Design Of Servo Motor Control System Based On XMC4800 And EtherCAT

With the rapid development of industrial field bus,industrial Ethernet has become an indispensable part of the industrial modern manufacturing system,and the bus type servo driver has been applied more and more in the automatic production and processing industry.Ether CAT industrial field bus is widely used in the direction of motion control.Based on the research of industrial field bus,in this thesis the Ethernet industrial field bus network communication is applied to the XMC4800 servo control system,and the servo driver of industrial Ethernet bus communication is designed.In this thesis,the XMC4800 single-chip computer of Infineon's arm Cortex-M4 architecture is used,through the internal integration of Ether CAT function module,to build a bus type servo drive system.The main research work includes:1.The research background of the project,the research status of the servo driver based on Ether CAT bus and the main characteristics of Ether CAT technology are introduced,The development status and trend of the servo driver at home and abroad are compared and analyzed,and the research status of industrial Ethernet and the advantages and disadvantages of different slave schemes are analyzed.2.The overall scheme design and key technology of Ether CAT servo control system are introduced.In the part of network communication,the frame structure of Ether CAT data,the mode of state machine,the request and response mechanism of state machine,the communication of mailbox data and process data of Ether CAT bus are introduced.In the servo drive part,the key technologies of motor control are introduced.3.The hardware circuit with Infineon XMC4800 as the core is designed,including Ether CAT bus slave network communication interface circuit,power circuit,current sampling circuit,MOS driver circuit,encoder feedback circuit,over-current detection circuit,digital input and output circuit,bus voltage,temperature detection circuit,etc.4.Based on Infineon's Dave platform,the Ethernet communication protocol stack program and CIA402 motion control protocol program of servo system are designed,and the device description file is compiled.The algorithm program of the servo driver is designed,which mainly includes the program design of the initial position detection of the servo motor rotor,the speed calculation of the motor,the current ring,the speed ring and the position ring.5.A set of precision ball screw module experimental device is built.Based on Twin CAT platform of Beckhoff company in Germany,the task cycle of Ether CAT network communication and the synchronization delay of ten slave servo axes are tested,and the position and speed tracking control experiments are carried out.The experimental results show that the designed servo motor control system is validity based on Ether CAT bus.