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研究生： 施宇謙
Yu-Chien Shih
論文名稱： 現場總線網路精密時間同步晶片設計與實作
Design and Implementation of Precision Time Protocol Chip for Serial Fieldbus Network
指導教授： 陳慶瀚
口試委員:
學位類別： 碩士
Master
系所名稱： 資訊電機學院 - 資訊工程學系
Department of Computer Science & Information Engineering
論文出版年： 2017
畢業學年度： 106
語文別： 中文
論文頁數： 72
中文關鍵詞： 現場總線 、時間同步
外文關鍵詞： fieldbus
相關次數： 點閱：7  下載：0 
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    • 智慧工廠終端製造設備需整合大量且分散的感測器和致動器，透過現場總線網路進行即時控制和即時資料收集。精密時間同步為工業現場總線網路提供精密且一致的時間戳記，讓所有終端裝置得以即時且同步的運作。典型的運動控制對於時間同步誤差要求必須至少在1微秒以內，然而作為現今自動化設備主流的Modbus現場總線，因為缺乏精密時間同步機制，在分散式協同運動控制的應用上受到很大的局限。本論文參考IEEE 1588標準協定，設計一個基於Modbus協定的精密時間同步晶片，通過Modbus封包傳遞同步封包。精密時間同步除了考量到主從時鐘的時間偏移量和封包的傳輸時間延遲，還針對系統比例誤差進行修正。精密時間同步晶片整合在Modbus現場總線，透過Modbus功能碼的擴充實現系統時間同步，此一晶片每秒進行一次同步，可讓系統時間誤差達到42奈秒，可滿足工業運動控制的精密時間要求。

    Smart factory cooperate with a lot and distributed sensors and actuators to realize real-time control and data collection under the fieldbus network. Precision Time Protocol(PTP) is used to synchronize clocks throughout an industrial fieldbus network. It achieves clock accuracy in the sub-microsecond range, making it suitable for motion control systems. Nowadays, Modbus is the primary fieldbus network protocol for automated industrial device. However, the industrial application of Modbus is limited in distributed cooperative motion control because of its lack of time synchronization mechanism. Therefore, we design a PTP chip for Modbus based on IEEE 1588 standard. And the synchronous packets are transmitted via Modbus packets. Besides the time offset between master clock and slave clock, PTP also takes transmission delay into account. In addition, the system error is adjusted by proportional controller. PTP chip is integrated on Modbus through the expansion of function code and it synchronize clocks of network system once per second. Time synchronization accuracy of PTP chip is up to 42 nanoseconds, it is satisfied with the industrial motion control.

    摘要 I 目錄 II 圖目錄 VI 表目錄 IX 第一章、緒論 1 1.1 研究背景 1 1.2 研究目的 2 1.3 論文架構 3 第二章、相關技術回顧 4 2.1 Modbus現場總線通訊協定 4 2.2 精密時間同步協定 7 2.2.1 IEEE 1588協定 7 2.2.2 PTP原理 8 2.2.3 PTP封包格式 9 2.3 PID控制器 12 第三章、精密時間同步演算法設計 14 3.1 PTP封包格式 14 3.2 時間同步校正流程 15 3.2.1 時間偏移量 16 3.2.2 傳輸時間延遲 17 3.2.3 比例誤差 19 3.3 四階段封包發送 21 第四章、系統實作 23 4.1 嵌入式系統設計方法論 23 4.1.1 IDEF0 23 4.1.2 Grafcet離散事件建模 25 4.2 高精度串列通訊現場總線 25 4.2.1 Modbus網路系統 26 4.2.2 精密時間同步模組 27 4.3 精密時間同步模組階層式架構設計 28 4.3.1 精密時間同步模組 29 4.3.2 主控端模組 30 4.3.3 從屬端模組 30 4.4 精密時間同步模組離散事件建模 31 4.4.1 主控端傳送模組 32 4.4.2 主控端接收模組 32 4.4.3 從屬端傳送模組 33 4.4.4 從屬端接收模組 34 4.5 系統模組控制器 35 4.5.1 Modbus硬體控制器 35 4.5.2 PTP模組內部控制器 36 4.6 硬體合成 37 第五章、實驗 40 5.1 硬體開發與測試環境 40 5.1.1 FPGA開發平台 40 5.1.2 MCU測試平台 41 5.1.3 RS-485晶片 41 5.2 系統功能驗證 42 5.2.1 時間同步封包傳輸 42 5.3 效能驗證 45 5.3.1 時脈產生器誤差測量 45 5.3.2 比例控制器係數調整 46 5.3.3 精密時間同步誤差實測 47 5.4 多軸馬達運動控制應用 49 第六章、結論與未來展望 55 6.1 結論 55 6.2 未來展望 56 參考文獻 57

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