Design And Implementation Of Slave Controller Of Hydraulic Servo Valve Based On EtherCAT Bus

Under the premise of "Industry 4.0" and "Made in China 2025",the automobile industry has increasingly become the top priority for China to improve the overall industrial level.The development of automobile industry depends not only on the improvement of its mechanical manufacturing level,but also on the research and development of high-level automobile vibration experimental platform to a great extent.At present,there is still a big gap between the development level of domestic multi axis Electro-hydraulic Vibration Platform and foreign countries,and most high-performance servo equipment still depends on imports,which has the disadvantages of long supply period,difficult maintenance and high cost.Relying on the relevant project background of the cooperation between the school of automation of Chongqing University and China Automotive Engineering Research Institute,this paper is committed to developing a slave controller of multi axis electro-hydraulic servo system based on EtherCAT high-speed bus,so as to realize the independent control of the control system of domestic automotive vibration experiment platform.Firstly,this paper introduces the development status of multi axis vibration test-bed and EtherCAT bus technology at home and abroad,and analyzes the advantages of their fusion application in this subject.Then it explains the EtherCAT bus technology and the important theoretical concepts of Co E protocol in detail,and gives the overall architecture of EtherCAT system and the design scheme of master-slave station.At the same time,the main station and the slave station are used to develop the communication controller.Then,according to the slave design scheme given in Chapter 2,the hardware circuit of EtherCAT slave controller based on "AX58100+STM32" architecture is developed.Ax58100 is used as the core chip of slave controller(ESC)to complete the analysis and processing of EtherCAT data frame in application layer and data link layer,and STM32 is used as the core chip of slave microprocessor to complete the establishment of slave protocol stack and data frame application layer processing.Next,the electro-hydraulic servo system of this subject is modeled,the traditional PID control algorithm and fuzzy adaptive PID control algorithm are designed,and the MATLAB simulation experiment is carried out.The control effects of the two are compared,the time-domain response and frequency-domain response diagrams are drawn,and the dynamic performance of the system under the action of different control algorithms is analyzed.The design scheme of double closed-loop control system using fuzzy adaptive PID control algorithm is determined.After the explanation of EtherCAT mechanism and the design of system control algorithm,the master station is realized based on twincat3 platform,and the XML configuration file is designed for the slave station of this subject;Using STM32,EtherCAT slave protocol stack,slave state machine processing,data input and output,fuzzy adaptive PID controller and other software modules are developed.After completing the master station configuration and slave station software design of EtherCAT system,the man-machine interface is designed by using Lab Windows/CVI,and the master-slave station communication test is carried out.Finally,the electro-hydraulic servo control system is built on the test site,and the tracking experiments are carried out on multiple displacement waveforms with different amplitudes and frequencies.The experiments verify the reliability of the hardware and algorithm design of the slave controller.