EtherCAT技术在振动台三台阵同步运动控制应用

Research on Synchronous Motion Control of Three Shaking Tables Platform Based on EtherCAT

多台振动台组合而成的多功能台阵在工程试验中的优势逐渐体现出来,是目前振动台发展的趋势。完成一个大型台阵的搭建,多振动台之间的协同运动是首要解决的问题。以三台地震模拟振动台搭建而成的台阵为研究对象,使用基于超高速以太网EtherCAT技术设计实时高性能伺服控制系统,给出了系统软硬件设计方案。运用一主六从的网络结构,控制三振动台同步运动,最终实现三振动台位置同步、速度同步、加速度同步。显示出EtherCAT伺服控制系统在处理高密度实时数据有着优秀的控制伺服电机能力,以及基于总线的多轴组网控制能够有效解决多台伺服电机并联实时控制问题。

The advantages of multi - functional multiple shaking table combined with several shaking tables are gradually reflected in the engineering experiment, and it is the trend of the development of the shaking table. To complete a large multiple shaking table, the cooperative movement of each shaking table is the primary problem to solve. it is based on the combination of three earthquake simulation shaking table, the real-time high performance servo control system is designed based on the ultra high speed Ethernet EtherCAT technology,and the scheme of design of software and hardware is given. Using a master device and six device of the network structure to control three shaking table synchronization motion, and finally achieve the purpose of the three shaking table’s position synchronization, speed synchronization, and acceleration synchronization. It shows that the EtherCAT servo control system has excellent control of the servo motor in the process of dealing with high density real time data,and Multi-axis network control based on bus can effectively solve the problem of multiple servo motor parallel real-time control.