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In This paper, we propose a real-time stage distributed control system. With the advancement of IT technology, tasks that people have worked on in the past have been automated. The domestic performance business is growing rapidly as it is equally applied to the performance stage mechanism. EtherCAT was adopted to enhance the synchronization performance of the stage control system and the redundant structure was constructed to ensure stability. In addition, the stability of the main controller is secured by implementing the interlock system.

Nowadays, EtherCAT technology is widely used in motion control and industrial automation fields. It has good performance on transmission speed and synchronization between several slave stations. In this paper, an EtherCAT slave station design method based on STM32 MCU and ET1100 chip is carried out from the view of hardware and software. This slave station’s performance of data transmission is fast and stable.

A novel strategy of online force distribution for multi-finger robot hand is developed based on impedance control. The real-time controller system including the finger dynamics and multi-fingers constraints is considered as a nonlinear system. Because when the robot hand grasps the object, the fingertip force is usually changed which could cause the grasp unstable. Our method gains the ability to deal with online grasping force distribution and can satisfy the real-time requirements at the same time. Experiment shows that our method provides the most feasible grasp configurations in real-time performance.

This design contains the EtherCAT fieldbus system and the PLCopen technology. The control system can not only achieve the motion target but also simulate the Computer Numerial System effectively. Hardware is constituted by embedded IPC, SanyoDenki servo drive and motor system, EtherCAT communication module and I/O module. The PLC program run under the Windows XP system, which install Codesys RTE, so that the whole control system improve the real-time character. Paper focuses on the structure of the control system and the design of the PLC program. The experiments and program results have proved that the control system working well，reaching the pre-set target．

The EtherCAT real-time Ethernettechnology that proposed by Beckhoff Company, is now widely used in industrialautomation and in motion control fields. Inthis paper, a slave moduledesign adopted the backplane type iscarried out, based on in-depth study of the ET1200 chip and the Ebusprotocol, including a communication board EKM which regards PIC microcontrolleras microprocessor, a board EKS-IO which is used for digital IO expansion,and a stepping motor control boardEKS-S. Then the overall debuggingand application on a warehousedevice show that the EtherCAT slave controller meets the performance requirements of EtherCAT buscommunication, with better reliability and a certain practical value.

Complex control system bears a heavy task, different field equipment have different requirements in reaction time, transmission speed, real time of fieldbus. Considering the characteristics of industrial Ethernet and fieldbus, mixed fieldbus was combined with Ethernet network; CAN - Ethernet gateway of CAN fieldbus was designed as example which can achieve the interconnection between upper and lower of the control system; the enterprise information network and control network got unified. Further, the system could integrate with internet to make it more practical.

When the power supply system for coal mine underground take place a short circuit fault, multilevel switch often respond at the same time. And the existing comprehensive protector cannot satisfy the real-time and rapid quality requirements of preventing override trip system for high-voltage power grid of coal mine underground. So this paper put forward the research for comprehensive protector of preventing override trip based on the EtherCAT. This paper first analyzes the principle and characteristics of the EtherCAT technology; and then puts forward the overall scheme of preventing override trip system; Finally, study and design the slave station and master station of preventing override trip system based on the EtherCAT.

For the development trends and defects of the Water Electrolysis Hydrogen Generation Station (WEHGS), the design of CAN bus distributed network control system based on CANopen protocol is presented. CANopen master characteristics have been analyzed, then the communication implementation of CANopen monitor msater protocol stack, which includes the hardware interface and software design of CAN controller based on the LPC2292, is described. The tested results show that CANopen monitor master meets the requirements of WEHGS.

To obtain a faster response speed and higher synchronization accuracy, the paper firstly discusses the difficulties and disadvantages of organizing servo motion network with traditional fieldbus. Then, a novel method for constructing multi-axis motion system based on EtherCAT is presented. With DSP and an improved PID control algorithm, the hardware and software design is introduced in details. The system has realized high-speed remote data transmission and high-precision velocity control for Multi-axis which the traditional fieldbus can’t achieve.

It is an expectation of most of the numerical control products manufacturer that have a powerful controller with whole won intellectual property and without restriction from other companies. The paper introduces a new type of motion controller that based on ARM and EtherCAT field bus. It concludes the analysis and porting method of the EtherCAT soft master source code, and how to modify the driver of dm9000 to make EtherCAT master works correctly. It also gives an example to confirm the reliability of the controller. Since ARM has an open architecture, EtherCAT soft master does not depend on any special hardware card, and Linux OS is an open source system, this controller has open and flexible characteristic both on hardware and software.