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Research of Master-slave Station Communication Based on CANopen Profile

Author: ChenHaiYan
Tutor: YiLingZhi
School: Xiangtan University
Course: Power Electronics and Power Drives
Keywords: CANopen Fieldbus Control System DSP AC Servo PMSM
CLC: TP273
Type: Master's thesis
Year: 2012
Downloads: 25
Quote: 0
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Abstract


With the development trend of digitization, intelligence and networking of ACservo system and more and more application of fieldbus technology in the area ofindustrial automation, many servo driver equipments have all kinds of fieldbuscommunication interface. On the basis of in-depth research of CAN bus and itsapplication layer protocol, unified the CANopen fieldbus technology and the ACservo mechanism, has designed the fieldbus interface of AC servo digitalcommunication connection based on the CANopen technology, and the master stationfor AC servo driver is designed as well.First the CAN bus and CANopen protocol is studied in the paper, thecharacteristics of CAN bus and the protocol structure of CANopen fieldbus isdescribed in detail. A plan used for the communication which is based on CAN busand USB is presented.The USB-CAN module can communicate with the PC throughthe USB interface on the PC and connect with the CAN_bus through two signal wiresCAN_H and CAN_L. It makes the PC as a CAN node communicate with otherbottom peripherals.And then choose USB controller chip CY7C68013A and CANcontroller SJA1000to construct the hardware platform after the functions and feet ofthese chips are analysed in detail.And use the microcontroller development tool–KEIL C debug a number of communication experiments. At the same time, the slavestation’s software design for AC servo driver is introduced in this paper, thesoftware’s gross structure and each module’s function, CANopen protocol stack’sdesign methods and key technologies are analyzed in detail. The method of theCANopen communication protocol stack and the servo-control protocol stack isrealized.According to the completion of the hardware and software of the overall system,the permanent magnet synchronous AC servo system integrating the CANopenfieldbus interface is builted by using USB-CAN interface card and PC machine as themaster station, The CANopen communication ability of the master-slave station, thefunctions of the servo system in position and velocity modes have been tested, and theexpected results reach the design requirements.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Automation systems > Automatic control,automatic control system
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