Communication Research Of Pitch System Based On CANopen

Nowadays, with the rapid development of industrialization and the constant expanding scale manufacture equipment, and more and more complicated manufacture process, the demand for integration of manufacture automation and information of enterprise become higher and higher. With the background of the industrialized development, the distributed control system gets highly praise by the industrial users in the advantages of high reliability, so the field bus control system develops rapidly in the field of industrial.CAN (Controller Area Network) bus is one of the most popular field bus technology. And it has well performance in reliable. CAN bus provide the platform for the data exchange between the pitch system and the host computer. And the network of the pitch system has been more flexible and the maintenance cost is low. The communication network is an important part of the pitch system. Research on it has very important significance for the large wind turbine blade pitch system. Based on the pitch system of domestic MW wind power generation system, the communication network of the pitch system is researched in this paper. The overall design scheme of communication network based on CAN bus and CANopen protocol has been proposed of the pitch system. The hardware and communication software has been designed for the communication network, and realize the communication of the pitch control system.First of all, the principle of CAN bus has been studied, and further study of the commun-ication principle of the CAN bus. Based on it, the CANopen protocol is analyzed. Then, the DS301 protocol and DS402 protocol are studied, which are the sub-agreement of communica-tion specification and real-time servo drives and motion control. Based on the principle of the CAN bus and the CANopen protocol have been analyzed, the hardware node of the CANopen protocol has been designed, mainly designs the CAN interface. And it provides the hardware platform for the software of CANopen protocol.Secondly, the software of CANopen protocol has been designed and completed for the pitch system. According to the demand of the actual application, the design scheme has been proposed. It realizes the eCAN module to send and receive packets; and the program of communication has been completed by the initialization of the CANopen communication, creating and accessing the object dictionary and the PDO objects communication.Thirdly, the host computer monitoring software has been completed according to the demand of the actual application.Conducting a test for single-machine and multi-machine, the test results meet the requirement of communication.Finally, the CANopen network of pitch system is analyzed and the real-time of the network is analyzed by using the RM scheduling algorithm. The CANopen network model is established and the message of the network is analyzed. The results show that the pitch system is a real-time system.