基于EtherCAT六轴控制系统的S型曲线算法研究
Research on S-Curve Algorithm Based on EtherCAT Six Axis Control System
于洋 1王欣欣 2杨东旭 1邵洪超2
作者信息
- 1. 青岛理工大学信息与控制工程学院,山东 青岛 266520
- 2. 齐鲁工业大学(山东省科学院),山东 济南 250014
- 折叠
摘要
工业自动化中,传统通信总线在通信速率低和网络拓扑结构固化等方面存在局限性,难以满足对实时响应和灵活配置的需求.EtherCAT总线具有实时性和灵活性高的特点,可以提升系统的整体性能和可靠性.基于EtherCAT总线的六轴步进电机控制系统不仅确保了电机之间的实时通信,还通过引入S型曲线算法,大幅提升了电机运行的平稳性和可靠性.这种结合EtherCAT总线和S型曲线算法的方式实现了灵活、平稳、可靠的电机运动控制.
Abstract
In industrial automation,traditional communication buses have limitations in low communication rates and fixed network topology,making it difficult to meet the demands for real-time response and flexible configuration.EtherCAT bus has the characteristics of real-time and high flexibility,which can improve the overall performance and reliability of the system.The six axis stepper motor control system based on EtherCAT bus not only ensures real-time communication between motors,but also greatly improves the smoothness and reliability of motor operation by introducing the S-shaped curve algorithm.This combination of EtherCAT bus and S-curve algorithm achieves flexible,smooth,and reliable motor motion control.
关键词
EtherCAT总线/实时通信/S型曲线算法/步进电机Key words
EtherCAT bus/real-time communication/S-curve algorithm/stepping motor引用本文复制引用
出版年
2024
NETL
NSTL
万方数据