Clock synchronization method of an ethercat-based master station system

Abstract

The application relates to the technical field of clock synchronization, in particular to a clock synchronization method of a master station system based on EtherCAT, which comprises the following steps: collecting feedback time data of slave stations and respectively calculating clock offset values between master and slave time while the master station periodically sends time synchronization frames to all slave stations, constructing a master-slave offset time feature matrix according to the collected multi-periodic data, extracting initial static offset, offset fluctuation trend and offset cooperativity features among multiple slave stations from the constructed master-slave offset time feature matrix, determining an initial estimation set according to the extracted features, constructing a master-slave offset prediction set based on the initial estimation set, and performing adaptive compensation and correction of master-slave clock offset based on the determined master-slave offset prediction set; the application realizes secondary fitting of offset sequences of each slave station node by constructing an initial offset estimation set and introducing an offset trend estimation function, and ensures that the prediction accuracy is significantly improved through an error comparison mechanism.

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