基于CAN总线的多轴位置伺服联动系统设计与性能分析

Design and Performance Analysis of Multi-axis Position Servo Linkage System Based on CAN Bus

针对国内大部分数控装备多轴联动时采用脉冲或模拟量接口方式存在的一系列问题,提出了一种基于CANopen运动控制协议DSP 402的多轴联动伺服系统控制方案,阐述了DSP 402的通信控制原理和方法。设计了位置联动几种控制模式,包括单轴位置控制,双轴位置联动控制和双轴位置同步控制。以双轴联动伺服系统为对象搭建了测试平台,并进行了位置联动模式下的性能测试和分析。结果显示,双轴控制性能良好,证明了方案的可行性,可以为多轴位置联动的工业场合提供设计参考。

To solve a range of problems that exist when pulse or analog quantity interface mode is adopted in multi-axis linkage of most numerical control equipment in China, a multi-axis linkage servo system control strategy based on CANopen movement control protocol-DSP 402 is put forward, and the principles and methods of communication control of DSP 402 are stated. Several control modes for position linage are designed, comprising single-axis position control, dual-axis position linkage control and dual-axis position synchronous control. A test platform is built with dual-axis linkage servo system as object, and performance test and analysis are made in the mode of position linkage. Results show that the performance of dual-axis control is good, which proves the feasibility of the scheme, and can be reference for industrial occasions of multi-axis position linkage.