运动控制网络的时钟同步

Clock Synchronization of Motion Control Networks

为了改进网络化多轴同步控制系统的性能,研究了运动控制网络的时钟同步方法。制定了一种网络化运动控制策略,采用广义预测控制算法和报文缓冲机制补偿随机时变网络延迟。提出了一种主从时钟同步机制,讨论了两种在运动控制网络中产生同步事件的方法;推导了一种从时钟的调整算法,该算法不依赖任何的特定运动控制网络,并给出了这一算法基于FPGA的实现结果。

In order to improve the performance of networked multi-axis motion control systems, the clock synchronization method of motion control networks was studied. A networked motion controller was proposed firstly. By using the Generalized Predictive Controller （GPC） and the message buffer mechanism, the random time-varying network delay can be compensated for. A master-slave clock synchronization mechanism was presented. Two methods to generate synchronized event in a motion control network was discussed. A tuning algorithm of the slave clock was presented,which did not relay on any specific motion control networks. A FPGA-based implementation of the tuning algorithm was developed.