基于CAN总线的四路舵机控制器的研究

Study on Four Steering Engine Control Based on the Structure of CAN Bus

本文设计了一种基于CAN通信总线的新型舵机控制器。该控制器考虑了谐波传动的随速度波动和低阻尼特点,以提高舵机系统控制品质为目标,采用增量式分段PID算法产生PWM信号,对舵机随动系统进行实时精准控制,并通过CAN2.0总线接口实现了微型计算机与CPU之间的实时变量传送,方便了程序的调试。测试结果表明,该控制系统具有抗干扰性能好、控制品质优等特点。

This is a new design of steering engine control system based on the structure of CAN communication bus. This control system has the advantages as follow： considering the change with velocity and low damp of harmonic drive, improving the ability of control system, producing PMW signals which adopt an arithmetic called increasing sectional PID method. It could make a precise real time control of the steering engine, and achieve the transmission of real time variable between microcomputer and CPU through the bus interface of CAN2.0which is convenient for debugging the program. The testing result indicates that this control system has the merits such as good capability of anti-jamming, excellent control quality, and so on.