The Research About The Servo Control System Based On CAN Bus

Servo System has applied in many domains broadly. Higher performance AC servo system is demanded with the development of modern industrialization. As for Navigation,Radar system,Numerical Machine,Robotics,etc. High speed, high Precision and high reliability are especially significant. Full digital control can assure the whole system work with the good performances above , flexible function and fine ability to resist the disturbance. The development of Digital Signal Processor (DSP) provides good base for full digital control system. The industry control system, following the rapid development of the computer hardware technology, the computer software technology and the integrated circuit technology, has been one of the most living branches in the computer technologies application area, with a great progress at the same time.Buslization is one direction of the industry control system development. It has obvious superiorities in applicability scope, in expansibility, in maintainability and in anti-malfunction ability as comparing with the concentrative control system. For its great performance, high reliability and the unique design, the CAN (Controller Area Network) has strong anti- malfunction ability which is applicable to the system demanding high real-time performance.At the other hand, so far, many industry servos' implications are based on analog electronic technology. With features of the complexity of circuits system, the high cost, the poor anti-malfunction ability and poor expansibility, they are separated from the application of the future structure of the industry servos.In this dissertation, the main purpose is to design electric servos based on CAN BUS by referencing existing analog electric servos and the demanding performance through studying and researching. This paper is mainly composed of several Parts as follows:1) The research of the PMSM's mathematic model; the systematic research of the SVPWM (Space Vector Pulse Width Modulation) control strategy and its implementation based on DSP technology.2) To design and realized a CAN BUS interface system based on DSP system. This interface system would change the digital commands obtained from the CAN BUS into the control signals and send the signals to the existing electric servos.3) To design and realized a digital electric servo system, based on DSP technology, integrated the SVPWM control strategy.4) System use CCS (Code Composer System) to develop programs. The hardware test and modify are based on the hardware emulator and developing system. Experiments show that the two-loop Servo System has good Performances in speed and position control.