Multi-motor Monitoring System Based On ZigBee And CAN Bus

With the rapid development of wireless technology and motor control technology, single motor has been unable to meet the needs of special occasions.In order to improve the work efficiency, it is necessary to complete the task of research together for multi-motor. Existing motor monitoring aimed at the application of fixed and task design research and development is unable to cope with diversity and mobility demanding task. At the present stage, the multi-motor control is more used in the wired mode.In the case of the number of the motor or the environment is not suitable for the wiring, the wiring work is very difficult.For problem of dispersed controlling and wiring difficult by single driving mode control in multi-motor control field,a monitoring system adopted three layer structure is proposed, the top layer is PC,intermediary layer is communication module,underlying layer is control system.Scheme based on ZigBee and CAN bus technology, uses ZigBee for transmission. At the same time, the underlying CAN communication reduces the wiring.PC realizes command transmission and display of parameters;Communication module controled by the wireless transceiver chip and CAN chip, completes the communication between PC and motor controller;Motor controller based on DSP, receiving instructions transmits parameters or changes the motor running state;Motor speed regulation is controlled with sliding mode variable structure algorithm to overcome the motor nonlinear factors in the system.In order to effectively control the speed of motor, the mathematical model of brushless dc motor is improved, and index reaching law of sliding mode variable structure algorithm is put forward.Using the features of sliding mode variable structure control strategy, the system enhances robustness for the disturbance and internal parameter perturbation. And by simulatting the algorithm and model, the performance and effectiveness of the algorithm is analyzed.Finally,based on the above research results,monitoring and communication software is developed to achieve the motor speed control and monitoring functions. ZigBee and CAN protocol converter, communication protocol and the correctness of the motor drive is validated by the experiments, the simulation results verify the sliding mode control algorithm in the variable index reaching law under load has good robustness.Compared with PID control and the conventional exponential reaching law,the system stability and rapidity have improved. System has a certain engineering significance.