| Summary: | 碩士 === 國立中正大學 === 機械工程學系暨研究所 === 101 === CNC machine tools are that the government fully support in recent years. Many of CNC machine tools have used dedicated analog links for the connection of the central motion controller and the drivers. However, analog link-based systems have many drawbacks: analog links are sensitive to external noise, have low resolutions, and limit the expandability due to the complex analog cabling. Therefore, the Ethernet based network technology attracts manufacturers and researchers' attention, and is applied to servo control/automation systems. EtherCAT is one of the Ethernet based network technology, and it has the advantages of high speed communication, precise synchronization, wire saving, low hardware costs, and the maintenance is convenient. EtherCAT can support solutions for those problems of analog link-based systems exactly.
In this thesis, we use the DSP F28335 and the EtherCAT ET1100 chip to develop the PMSM control system with the EtherCAT protocol. The develop system can be of great help for real-time control, monitoring, multi-axis controllers, and developing EtherCAT systems. This thesis starts with the comparisons between the commonly use of industrial communication protocols and EtherCAT such that the comparison provides us with choosing EtherCAT rationally. Then we introduce the framework, the protocol, modules of the EtherCAT in detail. Then we describe how to build the communication, and how to transmit data between the EtherCAT master and DSP. Finally, we designed some experiments of PMSM position control with EtherCAT to verify that the serial communication and transmit data is validated. In addition, we briefly analyze the framework of commercial off-the-shelf Yaskawa Σ-Ⅴservo drives with EtherCAT, and understand how to implement CoE.
|
|---|
