EtherCAT+系统无线时钟同步方案分析.pdfVIP

摘要 摘要 实时工业以太网 EtherCAT 是用于控制和自动化的以太网技术，在物理层使 用环形总线拓扑结构提升以太网实时性能。由于在组帧、速率和实时性等方面的 优势，该技术应用范围正在迅速扩大，越来越多的受到工业界和学术界的关注， 为实时系统的性能和拓扑的灵活性提供了新的标准。 实时工业控制系统信号具有很强的时间相关性，系统必须首先实现时间同步 才能进行有效的数据采集和控制。时间同步的实现需要一个来自外部的基准时间， 用来同步各子系统。其次必须有一种协议来确保各时钟从站与基准时间的同步。 论文主要讨论如何在无线环境下将基准时间准确地分发给 EtherCAT 系统的时间 从站，从而实现基准时间和EtherCAT 时间从站之间的同步。 论文首先对实时工业以太网协议EtherCAT 进行简单介绍，深入分析了IEEE 1588、GPS 、无线传感器网络时钟同步协议原理，并对其优缺点进行总结。在分 析了无线网络环境特点的基础上，提出了一种新的用于同步基准时间和时间从站 的无线同步协议。在新协议中，使用预约分组来消除信道接入时延，采用多个分 组相互备份的方法来消除无线环境的不稳定因素，使用统计平均获得的延迟来调 整从站时钟。最后，使用USRP 平台对算法的正确性和可行性进行了验证，实验 结果表明算法达到预期目的。 关键词：EtherCAT IEEE 1588 无线时钟同步 USRP Abstract Abstract EtherCAT is an Ethernet which is used for control and automation, which uses ring-type bus topology to promote real-time performance on physical layer. Due to its advantages in frame construction, transmission rate and real-time performance, it has been used in various fields and has attracted more and more attention from industry and academic areas. It provides a new standard for the performance of real-time system and flexibility in topology. There is a strong relationship between signal in real-time Ethernet and time, which puts emphasis on achieving time synchronization to collect valid data and to perform control in the system. To achieve time synchronization, the system requires a reference time from outside and each subsystem’s clock board should be synchronized with it. Emphasis should also be put on a protocol which ensures that each slave clock board and the time reference are in synchronization. This paper discusses how the reference time is accurately distributed to the EtherCAT system