基于CAN总线分布式机械臂控制系统设计

Distributed Machinery Arms Control System Design Based on CAN Bus

介绍了基于CAN总线的分布式煤矿开采机械臂控制系统的体系结构。主控制器接收操作者控制信息,控制六个关节控制器实现运动任务。主控制器与关节控制器间实现CAN实时通讯,关节控制器通过控制LM629实现直流电机PID伺服控制。在主控制器摩托罗拉单片机上移植μC/OS-Ⅱ嵌入式实时操作系统,调配管理各任务模块;各关节控制器完成对关节电机的PID伺服控制并监测反馈错误信息。且文中给出了主控制器和关节控制器的软件设计体系和流程图。最后实验证明取得了良好的效果。

This paper introduces distributed coal mining machinery arms control system structure based on CAN bus.The main controller receives the control information of the operator and controls six joint controllers to realize sports tasks.CAN real-time communication is carried out between the main controller and joint controller.Joint controller realizes PID servo control of DC motor by controlling LM629.The μC/OS-Ⅱembedded real-time operating system is transplanted in the main controller,which allocates each management task module.Each joint controller completes the PID servo control of joint motor and monitors feedback error messages.The software design system and the flow chart of the main controller and joint controller are also given in this paper.Finally the experiments proved that achieved good results.