Abstract:

A multi motors control system is established for use in industrial fields based on the characteristic analysis of multi motors control,in which the EthCAT industrial real-time Bus is used to combine the locale and remote fields.The slave nodes are motor controllers and data acquisition unit is based on DSP and ESC.Both FPGA and real-time OS are used to accomplish the master control nodes for periodic and aperiodic tasks.In this system,the time service unit is design to realize the time synchronization function based on DC clock of ESC with a synchronous precision better than 1 μs.The configuration and management software is designed for setting operation parameters,analyzing motor running performance and controlling parameters,displaying the dynamic parameters waveform,and estimating the system performance.Application results show that the system features easy and stable operation with good real-time performance.

Key words: EtherCAT bus;multi motors control;distributed control system