CANopen协议在分布式伺服电动机控制器中的实现  

Realization of CANopen Protocol in a Distributed Servo Motor Controller

作　　者：曹祥红[1] 张华[2] 

机构地区：[1]郑州轻工业学院,郑州450002 [2]河南工业大学,郑州450001

出　　处：《微特电机》2014年第9期63-66,共4页Small & Special Electrical Machines

基　　金：河南省科技厅重点科技攻关项目(142102310361;132102310283)

摘　　要：介绍了采用CANopen协议进行通讯的分布式伺服电动机驱动控制系统工作原理,分析了CANopen网络上电机驱动器节点的主要状态转换流程,设计了PIC32单片机的CANopen控制器,在试制样机的基础上进行了通讯控制实验,并用于医疗机械臂的高精度定位控制,结果表明该控制器具有较好的实时性和稳定性,提高了整个控制系统动作的柔顺性,具有一定的实用价值。CANopen protocol was introduced for developing distributed servo motor controller in this article.The primary states transition of CANopen network nodes were analyzed.A CANopen controller prototype was designed with PIC32 MCU and applied to a medical robot arm control system to achieve high precision positioning control.Experimental data show that the prototype has good real-time performance and stability.It can improve flexibility of the control system,and has practical values.

关 键 词：CANOPEN协议 PIC32单片机 伺服电动机 驱动器 

分 类 号：TM383.4[电气工程—电机]