Synchronous Multi-axis Motion Control Based on Modified EtherCAT Distributed Clock

Shen, Hanlin; Li, Peihe; Luo, Xichun

doi:10.1109/cac51589.2020.9327605

Cited by 6 publications

(2 citation statements)

References 8 publications

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“…EtherCAT Thanks to this mechanism, the maximum transmission speed of EtherCAT can even exceed 100 Mbps, and the cycle time is below 100 µs [21,22]. However, in practical control applications, only a few EtherCAT systems can achieve less than 100 µs cycle time [23].…”

Section: Esc Slave2mentioning

confidence: 99%

A Novel Heterogeneous Parallel System Architecture Based EtherCAT Hard Real-Time Master in High Performance Control System

et al. 2022

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EtherCAT is one of the preferred real-time Ethernet technologies. However, EtherCAT is not applicable in high-end control fields due to real-time constraints. Clock synchronization and cycle time are the most representative limitations. In this paper, a novel Heterogeneous Parallel System Architecture (HPSA) with features of parallel computation and hard real-time is presented. An HPSA-based EtherCAT hard real-time master is developed to significantly improve clock synchronization and shorten cycle time. Traditional EtherCAT masters feature serial processing and run on a PC. This HPSA-based master consists of two parts: EtherCAT master stack (EMS) and EtherCAT operating system (EOS). EMS implements the parallel operation of EtherCAT to realize the shorter cycle time, and EOS brings a hard real-time environment to the HPSA-based master to improve clock synchronization. Furthermore, this HPSA-based master operates on a heterogeneous System-on-a-chip (SoC). EMS and EOS form a heterogeneous architecture inside this SoC to achieve low-latency process scheduling. Experimental results show that in our HPSA-based EtherCAT hard real-time master, the cycle time reaches the sub-50 μs range, and the synchronization error reduces to several nanoseconds. Thus, this HPSA-based master has great application value in high-performance control systems.

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Section: Esc Slave2mentioning

confidence: 99%

A Novel Heterogeneous Parallel System Architecture Based EtherCAT Hard Real-Time Master in High Performance Control System

et al. 2022

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“…Meanwhile, the required number of controller interfaces increases with the number of drivers via parallel processing, which means that the cost of the controller increases, and the anti-interference of the controller decreases. In order to overcome the above drawbacks, EtherCAT bus is employed to achieve communication between each driver through serial processing [18]. Although the number of the controller interfaces does not increase, the communication delay time cannot be completely eliminated.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of Novel Synchronous Motion Technique for a Multi-Module Permanent Magnet Linear Synchronous Motor

2022

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Traditionally, synchronous motion among multi-module permanent magnet linear synchronous motors (PMLSM) has been achieved by adopting independent power supply and control. This method, however, requires multiple drivers and has control time delays. This paper proposes a novel approach to overcome these drawbacks, in which the windings of each module connect in series. Aiming at this electrical connection, we conduct research on electromagnetic and synchronous characteristics. Firstly, a two-module PMLSM is created as a case. Secondly, accurate mathematical models considering coupling inductance for this novelty structure are established, which are essential to driving control. The synchronous characteristics of the two-module are then compared with the independent control of each module. Furthermore, this comparison is conducted under both external and no external disturbance. Finally, experimental results verify the correctness of mathematical models, and reveal that this novel technique could eliminate control time delay and acquire better anti-disturbance performance between the two-module.

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General Evaluation of EtherCAT-Based Techniques in Various Industrial Systems: Review and Applications

Bui,

Shin,

Ngo

2024

Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering

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Synchronous Multi-axis Motion Control Based on Modified EtherCAT Distributed Clock

Cited by 6 publications

References 8 publications

A Novel Heterogeneous Parallel System Architecture Based EtherCAT Hard Real-Time Master in High Performance Control System

A Novel Heterogeneous Parallel System Architecture Based EtherCAT Hard Real-Time Master in High Performance Control System

Design and Analysis of Novel Synchronous Motion Technique for a Multi-Module Permanent Magnet Linear Synchronous Motor

General Evaluation of EtherCAT-Based Techniques in Various Industrial Systems: Review and Applications

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