communication mode is a periodic thread plus timing task mode; the periodic thread + timing task mode specifically includes:
s401: the master station orders all the slave stations to enter a running state and starts a periodic thread and a timer;
s402: the master station adopts a communication thread to send periodic data messages at TiStart timer at time to waitThe slave station returns to receive the data message;
s403: the master station is at t1The slave station returns a data message and activates a receiving completion message event;
s404: after the periodic thread finishes sending, waiting for a periodic data receiving completion event to enter a suspended state, and releasing CPU occupation;
s405: periodic thread at t2Receiving a data packet receiving completion message event at all times, and calculating and outputting according to received periodic data;
s406: communication thread is at t3Starting to read the local CPU time at the moment and setting T in advanceiAnd transmitting the data message again at +1 moment.
In step S402, when the master station uses the communication thread to perform periodic transmission, adding a data message for acquiring a reference clock in a transmission data frame; the reference clock is the DC clock of the first slave station.
In step S405 the thread is at t2And when a data packet receiving completion event is received at the moment, analyzing and returning a data message containing the reference clock from the received data frame.
Step S104 specifically includes: and the master station closes the communication interface, exits the thread, cleans the buffer area and sets the slave station to return to an initialization state.
Referring to fig. 4, fig. 4 shows a period transmission time T of a master station according to the present inventioniA flow chart of the calculation; in step S402, the master station transmits the time T in step S402iThe specific calculation method is as follows:
s501: the master station records the local CPU time T when the periodic thread is started0；
S502: the master station calculates the transmission time Ti＝Ti-1+Tc(ii) a Wherein T iscIs a communication cycle; t isi-1Indicating the transmission time of the previous cycle, and having an initial value of T0；TiRepresents the transmission time of the ith period;
s503: the master station obtains the DC reference clock T of the slave station from the periodically received data packetref；
S504: calculating slave station DC parameterDeviation d of test clock from bus communication periodt＝Tref％Tc(ii) a Calculating the cumulative d of the DC reference clock and the master current time offseti＝di-1+(Ti–Tref)％Tc；di-1Indicating the last accumulated value
S505: according to deviation d of slave station DC reference clock and bus communication periodtUsing proportional and integral adjustment to the transmission time TiCarry out updating Ti＝Ti+Kp*dt+Ki*di；KpFor a predetermined scaling factor, KiThe coefficients are adjusted for a preset integral.
S506: dynamically adjusting the transmission time T of each period of the main station by utilizing the steps S502-S505i。
Finally, referring to fig. 5, fig. 5 is a block diagram of the overall communication synchronization process between the master station and the slave station; the right-hand side of fig. 5 is not central to the invention with respect to the operation of the slave part alone, and is not explained here; the left side of fig. 5 is the main flow of communication between the master station and the slave station, and the process thereof is explained in detail in the foregoing, and is not repeated.
The invention provides an EtherCAT master station synchronization method based on a non-real-time system, which comprises the following steps:
(1) the DC interrupt signal of the slave station is used to improve the synchronization precision and force the slave station to work in a free running mode.
(2) And a DC reference clock is adopted between the master station and the slave station to realize real-time synchronous adjustment.
(3) The communication precision of the periodic data is improved by using a mode of matching the thread with the timer.
The invention has the beneficial effects that: under the condition of not changing the universality and compatibility of an operating system, the defect that a non-real-time system cannot operate a DC synchronization mode is overcome, and the synchronization precision between the master station and the slave station is improved.
The features of the embodiments and embodiments described herein above may be combined with each other without conflict.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (1)
1. A EtherCAT master station synchronization method based on a non-real-time system is characterized in that: the method specifically comprises the following steps:
s101: initializing a master station;
s102: in the configuration stage, the master station enables the slave station to start a DC synchronous signal and work in a free running mode by modifying a register and related parameters of the slave station;
s103: the master station starts the slave station; in the operation stage, the master station and the slave station adopt a DC reference clock to carry out dynamic synchronous adjustment, and adopt an optimized periodic communication mode to receive and transmit slave station data;
s104: the master station closes the communication interface;
step S101 specifically includes: the master station creates a communication thread, a timer task and a message event; the master station initializes each network card in the network, automatically scans the slave stations connected with the network, initializes the slave station registers, and sets each slave station to be in an initial state;
in step S102, the master station modifies the slave station register and related parameters to enable the slave station to enable the DC synchronization signal and operate in a free running mode, specifically:
s201: the master station sets the DC synchronous periods of all the slave stations as master station communication periods and starts a DC clock; the master station reconfigures a PDI configuration register and an AL event request register of the slave station, adds an interrupt signal SYNC0 of a DC synchronization mode, and shields a slave station synchronization management event signal;
s202: the master station forces the slave station to work in a free running mode by modifying relevant parameters, wherein the relevant parameters comprise the objects sub 1 and 4 contained in the synchronization management parameter 0x1C32/0x1C33, namely the current synchronization type and the synchronization type support set;
in step S201, the master station sets the DC synchronization periods of all the slave stations as master station communication periods, and starts a DC clock, specifically:
s301: the master station initializes each slave station and sets the state of each slave station as a pre-running state;
s302: the master station latches the data frame receiving time of each slave station network port in a broadcasting command mode, thereby calculating the system time deviation, transmission delay and clock drift value of the slave station DC, and writing the system time deviation, transmission delay and clock drift value into a clock offset and drift register of each slave station;
s303: the master station sets a slave station DC clock period as a communication period, sets starting time and starts a DC synchronous signal;
in step S103, the master station receives and transmits slave station data in an operating phase by using a master-slave station time synchronization and optimized periodic communication mode, where the optimized periodic communication mode is a periodic thread + timing task mode, and specifically includes:
s401: master station commanding all slave stations
Entering a running state, and starting a periodic thread and a timer;
s402: the master station adopts a communication thread to send periodic data messages at TiStarting a timer at all times to wait for the slave station to return to receive the data message;
s403: the master station is at t1The slave station returns a data message and activates a receiving completion message event;
s404: after the periodic thread finishes sending, waiting for a periodic data receiving completion event to enter a suspended state, and releasing CPU occupation;
s405: periodic thread at t2Receiving a data packet receiving completion message event at all times, and calculating and outputting according to received periodic data;
s406: communication thread is at t3Starting to read the local CPU time at the moment and setting the time to be the preset timeT i Transmitting the data message again at +1 moment;
in step S402, when the master station uses the communication thread to perform periodic transmission, adding a data message for acquiring a reference clock in a transmission data frame; the reference clock is a DC clock of a first slave station;
in step S405 the thread is at t2When receiving the data packet receiving completion event at the moment, analyzing and returning the data packet from the received data frame to contain the referenceA data message of a clock;
step S104 specifically includes: the master station closes the communication interface, finishes the thread, clears the buffer area and sets the slave station to return to the initialization state;
in step S402, the master station transmits a time TiThe specific calculation method is as follows:
s501: the master station records the local CPU time T when the periodic thread is started0；
S502: the master station calculates the transmission time Ti＝Ti-1+Tc(ii) a Wherein T iscIs a communication cycle; t isi-1Indicating the transmission time of the previous cycle, and having an initial value of T0；TiRepresents the transmission time of the ith period;
s503: the master station obtains the DC reference clock T of the slave station from the periodically received data packetref；
S504: calculating deviation d of slave station DC reference clock and bus communication periodt＝Tref％Tc(ii) a Calculating the cumulative d of the DC reference clock and the master current time offseti＝di-1+(Ti–Tref)％Tc；di-1Represents the last accumulated value;
s505: according to deviation d of slave station DC reference clock and bus communication periodtUsing proportional and integral adjustment to the transmission time TiCarry out updating Ti＝Ti+Kp*dt+Ki*di；KpFor a predetermined scaling factor, KiAdjusting the coefficient for a preset integral;
s506: dynamically adjusting the transmission time T of each period of the main station by utilizing the steps S502-S505i。
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