Design Of Multi-controller Synchronized Wave Maker Control System Based On Ethercat

In the field of ocean engineering,wave maker is a very important large-scale experimental equipment that can simulate ocean waves in a laboratory environment,which provides favorable experimental conditions for studying the effect of wave action on marine structures and ships.Studying wave maker control system has great practical significance for developing marine resources and developing marine economy.In this paper,based on the development history and operating principle of the wave maker,combined the studying of the motion controller technology and control network technology,a wave maker control system based on EtherCAT-based multi-controller synchronous control system is designed.Through in-depth study of the synchronization principle of EtherCAT network,a delay compensation algorithm is proposed to solve the delay problem of EL6695 in data transmission,and effectively improve the synchronization between multiple controllers.And,the upper computer control software was developed by MFC technology,and the lower machine control software was developed by TwinCAT platform.The upper computer and lower computer commucicate through ADS communication technology.To solve the problem of excessively large wave data generated by the upper computer,a solution for transmitting wave data files using the FTP protocol was proposed.Simultaneously,the lower computer reads the wave data by using double buffers to read files alternately,which satisfies the data usage requirements in real-time motion control.Because the FTP protocol can transmit large wave data files,the lower computer does not need to perform interpolation operations,which improved the accuracy of wave making.In addition,a 64-bit variable is designed to represent the various error information during wave maker operating,and the error of each axis can be accurately expressed.The upper computer registers asynchronous notification of this variable and can obtain the fault information of the lower computer in time.And,use Easylogging++ to log the fault information for archive.Finally,an experimental platform was set up in the laboratory to verify the synchronization of multi-controller controls and the feasibility of the entire system solution.The solution provided by this design provides powerful technical support and guarantee for the development of an active absorption pool wave machine system.