Design Of Distributed Motion Controller Based On CAN Bus

As the human cost rise continuously, the Chinese economy scheme begins totransform, and manufacturing industry upgrades overall, industrial automation,especially industrial robots get more attention than ever before. Its motion controller ofautomation is one of the most important cores of it. It directly affects the wholeperformance of the whole motion control system. Future of indigenous motion controlsystem will be used more and more in industrial situation, and its stability and economyof the controller becomes increasingly important. As a popular motion controller will beadopted by the factory, it could be personalized, customized easily. A factory engineercan adjust it without too much expert knowledge to make the controller suit its factory.Then it’s a challenging job to design a motion controller that has such performance assaid above.This topic determines the whole implementation scheme of the multi-axis motioncontrol system of industrial robots in production site that can have strong interference.The whole framework is that we have SAMSUNG Company ARM920T coreS3C2410ARM as the core of the main control unit, MicroChip Company33fj256mc710as core motion controller. Firstly this article analyze the various functional modules ofthe hardware part, determine the chip selection and scheme design, including: switchingpower supply conversion modules, reset and interface module, clock XTAL module, thecontrol signal output and isolation module, RS-232serial communication module, CANbus module. I build hardware platform, and then complete the debugging of hardwarepart.Then this paper determines the framework and design of software part. It mainlyincludes program charts of each module and register Settings, the main system program,CAN bus, UART section. Then based on controller I designed, I debugged the overallcontrolling system. At last, this paper studies the motion control algorithm includingbiaxial and multiaxial straight line interpolation, circular interpolation algorithm,solving phase crossing problem. The essay designed a motion controller and realizedprofile position and profile speed protocol, DS301protocal, DSP402and motorclosed-loop controlling algorithm. After testing, the controlling system fulfill itsdesigning target.