The Application Of Servo Motion Control System Based On CANopen Protocol In Rotary Screen Printing Machine

Along with the rapid growth of power electronic device, computer technology andelectromotor control technology, the servo motion control technology has made rapidprogress. The motion control system has shifted to DCS (Distributed Control System) basedon digital network technology from traditional centralized control, which solved the issue ofheavy computation and low real-time of main controller. Aimed at the issue ocured in circularscreen printer production field of the decentralizing data administration, the slowing response,the poor ability of processing integrated information and the precision which is to be furtherimproved, this paper adopt distributed control structure based on CANopen bus.The PMAC(Programmable multi-axis motion controller) send movement instruction to multiple servodriver, and then make multiple motor keeping synchronous operation.Aimed at the research status of domestic servo control system and field bus, this paperput forward overall design scheme of servo motion control system based on CANopen bus,completed the hardware and software design of the servo control system which works as aCANopen slave node and studied the control algorithm of position regulator. We studied thesystem from two aspects in this article. On the one hand, through the study of CANopenprotocal, including sub-protocol of communication DSP301and sub-protocol of servo motioncontrol system DSP402, I have completed the design of CANopen communication programand the process of implanting CANopen protocal into the servo control system throughsoftware.On the other hand, I proposed a new software and hardware design scheme of servodriver based on TMS320F2812. For the hardware part, I finished the design of main circuit,control circuit, power circuit and guard circuit.For the software part,I adopt modularprogramming ideas in the software design,and I designed the software of underflow interruptmodule of timer1, capture interrupt module of Z pulse, serial interrupt module and e_CANinterrupt module.At last I put forward fuzzy PID algorithm with incomplete derivation andverified the effectiveness of the algorithm through the simulink simulation.Finally, through building out the servo motion control platform based on the structures of CANopen bus,I designed the sinusoidal motion program using C language in ELMOstudio environment, and get the sinusoidal motion trajectory curve of position, speed, currentand so on.Through the analysis of trajectory curve,the servo motion control system can havea high precision and reliability operation.At the same time I designed the program ofCANopen synchronous operation, and realized the synchronous operation of rotary screenprinting machine proving that the system which is applicated in the rotary screen printingmachine is feasible.