高速CAN-bus总线在多轴联动控制系统中应用研究

Application Research of high speed CAN-bus bus in multi axis linkage control system

伺服系统实现精确定位多采用位置控制方式,通过发送高速脉冲控制电机运动方向、速度、升降速等。由于伺服系统多分辨率高,转速快,需提供伺服驱动器的脉冲频率很高,且能实现加减速,这就要求处理器有足够的处理速度来产生这样的频率信号,在多轴联动控制场合,这一问题就更加凸显出来。本文通过单核控制单轴,通过一个主控制器与各轴之间进行高速CAN-bus总线通信,实现多轴联动控制,大大降低了对处理器的性能要求,采用STM32处理器和CAN总线控制器构建通信网络,轻松实现了多轴伺服系统的联动控制功能。

Servo motion controller system get position control mode to achieve precise positioning, by sending a pulse to control motor speed, direction, speed etc. Due to the servo system with high resolution, and fast speed, these needs to provide servo driver’s pulse frequency are very high, and realize acceleration and deceleration, which need the processor has enough processing speed to generate the frequency signal. In the Multi-axis combination motion control applications, this problem is more obvious. In the paper, the use of a single nuclear control of single axis, a ways of high speed CAN-bus bus communication between the main controller and the axis, realize Multi-axis combination motion, it reduces the performance requirement of the processor. Use the SMT32 Processor and CAN bus controller, which construct the communication network, it become easy to achieve a multi axis servo system control function.