大型多板造波系统的多控制器同步技术研究

Research on multi-controller synchronization technology for large multi-plate wave-making systems

摘要:

针对海洋工程实验室中大型多板造波系统的控制同步问题，基于多PLC控制结构提出了一种新型的同步补偿方法；首先利用EtherCAT网络的实时通信特点，通过网络分布时钟精确计算控制器间的延迟；其次使用主动补偿方式处理多时钟系统间的同步问题。该方法将造波系统的控制结构特点与EtherCAT控制网络技术优势机密地结合在一起，在提高整个系统同步性能的同时也增加了系统的灵活性，并满足了大型人工模型造波的运动控制要求。最后设计控制器实验对所提方法进行验证，实验结果表明所提的多控制器同步方法，可以有效地补偿延迟，系统的同步误差小于10us，完全符合造波系统的技术要求。

Abstract:

Aiming at the control synchronization problem of large multi-plate wave-making system in offshore Engineering laboratory, a new synchronous compensation method based on multi-PLC control structure is proposed . Firstly, using the real-time communication characteristics of EtherCAT Network, the delay between controllers is calculated accurately by network distribution clock. Second, the active compensation method is used to deal with the synchronization problem between multi-clock systems. This method combines the control structure characteristics of the wave-making system with the advantages of EtherCAT control network technology, and improves the synchronization performance of the whole system, and also increases the flexibility of the system, and satisfies the motion control requirements of the large artificial model wave making. Finally, the Controller experiment is designed to verify the proposed method, and the experimental results show that the proposed multi-controller synchronization method can effectively compensate the delay, the synchronization error of the system is less than 10us, and fully meet the technical requirements of the wave-making system.