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Article(id=1156908034237751932, tenantId=1146029695717560320, journalId=1146123166801305609, issueId=1156907871645556837, articleNumber=null, orderNo=null, doi=10.12404/j.issn.1671-1815.2402811, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=research-article, receivedDate=1713283200000, receivedDateStr=2024-04-17, revisedDate=1721232000000, revisedDateStr=2024-07-18, acceptedDate=null, acceptedDateStr=null, onlineDate=1753757969674, onlineDateStr=2025-07-29, pubDate=1737993600000, pubDateStr=2025-01-28, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1753757969674, onlineIssueDateStr=2025-07-29, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1753757969674, creator=13701087609, updateTime=1753757969674, updator=13701087609, issue=Issue{id=1156907871645556837, tenantId=1146029695717560320, journalId=1146123166801305609, year='2025', volume='25', issue='3', pageStart='879', pageEnd='1312', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=0, createTime=1753757930909, creator=13701087609, updateTime=1765095544280, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1204461268821320541, tenantId=1146029695717560320, journalId=1146123166801305609, issueId=1156907871645556837, language=EN, specialIssueTitle=, coverIllustrator=, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1204461268825514846, tenantId=1146029695717560320, journalId=1146123166801305609, issueId=1156907871645556837, language=CN, specialIssueTitle=, coverIllustrator=, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=1150, endPage=1156, ext={EN=ArticleExt(id=1156908035009503873, articleId=1156908034237751932, tenantId=1146029695717560320, journalId=1146123166801305609, language=EN, title=Design and Performance Testing of Clock Synchronization Compensation Scheme Based on IgH EtherCAT, columnId=1156262729162810294, journalTitle=Science Technology and Engineering, columnName=Papers·Automation and Computational Technology, runingTitle=null, highlight=null, articleAbstract=

To enhance the synchronization performance of multiple clocks in robotic communication systems, a study was conducted on a distributed clock synchronization compensation scheme. Quantitative compensation and dynamic compensation algorithms for clock errors were designed. The synchronization compensation scheme, based on the IgH EtherCAT communication protocol stack, was implemented, and trajectory tracking and communication performance tests were conducted on a six-axis robotic arm. The results show that the application of this synchronization scheme improves the circular trajectory precision of the robotic arm’s end effector compared to non-IgH synchronization schemes. The clock synchronization error is reduced to 54 ns, with the error tolerance within ±200 ns. It is evident that the compensation scheme enhances clock synchronization performance and meets the application requirements of the robotic arm.

, correspAuthors=Bin-rui WANG, authorNote=null, correspAuthorsNote=null, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=null, pdfFileSize=null, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, authorCompany=null, fund=null, authors=null, authorsList=Min-feng CHEN, Gui-rong WANG, Ying-lian JIN, Kun ZHOU, Bin-rui WANG), CN=ArticleExt(id=1156908107474493651, articleId=1156908034237751932, tenantId=1146029695717560320, journalId=1146123166801305609, language=CN, title=基于IgH EtherCAT的时钟同步补偿方案设计与性能测试, columnId=1156262729783567290, journalTitle=科学技术与工程, columnName=论文·自动化技术、计算机技术, runingTitle=null, highlight=null, articleAbstract=

为了提升机器人通信系统多时钟同步性能,通过对分布式时钟同步补偿方案进行研究,设计时钟误差定量补偿与动态补偿算法,采用基于IgH EtherCAT通信协议栈实现同步补偿方案,最后在六轴机械臂上开展轨迹跟踪与通讯性能测试。结果表明,与非IgH同步方案相比,该同步方案的应用提高了机械臂末端执行器的轨迹圆精度。时钟同步误差降至54 ns,同步误差容许范围在±200 ns以内。可见补偿方案提高了时钟同步性能,满足机械臂的应用需求。

, correspAuthors=王斌锐, authorNote=null, correspAuthorsNote=
* 王斌锐(1978—),男,汉族,山西平遥人,博士,教授。研究方向:仿生机器人。E-mail:。
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陈敏峰(1999—),男,汉族,浙江嘉兴人,硕士研究生。研究方向:时钟同步通信。E-mail:。

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陈敏峰(1999—),男,汉族,浙江嘉兴人,硕士研究生。研究方向:时钟同步通信。E-mail:。

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陈敏峰(1999—),男,汉族,浙江嘉兴人,硕士研究生。研究方向:时钟同步通信。E-mail:。

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SOF(static output feedback)表示静态输出反馈;PID(proportion integral differential)比例积分微分

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Synchronization performance evaluation

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测试组 同步均值/ns 抖动均值/ns 相似度/%
传统EtherCAT 101 227 97.82
改进补偿 54 95 98.13
), ArticleFig(id=1204780264925929827, tenantId=1146029695717560320, journalId=1146123166801305609, articleId=1156908034237751932, language=CN, label=表1, caption=

同步性能评估

, figureFileSmall=null, figureFileBig=null, tableContent=
测试组 同步均值/ns 抖动均值/ns 相似度/%
传统EtherCAT 101 227 97.82
改进补偿 54 95 98.13
), ArticleFig(id=1204780265034981734, tenantId=1146029695717560320, journalId=1146123166801305609, articleId=1156908034237751932, language=EN, label=Table 2, caption=

Synchronous compensation plan data statistics table

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组别 时间/ns
从站2 从站3 从站4 从站5 从站6
偏移补偿值 109 161 185 123 19 530 222 20 144 623 20 253 941
传输补偿值 105 206 310 410 520
漂移补偿均值 -21 -34 15 -41 20
漂移补偿最大 11 19 60 39 52
漂移补偿最小 -72 -76 -30 -96 -22
时钟误差均值 8 16 35 9 54
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同步补偿方案数据统计表

, figureFileSmall=null, figureFileBig=null, tableContent=
组别 时间/ns
从站2 从站3 从站4 从站5 从站6
偏移补偿值 109 161 185 123 19 530 222 20 144 623 20 253 941
传输补偿值 105 206 310 410 520
漂移补偿均值 -21 -34 15 -41 20
漂移补偿最大 11 19 60 39 52
漂移补偿最小 -72 -76 -30 -96 -22
时钟误差均值 8 16 35 9 54
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基于IgH EtherCAT的时钟同步补偿方案设计与性能测试
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陈敏峰 , 王桂荣 , 金英连 , 周坤 , 王斌锐 *
科学技术与工程 | 论文·自动化技术、计算机技术 2025,25(3): 1150-1156
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科学技术与工程 | 论文·自动化技术、计算机技术 2025, 25(3): 1150-1156
基于IgH EtherCAT的时钟同步补偿方案设计与性能测试
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陈敏峰 , 王桂荣, 金英连, 周坤, 王斌锐*
作者信息
  • 中国计量大学机电工程学院, 杭州 310018

    • 陈敏峰(1999—),男,汉族,浙江嘉兴人,硕士研究生。研究方向:时钟同步通信。E-mail:。

通讯作者:

* 王斌锐(1978—),男,汉族,山西平遥人,博士,教授。研究方向:仿生机器人。E-mail:。
Design and Performance Testing of Clock Synchronization Compensation Scheme Based on IgH EtherCAT
Min-feng CHEN , Gui-rong WANG, Ying-lian JIN, Kun ZHOU, Bin-rui WANG*
Affiliations
  • College of Mechanical and Electrical, China Jiliang University, Hangzhou 310018, China
出版时间: 2025-01-28 doi: 10.12404/j.issn.1671-1815.2402811
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摘要
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为了提升机器人通信系统多时钟同步性能,通过对分布式时钟同步补偿方案进行研究,设计时钟误差定量补偿与动态补偿算法,采用基于IgH EtherCAT通信协议栈实现同步补偿方案,最后在六轴机械臂上开展轨迹跟踪与通讯性能测试。结果表明,与非IgH同步方案相比,该同步方案的应用提高了机械臂末端执行器的轨迹圆精度。时钟同步误差降至54 ns,同步误差容许范围在±200 ns以内。可见补偿方案提高了时钟同步性能,满足机械臂的应用需求。

时钟同步  /  误差补偿  /  EtherCAT  /  通信性能  /  机械臂

To enhance the synchronization performance of multiple clocks in robotic communication systems, a study was conducted on a distributed clock synchronization compensation scheme. Quantitative compensation and dynamic compensation algorithms for clock errors were designed. The synchronization compensation scheme, based on the IgH EtherCAT communication protocol stack, was implemented, and trajectory tracking and communication performance tests were conducted on a six-axis robotic arm. The results show that the application of this synchronization scheme improves the circular trajectory precision of the robotic arm’s end effector compared to non-IgH synchronization schemes. The clock synchronization error is reduced to 54 ns, with the error tolerance within ±200 ns. It is evident that the compensation scheme enhances clock synchronization performance and meets the application requirements of the robotic arm.

clock synchronization  /  error compensation  /  EtherCAT  /  communication performance  /  robotic arm
陈敏峰, 王桂荣, 金英连, 周坤, 王斌锐. 基于IgH EtherCAT的时钟同步补偿方案设计与性能测试. 科学技术与工程, 2025 , 25 (3) : 1150 -1156 . DOI: 10.12404/j.issn.1671-1815.2402811
Min-feng CHEN, Gui-rong WANG, Ying-lian JIN, Kun ZHOU, Bin-rui WANG. Design and Performance Testing of Clock Synchronization Compensation Scheme Based on IgH EtherCAT[J]. Science Technology and Engineering, 2025 , 25 (3) : 1150 -1156 . DOI: 10.12404/j.issn.1671-1815.2402811
正文
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面对工业机器人技术的快速发展,传统控制器采用的封闭结构限制其开放性、软件可扩展性和网络功能,难以满足市场发展的需求[1]。在大多国外产品独立研发工业实时以太网协议,复杂控制应用的协议组件和代码不公开的情况下,凸显出研发机器人控制器通信解决方案的重要性。
黄睿等[2]面对工业机器人封闭式控制结构的问题,设计基于TwinCAT3与EtherCAT通讯协议的开源机器人控制系统架构,但没对通讯性能进行优化。文献[3]对3种基本拓扑结构的时钟同步误差进行了仿真分析。文献[4]研究EtherCAT从站在同步管理器模式和分布时钟模式下的中断信号误差,但未对时钟同步算法及其实现过程展开研究。文献[5-6]分别通过SOEM(simple open EtherCAT master library)框架和IgH EtherCAT框架设计通信方案。Luo等[7]在Linux+Xenomai双内核系统上,构建IgH EtherCAT的六轴机械臂运动控制系统,双内核的设计减低了系统调度延迟。文献[8]提出了基于FPGA(field programmable gate array)的通信主站方案。文献[9]通过研究主站到参考从站之间的传输延时与各从站的初始时钟偏移量,提高主从控制系统的时钟同步精度,通过移植SOEM框架设计分布时钟同步算法。但没有使用IgH EtherCAT框架设计,没有考虑动态漂移补偿方案,本文中考虑此方向并进一步研究。
基于IgH EtherCAT工业总线搭建一种硬件开发难度小、成本低、通信性能高、无需外接通讯板卡的软件型通信方案,以满足机器人控制器应用需求。通过设计一种分布式时钟同步方案,实现误差的定量补偿与动态补偿,以解决传输延迟、时钟偏移和时钟漂移等问题,主要研究如下内容。
(1)面对参考时钟与从站时钟之间的传输延时、时钟偏移及时钟漂移影响因素,设计一种分布式时钟同步方案,分别实现误差的定量补偿与动态补偿,以提高从站时钟的同步性能。
(2)面对固有通信协议的限制,研究其成本效益高、可移植和开发灵活的IgH EtherCAT协议栈完成同步补偿方案,期望达到纳秒级的同步精度。
(3)在实际机械臂上进行的实验,评估时钟同步优化方案的效果,并针对补偿过程中各项补偿值的变化进行了深入的性能分析。
1 EtherCAT分布式时钟同步
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1.1 EtherCAT同步方式
分布时钟(distributed clock,DC)模式基于IEEE 1588协议[10]的分布时钟机制实现,维持主站时钟、参考时钟与其他各从站时钟一致[11],如图1所示效果。通常选择主站连接的第一个具备分布时钟功能的从站作为参考从站,以支持分布式时钟同步。
分布时钟模式优势支持对各个从站初始传输延时、时钟偏移、时钟漂移的测量和补偿,支持周期性的同步操作来保持各从站的时钟精确同步,从而确保各从站的时钟在设定的通信周期后精准地触发同步信号(Sync),实现执行器同步执行主站下发的动作指令。
1.2 时钟同步误差组成
时钟同步误差[12]的产生主要有三个方面:各从站的传播延迟、时钟偏移量与时钟漂移量。
传输延迟包括主站和各从站之间的线缆传输延时与各从站内部的数据帧处理延时以及数据帧转发延时。数据帧在网络中传输和从站处理数据所需的时间差引起的[13]。由于这些延时是不可避免的,它们可能导致数据帧到达不同的从站时产生时间差,影响了整个系统的同步性能。
时钟偏移由于无法确保各从站设备可以同时上电,即使所有设备都接受相同的上电时间,也会因为启动过程的不同,各个时钟的起始点也会有差异。这种初始偏移导致系统在启动阶段时各个时钟之间存在差异,差异的时间偏差会影响时钟同步的准确性。
时钟漂移是由于各个从站时钟晶振的微小差异导致的。每个时钟源的振动频率可能存在微小的不同,每个本地时钟将存在各自不同的漂移量。当长时间运行后,时钟漂移会导致各个从站的时钟逐渐偏离同步。
如图2所示分布时钟同步实现过程包含三个误差补偿,补偿方案的实现能够保持系统中各从站的时钟在设定的精度范围内同步运行[14]。
为了确保同步的准确性,分布时钟同步补偿的示意步骤如下:首先进行传输延时的测量,然后测量计算最大的各从站初始时钟偏移量值,最后测量时钟漂移量。补偿设计分布时钟同步算法以参考从站的系统时间为标准,通过静态和动态的补偿机制,将各从站的本地时钟同步到参考从站的系统时间,以确保各从站之间保持同步,以支持同步执行主站下发的动作指令。
2 同步误差计算
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2.1 传输延时补偿计算
从站传输图如图3所示,假设所有电缆间的延迟都对称[15],各从站的物理网络口的接口类型相同,从站数据在从站控制器没有中断,则两端口间的网线延迟tWij相同,从站的处理延迟tP相同,从站的传输延迟tF也都相同。
如图3所示,首先计算从站3与站4的传输延时t34。因处于通信网络末端,传输延时等于处理延迟和网线延迟相加,即
t34=tP3+tW34
t43=tP4+tW34
假设所有从站的处理延迟都相同,则tP3=tP4。可以推导得
t34=t43=tP+tW34
数据帧到从站3的端口B的接收时间t3B为
t3B=t3A+t34+t43
推导从站3和站4之间的传输延时t34为
t34=t43=(t3B-t3A)/2
在线形串行网络中不是头尾的从站计算相邻的两个从站的传输延时,如从站2和站3之间的传输延时t23与t32,计算公式为
t23=tP3+tW23
t32=tF3+tW23
从站的处理延迟tP与从站的传输延迟tF之差为tDIFF,即
tDIFF=tP3-tF3
该差值取决于所选用的物理层介质。随着主站控制从站数量的增加,tDIFF将随从站数量的增加而逐渐累积,因此不能忽略tDIFF。而在计算网络中最后两个从站之间的传输延迟时,不需要考虑tDIFF这个差值,因为最后一个从站仅使用了端口A。
由于从站的处理延时相同可得
t23=tP+tW23
t32=t23-tDIFF
从站2的端口A接收时间之间的关系为
t2B=t2A+t23+t34+t43+t32
从而得到从站2和站3之间的传输延时为
2t23-tDIFF=(t2B-t2A)-(t3B-t3A)
t23= ( t 2 B - t 2 A ) - ( t 3 B - t 3 A ) + t D I F F 2
t32= ( t 2 B - t 2 A ) - ( t 3 B - t 3 A ) - t D I F F 2
如图3所示从站1和站2之间传输延时可以如同t23计算过程公式得
t12= ( t 1 B - t 1 A ) - ( t 2 B - t 2 A ) + t D I F F 2
t21= ( t 1 B - t 1 A ) - ( t 2 B - t 2 A ) - t D I F F 2
参考从站与各个从站之间的传输延时tREF,i计算公式为
tREF,2=t12
tREF,3=t12+t23
tREF,4=t12+t23+t34
将式(11)、式(13)、式(15)代入式17~式19化简得
tREF,2= ( t 1 B - t 1 A ) - ( t 2 B - t 2 A ) + t D I F F 2
tREF,3= ( t 1 B - t 1 A ) - ( t 3 B - t 3 A ) + 2 t D I F F 2
tREF,4= ( t 1 B - t 1 A ) + 2 t D I F F 2
归纳式(20)~式(22)可得到第i个从站到参考从站对应传输延时为
tREF,i= 0 , i = 1 ( t 1 B - t 1 A ) - ( t i B - t i A ) + ( i - 1 ) t D I F F 2 , 1 i n ( t 1 B - t 1 A ) + i t D I F F 2 , i = n
主站根据式(23)计算参考时钟与各从站之间的延时,随后将计算结果写入从站的系统时间延迟寄存器(0x0928~0x092B)。
2.2 时钟偏移补偿计算
时钟偏移是由于无法保证从站的本地时钟和参考时钟上电时刻相同引起的。此偏差补偿只需一次,每个从站都提供有系统时钟偏移寄存器,通过该寄存器可以写入补偿值,以消除从站与参考从站之间上电的初始时钟偏差。
各从站将分别记录端口A及端口B中收到Ethernet前导码的首位时的本地时间[15],并将其作为时间戳存放在EtherCAT处理单元收信时间寄存器(0x0918~0x091F)。主站计算参考从站初始时钟偏移量toff是主站到参考从站之间的传输延时减去主站发送数据帧时的系统时间的差值,若此时tLOCAL>tSYS,REF,即可得
tOFF=tLOCAL-tSYS,REF
主站根据式(24)计算每个从站的初始时钟偏移量,将其写入各从站的初始时钟偏移寄存器(0x0920~0x0927)中以补偿初始时钟偏差。
2.3 时钟漂移补偿计算
主站在测量传播延迟和偏移补偿之后,在独立的数据帧中连续发送约15 000次的ARMW/FRMW命令,使从站时钟同步,完成从站初始化。随后随着数据处理周期的进行,每个周期都可能发生时钟漂移,再周期性地发送漂移补偿数据帧,周期动态补偿时钟漂移。计算各从站的时钟漂移量Δt的公式为
Δt=tLOCAL+tOFF-tDELAY-tSYS,REF
当Δt>0时,意味着从站本地时间较标准时间超前,需要减缓运行;当Δt<0时,意味本地时间较标准时间滞后,需要加快运行。时间控制环路调整本地时钟的运行速度。时钟漂移量Δt作为漂移补偿闭环反馈如图4所示的输入值,用于对本地时钟漂移进行动态补偿。确保各从站的时钟动态漂移后能够有效同步,维持系统的同步性能。
3 分布式时钟同步方案
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3.1 时钟同步流程设计
在EtherCAT主从系统的时钟初始化阶段,同步方案实现基于IgH EthCAT开源通信库的关键功能和接口。整体时钟同步流程如图5所示。
整体时钟同步流程如下:在IgH EthCAT主站启动后,等待从站状态机扫描完从站。对数据链路层中状态寄存器进行查询,以监测各个从站的状态,并获取EtherCAT总线的拓扑结构。从站初始化先选择第一个DC从站作为参考时钟,主站开始测量从站间各个方向上的传播延时。各从站计算测试帧的收信时间,之后主站读取接收时间寄存器时间戳,通过式(23)计算出计算所有从站间的传输延时tDELAY。补偿时钟偏移将个从站时钟的本地时间与系统时间进行比较根据式(25)计算出tOFF。通过在各个从站中写入统时间偏移寄存器数值补偿每个从站的时间差,所有的从站得到同一个时间值。
主站将参考时钟写入其他DC从站,参考时钟与本地时钟间的漂移补偿必须通过测量时间差并调整本地时钟,定期执行补偿操作。当主站周期读取从站的系统时间差值寄存器,其设置差值大于阈值时进入时间控制环路计算补偿值调整本地时钟运行速度,差值小于阈值时主站会将Sync周期时间和Sync起始时间写入寄存器,并触发Sync同步信号。
3.2 时钟同步程序实现
分布时钟同步的程序实现步骤:首先通过ecrt_master_slave_config()主站函数,读取数据链路状态寄存器(0x0110~0x0111)和从站的特征信息寄存器(0x0008~0x0009),获取EtherCAT总线拓扑结构和从属配置以便计算传输延时。主站调用ecrt_master_select_reference_clock()选择分布式时钟的参考时钟,通常选择第一个从站,并记录主站发帧的系统时间。
主站调用ec_master_delay()函数计算各从站的传输延时,并同时访问各从站的接收数据时间的寄存器(0x0918~0x091F)。随后,利用式(25),将计算得到的初始时钟偏移值写入各从站的寄存器(0x0920-0x0927)。主站依据式(23)计算各从站的tDELAY,将tDELAY值写入各从站的传输延时寄存器(0x0928~0x092B)中。时钟漂移补偿调用函数ecrt_master_sync_reference_clock_to()将 DC 参考时钟的漂移补偿以参考时钟为基准计算,后ecrt_master_sync_slave_clocks()将所有从时钟同步到参考时钟DC时钟漂移补偿。确保时钟的精确同步。
最后函数ecrt_master_activate()告诉主设备配置阶段完成,实时操作将开始。主站将周期性通过时钟漂移控制环路计算时钟漂移量Δt周期补偿。
4 性能验证
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4.1 实验平台
控制系统的通讯主站为运行在研华X86工控机上,系统为Ubuntu 18.04,内核版本为4.15.2-20geneic,并安装有5.4.193-rt-preempt实时补丁。本节的目的是通过实验验证本文设计的分布式时钟同步方案的性能,在新松SR4C机械臂上进行实物实验。实验平台由主控器、示教器、4KG新松SR4C机械臂、以EtherCAT串联拓扑的6个Panasonic驱动器组成,搭建如图6所示性能测试平台。
4.2 六轴机械臂同步画圆评估实验
本节展示六轴机械臂在球面上同步绘制曲面圆的实验,实验目的是验证通过实施同步优化方案,机械臂在连续位姿变化时能否保持轨迹的连续性和平滑性,以及控制系统的同步稳定性。图7所示为机械臂整体轨迹呈现连续且平滑效果。
圆轨迹通过在机械臂末端安装靶球用Leica-AT403型号的激光跟踪仪对机械臂轨迹进行跟踪。跟踪出的轨迹导出数据在MATLAB上显示如图8所示。
为了评估多轴同步精度,通过量化轨迹圆与标准圆的相似度来说明。在MATLAB中使用PCA(principal component analysis)算法确定数据点最佳拟合平面,将三维数据点投影到该平面上。对数据点进行采用最小二乘法拟合圆,以获取圆心和半径。公式计算以标准圆的半径减去圆度误差,然后将得到的值除以标准半径,来量化轨迹数据圆与标准圆之间的相似程度。
性能评估的结果如表1所示。实验结果显示,改进的补偿组在同步精度上的表现优于传统EtherCAT组,抖动均值显著降低,表明同步稳定性得到了提升。轨迹的圆度误差越低,实验中机械臂画圆的形状与标准圆接近,相似度较高。本节评估了方案在实际运动控制中的控制性能,下节分别对各从站时钟补偿值测量分析。
4.3 时钟同步性能分析
本节测量各从站时钟性能指标,分析方案有效性,期间通讯周期时间设置为1 ms。性能分析工具为串联于工控机以太网输出端口与伺服驱动器之间的netANALYZER工业以太网分析仪。该分析仪负责捕捉网络中所有的记录帧,诊断工业以太网网络的性能和可靠性。实验数据的提取分析使用数据帧wireshark工具与MATLAB数据分析,完成同步性能测试。
在实验的开始首先测试使用无补偿方案时从站6的时钟误差。结果绘制在图9的散点分布图中,观察从站6系统时间误差的变化趋势。
图9为从站6无补偿时钟在1 000次采样中的变化趋势,从站系统时间的误差从初始值4 μs逐渐增加至15 μs,并且误差会随时间逐渐扩大。
图10所示为改进补偿的同步方案,对各从站的寄存器(0x092C)连续读取10 000次,以测量从站时钟与参考时钟间的时钟误差作图10。同步方案对比无补偿方案有效减小从站时钟误差,并且各从站时钟误差随补偿效果后趋于稳定。
从站1的本地时钟为参考时钟,各从站以参考时钟为基准,来调整自己的本地时间,因此图10中从站1的同步误差为零,没有绘制从站1曲线。
观察从站2,初始阶段有较大幅度来回波动,收敛变化曲线在整个序列中波动较大。而最远相连的从站6,则在初始时刻出现非常显著的收敛变化,收敛变化曲线在峰值后迅速降低调整回稳定,波动较小。同步方案下对比前后从站,前后的时钟初始偏差逐渐增大,收敛效果趋向平滑。从站6的初始偏差值最大,收敛效果快速,时钟误差可降至54 ns。
在图10中周期性补偿阶段取采样点9 000到10 000的数值,在小窗中直观表示。其中从站6时钟误差均值为最大,均值为54 ns。从站2时钟误差范围-82~80 ns,从站3误差范围-81~76 ns,从站4时钟误差范围-15~110 ns,从站5误差范围-141~-15 ns,从站6误差范围-15~130 ns。在分布时钟同步补偿方案的应用下,各从站本地时钟误差范围在-141~130 ns之间,同步效果满足容许误差在±200 ns以内的性能指标。
网络分析仪抓取各从站的补偿值统计在表2中。各从站以参考时钟为基准,来调整各自的本地时间,因此表2中无从站1的补偿值。
取传输补偿值与漂移补偿值可作图11,看传输补偿与漂移补偿值变化与补偿值权重大小。
结合数据表2和图11可以分析各补偿值效果。
(1)偏移补偿值:偏移补偿值差异显著,从站2、3的偏移补偿值相对较小,而从站4、5、6的偏移补偿值非常大。表明在同步过程启动时,从站与主站之间会存在极大的时间差异。对从站4、5、6偏移补偿值调整以实现同步。
(2)传输补偿值:从从站2到从站6,传输补偿值逐渐增大,反映网络中数据传输延迟的递增趋势。说明网络拓扑中的位置对延迟有直接影响,从站6的传输补偿值最高。
(3)漂移补偿均值:漂移补偿均值在从站之间差异显著,从负值到正值不等。从站2、3、5显示出负的漂移补偿均值,意味着这些从站的时钟速率较主站时钟慢,而从站4和6的正漂移补偿均值则表明其时钟速率快。漂移补偿最值在正负波动,漂移补偿策略可以维持时钟的稳定。
5 结论
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面对主从站时钟之间的传输延时、时钟偏移及时钟漂移会减低时钟同步精度的问题。
(1)本文设计分布式时钟同步补偿方案,完成时钟同步误差补偿算法,通过基于IgH EtherCAT协议栈完成定量及动态补偿同步补偿方案。
(2)实验测试机械臂轨迹圆精度提升,从站时钟误差降至54 ns,误差容许范围在±200 ns以内。补偿方案满足工业机器人的应用需求。
(3)研究展示了基于IgH EtherCAT的软件架构在提高通讯性能方面的潜力与同步补偿方案的必要性,为提高机器人控制系统的通信性能和运动控制提供了有益的参考。
基金
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  • 浙江省自然科学基金(LGG22F030001)
  • 浙江省基础公益项目(TGG24E050007)
文献
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2025年第25卷第3期
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文章信息
doi: 10.12404/j.issn.1671-1815.2402811
  • 接收时间：2024-04-17
  • 首发时间：2025-07-29
  • 出版时间：2025-01-28
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  • 收稿日期：2024-04-17
  • 修回日期：2024-07-18
基金
浙江省自然科学基金(LGG22F030001)
浙江省基础公益项目(TGG24E050007)
作者信息
    中国计量大学机电工程学院, 杭州 310018

通讯作者:

* 王斌锐(1978—),男,汉族,山西平遥人,博士,教授。研究方向:仿生机器人。E-mail:。
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