Real-time EtherCAT Master Development Based On Windows Platform

Intelligent manufacturing promotes the development of industrial control systems in the direction of digitalization and networking.EtherCAT technology is widely used in industrial control systems due to its real-time,high speed and high precision.The continuous improvement of industrial automation puts forward the simple operation and agility of the industrial control system.Windows system's excellent graphical user interface and comprehensive software development tools make it gradually applied to the industrial control field.Therefore,the combination of Windows system and EtherCAT fieldbus has become a new hot spot in the field of industrial control.An EtherCAT master system based on Windows platform is developed.The contents of the thesis are as follows:The requirements arisen from EtherCAT master development in combination with Windows system features are analyzed.The overall architecture of the EtherCAT master station based on Windows platform is designed.Windows system exists bad real-time problems.A real-time optimization method using I/O APIC,DPC timer,and non-paged memory is proposed.External interrupts are redirected to a CPU core through the I/O APIC,independent of the other as a real-time CPU core.Real-time tasks are inserted into the DPC queue of the real-time CPU core using the DPC timer.Non-paged memory is used to avoid missing page interruption.SOEM open source protocol stack is used to develop EtherCAT overall function.SOEM is transplanted into a kernel module.NDIS protocol driver is used to complete EtherCAT network data transmission and reception.The real-time module is used to complete the control of the periodic process data communication.Since the EtherCAT master is in kernel mode,the application is inconvenient to use its features.The application interface of EtherCAT master is designed.An experimental platform is set up to perform functional tests,performance tests,and multi-axis engineering application tests on the EtherCAT master.The test results show that the proposed solution designed EtherCAT master can not only realize the complete function,but also achieve good real-time performance.In addition,it can also perform multi-axis motion control and has good control performance.