The Research Of Multi-axis Motion Control System Based On CANopen Protocol

With the complexity of the modern control, multiple servo motor linkage problems often can be involved. The traditional servo mechanism adopts a single motor drive mechanism to achieve the purpose, but the system of a single motor control is suitable for the request which is not high, relatively simple, more concentrated motor distribution. Multi-axis motion control system can satisfy the real-time requirement of motor coordination. In this paper, based on CANopen protocol of master control structure, with CANopen motion controller synchronous control multiple servo drive, and then run multiple motor coordination synchronization.According to the research status of industrial automation at home and abroad, this paper propose overall design which is based on the CANopen protocol under multi-axis motion control system. It is completed hardware and software design of servo control system as a CANopen slave nodes, and the parameters of speed regulator are studied..This paper is described from two parts: on the one hand, the main advantage of CAN bus in detail and the CANopen protocol are described. And then SDO and PDO of the internal CANopen protocol are detailed instructed. For later it makes the foundation implement CANopen protocol to realize synchronized.On the other hand, the hardware and software are designed with the servo control system based on TMS320F28335 core processor. The construction of the hardware is mainly completed on the power circuit, serial communication and the design of peripheral interface circuit and so on. On software, first introduce the vector control principle of the permanent magnet synchronous motor, and then speed waveform can be got in Simulink simulation with cross coupling under the framework of fuzzy PID. It can prove that the fuzzy PID algorithm has the advantages of high precision.Finally, through constructing system platform, the speed waveforms of motors can be got in ELMO studio. Through analysis of waveform diagram, this paper proposes the servo synchronization control system which has high precision accuracy and high reliability.