摘要
目前,工业运动控制中多采用EtherCAT总线进行主站和从站之间的通信,在EtherCAT总线上传输着大量的运动数据信息。基于此,提出一种面向EtherCAT总线的伺服系统误差及插补算法误差辨识方法。此方法通过ET2000和Wire-Shark抓获运动过程中EtherCAT总线上的数据,筛选有效数据生成pcapng文件,再对此文件和运动控制系统的ENI xml文件进行解析获得目标位置和实际位置信息,最后对得到的位置信息进行误差分析。针对各类误差设计了相应的运动轨迹,在机床上对单轴点位运动、两轴插补运动及两轴前瞻插补运动进行了多组运动控制实验,完成了伺服响应滞后、伺服动态性能不匹配、跟随误差、位置到位抖动以及插补算法误差等的辨识,通过此方法可获得单轴的运动控制精度以及多轴运动之间相互配合的能力。
Currently,the EtherCAT bus is commonly used in industrial motion control for communication between master and slave stations,and a large amount of motion data information is transmitted on the EtherCAT bus.Based on this,a servo system error and inter-polation algorithm error identification method for EtherCAT bus was proposed.The data on the EtherCAT bus during the motion process were captured through ET2000 and WireShark,valid data were filtered to generate.pcapng file,this file and the ENI.xml file of the mo-tion control system were analyzed to obtain target position and actual position information,and finally error analysis were conducted on the obtained position information.Corresponding motion trajectories were designed for various types errors.Multiple sets of motion control experiments were conducted on the machine tool for single axis point motion,two axis interpolation motion,and two axis prospective in-terpolation motion.Errors such as servo response lag,servo dynamic performance mismatch,tracking error,positional jitter,and interpola-tion algorithm error were identified,obtaining the motion control accuracy of single axis and the ability of multi axis motion to cooperate with each other.
作者
侯欢
李翔龙
谢希杨
HOU Huan;LI Xianglong;XIE Xiyang(School of Mechanical Engineering,Sichuan University,Chengdu Sichuan 610065,China;Key Laboratory of Innovative Methods and Innovative Design of Sichuan Province,Chengdu Sichuan 610065,China)
出处
《机床与液压》
北大核心
2024年第13期15-21,共7页
Machine Tool & Hydraulics
基金
四川省重大科技专项项目(2020ZDZX0023)。
