基于XMC4800的EtherCAT总线伺服控制系统设计

Design of EtherCAT Bus Servo Control System Based on XMC4800

摘要:

在研究实时工业以太网的基础上,设计了一套支持工业以太网EtherCAT总线通讯的伺服驱动系统。采用英飞凌公司ARM Cortex-M4架构且集成EtherCAT从站控制器功能的XMC4800单片机,搭建了一种EtherCAT总线型伺服驱动器。设计了EtherCAT从站伺服驱动电路,包括网络通讯电路、电机驱动电路、电流与电压检测电路、编码器检测电路等。利用倍福SSC_Tool软件配置生成从站协议代码和设备描述XML文件,按照CIA402运动控制协议添加适用于本系统的对象字典；在英飞凌的编程软件Dave上配置ECAT_SSC和SVPWM控制的APP,生成底层代码；设计了ADC转换结束中断服务子程序,包含伺服驱动的位置环、速度环、力矩环和电流环控制算法。基于精密滚珠丝杆模组搭建一个单轴伺服实验装置,利用TwinCAT软件验证设计的EtherCAT从站伺服驱动系统的可行性。

Abstract:

Based on the research of real-time industrial Ethernet, a servo drive system is designed which supports the EtherCAT bus communication of industrial Ethernet. An EtherCAT bus-type servo driver is constructed by using the Infineon XMC4800 MCU with ARM Cortex-M4 architecture and a integrated EtherCAT slave Controller. The circuits of the EtherCAT slave servo driver are designed, including network communication circuit, motor drive circuit, current and voltage detection circuit, encoder detection circuit and so on. The slave protocol code and device description XML file are generated by using Beckhoff SSC_Tool software configuration, and the object dictionary suitable for the system is added according to CIA402 motion control protocol. ECAT_SSC and APP controlled by SVPWM are configured on Infineon programming software Dave to generate the underlying code. The interruption service subprogram of ADC conversion termination is designed, and control algorithms of position loop, speed loop, moment loop and current loop with the servo drive are presented. Based on precision ball screw module, a single axis servo experimental device is built. The feasibility of the servo drive system of EtherCAT slave station is verified by TwinCAT software.