中文摘要：

针对传统多轴控制器的结构、扩展性和实时性存在的问题，对实时Linux操作系统、Machinekit控制软件以及EtherCAT协议等方面进行了研究，对Machinekit控制软件构成进行了介绍，对实时Linux操作系统的选取原因进行了阐述，对多轴控制器的结构、实时性和稳定性进行了分析，在保证多轴控制器实时性和稳定性的前提下，提出了一种基于Xenomai和Machinekit的多轴控制器软件架构，并将实时以太网EtherCAT协议作为传输协议应用到控制器中，利用系统对伺服轴的控制进行了功能验证以及利用wireshark捕捉控制报文来对系统的实时性进行了分析测试。研究结果表明，基于Machinekit和EtherCAT的多轴控制器能够完成对多轴的基本控制工作。

英文摘要：

Aiming at the structure, expansibility and real-time problems of traditional multi axis controller, the real time Linux system, Ma-chinekit control software and EtherCAT protocol were studied. The composition of Machinekit control software was introduced, and the rea-sons for the selection of real time Linux operating system were described. At the same time, the structure, real time and stability of multi axiscontroller were analyzed. On the premise of ensuring the real-time property and stability of the multi axis controller, a software architecture ofmulti axis controller based on Xenomai and Machinekit was proposed. And the real time Ethernet protocol （EtherCAT） was applied to thecontroller. To verify controller＇s function, three servo axes were used, and Wireshark was used to capture the control message to analyze thereal-time performance of the system. The results indicate that the controller based on Machinekit and EtherCAT is able to complete the basiccontrol of multi-axis.