초록

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Abstract ▼ AI-Helper

Recently, high-precision synchronous motion control systems with multi-motor actuation are widely deployed in various industry fields. The primary requirement for motion control systems is real-time periodic control and precise synchronization between motor drives. They also need system management f...

Recently, high-precision synchronous motion control systems with multi-motor actuation are widely deployed in various industry fields. The primary requirement for motion control systems is real-time periodic control and precise synchronization between motor drives. They also need system management functions such as remote monitoring and control. Considering those requirements, Real-time Ethernet (RTE) technologies can offer many advantages for motion control applications. Another important trend in motion control application is openness. To resolve compatibility issues among different products from various vendors and limitation of scalability, it is essential to support the open standards for programming industrial control systems. In this paper, we designed and implemented a real-time synchronous motion controller with EtherCAT support by extending an open source IDE (Integrated Development Environment) for standardized industrial automation platforms. Our system provides application programming environment, EtherCAT network management, automatic code generation, and real-time data communication through EtherCAT network in a single IDE. We also measured and analyzed task release time jitter and task response time on legacy Linux kernel and Xenomai real-time extension. The result show that Xenomai can support high-precision motion control of which cycle time is under 1 ms while legacy Linux kernel can only provide deterministic performance for low-precision motion control of which cycle time is higher than 10 ms.

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