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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 連豊力 | zh_TW |
| dc.contributor.advisor | Feng-Li Lian | en |
| dc.contributor.author | 陳昱彣 | zh_TW |
| dc.contributor.author | Yu-Wen Chen | en |
| dc.date.accessioned | 2024-08-15T16:36:45Z | - |
| dc.date.available | 2024-08-16 | - |
| dc.date.copyright | 2024-08-15 | - |
| dc.date.issued | 2024 | - |
| dc.date.submitted | 2024-08-07 | - |
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/94283 | - |
| dc.description.abstract | 由於網路系統的複雜性不斷增加，多個任務必須即時協調對共享資源的存取，延遲、同步和資源爭用的挑戰變得至關重要，但仍須保持精準的運動表現。為了應對這些挑戰，該研究透過即時作業系統 Xenomai 將 EtherCAT 與基於訊號量的即時調度方法整合，使用PID方法控制網絡上的馬達，提出了一種綜合解決方案進行多軸開源控制。這種方法增強了運動控制任務的反應能力，同時管理多任務環境中的資源分配。實驗與模擬結果表明，單軸控制在 30 rev/s 時的最小延遲為 1 微秒，相對速度誤差為 1.47%。在多軸場景中，即使軸數量增加，系統也能以最小的偏移量保持可預測的同步。在 3 個設備時，基於信號量的調度方法使較低的優先級的設備任務執行次數提高32%，使多設備時，較高優先級的設備能夠維持良好的資源實用效率，同時較低的優先級的設備相比傳統排程方式也可以獲得不錯的資源分配。這一研究成果為工業自動化和機器人技術提供了新的解決思路，有助於推動相關領域的進一步發展。 | zh_TW |
| dc.description.abstract | As the complexity of networked systems increases, multiple tasks need to coordinate access to shared resources in real time. The challenges of latency, synchronization, and resource contention become critical while still maintaining accurate motion performance. To address these challenges, this research integrates EtherCAT with a semaphore-based real-time scheduling method through the real-time operating system Xenomai, uses the PID control method to control motors on the network, and proposes a comprehensive solution for multi-axis open-source control. This approach enhances responsiveness in motor control tasks while managing resource allocation in a multi-tasking environment. Experimental and simulation results show that the minimum delay of single-axis control is 1 microsecond at 30 rev/s, and the relative speed error is 1.47%. In multi-axis situation, the system maintains predictable synchronization with minimal offset, even as the number of axes increases. When there are 3 devices, the semaphore-based scheduling method increases the number of task executions of lower-priority devices by 32%, so that when there are multiple devices, higher-priority devices can maintain good resource utilization efficiency while lowering the Compared with traditional scheduling methods, devices with higher priority can also obtain better resource allocation. These results provide new solutions for industrial automation and robotics, and helps promote further development in related fields. | en |
| dc.description.provenance | Submitted by admin ntu (admin@lib.ntu.edu.tw) on 2024-08-15T16:36:45Z No. of bitstreams: 0 | en |
| dc.description.provenance | Made available in DSpace on 2024-08-15T16:36:45Z (GMT). No. of bitstreams: 0 | en |
| dc.description.tableofcontents | 口試委員會審定書 i
致謝 ii 摘要 iii ABSTRACT iv CONTENTS vii LIST OF FIGURES xi LIST OF TABLES xiii Denotation xv Chapter 1 Introduction 1 1.1 Motivation 1 1.2 Problem Formulation 4 1.3 Contribution 7 1.4 Organization of the Thesis 8 Chapter 2 Background and Literature Survey 9 2.1 Background of Real-time System 9 2.1.1 Concept and Common Types of Real-time Scheduling 10 2.1.2 Utilization and Common Types of Real-time Operating System 14 2.2 Background of Communication Protocol: EtherCAT 17 2.2.1 Functional Principle of EtherCAT 18 2.2.2 Synchronization Mechanism: Distributed Clock 19 2.2.3 Format of EtherCAT Protocol 20 2.2.4 EtherCAT State Machine 21 2.3 Background of Controller: SoftPLC 23 2.3.1 Motion Control Library: PLCopen Motion Control 24 2.4 Literature Survey 25 2.4.1 Application of Semaphore in Scheduling 25 2.4.2 Evolution and Comparison of Communication Protocol 26 2.4.3 Robotics with Real-time System 28 Chapter 3 System Overview 31 3.1 System Architecture 31 3.2 System Model 33 3.2.1 Real-time System Model 33 3.2.2 EtherCAT Model 34 Chapter 4 Semaphore-Based Real-time Scheduling 37 4.1 Delay Effect on Multiple Devices System 37 4.1.1 System Design 37 4.1.2 Multiple Tasks in the Drive for Scheduling 38 4.1.3 Drive-Local Delay for Host Command 39 4.2 System Loop and Discretization 41 4.3 Details of the Scheduling Method 44 Chapter 5 Software and Hardware Platform 49 5.1 Overall of the Environment 49 5.2 Hardware Platform 50 5.2.1 EtherCAT Motors and Drivers 50 5.2.2 Industrial Cpmputer 51 5.3 Software Platform 52 5.3.1 Platform: Intel Edge Controls for Industrial 52 5.3.2 Motion Controller: OpenPLC 53 5.3.3 Monitoring Application 58 Chapter 6 Results and Analysis of Experiment and Simulation 67 6.1 Single Axis Situation with the Real-time Motion Control System 67 6.1.1 Experiment Setup 67 6.1.2 Experiment Results and Analysis 68 6.2 Multiple Axes Situation with the Real-time Motion Control System 76 6.2.1 Experiment Setup 76 6.2.2 Experiment Results and Analysis 76 6.3 Simulation of Semaphore-based Real-time Scheduling 80 6.3.1 Simulation Setup 80 6.3.2 Simulation Results and Analysis 80 Chapter 7 Conclusion and Future Work 83 7.1 Conclusion 83 7.2 Future Works 84 References 85 | - |
| dc.language.iso | en | - |
| dc.subject | 即時排程 | zh_TW |
| dc.subject | 即時控制系統 | zh_TW |
| dc.subject | 信號量 | zh_TW |
| dc.subject | PID 控制 | zh_TW |
| dc.subject | 軟硬體整合 | zh_TW |
| dc.subject | EtherCAT | zh_TW |
| dc.subject | PID control | en |
| dc.subject | Software and hardware integration | en |
| dc.subject | Semaphore | en |
| dc.subject | Real-time scheduling | en |
| dc.subject | Real-time system | en |
| dc.subject | EtherCAT | en |
| dc.title | 藉由乙太網控制自動化技術的即時運動控制與基於信號量的即時排程 | zh_TW |
| dc.title | Real-time Motion Control through EtherCAT and Semaphore-based Real-time Scheduling | en |
| dc.type | Thesis | - |
| dc.date.schoolyear | 112-2 | - |
| dc.description.degree | 碩士 | - |
| dc.contributor.oralexamcommittee | 李後燦;黃正民;江明理 | zh_TW |
| dc.contributor.oralexamcommittee | Hou-Tsan Lee;Cheng-Ming Huang;Ming-Li Chiang | en |
| dc.subject.keyword | EtherCAT,即時控制系統,即時排程,信號量,PID 控制,軟硬體整合, | zh_TW |
| dc.subject.keyword | EtherCAT,Real-time system,Real-time scheduling,Semaphore,PID control,Software and hardware integration, | en |
| dc.relation.page | 92 | - |
| dc.identifier.doi | 10.6342/NTU202403297 | - |
| dc.rights.note | 同意授權(全球公開) | - |
| dc.date.accepted | 2024-08-09 | - |
| dc.contributor.author-college | 電機資訊學院 | - |
| dc.contributor.author-dept | 電機工程學系 | - |
| 顯示於系所單位： | 電機工程學系 | |
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