CN201966855U - AC (alternating current) servo control system based on Ether CAT network - Google Patents
AC (alternating current) servo control system based on Ether CAT network Download PDFInfo
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Abstract
本实用新型实施例公开了一种基于EtherCAT网络的交流伺服控制系统，包括：支持EtherCAT协议的主站和多个从站，所述主站和多个从站相串联组成网段，并且所述主站位于网段的一端；支持EtherCAT协议的伺服驱动器和交流伺服电机；其中，每一从站对应一伺服驱动器和一交流伺服电机，三者相串联。由以上本实用新型实施例提供的技术方案可见，上述系统中各组成部分均可支持EtherCAT协议，从而实现基于EtherCAT的伺服控制。使上述系统具有网络拓扑结构灵活，系统配置简单，高速、高有效数据通信率的优势。
The embodiment of the utility model discloses an AC servo control system based on an EtherCAT network, comprising: a master station supporting the EtherCAT protocol and a plurality of slave stations, the master station and a plurality of slave stations are connected in series to form a network segment, and the The master station is located at one end of the network segment; the servo driver and AC servo motor supporting the EtherCAT protocol; among them, each slave station corresponds to a servo driver and an AC servo motor, and the three are connected in series. It can be seen from the above technical solutions provided by the embodiments of the present invention that each component in the above system can support the EtherCAT protocol, thereby realizing servo control based on EtherCAT. The above system has the advantages of flexible network topology, simple system configuration, high speed and high effective data communication rate.
Description
Technical field
The utility model relates to communication technical field, particularly relates to a kind of AC servo control system based on the EtherCAT network.
On the background technology
The conventional AC servo-control system generally comprises a plurality of AC servo motors, with AC servo motor servo-driver and fieldbus one to one.Yet the number of having sold assembly owing to fieldbus is considerably less, so the integrated cost of control system and field apparatus is quite high, and wherein wiring cost is particularly remarkable.The flexibility of signal granularity aspect always all is to realize by the modular point equipment of operation subordinate subnet.This subnet has increased the complexity of entire system, and exists obviously not enough at aspects such as real-time and cycle times.Therefore, traditional CAN field bus system becomes " bottleneck " of control system property development just day by day.
And real-time industrial ethernet technology (EtherCAT, Ethernet for Control Automation Technology) it is flexible to have network topology structure, system configuration is simple, at a high speed, the advantage of high valid data communication rate, therefore have the opportunity that the EtherCAT technology is applied to AC servo control system.
The utility model content
In view of this, the utility model embodiment purpose is to provide a kind of AC servo control system based on the EtherCAT network.
For achieving the above object, the utility model embodiment provides following technical scheme:
A kind of AC servo control system based on the EtherCAT network comprises:
Support main website and a plurality of slave station of EtherCAT agreement, described main website and a plurality of slave station composition network segment that is in series, and described main website is positioned at an end of the network segment;
Support the servo-driver and the AC servo motor of EtherCAT agreement;
Wherein, a corresponding servo-driver of each slave station and an AC servo motor, the three is in series.
Preferably, the Ethernet card of supporting the EtherCAT agreement is installed in the described main website.
Preferably, described slave station comprises the control base plate, be installed on the processor on the described control base plate, and the communication card that is connected with described processor, support the EtherCAT agreement, described communication card is connected with main website and servo-driver by the EtherCAT interface.
Preferably, described AC servo motor is provided with the controller of supporting the EtherCAT agreement.
The technical scheme that provides by above the utility model embodiment as seen, each part all can be supported the EtherCAT agreement in the said system, thereby realizes the SERVO CONTROL based on EtherCAT.It is flexible to make said system have network topology structure, and system configuration is simple, at a high speed, the advantage of high valid data communication rate.
Description of drawings
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing in describing below only is embodiment more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
The AC servo control system structural representation that Fig. 1 is provided for the utility model embodiment based on the EtherCAT network;
Fig. 2 another structural representation based on the AC servo control system of EtherCAT network for being provided for the utility model embodiment.
Embodiment
Below in conjunction with the accompanying drawing among the utility model embodiment, the technical scheme among the utility model embodiment is clearly and completely described, obviously, described embodiment only is the utility model part embodiment, rather than whole embodiment.Based on the embodiment in the utility model, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of the utility model protection.
Servo system is the automatic control system that output controlled volumes such as the position that makes object, orientation, state can be followed any variation of input target (or set-point).Its main task be by control command requirement, to power amplify, processing such as conversion and regulation and control, make moment, speed and Position Control very flexible of drive unit output.
The conventional AC servo-control system generally comprises a plurality of AC servo motors, with AC servo motor servo-driver and fieldbus one to one.Yet the number of having sold assembly owing to fieldbus is considerably less, so the integrated cost of control system and field apparatus is quite high, and wherein wiring cost is particularly remarkable.The flexibility of signal granularity aspect always all is to realize by the modular point equipment of operation subordinate subnet.This subnet has increased the complexity of entire system, and exists obviously not enough at aspects such as real-time and cycle times.Therefore, traditional CAN field bus system becomes " bottleneck " of control system property development just day by day.
And real-time industrial ethernet technology (EtherCAT, Ethernet for Control Automation Technology) it is flexible to have network topology structure, system configuration is simple, at a high speed, the advantage of high valid data communication rate, therefore have the opportunity that the EtherCAT technology is applied to AC servo control system.
In view of this, the utility model embodiment provides a kind of AC servo control system based on real-time industrial ethernet technology EtherCAT network, referring to Fig. 1, comprising:
Support main website 1 and a plurality of slave station 2 of EtherCAT agreement, described main website 1 and a plurality of slave station 2 composition network segment that is in series, and described main website 1 is positioned at an end of the network segment;
Support the servo-driver 3 and the AC servo motor 4 of EtherCAT agreement;
Wherein, each slave station 2 a corresponding servo-driver 3 and AC servo motor 4, the three is in series.
Above-mentioned a plurality of AC servo motor 4 is connected with driven-mechanism 5.
Now the technology to technique scheme realizes being introduced:
Ethercat is based on the standard ethernet technology, increased the software layer of a deterministic schedule at MAC (media access layer), and this software layer has been realized the transmission of the Ethercat Frame in the communication cycle.The Ethercat Frame adopts the IEEE802-3 ethernet frame of standard, in the standard ethernet frame structure, used a special ethernet frame type 0x88A4, adopt this mode that data such as control command, state information are write direct in the Ethercat Frame, and can be parallel in consolidated network with the ethernet frame of observing other agreement.Can comprise the sub-message of several Ethercat in the Ethercat Frame.
When the Ethercat Frame by each equipment when (comprising the bottom terminal device), slave station 2 reads for the crucial data of this equipment, and can be at the sub-message of the out-of-date insertion of Ethercat Frame.Transmitted (only being delayed several) in the past at the Ethercat Frame, slave station 2 can identify related command, and handles.This process be in slave station 2 by hard-wired, therefore irrelevant with the real time execution system or the processor performance of protocol stack software.Last slave station 2 in the network segment will return through the message of fully handling, and this message just turns back to main website 1 as a response message by first slave station 2 like this.
As seen, because EtherCAT real-time industrial ethernet technology, it is flexible to have network topology structure, system configuration is simple, the advantage of high valid data communication rate at a high speed,, therefore the AC servo control system in the present embodiment also has advantage thereupon on flexibility, rapidity and control precision, can reduce simultaneously fieldbus is used, and reduces cost.
Preferably, the Ethernet card of supporting the EtherCAT agreement is installed in the above-mentioned main website 1.
Preferably, above-mentioned slave station 2 comprises the control base plate, be installed on the processor on the described control base plate, and the communication card that is connected with described processor, support the EtherCAT agreement, described communication card is connected with main website and servo-driver by the EtherCAT interface.Wherein, referring to Fig. 2, slave station control base plate adopts the TMS320F2812 chip as processor, and communication card has used ET1100 controller 21 directly to handle the EtherCAT agreement in hardware.
Preferably, above-mentioned AC servo motor is provided with the controller of supporting the EtherCAT agreement, and this controller can be directly connected in the EtherCAT network segment.
Each embodiment adopts the mode of going forward one by one to describe in this specification, and what each embodiment stressed all is and the difference of other embodiment that identical similar part is mutually referring to getting final product between each embodiment.
To the above-mentioned explanation of the disclosed embodiments, make this area professional and technical personnel can realize or use the utility model.Multiple modification to these embodiment will be conspicuous concerning those skilled in the art, and defined herein General Principle can realize under the situation that does not break away from spirit or scope of the present utility model in other embodiments.Therefore, the utility model will can not be restricted to these embodiment shown in this article, but will meet and principle disclosed herein and features of novelty the wideest corresponding to scope.
Claims (4)
1. the AC servo control system based on the EtherCAT network is characterized in that, comprising:
Support main website and a plurality of slave station of EtherCAT agreement, described main website and a plurality of slave station composition network segment that is in series, and described main website is positioned at an end of the network segment;
Support the servo-driver and the AC servo motor of EtherCAT agreement;
Wherein, a corresponding servo-driver of each slave station and an AC servo motor, the three is in series.
2. the system as claimed in claim 1 is characterized in that, the Ethernet card of supporting the EtherCAT agreement is installed in the described main website.
3. system as claimed in claim 2, it is characterized in that, described slave station comprises the control base plate, be installed on the processor on the described control base plate, and the communication card that is connected with described processor, support the EtherCAT agreement, described communication card is connected with main website and servo-driver by the EtherCAT interface.
4. system as claimed in claim 3 is characterized in that, described AC servo motor is provided with the controller of supporting the EtherCAT agreement.
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| CN2010206764177U CN201966855U (en) | 2010-12-22 | 2010-12-22 | AC (alternating current) servo control system based on Ether CAT network |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102495822A (en) * | 2011-12-26 | 2012-06-13 | 国电南京自动化股份有限公司 | Method for realizing support to hot plugging of universal Ethernet for control automation technology (EtherCAT) bus equipment |
| CN102685146A (en) * | 2012-05-28 | 2012-09-19 | 上海三一精机有限公司 | Control method for servo driver |
| CN102848995A (en) * | 2012-10-12 | 2013-01-02 | 江苏尼欧凯汽车研发有限公司 | Whole electric bus control device based on high-speed EtherCAT bus and control method thereof |
| CN103076766A (en) * | 2013-01-30 | 2013-05-01 | 佛山市定中机械有限公司 | Can printing machine numerical-control system based on digital motion controller |
| CN103336471A (en) * | 2013-06-14 | 2013-10-02 | 华南理工大学 | Servo motion control card based on EtherCAT network communication |
| CN103425106A (en) * | 2013-08-08 | 2013-12-04 | 华南理工大学 | Linux-based Ethercat maser/slave station control system and method |
| CN104102241A (en) * | 2013-04-09 | 2014-10-15 | 段文博 | Electric control system |
| CN104133447A (en) * | 2014-07-28 | 2014-11-05 | 上海华兴数字科技有限公司 | Engineering machine control system and engineering machine |
| CN104281086A (en) * | 2014-10-22 | 2015-01-14 | 郑州斯倍思机电有限公司 | Soft PLC control system based on EtherCAT communication protocol and applied to automatic argon-welding device |
| CN104552311A (en) * | 2014-12-05 | 2015-04-29 | 杭州新松机器人自动化有限公司 | EtherCAT-based intelligent industrial robot bus module and operating method thereof |
| CN108306555A (en) * | 2017-01-12 | 2018-07-20 | 大族激光科技产业集团股份有限公司 | A kind of two axis servo drive system |
| CN108390940A (en) * | 2018-03-13 | 2018-08-10 | 上海铼钠克数控科技股份有限公司 | Ethernet communication system |
| CN110412896A (en) * | 2018-04-26 | 2019-11-05 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | Magnetic suspension electromagnetic propulsion control system based on real-time ethernet |
| CN110580005A (en) * | 2019-09-26 | 2019-12-17 | 北京机电工程研究所 | A motion control system for extreme application conditions |
| CN113093658A (en) * | 2021-03-25 | 2021-07-09 | 中国科学院光电技术研究所 | Multi-axis servo system architecture design method based on EtherCAT |
| CN114102588A (en) * | 2021-11-23 | 2022-03-01 | 上海景吾智能科技有限公司 | EtherCAT-based single controller-double mechanical arm device and control method |
| CN114665751A (en) * | 2020-12-08 | 2022-06-24 | 山东新松工业软件研究院股份有限公司 | Control system and method based on EtherCAT communication and double-shaft drive control device |
| CN115361253A (en) * | 2022-08-31 | 2022-11-18 | 中建三局科创产业发展有限公司 | Distributed field bus control system of guide frame climbing platform |
-
2010
- 2010-12-22 CN CN2010206764177U patent/CN201966855U/en not_active Expired - Fee Related
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102495822A (en) * | 2011-12-26 | 2012-06-13 | 国电南京自动化股份有限公司 | Method for realizing support to hot plugging of universal Ethernet for control automation technology (EtherCAT) bus equipment |
| CN102685146A (en) * | 2012-05-28 | 2012-09-19 | 上海三一精机有限公司 | Control method for servo driver |
| CN102848995B (en) * | 2012-10-12 | 2015-05-20 | 江苏尼欧凯汽车研发有限公司 | Whole electric bus control device based on high-speed EtherCAT bus and control method thereof |
| CN102848995A (en) * | 2012-10-12 | 2013-01-02 | 江苏尼欧凯汽车研发有限公司 | Whole electric bus control device based on high-speed EtherCAT bus and control method thereof |
| CN103076766A (en) * | 2013-01-30 | 2013-05-01 | 佛山市定中机械有限公司 | Can printing machine numerical-control system based on digital motion controller |
| CN103076766B (en) * | 2013-01-30 | 2018-07-06 | 佛山市定中机械有限公司 | A kind of print tank machine digital control system based on digital motion controller |
| CN104102241A (en) * | 2013-04-09 | 2014-10-15 | 段文博 | Electric control system |
| CN103336471A (en) * | 2013-06-14 | 2013-10-02 | 华南理工大学 | Servo motion control card based on EtherCAT network communication |
| CN103425106A (en) * | 2013-08-08 | 2013-12-04 | 华南理工大学 | Linux-based Ethercat maser/slave station control system and method |
| CN103425106B (en) * | 2013-08-08 | 2015-12-23 | 华南理工大学 | The master/slave station control system of a kind of EtherCAT based on Linux and method |
| CN104133447A (en) * | 2014-07-28 | 2014-11-05 | 上海华兴数字科技有限公司 | Engineering machine control system and engineering machine |
| CN104281086A (en) * | 2014-10-22 | 2015-01-14 | 郑州斯倍思机电有限公司 | Soft PLC control system based on EtherCAT communication protocol and applied to automatic argon-welding device |
| CN104552311A (en) * | 2014-12-05 | 2015-04-29 | 杭州新松机器人自动化有限公司 | EtherCAT-based intelligent industrial robot bus module and operating method thereof |
| CN108306555B (en) * | 2017-01-12 | 2019-11-19 | 大族激光科技产业集团股份有限公司 | A kind of two axis servo drive system |
| CN108306555A (en) * | 2017-01-12 | 2018-07-20 | 大族激光科技产业集团股份有限公司 | A kind of two axis servo drive system |
| CN108390940A (en) * | 2018-03-13 | 2018-08-10 | 上海铼钠克数控科技股份有限公司 | Ethernet communication system |
| CN110412896A (en) * | 2018-04-26 | 2019-11-05 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | Magnetic suspension electromagnetic propulsion control system based on real-time ethernet |
| CN110580005A (en) * | 2019-09-26 | 2019-12-17 | 北京机电工程研究所 | A motion control system for extreme application conditions |
| CN114665751A (en) * | 2020-12-08 | 2022-06-24 | 山东新松工业软件研究院股份有限公司 | Control system and method based on EtherCAT communication and double-shaft drive control device |
| CN113093658A (en) * | 2021-03-25 | 2021-07-09 | 中国科学院光电技术研究所 | Multi-axis servo system architecture design method based on EtherCAT |
| CN114102588A (en) * | 2021-11-23 | 2022-03-01 | 上海景吾智能科技有限公司 | EtherCAT-based single controller-double mechanical arm device and control method |
| CN115361253A (en) * | 2022-08-31 | 2022-11-18 | 中建三局科创产业发展有限公司 | Distributed field bus control system of guide frame climbing platform |
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