Research On Master-slave Station Design And Safety Control System Based On EtherCA

With the continuous improvement of the requirements for intelligent motion control technology in the field of industrial control,traditional fieldbus has achieved great success in this field.However,with the increasing requirements for synchronization,real-time,scalability,security,and reliability in the field of industrial control,there is an urgent need for an industrial control technology that can meet high-performance requirements,The emergence of EtherCAT technology in real-time industrial Ethernet is of great significance for the field of industrial control.(1)This project collaborates with a precision measurement and control company in Harbin to design and develop a high-performance,low-cost,and scalable EtherCAT industrial control system for the control needs of the enterprise.To address the issues of control system synchronization,real-time,scalability,and security,this project proposes an EtherCAT master station development solution based on ARM and FPGA dual core heterogeneity,Xenomai+Ig H,A scheme was designed to synchronize real-time tasks with interrupt signals,meeting the requirements for hard real-time performance of the system;A DC distributed clock synchronization unit module was designed on the FPGA side to meet the system’s synchronization requirements;By using a finite state machine,the communication function between the master and slave stations was achieved.In order to cooperate with the communication task of the master station,the slave station part has designed a slave station scheme based on AX58100 slave station controller and STM32F7 slave station microprocessor,and completed the design and development of the slave station microprocessor hardware circuit,as well as the design of the master slave station communication and terminal control module program,Implemented control tasks issued by master-slave communication commands.(2)In response to the shortcomings in the safety and reliability of the control system,this project proposes a design scheme based on FPGA functional safety,completing the design tasks of secure data frames,data overflow timing,and loop redundancy expansion interaction,achieving the purpose of system security control;And write a Qt upper computer to visualize the relevant data and motor operation trajectory through communication with the ARM end.Test the real-time,synchronization,security,reliability and other performance of the control system through the actual testing platform built.The experiment shows that the master station successfully communicates with the slave station,the equipment operates normally,and the real-time performance of the system can reach 80% μ About s,synchronization can achieve synchronization jitter within 100 ns,and the verification of safety and reliability control has been successful,which well meets the requirements of the current industrial control field for this technology.