基于CANopen的蠕动泵设计

Design of Peristaltic Pump Based on CANopen

基于CAN总线及CANopen应用层协议,设计了一种用于分析仪器中的高精度蠕动泵系统。蠕动泵硬件驱动电路以嵌入式ARM处理器为核心,采用DRV8711步进电机控制器完成驱动控制,以N沟道MOSFET为基础设计了H全桥功率驱动电路。研究了步进电机细分驱动、绕组电流衰减模式、加减速模式等对蠕动泵的影响,优化了蠕动泵运行参数。通过通信子协议CiA 301、驱动和运动控制子协议CiA 402,使用RT-Thread实时操作系统,构建了CANopen通信网络,实现了位置模式和速度模式两种控制模式。经CAN总线分析仪CANScope测试表明,所设计蠕动泵符合CANopen标准运动控制子设备,满足CANopen协议规范要求;通过化学分析实验验证,蠕动泵运行平稳,可有效抑制光谱学分析中的Schlieren效应,提高分析精度。

Based on CAN-bus and CANopen application layer protocol,a high precision peristaltic pump system was designed for analytical instruments.The embedded ARM processor was used for the hardware driver circuit of peristaltic pump,and the DRV8711 stepper motor controller was used to complete the driver.The full H-bridge power drive circuit was designed based on the N-Channel MOSFET.The operating parameters of peristaltic pump were optimized,by studying the subdivision drive of stepping motor,winding current-decay mode,and acceleration-deceleration mode.The CANopen communication network based on the RT-Thread real-time operating system was constructed by the communication sub-protocol CiA 301 and the driving motion control sub-protocol CiA 402,and position mode and speed mode were realized.The peristaltic pump had been shown to meet the CANopen standard motion control sub-device and the requirements of the CANopen protocol specification,by using the CAN-bus analyzer CANScope.The chemical analysis experiment proved that the peristaltic pump had a smooth operation,and can effectively suppressed the Schlieren effect in spectroscopy analysis and improve accuracy of analysis.