基于协议的智能永磁同步电机控制从站研制

为简化多足机器人系统开发中的电机驱动环节,研制了一种带CAN总线的智能同步电机控制从站,该从站采用CANopen协议进行开发,通过CAN总线与主站连接,实现了电机控制的模块化封装。该模块采用XC164CS微控制器为核心,可对同步电机进行速度和位置控制,并实时反馈电机状态到CAN总线主站。结果表明:主从站之间数据通讯可靠,电机控制准确,实时性满足系统要求。

Study on Controller Node of Intelligent PMSM Based on CANopen Protocol

To simplify the PMSM driver in multi-legged robot, an intelligent controlling slave station with CAN bus is designed. CANopen communication protocol is used in the system, which communicate with master by CAN bus, and achieves modular package of motor control. By using micro-controller XC164CS as the core, the module can control and monitor the speed and location of the motor and real-time feedback the motor state to the CAN bus. Experiments show that the communication between master and slave is reliable and the motor runs accurately, which meets the requirements of the system.