摘要
本文设计了一种基于树莓派的轻量化EtherCAT主站及其测试系统。在测试系统上,通过多通道侦听器,测量了多个并行运行主站的性能参数;借助于软硬件时间戳,测量了轮询/中断、单/多核等多种模式下的时延抖动;还测量了数据帧在协议各层的时延与抖动。基于树莓派的EtherCAT主站采用VxWorks操作系统,在实现过程中重点对系统内核配置、网卡驱动、报文处理、应用层软件等方面进行了优化。经测试,该主站性能稳定,在125μs循环周期下的抖动约6μs,可满足工业现场数据采集、楼宇自动化、AGV控制等需求。
This paper designs a lightweight EtherCAT master and its test system based on Raspberry Pi. On the test system, the performance parameters of several parallel running masters are measured by multi-channel listeners, the delay jitters in polling/interrupt and single/multi-core modes are measured by means of software and hardware timestamp, and the delays and jitters of frame at each protocol layers are also measured. The EtherCAT master station based on Raspberry Pi adopts VxWorks operating system, the main optimization direction includes system kernel configuration, network adapter driver, message processing, application layer software, etc. By testing, the master has stable performance, the period jitter is about 6 μs under 125 μs period, which can meet the requirements of industrial field data acquisition, building automation, AGV control and so on.
作者
赵纯
杨志家
谢闯
王剑
Zhao Chun;YangZhijia;Xie Chuang;Wang Jian(Key Laboratory of Networked Control Systems,Chinese Academy of Sciences,Shenyang 110016,China;Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China)
出处
《电子测量技术》
北大核心
2022年第20期37-42,共6页
Electronic Measurement Technology
基金
国家重点研发计划(2018YFB1702000)项目资助。
