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伺服系统实现精确定位多采用位置控制方式,通过发送高速脉冲控制电机运动方向、速度、升降速等。由于伺服系统多分辨率高,转速快,需提供伺服驱动器的脉冲频率很高,且能实现加减速,这就要求处理器有足够的处理速度来产生这样的频率信号,在多轴联动控制场合,这一问题就更加凸显出来。本文通过单核控制单轴,通过一个主控制器与各轴之间进行高速CAN-bus总线通信,实现多轴联动控制,大大降低了对处理器的性能要求,采用STM32处理器和CAN总线控制器构建通信网络,轻松实现了多轴伺服系统的联动控制功能。
Servo system to achieve precise positioning and more use of position control mode, by sending high-speed pulse motor control direction, speed, lifting speed and so on. Due to the multi-resolution servo system, fast speed, the need to provide high-frequency servo drive pulse, and can achieve acceleration and deceleration, which requires the processor has sufficient processing speed to generate such a frequency signal in the case of multi-axis linkage control This issue is even more highlighted. In this paper, single-core control through a single axis, through a host controller and each axis between the high-speed CAN-bus communication, multi-axis linkage control, greatly reducing the performance requirements of the processor, using STM32 processor and CAN bus control Constructs the communication network, realized the multi-axis servo system linkage control function relaxedly.