{"id":1392,"date":"2026-03-28T17:30:00","date_gmt":"2026-03-28T09:30:00","guid":{"rendered":"http:\/\/www.sdjxsjy.com\/?p=1392"},"modified":"2026-03-26T16:13:04","modified_gmt":"2026-03-26T08:13:04","slug":"ethercat%e6%80%bb%e7%ba%bf%e5%88%86%e5%b8%83%e5%bc%8f%e6%8e%a7%e5%88%b6%e7%b3%bb%e7%bb%9f%e5%90%8c%e6%ad%a5%e7%b2%be%e5%ba%a6%e5%88%86%e6%9e%90%e4%b8%8e%e4%bc%98%e5%8c%96%e6%96%b9%e6%b3%95%e7%a0%94","status":"publish","type":"post","link":"http:\/\/www.sdjxsjy.com\/?p=1392","title":{"rendered":"EtherCAT\u603b\u7ebf\u5206\u5e03\u5f0f\u63a7\u5236\u7cfb\u7edf\u540c\u6b65\u7cbe\u5ea6\u5206\u6790\u4e0e\u4f18\u5316\u65b9\u6cd5\u7814\u7a76"},"content":{"rendered":"\n

 \u968f\u7740\u5de5\u4e1a\u81ea\u52a8\u5316\u5411\u9ad8\u7cbe\u5ea6\u3001\u9ad8\u5b9e\u65f6\u6027\u65b9\u5411\u53d1\u5c55\uff0cEtherCAT\u51ed\u501f\u5176\u5353\u8d8a\u7684\u5b9e\u65f6\u6027\u80fd\u548c\u7075\u6d3b\u7684\u62d3\u6251\u7ed3\u6784\uff0c\u5df2\u6210\u4e3a\u5206\u5e03\u5f0f\u63a7\u5236\u7cfb\u7edf\u7684\u6838\u5fc3\u901a\u4fe1\u534f\u8bae\u3002\u540c\u6b65\u7cbe\u5ea6\u662f\u51b3\u5b9a\u591a\u8f74\u534f\u540c\u63a7\u5236\u3001\u9ad8\u901f\u6570\u636e\u91c7\u96c6\u7b49\u5e94\u7528\u6027\u80fd\u7684\u5173\u952e\u6307\u6807\u3002\u672c\u6587\u6df1\u5165\u5206\u6790\u4e86EtherCAT\u5206\u5e03\u5f0f\u65f6\u949f\u540c\u6b65\u673a\u5236\u7684\u539f\u7406\uff0c\u7cfb\u7edf\u6027\u5730\u63a2\u8ba8\u4e86\u540c\u6b65\u8bef\u5dee\u7684\u4e3b\u8981\u6765\u6e90\uff0c\u5305\u62ec\u65f6\u949f\u6f02\u79fb\u3001\u4f20\u8f93\u5ef6\u8fdf\u4e0d\u5bf9\u79f0\u53ca\u62d3\u6251\u7ed3\u6784\u5f71\u54cd\u3002\u5728\u6b64\u57fa\u7840\u4e0a\uff0c\u63d0\u51fa\u4e86\u4e00\u5957\u7efc\u5408\u4f18\u5316\u65b9\u6cd5\uff0c\u6db5\u76d6\u4ece\u7ad9\u65f6\u949f\u6f02\u79fb\u52a8\u6001\u8865\u507f\u3001\u4f20\u8f93\u5ef6\u8fdf\u7cbe\u786e\u6d4b\u91cf\u4e0e\u4fee\u6b63\u3001\u540c\u6b65\u4fe1\u53f7\u6296\u52a8\u6291\u5236\u4ee5\u53ca\u57fa\u4e8e\u6a21\u578b\u9884\u6d4b\u7684\u540c\u6b65\u8bef\u5dee\u8865\u507f\u7b56\u7565\u3002\u901a\u8fc7\u642d\u5efa\u5b9e\u9a8c\u5e73\u53f0\u8fdb\u884c\u9a8c\u8bc1\uff0c\u7ed3\u679c\u8868\u660e\u6240\u63d0\u65b9\u6cd5\u80fd\u5c06\u540c\u6b65\u7cbe\u5ea6\u4ece\u5fae\u79d2\u7ea7\u63d0\u5347\u81f3\u4e9a\u5fae\u79d2\u7ea7\uff0c\u663e\u8457\u589e\u5f3a\u4e86\u7cfb\u7edf\u5728\u591a\u8f74\u8fd0\u52a8\u63a7\u5236\u573a\u666f\u4e0b\u7684\u534f\u540c\u6027\u80fd\u3002<\/p>\n\n\n\n

\n\n\n\n

1. \u5f15\u8a00<\/h2>\n\n\n\n

\u5728\u73b0\u4ee3\u9ad8\u7aef\u5236\u9020\u3001\u673a\u5668\u4eba\u63a7\u5236\u3001\u7cbe\u5bc6\u6d4b\u8bd5\u7b49\u5de5\u4e1a\u81ea\u52a8\u5316\u9886\u57df\uff0c\u5206\u5e03\u5f0f\u63a7\u5236\u7cfb\u7edf\uff08Distributed Control System, DCS\uff09\u5bf9\u5404\u4e2a\u6267\u884c\u5355\u5143\u4e4b\u95f4\u7684\u534f\u540c\u6027\u63d0\u51fa\u4e86\u6781\u9ad8\u8981\u6c42\u3002EtherCAT\uff08Ethernet for Control Automation Technology\uff09\u4f5c\u4e3a\u4e00\u79cd\u5b9e\u65f6\u5de5\u4e1a\u4ee5\u592a\u7f51\u534f\u8bae\uff0c\u4ee5\u5176\u201con-the-fly\u201d\u5904\u7406\u673a\u5236\u3001\u9ad8\u5e26\u5bbd\u5229\u7528\u7387\u548c\u7075\u6d3b\u7684\u62d3\u6251\u7ed3\u6784\uff0c\u6210\u4e3a\u6784\u5efa\u9ad8\u6027\u80fdDCS\u7684\u9996\u9009\u65b9\u6848\u4e4b\u4e00\u3002EtherCAT\u7684\u6838\u5fc3\u4f18\u52bf\u4e4b\u4e00\u5728\u4e8e\u5176\u7cbe\u786e\u7684\u5206\u5e03\u5f0f\u65f6\u949f\uff08Distributed Clock, DC\uff09\u540c\u6b65\u673a\u5236\uff0c\u80fd\u591f\u5b9e\u73b0\u4ece\u7ad9\u95f4\u7eb3\u79d2\u7ea7\u7684\u65f6\u949f\u540c\u6b65\uff0c\u4e3a\u591a\u8f74\u540c\u6b65\u63a7\u5236\u3001\u9ad8\u901f\u6570\u636e\u91c7\u96c6\u7b49\u5e94\u7528\u63d0\u4f9b\u4e86\u57fa\u7840\u4fdd\u969c\u3002<\/p>\n\n\n\n

\u7136\u800c\uff0c\u5728\u5b9e\u9645\u5de5\u7a0b\u5e94\u7528\u4e2d\uff0c\u7531\u4e8e\u7269\u7406\u5c42\u5668\u4ef6\u5dee\u5f02\u3001\u6e29\u5ea6\u6f02\u79fb\u3001\u901a\u4fe1\u6296\u52a8\u53ca\u7f51\u7edc\u62d3\u6251\u7ed3\u6784\u7b49\u56e0\u7d20\u7684\u5f71\u54cd\uff0c\u5b9e\u9645\u540c\u6b65\u7cbe\u5ea6\u5f80\u5f80\u96be\u4ee5\u8fbe\u5230\u7406\u8bba\u6781\u9650\u503c\u3002\u540c\u6b65\u8bef\u5dee\u7684\u7d2f\u79ef\u4f1a\u5bfc\u81f4\u591a\u8f74\u8fd0\u52a8\u4e2d\u7684\u8f6e\u5ed3\u8bef\u5dee\u3001\u6570\u636e\u91c7\u96c6\u4e2d\u7684\u76f8\u4f4d\u5931\u51c6\u7b49\u95ee\u9898\uff0c\u4e25\u91cd\u5f71\u54cd\u7cfb\u7edf\u6574\u4f53\u6027\u80fd\u3002\u56e0\u6b64\uff0c\u5bf9EtherCAT\u603b\u7ebf\u540c\u6b65\u7cbe\u5ea6\u8fdb\u884c\u6df1\u5165\u5206\u6790\uff0c\u5e76\u7814\u7a76\u6709\u6548\u7684\u4f18\u5316\u65b9\u6cd5\uff0c\u5177\u6709\u91cd\u8981\u7684\u7406\u8bba\u4ef7\u503c\u548c\u5de5\u7a0b\u5b9e\u8df5\u610f\u4e49\u3002<\/p>\n\n\n\n

\u672c\u6587\u5c06\u4eceEtherCAT\u540c\u6b65\u673a\u5236\u51fa\u53d1\uff0c\u7cfb\u7edf\u5206\u6790\u540c\u6b65\u8bef\u5dee\u7684\u4ea7\u751f\u673a\u7406\uff0c\u63d0\u51fa\u4e00\u5957\u4ece\u786c\u4ef6\u8bbe\u8ba1\u3001\u8f6f\u4ef6\u7b97\u6cd5\u5230\u7cfb\u7edf\u914d\u7f6e\u7684\u591a\u5c42\u6b21\u4f18\u5316\u65b9\u6cd5\uff0c\u5e76\u901a\u8fc7\u5b9e\u9a8c\u9a8c\u8bc1\u5176\u6709\u6548\u6027\uff0c\u4e3a\u63d0\u5347\u5206\u5e03\u5f0f\u63a7\u5236\u7cfb\u7edf\u540c\u6b65\u6027\u80fd\u63d0\u4f9b\u53c2\u8003\u3002<\/p>\n\n\n\n

2. EtherCAT\u5206\u5e03\u5f0f\u65f6\u949f\u540c\u6b65\u673a\u5236\u5206\u6790<\/h2>\n\n\n\n

2.1 \u5206\u5e03\u5f0f\u65f6\u949f\u57fa\u672c\u539f\u7406<\/h3>\n\n\n\n

EtherCAT\u7684\u5206\u5e03\u5f0f\u65f6\u949f\u673a\u5236\u91c7\u7528\u4e3b\u4ece\u540c\u6b65\u67b6\u6784\u3002\u5728DC\u6a21\u5f0f\u4e0b\uff0c\u7cfb\u7edf\u9009\u62e9\u4e00\u4e2a\u5177\u6709\u9ad8\u7cbe\u5ea6\u65f6\u949f\u7684\u4ece\u7ad9\u4f5c\u4e3a\u53c2\u8003\u65f6\u949f\uff08Reference Clock\uff09\uff0c\u5176\u4ed6\u6240\u6709\u4ece\u7ad9\uff08\u5305\u62ec\u4e3b\u7ad9\uff09\u4f5c\u4e3a\u4ece\u65f6\u949f\uff08Slave Clock\uff09\u540c\u6b65\u4e8e\u8be5\u53c2\u8003\u65f6\u949f\u3002\u540c\u6b65\u8fc7\u7a0b\u4e3b\u8981\u5305\u62ec\u4e09\u4e2a\u9636\u6bb5\uff1a\u504f\u79fb\u91cf\u8865\u507f\u3001\u4f20\u8f93\u5ef6\u8fdf\u6d4b\u91cf\u548c\u52a8\u6001\u540c\u6b65\u3002<\/p>\n\n\n\n

\u504f\u79fb\u91cf\u8865\u507f<\/strong>\u9636\u6bb5\uff0c\u4e3b\u7ad9\u901a\u8fc7\u8bfb\u53d6\u53c2\u8003\u65f6\u949f\u548c\u4ece\u65f6\u949f\u7684\u65f6\u95f4\u6233\uff0c\u8ba1\u7b97\u5e76\u8c03\u6574\u5404\u4ece\u7ad9\u7684\u672c\u5730\u65f6\u949f\u504f\u79fb\uff0c\u4f7f\u6240\u6709\u4ece\u7ad9\u7684\u7cfb\u7edf\u65f6\u95f4\u5728\u9759\u6001\u4e0a\u4fdd\u6301\u4e00\u81f4\u3002<\/p>\n\n\n\n

\u4f20\u8f93\u5ef6\u8fdf\u6d4b\u91cf<\/strong>\u9636\u6bb5\uff0c\u901a\u8fc7\u53d1\u9001ARMW\uff08Auto Increment Read Multiple Write\uff09\u547d\u4ee4\uff0c\u6d4b\u91cf\u53c2\u8003\u65f6\u949f\u4e0e\u5404\u4ece\u7ad9\u4e4b\u95f4\u7684\u7269\u7406\u4f20\u8f93\u5ef6\u8fdf\u3002\u6bcf\u4e2a\u4ece\u7ad9\u8bb0\u5f55\u6570\u636e\u5e27\u5230\u8fbe\u7684\u672c\u5730\u65f6\u95f4\uff0c\u5e76\u57fa\u4e8e\u5f80\u8fd4\u65f6\u95f4\u8ba1\u7b97\u5355\u5411\u5ef6\u8fdf\uff0c\u8fdb\u800c\u6821\u51c6\u540c\u6b65\u4fe1\u53f7\u3002<\/p>\n\n\n\n

\u52a8\u6001\u540c\u6b65<\/strong>\u9636\u6bb5\uff0c\u53c2\u8003\u65f6\u949f\u5468\u671f\u6027\u5730\u5e7f\u64ad\u540c\u6b65\u5e27\uff08Sync0\u4e8b\u4ef6\uff09\uff0c\u5404\u4ece\u7ad9\u6839\u636e\u5df2\u8865\u507f\u7684\u504f\u79fb\u91cf\u548c\u4f20\u8f93\u5ef6\u8fdf\uff0c\u5728\u9884\u8bbe\u65f6\u523b\u4ea7\u751f\u540c\u6b65\u4e2d\u65ad\uff0c\u89e6\u53d1\u672c\u5730\u4efb\u52a1\u6267\u884c\uff0c\u4ece\u800c\u5b9e\u73b0\u5468\u671f\u6027\u7684\u540c\u6b65\u64cd\u4f5c\u3002<\/p>\n\n\n\n

2.2 \u540c\u6b65\u7cbe\u5ea6\u5f71\u54cd\u56e0\u7d20<\/h3>\n\n\n\n

\u7406\u60f3\u60c5\u51b5\u4e0b\uff0cEtherCAT\u7684DC\u540c\u6b65\u673a\u5236\u53ef\u5b9e\u73b0\u4f4e\u4e8e100ns\u7684\u540c\u6b65\u7cbe\u5ea6\u3002\u4f46\u5728\u5b9e\u9645\u7cfb\u7edf\u4e2d\uff0c\u540c\u6b65\u7cbe\u5ea6\u53d7\u5230\u591a\u79cd\u56e0\u7d20\u7684\u5236\u7ea6\uff1a<\/p>\n\n\n\n

    \n
  • \u65f6\u949f\u6e90\u7cbe\u5ea6\u4e0e\u6f02\u79fb<\/strong>\uff1a\u5404\u4ece\u7ad9\u901a\u5e38\u91c7\u7528\u672c\u5730\u6676\u632f\u4f5c\u4e3a\u65f6\u949f\u6e90\uff0c\u6676\u632f\u7684\u9891\u7387\u504f\u5dee\uff08PPM\u7ea7\uff09\u548c\u6e29\u5ea6\u6f02\u79fb\u5bfc\u81f4\u65f6\u949f\u7d2f\u79ef\u8bef\u5dee\u3002<\/li>\n\n\n\n
  • \u4f20\u8f93\u5ef6\u8fdf\u4e0d\u5bf9\u79f0\u6027<\/strong>\uff1a\u7269\u7406\u5c42\u6536\u53d1\u5668\u3001\u53d8\u538b\u5668\u3001\u7535\u7f06\u957f\u5ea6\u5dee\u5f02\u7b49\u56e0\u7d20\u5bfc\u81f4\u6570\u636e\u5e27\u53d1\u9001\u4e0e\u63a5\u6536\u8def\u5f84\u7684\u5ef6\u8fdf\u4e0d\u4e00\u81f4\uff0c\u5f71\u54cd\u5ef6\u8fdf\u6d4b\u91cf\u7cbe\u5ea6\u3002<\/li>\n\n\n\n
  • \u540c\u6b65\u4fe1\u53f7\u6296\u52a8<\/strong>\uff1a\u4ece\u7ad9\u786c\u4ef6\u4e2d\u65ad\u54cd\u5e94\u65f6\u95f4\u3001\u64cd\u4f5c\u7cfb\u7edf\u8c03\u5ea6\u5ef6\u8fdf\u3001\u534f\u8bae\u6808\u5904\u7406\u65f6\u95f4\u7b49\u56e0\u7d20\u5f15\u5165\u7684\u968f\u673a\u6296\u52a8\u3002<\/li>\n\n\n\n
  • \u62d3\u6251\u7ed3\u6784\u4e0e\u7ea7\u8054\u6df1\u5ea6<\/strong>\uff1a\u968f\u7740\u7ea7\u8054\u6df1\u5ea6\u7684\u589e\u52a0\uff0c\u4f20\u8f93\u5ef6\u8fdf\u7d2f\u79ef\uff0c\u540c\u6b65\u5e27\u7684\u5230\u8fbe\u65f6\u95f4\u4e0d\u786e\u5b9a\u6027\u589e\u5927\u3002<\/li>\n<\/ul>\n\n\n\n

    3. \u540c\u6b65\u8bef\u5dee\u5efa\u6a21\u4e0e\u5206\u6790<\/h2>\n\n\n\n

    3.1 \u65f6\u949f\u6f02\u79fb\u8bef\u5dee\u6a21\u578b<\/h3>\n\n\n\n

    \u8bbe\u53c2\u8003\u65f6\u949f\u7684\u65f6\u95f4\u4e3a T<\/mi>r<\/mi>e<\/mi>f<\/mi><\/mrow><\/msub>(<\/mo>t<\/mi>)<\/mo><\/mrow><\/semantics><\/math>T<\/em>re<\/em>f<\/em>\u200b(t<\/em>)\uff0c\u7b2c i<\/mi><\/mrow><\/semantics><\/math>i<\/em> \u4e2a\u4ece\u7ad9\u672c\u5730\u65f6\u949f\u7684\u65f6\u95f4\u4e3a T<\/mi>i<\/mi><\/msub>(<\/mo>t<\/mi>)<\/mo><\/mrow><\/semantics><\/math>T<\/em>i<\/em>\u200b(t<\/em>)\u3002\u65f6\u949f\u504f\u5dee\u53ef\u8868\u793a\u4e3a\uff1a\u0394<\/mi>T<\/mi>i<\/mi><\/msub>(<\/mo>t<\/mi>)<\/mo>=<\/mo>T<\/mi>i<\/mi><\/msub>(<\/mo>t<\/mi>)<\/mo>\u2212<\/mo>T<\/mi>r<\/mi>e<\/mi>f<\/mi><\/mrow><\/msub>(<\/mo>t<\/mi>)<\/mo><\/mrow><\/semantics><\/math>\u0394T<\/em>i<\/em>\u200b(t<\/em>)=T<\/em>i<\/em>\u200b(t<\/em>)\u2212T<\/em>re<\/em>f<\/em>\u200b(t<\/em>)<\/p>\n\n\n\n

    \u7531\u4e8e\u6676\u632f\u9891\u7387\u504f\u5dee\uff0c\u504f\u5dee\u968f\u65f6\u95f4\u7ebf\u6027\u7d2f\u79ef\uff1a\u0394<\/mi>T<\/mi>i<\/mi><\/msub>(<\/mo>t<\/mi>)<\/mo>=<\/mo>\u0394<\/mi>T<\/mi>i<\/mi><\/msub>(<\/mo>0<\/mn>)<\/mo>+<\/mo>\u03b4<\/mi>i<\/mi><\/msub>\u22c5<\/mo>t<\/mi><\/mrow><\/semantics><\/math>\u0394T<\/em>i<\/em>\u200b(t<\/em>)=\u0394T<\/em>i<\/em>\u200b(0)+\u03b4<\/em>i<\/em>\u200b\u22c5t<\/em><\/p>\n\n\n\n

    \u5176\u4e2d \u03b4<\/mi>i<\/mi><\/msub><\/mrow><\/semantics><\/math>\u03b4<\/em>i<\/em>\u200b \u4e3a\u9891\u7387\u504f\u5dee\u7cfb\u6570\u3002DC\u673a\u5236\u901a\u8fc7\u5468\u671f\u6027\u540c\u6b65\u8865\u507f\u504f\u79fb\u91cf\uff0c\u4f46\u4e24\u4e2a\u540c\u6b65\u70b9\u4e4b\u95f4\u7684\u6f02\u79fb\u65e0\u6cd5\u5b8c\u5168\u6d88\u9664\uff0c\u5bfc\u81f4\u540c\u6b65\u8bef\u5dee\u5448\u73b0\u952f\u9f7f\u72b6\u5468\u671f\u6027\u6ce2\u52a8\u3002<\/p>\n\n\n\n

    3.2 \u4f20\u8f93\u5ef6\u8fdf\u6d4b\u91cf\u8bef\u5dee<\/h3>\n\n\n\n

    EtherCAT\u91c7\u7528\u53cc\u5411\u6d4b\u91cf\u6cd5\u8ba1\u7b97\u4f20\u8f93\u5ef6\u8fdf\u3002\u8bbe\u4ece\u7ad9 i<\/mi><\/mrow><\/semantics><\/math>i<\/em> \u7684\u53d1\u9001\u5ef6\u8fdf\u4e3a t<\/mi>t<\/mi>x<\/mi>,<\/mo>i<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math>t<\/em>t<\/em>x<\/em>,i<\/em>\u200b\uff0c\u63a5\u6536\u5ef6\u8fdf\u4e3a t<\/mi>r<\/mi>x<\/mi>,<\/mo>i<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math>t<\/em>r<\/em>x<\/em>,i<\/em>\u200b\uff0c\u7269\u7406\u4f20\u8f93\u65f6\u95f4\u4e3a t<\/mi>p<\/mi>r<\/mi>o<\/mi>p<\/mi>,<\/mo>i<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math>t<\/em>p<\/em>ro<\/em>p<\/em>,i<\/em>\u200b\u3002\u5219\u5b9e\u9645\u5355\u5411\u5ef6\u8fdf\u4e3a\uff1at<\/mi>d<\/mi>e<\/mi>l<\/mi>a<\/mi>y<\/mi>,<\/mo>i<\/mi><\/mrow><\/msub>=<\/mo>t<\/mi>p<\/mi>r<\/mi>o<\/mi>p<\/mi>,<\/mo>i<\/mi><\/mrow><\/msub>+<\/mo>t<\/mi>r<\/mi>x<\/mi>,<\/mo>i<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math>t<\/em>d<\/em>e<\/em>l<\/em>a<\/em>y<\/em>,i<\/em>\u200b=t<\/em>p<\/em>ro<\/em>p<\/em>,i<\/em>\u200b+t<\/em>r<\/em>x<\/em>,i<\/em>\u200b<\/p>\n\n\n\n

    \u4f46\u6d4b\u91cf\u8fc7\u7a0b\u5047\u8bbe\u6536\u53d1\u8def\u5f84\u5bf9\u79f0\uff0c\u82e5 t<\/mi>t<\/mi>x<\/mi>,<\/mo>i<\/mi><\/mrow><\/msub>\u2260<\/mo>t<\/mi>r<\/mi>x<\/mi>,<\/mo>i<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math>t<\/em>t<\/em>x<\/em>,i<\/em>\u200b\ue020=t<\/em>r<\/em>x<\/em>,i<\/em>\u200b\uff0c\u5219\u5f15\u5165\u56fa\u5b9a\u504f\u5dee\u3002\u6b64\u5916\uff0cPHY\u82af\u7247\u7684\u5ef6\u8fdf\u6e29\u5ea6\u7cfb\u6570\u4e5f\u4f1a\u5bfc\u81f4\u52a8\u6001\u8bef\u5dee\u3002<\/p>\n\n\n\n

    3.3 \u540c\u6b65\u8bef\u5dee\u7684\u7edf\u8ba1\u7279\u6027<\/h3>\n\n\n\n

    \u7efc\u5408\u4e0a\u8ff0\u56e0\u7d20\uff0c\u4ece\u7ad9 i<\/mi><\/mrow><\/semantics><\/math>i<\/em> \u7684\u540c\u6b65\u8bef\u5dee\u53ef\u8868\u793a\u4e3a\uff1ae<\/mi>i<\/mi><\/msub>(<\/mo>t<\/mi>)<\/mo>=<\/mo>e<\/mi>o<\/mi>f<\/mi>f<\/mi>s<\/mi>e<\/mi>t<\/mi>,<\/mo>i<\/mi><\/mrow><\/msub>+<\/mo>e<\/mi>d<\/mi>r<\/mi>i<\/mi>f<\/mi>t<\/mi>,<\/mo>i<\/mi><\/mrow><\/msub>(<\/mo>t<\/mi>)<\/mo>+<\/mo>e<\/mi>d<\/mi>e<\/mi>l<\/mi>a<\/mi>y<\/mi>,<\/mo>i<\/mi><\/mrow><\/msub>+<\/mo>e<\/mi>j<\/mi>i<\/mi>t<\/mi>t<\/mi>e<\/mi>r<\/mi>,<\/mo>i<\/mi><\/mrow><\/msub>(<\/mo>t<\/mi>)<\/mo><\/mrow><\/semantics><\/math>e<\/em>i<\/em>\u200b(t<\/em>)=e<\/em>o<\/em>ff<\/em>se<\/em>t<\/em>,i<\/em>\u200b+e<\/em>d<\/em>r<\/em>i<\/em>f<\/em>t<\/em>,i<\/em>\u200b(t<\/em>)+e<\/em>d<\/em>e<\/em>l<\/em>a<\/em>y<\/em>,i<\/em>\u200b+e<\/em>ji<\/em>tt<\/em>er<\/em>,i<\/em>\u200b(t<\/em>)<\/p>\n\n\n\n

    \u5176\u4e2d e<\/mi>o<\/mi>f<\/mi>f<\/mi>s<\/mi>e<\/mi>t<\/mi>,<\/mo>i<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math>e<\/em>o<\/em>ff<\/em>se<\/em>t<\/em>,i<\/em>\u200b \u4e3a\u521d\u59cb\u504f\u79fb\u8865\u507f\u6b8b\u5dee\uff0ce<\/mi>d<\/mi>r<\/mi>i<\/mi>f<\/mi>t<\/mi>,<\/mo>i<\/mi><\/mrow><\/msub>(<\/mo>t<\/mi>)<\/mo><\/mrow><\/semantics><\/math>e<\/em>d<\/em>r<\/em>i<\/em>f<\/em>t<\/em>,i<\/em>\u200b(t<\/em>) \u4e3a\u6f02\u79fb\u8bef\u5dee\uff0ce<\/mi>d<\/mi>e<\/mi>l<\/mi>a<\/mi>y<\/mi>,<\/mo>i<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math>e<\/em>d<\/em>e<\/em>l<\/em>a<\/em>y<\/em>,i<\/em>\u200b \u4e3a\u5ef6\u8fdf\u6d4b\u91cf\u56fa\u5b9a\u8bef\u5dee\uff0ce<\/mi>j<\/mi>i<\/mi>t<\/mi>t<\/mi>e<\/mi>r<\/mi>,<\/mo>i<\/mi><\/mrow><\/msub>(<\/mo>t<\/mi>)<\/mo><\/mrow><\/semantics><\/math>e<\/em>ji<\/em>tt<\/em>er<\/em>,i<\/em>\u200b(t<\/em>) \u4e3a\u968f\u673a\u6296\u52a8\u3002\u5b9e\u9a8c\u8868\u660e\uff0c\u5728\u5178\u578b\u5de5\u4e1a\u73af\u5883\u4e2d\uff0c\u540c\u6b65\u8bef\u5dee\u7684\u5e45\u503c\u53ef\u8fbe\u51e0\u767e\u7eb3\u79d2\u81f3\u51e0\u5fae\u79d2\uff0c\u4e14\u5448\u73b0\u975e\u5e73\u7a33\u7279\u6027\u3002<\/p>\n\n\n\n

    4. \u540c\u6b65\u7cbe\u5ea6\u4f18\u5316\u65b9\u6cd5<\/h2>\n\n\n\n

    \u9488\u5bf9\u4e0a\u8ff0\u8bef\u5dee\u6e90\uff0c\u672c\u6587\u63d0\u51fa\u4e00\u5957\u7efc\u5408\u4f18\u5316\u65b9\u6cd5\uff0c\u4ece\u786c\u4ef6\u9009\u578b\u3001\u8f6f\u4ef6\u7b97\u6cd5\u53ca\u7cfb\u7edf\u914d\u7f6e\u4e09\u4e2a\u5c42\u9762\u8fdb\u884c\u6539\u8fdb\u3002<\/p>\n\n\n\n

    4.1 \u9ad8\u7cbe\u5ea6\u65f6\u949f\u6e90\u4e0e\u52a8\u6001\u6f02\u79fb\u8865\u507f<\/h3>\n\n\n\n

    \uff081\uff09\u786c\u4ef6\u5c42\u9762<\/strong>\uff1a\u91c7\u7528\u6e29\u8865\u6676\u632f\uff08TCXO\uff09\u6216\u6052\u6e29\u6676\u632f\uff08OCXO\uff09\u66ff\u4ee3\u666e\u901a\u6676\u632f\uff0c\u5c06\u9891\u7387\u7a33\u5b9a\u5ea6\u4ece\u00b150 ppm\u63d0\u5347\u81f3\u00b10.5 ppm\u4ee5\u4e0b\uff0c\u663e\u8457\u964d\u4f4e\u6f02\u79fb\u901f\u7387\u3002<\/p>\n\n\n\n

    \uff082\uff09\u8f6f\u4ef6\u5c42\u9762<\/strong>\uff1a\u8bbe\u8ba1\u81ea\u9002\u5e94\u6f02\u79fb\u8865\u507f\u7b97\u6cd5\u3002\u4e3b\u7ad9\u5468\u671f\u6027\u8bfb\u53d6\u4ece\u7ad9\u7684\u65f6\u949f\u6f02\u79fb\u7387\uff0c\u5efa\u7acb\u6f02\u79fb\u6a21\u578b\uff0c\u5e76\u5728\u76f8\u90bb\u540c\u6b65\u5468\u671f\u4e4b\u95f4\u65bd\u52a0\u7ebf\u6027\u8865\u507f\u3002\u5177\u4f53\u800c\u8a00\uff0c\u5229\u7528\u5361\u5c14\u66fc\u6ee4\u6ce2\u5bf9\u6f02\u79fb\u72b6\u6001\u8fdb\u884c\u4f30\u8ba1\uff1a\u03b4<\/mi>^<\/mo><\/mover>i<\/mi><\/msub>(<\/mo>k<\/mi>\u2223<\/mi>k<\/mi>)<\/mo>=<\/mo>\u03b4<\/mi>^<\/mo><\/mover>i<\/mi><\/msub>(<\/mo>k<\/mi>\u2223<\/mi>k<\/mi>\u2212<\/mo>1<\/mn>)<\/mo>+<\/mo>K<\/mi>(<\/mo>k<\/mi>)<\/mo>[<\/mo>\u0394<\/mi>T<\/mi>i<\/mi><\/msub>(<\/mo>k<\/mi>)<\/mo>\u2212<\/mo>\u0394<\/mi>T<\/mi><\/mrow>^<\/mo><\/mover>i<\/mi><\/msub>(<\/mo>k<\/mi>\u2223<\/mi>k<\/mi>\u2212<\/mo>1<\/mn>)<\/mo>]<\/mo><\/mrow><\/semantics><\/math>\u03b4<\/em>^i<\/em>\u200b(k<\/em>\u2223k<\/em>)=\u03b4<\/em>^i<\/em>\u200b(k<\/em>\u2223k<\/em>\u22121)+K<\/em>(k<\/em>)[\u0394T<\/em>i<\/em>\u200b(k<\/em>)\u2212\u0394T<\/em>^i<\/em>\u200b(k<\/em>\u2223k<\/em>\u22121)]<\/p>\n\n\n\n

    \u5176\u4e2d \u03b4<\/mi>^<\/mo><\/mover>i<\/mi><\/msub><\/mrow><\/semantics><\/math>\u03b4<\/em>^i<\/em>\u200b \u4e3a\u6f02\u79fb\u7387\u4f30\u8ba1\u503c\uff0cK<\/mi>(<\/mo>k<\/mi>)<\/mo><\/mrow><\/semantics><\/math>K<\/em>(k<\/em>) \u4e3a\u5361\u5c14\u66fc\u589e\u76ca\u3002\u8865\u507f\u91cf\u901a\u8fc7\u8c03\u6574\u4ece\u7ad9\u65f6\u949f\u7684\u52a0\u51cf\u8ba1\u6570\u6b65\u957f\u5b9e\u73b0\u3002<\/p>\n\n\n\n

    4.2 \u4f20\u8f93\u5ef6\u8fdf\u7cbe\u786e\u6d4b\u91cf\u4e0e\u4fee\u6b63<\/h3>\n\n\n\n

    \uff081\uff09\u5bf9\u79f0\u6027\u6821\u6b63<\/strong>\uff1a\u5728\u7cfb\u7edf\u521d\u59cb\u5316\u9636\u6bb5\uff0c\u91c7\u7528\u53cc\u5411\u73af\u56de\u6d4b\u91cf\u6cd5\u7cbe\u786e\u6d4b\u91cf\u5404\u4ece\u7ad9PHY\u7684\u6536\u53d1\u5ef6\u8fdf\u5dee\u5f02\u3002\u901a\u8fc7\u4e13\u7528\u6d4b\u8bd5\u6a21\u5f0f\uff0c\u5206\u522b\u6d4b\u91cf\u53d1\u9001\u8def\u5f84\u548c\u63a5\u6536\u8def\u5f84\u7684\u5b9e\u9645\u5ef6\u8fdf\uff0c\u5efa\u7acb\u975e\u5bf9\u79f0\u7cfb\u6570\u8868\uff0c\u5728DC\u914d\u7f6e\u4e2d\u4e88\u4ee5\u4fee\u6b63\u3002<\/p>\n\n\n\n

    \uff082\uff09\u6e29\u5ea6\u8865\u507f<\/strong>\uff1aPHY\u82af\u7247\u7684\u5ef6\u8fdf\u901a\u5e38\u968f\u6e29\u5ea6\u53d8\u5316\u3002\u5728\u4ece\u7ad9\u786c\u4ef6\u4e2d\u96c6\u6210\u6e29\u5ea6\u4f20\u611f\u5668\uff0c\u9884\u5148\u6807\u5b9a\u5ef6\u8fdf-\u6e29\u5ea6\u7279\u6027\u66f2\u7ebf\uff0c\u8fd0\u884c\u65f6\u6839\u636e\u5b9e\u65f6\u6e29\u5ea6\u52a8\u6001\u8c03\u6574\u5ef6\u8fdf\u8865\u507f\u503c\u3002<\/p>\n\n\n\n

    4.3 \u540c\u6b65\u4fe1\u53f7\u6296\u52a8\u6291\u5236<\/h3>\n\n\n\n

    \u540c\u6b65\u4fe1\u53f7\u6296\u52a8\u4e3b\u8981\u6765\u6e90\u4e8e\u4ece\u7ad9\u7684\u4e2d\u65ad\u5904\u7406\u5ef6\u8fdf\u548c\u64cd\u4f5c\u7cfb\u7edf\u8c03\u5ea6\u4e0d\u786e\u5b9a\u6027\u3002\u9488\u5bf9\u8fd9\u4e00\u95ee\u9898\uff0c\u672c\u6587\u63d0\u51fa\u4ee5\u4e0b\u4f18\u5316\u7b56\u7565\uff1a<\/p>\n\n\n\n

    \uff081\uff09\u786c\u4ef6\u76f4\u63a5\u8f93\u51fa<\/strong>\uff1a\u4f7f\u7528EtherCAT\u4ece\u7ad9\u63a7\u5236\u5668\u7684\u786c\u4ef6\u540c\u6b65\u4fe1\u53f7\u8f93\u51fa\uff08\u5982Sync0\uff09\u76f4\u63a5\u89e6\u53d1\u5916\u90e8\u8bbe\u5907\uff0c\u907f\u514d\u7ecf\u8fc7\u5904\u7406\u5668\u4e2d\u65ad\u5904\u7406\uff0c\u964d\u4f4e\u6296\u52a8\u81f3\u7eb3\u79d2\u7ea7\u3002<\/p>\n\n\n\n

    \uff082\uff09\u4e2d\u65ad\u4f18\u5148\u7ea7\u63d0\u5347<\/strong>\uff1a\u5728\u5b9e\u65f6\u64cd\u4f5c\u7cfb\u7edf\uff08\u5982RTOS\u6216Linux + PREEMPT_RT\uff09\u4e2d\uff0c\u5c06EtherCAT\u540c\u6b65\u4e2d\u65ad\u8bbe\u4e3a\u6700\u9ad8\u4f18\u5148\u7ea7\uff0c\u5e76\u91c7\u7528\u4e2d\u65ad\u7ebf\u7a0b\u5316\u4e0eCPU\u9694\u79bb\u6280\u672f\uff0c\u786e\u4fdd\u540c\u6b65\u4efb\u52a1\u83b7\u5f97\u786e\u5b9a\u7684\u54cd\u5e94\u65f6\u95f4\u3002<\/p>\n\n\n\n

    \uff083\uff09\u8f6f\u4ef6\u9884\u6d4b\u8865\u507f<\/strong>\uff1a\u5bf9\u4e8e\u65e0\u6cd5\u907f\u514d\u7684\u8f6f\u4ef6\u5ef6\u8fdf\uff0c\u91c7\u7528\u57fa\u4e8e\u5386\u53f2\u6570\u636e\u7684\u6296\u52a8\u9884\u6d4b\u6a21\u578b\uff0c\u52a8\u6001\u8c03\u6574\u540c\u6b65\u89e6\u53d1\u65f6\u523b\uff0c\u5b9e\u73b0\u201c\u524d\u9988\u8865\u507f\u201d\u3002\u8bbe\u5386\u53f2\u6296\u52a8\u5e8f\u5217\u4e3a J<\/mi>k<\/mi><\/msub><\/mrow><\/semantics><\/math>J<\/em>k<\/em>\u200b\uff0c\u91c7\u7528\u6ed1\u52a8\u5e73\u5747\u9884\u6d4b\u4e0b\u4e00\u5468\u671f\u7684\u6296\u52a8\u503c\uff1aJ<\/mi>^<\/mo><\/mover>k<\/mi>+<\/mo>1<\/mn><\/mrow><\/msub>=<\/mo>1<\/mn>N<\/mi><\/mfrac>\u2211<\/mo>m<\/mi>=<\/mo>0<\/mn><\/mrow>N<\/mi>\u2212<\/mo>1<\/mn><\/mrow><\/munderover>J<\/mi>k<\/mi>\u2212<\/mo>m<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math>J<\/em>^k<\/em>+1\u200b=N<\/em>1\u200bm<\/em>=0\u2211N<\/em>\u22121\u200bJ<\/em>k<\/em>\u2212m<\/em>\u200b<\/p>\n\n\n\n

    \u5e76\u5c06\u8865\u507f\u91cf\u53e0\u52a0\u5230Sync0\u504f\u79fb\u5bc4\u5b58\u5668\u4e2d\u3002<\/p>\n\n\n\n

    4.4 \u62d3\u6251\u7ed3\u6784\u4e0e\u540c\u6b65\u57df\u4f18\u5316<\/h3>\n\n\n\n

    \uff081\uff09\u6700\u5c0f\u5316\u7ea7\u8054\u6df1\u5ea6<\/strong>\uff1a\u5728\u7cfb\u7edf\u8bbe\u8ba1\u9636\u6bb5\uff0c\u91c7\u7528\u661f\u578b\u62d3\u6251\u6216\u5206\u6bb5\u5f0f\u62d3\u6251\u66ff\u4ee3\u957f\u94fe\u5f0f\u62d3\u6251\uff0c\u51cf\u5c11\u6570\u636e\u5e27\u7684\u8f6c\u53d1\u6b21\u6570\uff0c\u964d\u4f4e\u4f20\u8f93\u5ef6\u8fdf\u7d2f\u79ef\u3002<\/p>\n\n\n\n

    \uff082\uff09\u591a\u4e3b\u7ad9\u540c\u6b65\u57df\u5212\u5206<\/strong>\uff1a\u5bf9\u4e8e\u8d85\u5927\u89c4\u6a21\u7cfb\u7edf\uff08\u8d85\u8fc7200\u4e2a\u4ece\u7ad9\uff09\uff0c\u53ef\u5c06\u7cfb\u7edf\u5212\u5206\u4e3a\u591a\u4e2a\u540c\u6b65\u57df\uff0c\u6bcf\u4e2a\u57df\u5185\u72ec\u7acb\u8fdb\u884cDC\u540c\u6b65\uff0c\u57df\u95f4\u901a\u8fc7\u9ad8\u7cbe\u5ea6\u65f6\u949f\u6865\u63a5\uff0c\u907f\u514d\u5355\u4e00\u53c2\u8003\u65f6\u949f\u7684\u540c\u6b65\u7cbe\u5ea6\u8870\u51cf\u3002<\/p>\n\n\n\n

    4.5 \u57fa\u4e8e\u6a21\u578b\u9884\u6d4b\u7684\u540c\u6b65\u8bef\u5dee\u8865\u507f<\/h3>\n\n\n\n

    \u9488\u5bf9\u540c\u6b65\u8bef\u5dee\u7684\u975e\u5e73\u7a33\u7279\u6027\uff0c\u5f15\u5165\u6a21\u578b\u9884\u6d4b\u63a7\u5236\uff08MPC\uff09\u6846\u67b6\u8fdb\u884c\u4e3b\u52a8\u8865\u507f\u3002\u5efa\u7acb\u540c\u6b65\u8bef\u5dee\u7684\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\uff1ax<\/mi>(<\/mo>k<\/mi>+<\/mo>1<\/mn>)<\/mo>=<\/mo>A<\/mi>x<\/mi>(<\/mo>k<\/mi>)<\/mo>+<\/mo>B<\/mi>u<\/mi>(<\/mo>k<\/mi>)<\/mo>+<\/mo>w<\/mi>(<\/mo>k<\/mi>)<\/mo><\/mrow><\/semantics><\/math>x<\/strong>(k<\/em>+1)=A<\/em>x<\/strong>(k<\/em>)+B<\/em>u<\/em>(k<\/em>)+w<\/em>(k<\/em>)e<\/mi>(<\/mo>k<\/mi>)<\/mo>=<\/mo>C<\/mi>x<\/mi>(<\/mo>k<\/mi>)<\/mo>+<\/mo>v<\/mi>(<\/mo>k<\/mi>)<\/mo><\/mrow><\/semantics><\/math>e<\/em>(k<\/em>)=C<\/em>x<\/strong>(k<\/em>)+v<\/em>(k<\/em>)<\/p>\n\n\n\n

    \u5176\u4e2d u<\/mi>(<\/mo>k<\/mi>)<\/mo><\/mrow><\/semantics><\/math>u<\/em>(k<\/em>) \u4e3a\u8865\u507f\u63a7\u5236\u91cf\u3002\u901a\u8fc7\u9884\u6d4b\u672a\u6765\u591a\u4e2a\u5468\u671f\u7684\u8bef\u5dee\u8f68\u8ff9\uff0c\u6c42\u89e3\u6700\u4f18\u8865\u507f\u5e8f\u5217\uff0c\u4f7f\u540c\u6b65\u8bef\u5dee\u7684\u5747\u65b9\u6839\u503c\u6700\u5c0f\u5316\u3002\u8be5\u65b9\u6cd5\u80fd\u591f\u6709\u6548\u6291\u5236\u6f02\u79fb\u548c\u5468\u671f\u6027\u5e72\u6270\uff0c\u5728\u9ad8\u901f\u9ad8\u7cbe\u8fd0\u52a8\u63a7\u5236\u4e2d\u8868\u73b0\u4f18\u5f02\u3002<\/p>\n\n\n\n

    5. \u5b9e\u9a8c\u9a8c\u8bc1\u4e0e\u7ed3\u679c\u5206\u6790<\/h2>\n\n\n\n

    5.1 \u5b9e\u9a8c\u5e73\u53f0\u642d\u5efa<\/h3>\n\n\n\n

    \u4e3a\u9a8c\u8bc1\u6240\u63d0\u4f18\u5316\u65b9\u6cd5\u7684\u6709\u6548\u6027\uff0c\u642d\u5efa\u4e86\u5982\u4e0b\u5b9e\u9a8c\u5e73\u53f0\uff1a<\/p>\n\n\n\n

      \n
    • \u4e3b\u7ad9<\/strong>\uff1ax86\u5de5\u63a7\u673a\uff0cIntel Core i7\u5904\u7406\u5668\uff0cLinux\u7cfb\u7edf + EtherCAT\u4e3b\u7ad9\u534f\u8bae\u6808\uff08IgH\uff09\uff0c\u914d\u7f6ePREEMPT_RT\u5b9e\u65f6\u5185\u6838\u3002<\/li>\n\n\n\n
    • \u4ece\u7ad9<\/strong>\uff1a10\u4e2aEtherCAT\u4f3a\u670d\u9a71\u52a8\u5668\uff08\u652f\u6301DC\uff09\uff0c\u91c7\u7528\u94fe\u5f0f\u62d3\u6251\u8fde\u63a5\u3002<\/li>\n\n\n\n
    • \u6d4b\u91cf\u8bbe\u5907<\/strong>\uff1a\u793a\u6ce2\u5668\uff08\u5e26\u5bbd1 GHz\uff0c\u91c7\u6837\u738710 GSa\/s\uff09\u6d4b\u91cf\u5404\u4ece\u7ad9Sync0\u4fe1\u53f7\u7684\u76f8\u4f4d\u5dee\u3002<\/li>\n\n\n\n
    • \u4f18\u5316\u5b9e\u65bd<\/strong>\uff1a\u5206\u522b\u5e94\u7528\u9ad8\u7cbe\u5ea6\u6676\u632f\uff08OCXO\uff09\u3001\u4f20\u8f93\u5ef6\u8fdf\u6e29\u5ea6\u8865\u507f\u3001\u4e2d\u65ad\u4f18\u5148\u7ea7\u63d0\u5347\u53caMPC\u8865\u507f\u7b97\u6cd5\u3002<\/li>\n<\/ul>\n\n\n\n

      5.2 \u5b9e\u9a8c\u7ed3\u679c<\/h3>\n\n\n\n

      \u5b9e\u9a8c\u5bf9\u6bd4\u4e86\u4f18\u5316\u524d\u540e\u5404\u4ece\u7ad9\u95f4\u7684\u540c\u6b65\u8bef\u5dee\u5cf0\u503c\u548c\u5747\u65b9\u6839\u503c\uff0c\u7ed3\u679c\u5982\u88681\u6240\u793a\u3002<\/p>\n\n\n\n

      \u4f18\u5316\u9636\u6bb5<\/th>\u5cf0\u503c\u8bef\u5dee (ns)<\/th>RMS\u8bef\u5dee (ns)<\/th><\/tr><\/thead>
      \u672a\u4f18\u5316<\/td>1240<\/td>380<\/td><\/tr>
      \u9ad8\u7cbe\u5ea6\u6676\u632f<\/td>680<\/td>210<\/td><\/tr>
      +\u5ef6\u8fdf\u6e29\u5ea6\u8865\u507f<\/td>420<\/td>125<\/td><\/tr>
      +\u4e2d\u65ad\u4f18\u5148\u7ea7\u4f18\u5316<\/td>280<\/td>85<\/td><\/tr>
      +MPC\u8865\u507f<\/td>160<\/td>48<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

      \u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u7ecf\u8fc7\u7efc\u5408\u4f18\u5316\uff0c\u540c\u6b65\u8bef\u5dee\u5cf0\u503c\u4ece1240 ns\u964d\u4f4e\u81f3160 ns\uff0cRMS\u8bef\u5dee\u4ece380 ns\u964d\u4f4e\u81f348 ns\uff0c\u540c\u6b65\u7cbe\u5ea6\u63d0\u5347\u7ea6\u4e00\u4e2a\u6570\u91cf\u7ea7\uff0c\u6ee1\u8db3\u4e9a\u5fae\u79d2\u7ea7\u540c\u6b65\u8981\u6c42\u3002<\/p>\n\n\n\n

      5.3 \u7ed3\u679c\u8ba8\u8bba<\/h3>\n\n\n\n

      \u4f18\u5316\u6548\u679c\u4e3b\u8981\u5f52\u56e0\u4e8e\uff1a\u9ad8\u7cbe\u5ea6\u6676\u632f\u4ece\u6839\u672c\u4e0a\u964d\u4f4e\u4e86\u6f02\u79fb\u901f\u7387\uff1b\u5ef6\u8fdf\u6e29\u5ea6\u8865\u507f\u6d88\u9664\u4e86\u73af\u5883\u53d8\u5316\u5f15\u5165\u7684\u7cfb\u7edf\u8bef\u5dee\uff1b\u4e2d\u65ad\u4f18\u5148\u7ea7\u4f18\u5316\u663e\u8457\u51cf\u5c11\u4e86\u8f6f\u4ef6\u6296\u52a8\uff1bMPC\u8865\u507f\u6709\u6548\u6291\u5236\u4e86\u6b8b\u4f59\u5468\u671f\u6027\u8bef\u5dee\u3002\u5728\u5b9e\u9645\u591a\u8f74\u8fd0\u52a8\u63a7\u5236\u6d4b\u8bd5\u4e2d\uff0c\u4f18\u5316\u540e\u7684\u7cfb\u7edf\u5728\u9ad8\u901f\u8f68\u8ff9\u8ddf\u8e2a\u65f6\u8f6e\u5ed3\u8bef\u5dee\u51cf\u5c11\u4e86\u7ea640%\uff0c\u9a8c\u8bc1\u4e86\u540c\u6b65\u7cbe\u5ea6\u63d0\u5347\u5bf9\u63a7\u5236\u6027\u80fd\u7684\u79ef\u6781\u5f71\u54cd\u3002<\/p>\n\n\n\n

      6. \u7ed3\u8bba<\/h2>\n\n\n\n

      EtherCAT\u603b\u7ebf\u5206\u5e03\u5f0f\u63a7\u5236\u7cfb\u7edf\u7684\u540c\u6b65\u7cbe\u5ea6\u76f4\u63a5\u5f71\u54cd\u591a\u8f74\u534f\u540c\u63a7\u5236\u4e0e\u9ad8\u901f\u6570\u636e\u91c7\u96c6\u7684\u6700\u7ec8\u6027\u80fd\u3002\u672c\u6587\u5728\u6df1\u5165\u5206\u6790EtherCAT\u5206\u5e03\u5f0f\u65f6\u949f\u540c\u6b65\u673a\u5236\u53ca\u5176\u8bef\u5dee\u6765\u6e90\u7684\u57fa\u7840\u4e0a\uff0c\u63d0\u51fa\u4e86\u4e00\u5957\u6db5\u76d6\u65f6\u949f\u6e90\u4f18\u5316\u3001\u5ef6\u8fdf\u7cbe\u786e\u8865\u507f\u3001\u6296\u52a8\u6291\u5236\u3001\u62d3\u6251\u7ed3\u6784\u6539\u8fdb\u53ca\u6a21\u578b\u9884\u6d4b\u8865\u507f\u7684\u7efc\u5408\u4f18\u5316\u65b9\u6cd5\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u8be5\u65b9\u6cd5\u80fd\u5c06\u540c\u6b65\u8bef\u5dee\u63a7\u5236\u5728\u4e9a\u5fae\u79d2\u7ea7\u522b\uff0c\u663e\u8457\u63d0\u5347\u7cfb\u7edf\u534f\u540c\u6027\u3002\u540e\u7eed\u7814\u7a76\u5c06\u8fdb\u4e00\u6b65\u63a2\u7d22\u57fa\u4e8eAI\u7684\u8bef\u5dee\u9884\u6d4b\u4e0e\u81ea\u9002\u5e94\u8865\u507f\u673a\u5236\uff0c\u4ee5\u6ee1\u8db3\u672a\u6765\u8d85\u7cbe\u5bc6\u5236\u9020\u5bf9\u7eb3\u79d2\u7ea7\u540c\u6b65\u7684\u9700\u6c42\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

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