| X86平台下EtherCAT主站的实时性优化与抗扰混合控制 |
投稿时间：2025-12-31 修订日期：2026-01-17  点此下载全文 |
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| 基金项目:浙江省科技计划项目（2022C03018） |
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| 中文摘要:为了提升X86平台下EtherCAT主站系统的时钟同步性能及鲁棒性，提出一种融合实时内核优化与时钟同步抗扰控制策略的系统解决方案。基于IgH EtherCAT开源协议栈，通过Linux内核改造、CPU隔离以及高分辨率定时器配置，显著增强系统实时性；利用分布式时钟机制对传输延迟、初始偏移与时钟漂移进行基础补偿，设计了一种融合滑模控制与PID的抗扰混合控制算法，并引入可变周期补偿机制，以平衡同步精度与系统开销。测试结果显示，系统任务响应平均延迟低于2 μs，最大抖动小于15 μs，时钟同步精度优于20 ns，验证了方案在提升主站实时性与抗干扰能力方面的有效性。 |
| 中文关键词:X86 EtherCAT 时钟同步 实时性 抗扰控制 |
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| Real-Time Performance Optimization and Hybrid Anti-Disturbance Control for EtherCAT Master on X86 Platform |
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| Abstract:To enhance the clock synchronization performance and robustness of the EtherCAT master station system on the X86 platform, a systematic solution integrating real-time kernel optimization and clock synchronization anti-disturbance control strategy is proposed. Based on the IgH EtherCAT protocol stack, the system’s real-time performance is greatly improved through Linux kernel modification, CPU isolation, and high-resolution timer configuration. By utilizing the distributed clock (DC) mechanism, preliminary compensation of transmission delays, initial offsets, and clock drifts has been achieved. An anti-disturbance hybrid control algorithm combining sliding mode control and PID is designed, and a variable-period compensation mechanism is introduced to balance synchronization accuracy and system overhead. The test results show that the average task response latency of the system is below 2 μs, the maximum jitter is under 15 μs, and the clock synchronization accuracy is better than 20 ns, which verifies the effectiveness of the proposed scheme in improving the real-time performance and anti-disturbance capability of the master station. |
| keywords:X86 EtherCAT clock synchronization real-time performance anti-disturbance control |
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