摘要
提出了一种基于CAN总线的分布式伺服运动控制方案,针对数控系统对多轴运动控制严格的同步要求,设计了一种“分时通信、同步执行”协议模型,有效地降低了同步运动控制对现场总线带宽的依赖。文章对分布式运动控制的网络拓扑结构、数据通信和运动同步协议模型、数据帧格式以及通信的实时性等关键技术问题进行了比较详细的论述。最后将上述协议模型用于CAN总线分布式三轴数控系统进行实验,结果证明该系统在通信实时性和运动同步控制方面具有良好的性能。
A distributed servo control scheme based on CAN bus is presented, for the strict demand of motion synchronization among multi-axis of a servo system, a novel protocol model named ＂communication by timesharing and executing on synchronization＂ is brought forward, and by this protocol, the motion synchronization among multi-axis depends less on the bandwidth of field-bus. The key problems on above model are discussed in detail, such as the network topology of distributed motion control system, the communication and synchronization protocol model, the format of network frame and the real time performance, etc. As experiments, the above protocol model was employed in a CAN bus based 3-axis CNC system, and the results prove that the presented protocol has a good performance in real time and motion synchronization control.
出处
《组合机床与自动化加工技术》
2007年第2期32-34,37,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金项目(50675123)
教育部博士点基金项目(20040422026)
