基于CAN总线的伺服系统参数在线装订方法  

Parameters Online Binding Method of Servo System Based on CAN Bus

作　　者：刘海山[1] 王恒[1] 丁怀龙[1] 焦震[1] 樊茜[1] LIU Hai-shan;WANG Heng;DING Huai-long;JIAO Zhen;FAN Qian(Beijing Research Institute of Precise Mechatronic Controls,Beijing 100076,China)

机构地区：[1]北京精密机电控制设备研究所,北京100076

出　　处：《微特电机》2018年第5期70-72,共3页Small & Special Electrical Machines

摘　　要：以永磁同步电动机作为主要执行元件的机电伺服系统在调试过程中往往需要频繁修改控制参数以实现系统的最优控制,如果通过修改源代码的方式修改参数,会导致软件版本多,不易进行版本控制,效率低,影响研制进度,特别是在一些特殊的场合不允许对伺服控制驱动器进行开盖(打开外壳)操作,不能更新软件,也就无法实现控制参数的调整。提出一种基于CAN总线的伺服系统参数在线装订方法,利用上位机与数字信号处理器之间的CAN总线通信,实现对数字信号处理器片上Flash和RAM资源的寻址和读写控制,从而完成对伺服系统控制参数的在线装订及回读校验。通过实际工程应用证明,该方法方便高效、可靠性高,为机电伺服系统在型号中的快速应用提供很好的解决方案。Electro-mechanical servo system with permanent magnet synchronous motor as the main actuator has to modify the control parameters frequently in order to realize the optimal control of the system. If the parameters are modified by modifying the source code,it will lead to many versions of the software,version control low efficiency,affecting the progress of development,especially in some special occasions preventing servo-controlled driver open cover（ open the shell）operation,it will not be able to update the software or adjust the control parameters. A parameters online binding method of servo system based on CAN bus was presented. By using the CAN bus communication between the host computer and the digital signal processor,addressing and reading of the Flash and RAM resources of the digital signal processor write control were realized to complete the control parameters of servo system online binding and read back calibration. The practical engineering application proves that the method is convenient,efficient and reliable,and provides a good solution for quick application of electromechanical servo system.

关 键 词：CAN总线 永磁同步电动机 伺服系统 在线装订 

分 类 号：TM341[电气工程—电机] TM351