基于CANopen协议的电动执行机构CAN总线通信设计

CAN communication design of electric actuator based on CANopen

针对电动执行机构的现场通信需求,设计了基于CANopen协议的电动执行机构CAN总线通信的应用层协议;分析了基于CANopen的电动执行机构的主要CAN通信对象,给出了CAN应用层的总体设计以及CANopen协议对象字典设计的方法;分析了电动执行机构组成的分布式CAN网络中低优先级消息可能存在的通信实时性问题,并采用最早截止期优先算法改善CAN总线通信的实时性,实验表明,该算法可以很好地解决低优先级消息的通信实时性问题。

In order to meet communication of electric actuator, application layer protocol of CAN communication of electric actuator based on CANopen protocol is designed, and communication object of Electric Actuator based on CANopen is analyzed. Overall design of application layer object dictionary and the design method of CANopen protocol object dictionary is given. After analyzing the real-time problem of the distributed CAN network of Electric Actuator, the earliest deadline first algorithm is applied to CAN network. The experiments demonstrate that earliest deadline first algorithm can solve the real-time problem of CAN network effectively.