摘要
对CANopen协议进行了简单介绍,设计了一套基于CANopen协议的双电机同步控制系统。并在实验转台的俯仰轴上成功实现了基于CANopen的伺服控制。控制算法采用交叉耦合的控制。实验跟踪曲线为y=sin(0.1t),单电机控制和双电机控制的跟踪精度分别为0.298 0″和0.281 3″。结果表明,系统响应迅速,可靠性高,同步性好,满足设计要求。
After a brief introduction of the CANopen protocol,this paper describes the design of a dual-motor synchronization control system based on CANopen protocol. CANopen-based servo control is implemented successfully on the elevation axis of the test turntable.Cross-coupled control algorithm is adopted. The tracking curve is y = sin( 0. 1 t) in the experiment,and the tracking accuracies reach 0. 2980″ and 0. 2813″ respectively for single-motor control and dual-motor control. The experiment results show that this system has quick response,high reliability and good synchronization and can meet design requirements.
出处
《电气自动化》
2017年第6期17-18,50,共3页
Electrical Automation
