Research on the Multi-axis Motion Control Systems Based on CAN Network
|School||Harbin Engineering University|
|Keywords||TTCAN clock synchronization stepper motor fuzzy controller|
Network motion control systems（NMCSs） to facilitate the diagnosis andmaintenance, improve system flexibility, and reduce cabling costs and othercharacteristics, motion control network is the key component. In order to ensurethe accuracy and speed of motion control systems, each axis drive and controllerbetween the control network, in order to achieve their high frequency, lowlatency, low jitter exchange control actions and sensor data. Even so, thenetwork motion control the major difficulties facing today is: a serial controlnetwork on the principles and practice of technology there is limited bandwidthand asynchronous, so this paper, a web-based clock synchronization solution,I think research on this issue is more practical significance.The CAN bus protocol is discussed and the Shortcomings about CAN bus ispointed out,Then a time-triggered bus(TTCAN) protocol based on clocksynchronization is introduced. TTCAN is Discussed in detail, as well as therealization of TTCAN method.A CAN-bus network is completed based on the Freescale MCU MCS912DP512,theLEVEL1and LEVEL2of TTCAN are achieved, The access to global clock is discussed.IEEE1588protocol of Ethernet is introduced to achieve clock synchronization,it’s proved effective through experiments； Hardware circuit design for thestepper motor is achieved,and constituted with the clock synchronized CAN-busto achieve a network-controlled multi-axis motor control system. A PC-basedsoftware was designed for the realization of monitoring the multi-axis motioncontrol.Finally, a compensator based on PID and fuzzy controller are designed, Thecross-coupled algorithm for multi-axis motion control is discussed. thesimulation based on MATLAB/SIMULINK proves that the algorithm is effective.