以EtherCAT通訊網路達成伺服馬達之遠端控制器參數調整

Abstract

將運算、通訊和控制單元透過網路作整合，以方便系統的建立與管理，進而提高系統的整合度與便利性，乃是控制系統的一大趨勢。本研究建立乙太網路控制自動化技術EtherCAT (Ethernet for control automation technology)通訊介面，並整合EtherCAT通訊網路與伺服馬達控制系統，以遠端下達控制命令與進行控制器參數調整。 本研究使用DSP與EtherCAT Slave Controller (ESC) 建立具EtherCAT通訊網路的伺服馬達控制系統。首先，說明以DSP編排SPI同步串列時序，將資料讀出或寫入ESC完成初步的資料交換。之後在DSP實現EtherCAT狀態機來達成資料傳輸的安全性。完成EtherCAT通訊網路的基本功能後，對EtherCAT通訊網路與伺服馬達控制系統進行整合。在原有的伺服馬達控制迴路外加入獨立的EtherCAT資料交換中斷迴路，使得EtherCAT 主站可以下達控制命令和讀取響應。最後，對伺服馬達控制系統進行QFT與PID控制器的設計提升系統效能。當系統效能大幅降低時，以EtherCAT主站傳送重新設計QFT控制器參數使系統效能回升。

In this thesis, an Ethernet for control automation technology (EtherCAT) slave controller (ESC) is integrated with a DSP (digital signal processor) servo motor control system using EtherCAT. The specific time sequence for data exchange with the ESC is thus constructed with the arrangement of SPI in the DSP. Then, the EtherCAT state machine is realized on the DSP to guarantee safety of data transmission over the EtherCAT for motion command and feedback messages. In addition to the basic functions of EtherCAT, integration of EtherCAT communication network and the servo motor control system requires the additional independent interrupt loop out of the servo motor control loop for data exchanges between the two systems. Thus, the EtherCAT master may assign commands to the EtherCAT slave and read the response of the servo motor system for condition monitoring. Finally, both PID and QFT controllers are introduced with a newly designed SDO to enhance system performance. When system performance is significantly degraded, coefficients of the redesigned controller are derived and directly transmitted to the EtherCAT slave to improve system performance.