Research on distributed real-time synchronous motion control based on time-sensitive networking

Li Han,Lan Zhuo,Hong Yang,Chi Zhang,I Barukčić

doi:10.1051/matecconf/202133604015

Li Han, Lan Zhuo + Show 3 more

Open Access

https://doi.org/10.1051/matecconf/202133604015

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Abstract

As a set of protocol standards defining time sensitive mechanism of Ethernet data transmission, Time sensitive network (TSN) can support transmission of isochronous data and non-periodic data in the same network . Distributed synchronous control plays an important role in large precision manufacturing scene. In this paper, a distributed real-time synchronous motion control scheme of two motors based on TSN is proposed, and the experiment shows that the two motors moving at high speed can still maintain phase synchronization under the scheduling mechanism of IEEE Std 802.1Qbv even if there is a large traffic load in the network.

Highlights

When the traffics from different data sources are converged and forwarded on the same switching device or routing device, they must be queued in the queues of the corresponding egress ports in the traditional Ethernet
The paper proposes a new distributed real-time synchronous motion control scheme based on Time sensitive network (TSN) technology
We presented a new distributed real-time synchronous motion control scheme based on TSN technology

Summary

Introduction

When the traffics from different data sources are converged and forwarded on the same switching device or routing device, they must be queued in the queues of the corresponding egress ports in the traditional Ethernet. Based on IEEE 802.1Qbv, the sending terminal must accurately calculate the transmission time tsend of periodic real-time frames In this experiment, the ETF qdisc mechanism and the intel I210 network card are used to accurately control the transmission time of each realtime frame, so as to ensure that the real-time frames are in a specific time slot when they arrive at the egress port of the switch. In the case of network congestion (6, 120%), the maximum latency of real-time streams is about 1000us of the cycle period of GCL, which shows that the time slot used for forwarding the real-time frames is occupied by load frames Even in this worst case, the maximum delay can be guaranteed and the high-precision synchronization of motors is guaranteed

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Discussion

Conclusion