中文摘要：

Ether CAT是一种开放的实时以太网通讯协议,提出了一套完整的Ether CAT主站设计方案,旨在进一步提高工业控制实时性。其中,选用基于AM3358处理器的Beagle Bone Black作为Linux嵌入式开发平台,并且在该平台上运行集成Xenomai实时补丁的Linux操作系统,然后在操作系统上构建Ig H Ether CAT Master for Linux开源框架,最后基于这套开源框架进行应用层程序的设计,完成整套主站设计。实验结果表明,同步误差控制在ns级的水准,报文的传输时间在μs级,可以满足工业控制系统对实时性的要求。

英文摘要：

For the purpose of improve the real-time performance of industrial control,a complete Ether CAT master design is presented in this paper. Firstly,choose the Beagle Bone Black based on AM3358 as the Linux embedded platform and implement the embedded real-time Linux system with Xenomai on the platform.Then,build the Ig H Ether CAT Master for Linux open-source framework on the system.Lastly,this paper designs the application program with the framework and complete the whole Ether CAT master.