Real-time Study of EtherCAT Master Station Based on Linux
Precision machining field has a high requirement for real-time control system,and the traditional control system can not meet the requirements of high communication rate and high real-time.In order to improve the real-time performance of the system,a scheme of installing Xenomai real-time kernel on Linux non-real-time system was proposed.In this scheme,the Xenomai real-time kernel was installed on Linux operating system,and then the Linux kernel and Xnomai real-time kernel were configured and optimized.Then,the IgH EtherCAT Master protocol stack was transplanted to construct EtherCAT master station.Finally,the jitter test was carried out on the system.Through data analysis,the communication jitter of the reformed EtherCAT master station was within 10 μs,and the DC synchronization jitter was within 10 ns.The test results show that the real-time performance of the optimized Linux system was greatly improved,and the real-time performance and stability of EtherCAT master station were greatly improved,which can meet the requirements of industrial control system for real-time performance.
万方数据
维普
