Research Of The Intelligent Electric Actuator Monitor System Master Based On CANopen Protocol

The rapid development of computer information, communication network technology and the modern control technology drive the development of enterprise information and factory automation. Facing to the current stage of industrialization toward high degree of automation and intelligence, using the field bus to integrate all local high-reliability embedded systems for the distributed network control system has been widely applied.CAN bus with its excellent advantages is more and more widely applied in the area of industrial automation. CANopen is a higher layer protocol based on CAN.It is developed as a standardized embedded network, and effectively support distributed control and real-time control. CANopen has gone deep into various fields of the industrial application result in its excellent properties, especially in the embedded control network inside the machine and industrial mechanical devices, etc.Electrical Actuator is the important industrial process control equipment.In the area of industrial automation,control system is developing to the direction of decentralized,networked and intelligent,and actuator as the intelligent implementing equipment plays an important role. For the defects of the current electrical actuator control scheme, this paper propose to adopt the CAN bus distributed control scheme based on CANopen ptotocol for establishing a distributed network monitoring system, and design electrical actuator remote monitor master based on CANopen.It is commited to building a real-time, parallel handling, flexibaly configurable and transplantable CANopen master, and realized function of remote monitoring.In general, the main contents and primary innovations of this dissertation can be summarized as follows:1. Selection and anylysis of system control scheme.On the basis of analyzing distributed network control system and the defects of electrical actuator control scheme, it propose the CAN bus distributed control scheme based on CANopen ptotocol,and design the actuator remote monitor master based on CANopen,then simply describe actuator as slave.2. Research of CAN bus and CANopen protocol.This dissertation detailedly study the principles of CAN bus and CANopen protocol, then briefly analyze the CANopen master and slave in the network and the master Characteristic.3. Design and implemention of CANopen master protocol stack.According to the scheme based on the hierarchical structure of queue information exchange, the design of the CANopen master protocol stack is implemented.Then it detailedly describes the design and implemention of Object Dictionary of CANopen master protocol stack, and also analyzes each function modules which achieved communication and the process of CANopen network start-up.Combined with the thought of module in the software engineering and the concepts of design,I have completed the CANopen master protocol stack programming,which is the innovation of this research,and is the difficult and important task of this research.4. Implemention and test of actuator monitor system master. After realization of the monitor system master which successfully embedded the CANopen master protocol stack, I build the whole network monitor system and then run the test.Finally, the test results show that the design of CANopen master protocol stack is running stable and realiable with good of transplantability and real-time performance.It can be achieved the function of monitor.