基于STM32的多轴速度控制系统  

Multi Axis Speed Control System Based on STM32

作　　者：巢云 马鑫金 CHAO Yun;MA Xin-jin(School of Electronic Information Engineering,Sanjiang University,Nanjing 210012,China;School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]三江学院电子信息工程学院,江苏南京210012 [2]南京理工大学自动化学院,江苏南京210094

出　　处：《仪表技术与传感器》2020年第8期77-80,共4页Instrument Technique and Sensor

基　　金：江苏省高等学校自然科学研究项目(18KJB510039)。

摘　　要：为实现多轴控制器的灵活应用、高速实时性和高性价比,选择Cotex-M3内核的STM32处理器,基于6N137芯片的高速光耦电路,CAN通讯接口电路,多路高速输出电路可以产生5 Mbits/s速率的TTL电平,设计CAN通讯函数、补偿参数计算和S型曲线速度反馈的控制方法,利用抖动测试实验和控制指令的实际速度反馈进行实验。实验结果表明:补偿后的周期性抖动小于20μs,加减速的实际速度与指令保持一致。结果表明多轴控制器速度控制系统可以提高执行电机的响应速度和精度。In order to realize the flexible application,high-speed real-time performance and cost-effectiveness of the multi-axis controller,the STM32 processor with Cotex-M3 core was selected,and high speed optocoupler circuit based on 6 N137 chip,a CAN communication interface circuit,and multiple high-speed output circuits were selected.CAN generate TTL level of 5 Mbits/s rate,designed CAN communication function,compensation parameter calculation and S-curve speed feedback control method,used jitter test experiments and actual speed feedback of control instructions to conduct experiments.The experimental results show that the periodic jitter after compensation is less than 20μs,and the actual speed of acceleration and deceleration is consistent with the command.The results show that the multi-axis controller speed control system CAN improve the response speed and accuracy of the executive motor.

关 键 词：速度检测 多轴控制器 嵌入式系统 信号分析 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]