CANopen协议及在电机系统控制中的应用

Application of CANopen protocol in motor system control

针对目前控制器局域网络(CAN)在国内的总体应用层次较低,没有和国际标准的CAN高层协议接轨的问题,对CAN高层协议CANopen进行了阐述,对CANopen主从站节点的功能与设置进行了研究。结合实际的混合动力多电机系统试验台,构建了CANopen主从站节点,实现了基于CANopen协议的多电机系统实时控制。试验结果表明,该方案适用于多数工业自动化应用场合。

For controller area network （CAN） bus has a lower application level now at home, not inline with CAN high layer prtocol of international standard, one of CAN high layer protocol CANopen was illustrated. Setting and functions of the CANopen master and slave nodes were studied. Applied in an actual multi-motor testing platform, the CANopen master and slave nodes were built, and the real-time control of the multi-motor system was realized based on the CANopen network. The results show that the scheme is applicable in most industrial automation applications.