| Summary: | 碩士 === 國立交通大學 === 電控工程研究所 === 103 === In this thesis, an Ethernet for control automation technology (EtherCAT) slave controller (ESC) is integrated with a DSP (digital signal processor) servo motor control system using EtherCAT. The specific time sequence for data exchange with the ESC is thus constructed with the arrangement of SPI in the DSP. Then, the EtherCAT state machine is realized on the DSP to guarantee safety of data transmission over the EtherCAT for motion command and feedback messages. In addition to the basic functions of EtherCAT, integration of EtherCAT communication network and the servo motor control system requires the additional independent interrupt loop out of the servo motor control loop for data exchanges between the two systems. Thus, the EtherCAT master may assign commands to the EtherCAT slave and read the response of the servo motor system for condition monitoring. Finally, both PID and QFT controllers are introduced with a newly designed SDO to enhance system performance. When system performance is significantly degraded, coefficients of the redesigned controller are derived and directly transmitted to the EtherCAT slave to improve system performance.
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