基于CANopen协议的双轴伺服系统控制研究  

Research on Control of Biaxial Servo System Based on CANopen Protocol

作　　者：宋朝健 吴明昌 赵立宏[3] SONG Chaojian;WU Mingchang;ZHAO Lihong(School of Mechanical Engineering, University of South China, Hengyang, Hunan 421001, China;China Nuclear Power Research and Design Institute, Chengdu, Sichuan 610200, China;School of Nuclear Science and Technology, University of South China, Hengyang, Hunan 421001, China)

机构地区：[1]南华大学机械工程学院,湖南衡阳421001 [2]中国核动力研究设计院,四川成都610200 [3]南华大学核科学与技术学院,湖南衡阳421001

出　　处：《南华大学学报（自然科学版）》2021年第6期65-71,78,共8页Journal of University of South China：Science and Technology

摘　　要：由于伺服系统精度高、稳定性好、响应迅速等优点,已经在工业控制的各个领域被广泛应用,但是随着工业自动化的不断发展,单一的伺服系统已经无法满足需求。现场总线采用数字信号通信的方式,具有数据传输速度快,抗干扰性好等优点。因此,将现场总线技术应用到伺服系统中是运动控制领域的研究热点之一。提出了一种基于CANopen协议的与伺服控制系统相结合的CANopen主从控制方案,实现对双轴伺服电机的精确控制。研究结果表明,通过上位机界面发送报文对伺服系统控制的方法操作简单、数据准确、实时性好,用户通过上位机界面接收伺服电机的反馈信息,可以很好地对电机进行实时监控。Due to the advantages of high accuracy,good stability and rapid response,the servo system has been widely used in various fields of industrial control,but with the continuous development of industrial automation,a single servo system has been unable to meet the demand.Field bus adopts digital signal communication,which has the advantages of fast data transmission speed and good anti-interference ability.Therefore,the application of field bus technology to servo system is hot in the field of motion control.A CANopen master control scheme based on CANopen protocol combined with servo control system is proposed to realize the precise control of biaxial servo motor.The experimental results show that the method of controlling the servo system is simple,with accurate data and good real-time.Users receive the feedback information of the servo motor through the upper computer interface,which can perform real-time monitoring.

关 键 词：CANOPEN协议 伺服系统 主从控制 

分 类 号：TN964[电子电信—信号与信息处理]