Smart For Playing The Real-time Study Of The Robot Control System Communication

This article introduces a control system about ammunition feeding robot.The intelligent ammunition robot is composed of 16 linkless feed units, connection ammunition units and the flexible feed belt of automata, In order to ensure that each unit is able to finish high-speed coordinated action, I chose the CAN bus as communication bus in the control system,which is also the main question of the research about robot control system. Based on the analysis of ammunition institutions about collection capacity and control quantity, combining the control tasks and the structure characteristics of intelligent ammunition robot, I chose the CAN bus communication solution which is distributed intelligent control nodes for ammunition units.After designing the CAN bus communication strategy, this paper processes the hardware and software design, manufacturing and testing experiment of the control system. I design the hardware and software of the control system. The hardware design includes the CAN communication module and communication serial test module. It also includes the selection and debugging about supervise system, CAN adapter card, physical transmission medium. The software design includes the CAN communication protocol and address coding for the nodal equipment of CAN bus. I identify the bus transfers priority of all kinds of information by analyzing the system, ensuring the reliable of the communication transceiver. Besides, the CAN communication modules and the programme of serial interface testing modules are also designed and debuged.In order to verify whether the design is available, especially the real-time to satisfy system action requires, the test platform about CAN correspondence is built. And then, I conduct communications test in the two nodes between transceiver. Making use of dynamic signal acquisition frequency about 200KHz, I design and test a set of communication schemes for time measurement by analyzing the system. To maximize the CAN bus efficiency in the control system, according to the result of the experiment, I have conducted the preliminary improvement and test for hardware and software. According to preliminary experimental results and the arbitration mechanism about the CAN bus, I analyze the real-time effects of the system by theoretical knowledge, deciding the communication mechanism and the minimum communication bit rate. The experiments based on CAN bus control are proved that the scheme is feasible.