| With the development trend of digitization, intelligentize and networking of AC servo system andthe extensive application of fieldbus technology in the industrial automation field, fieldbuscommunication interface is becoming one of the basic functions of servo driver equipments. On thebasis of in-depth research of CAN bus and its application layer protocol, CANopen fieldbus technology,and combining the CANopen fieldbus with AC servo technology, an approach of realizing the fieldbusinterface of AC servo driver by using the CANopen technology is proposed, and the slave station forAC servo driver is also designed.First the CAN bus and CANopen protocol is studied in the paper, the characteristics of CAN bus,the communication protocol and the device profile based on servo driver equipments of CANopenfieldbus is described in detail. DSP processor TMS320F2812is used as core chip to design the controlsystem of AC servo driver, the CAN bus fieldbus interface of AC servo driver is designed by adoptingSN65HVD232as the CAN transceiver, the hardware circuit design of AC servo system is completed.On the basis of that, the software design approach of slave station for AC servo driver is also performedin this paper, the overall software structure and the function of each module, the key technologies anddesign methods of CANopen protocol stack are analyzed in detail. Based on space vector PWMtechnology, the servo system using a typical three-loop control system is completed in the DSPintegrated development environment.According to the completion of the hardware and software of the slave station, the permanentmagnet synchronous AC servo system integrating the CANopen fieldbus interface is constructed as theexperimental platform by using USBCAN interface card and PC as the master station. The CANopencommunication ability of the slave station, the velocity control function and the position controlfunction of the servo system have been tested, and the expected results have been achieved. |
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