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以CAN总线分布式实时系统为框架,对多电机同步控制进行了研究,对CAN总线的应用层通信协议进行分析和设计,对上位工控机和下位机DSP的硬件和软件进行了介绍和设计,同时也对下位机的CAN通信中断服务子程序做了分析。实践表明,多电机同步控制能以较好的实时性和较高的可靠性和协同性完成对特殊工序和生产工艺的控制。
The CAN bus distributed real-time system is taken as a framework to study the synchronous control of multiple motors. The application layer communication protocol of CAN bus is analyzed and designed. The hardware and software of the upper computer and lower computer DSP are introduced and designed. At the same time also on the lower machine CAN communication interrupt service routine analysis. Practice shows that multi-motor synchronous control can be better real-time and high reliability and coordination of the completion of the special processes and production process control.