Research on Distributed Multi-Axis Motion Control System Based on CANopen

2013 ◽  
Vol 579-580 ◽  
pp. 680-685
Author(s):  
Guang You Yang ◽  
Zong Mei Tang ◽  
Zhi Yan Ma
Keyword(s):  
Control System ◽  
Real Time ◽  
Motion Control ◽  
Distributed Control ◽  
Modular Design ◽  
Protocol Stack ◽  
Distributed Control System ◽  
Software Module ◽  
Motion Control System ◽  
Control Requirement

The 32-bit ARM Cortex-M3 core processor Stm32f107vc which integrates two sets of bxCAN interfaces is used as hardware platform to achieve the design of hardware module and software module in this paper. Firstly, real-time multi-tasking operating system μCOS-II is ported to stm32 processor, then open source protocol stack microCANopen which is high real-time and reliable is transplanted under the μCOS-II, so a design of CANopen slave station is achieved. The CAN analyzer which is equipped with monitor trace functionality is used as CANopen master station to start the network, with three CANopen slave stations and one HMI, a distributed multi-axis motion control system based on CANopen which achieves network management and synchronous transmission of data in distributed control system is designed. On above basis, Fuji ALPHA5 Smart servo is used as executive member, modular design of reconfigurable motion control algorithm is realized, furthermore, The flexible module configuration enables the designer to develop systems conveniently according to the change of control requirement and network topology. This distributed control system not only has good real-time performance and stability, but also can reduce the complexity, enhance the flexibility of control system and save cost.

Research on software synchronization method of real-time ethernet distributed motion control system

2019 ◽  
Vol 39 (5) ◽  
pp. 904-916
Author(s):  
Zhengyu Huang ◽  
Lingyu Chen ◽  
Lianchao Zhang ◽  
Shixun Fan ◽  
Dapeng Fan
Keyword(s):  
Control System ◽  
Real Time ◽  
Motion Control ◽  
Key Factors ◽  
Motion Control System ◽  
Content Type ◽  
Factors Affecting ◽  
Synchronization Method ◽  
Factors Influencing ◽  
Synchronization Performance

Purpose This paper aims to analyze the key factors influencing the synchronization performance of distributed motion control system and to improve the synchronization performance for peripherals control of this system. Design/methodology/approach This paper deals with the software synchronization problems of distributed motion control system based on real-time Ethernet. First, combined with communication and control tasks, the key factors affecting synchronization performance of system are analyzed. Then, aiming at key factors and considering the synchronization of system bus, protocol conversion and task scheduling, a software synchronization method based on CANopen protocol and real-time Ethernet is proposed. Finally, the feasibility of this method is verified by establishing distributed motion control system and testing the synchronization performance of terminal control signals of slaves. Findings Based on this method, the results show that the synchronization accuracy for peripherals control of all slaves could be about 100 ns. Practical implications This research provides high-precision synchronization method, which could lay a foundation for the application of distributed motion control system in the field of assembly automation, such as multi-axis assembly robots control. Originality/value In distributed motion control system, many factors affect the synchronization performance. At present, there is no synchronization method that could comprehensively consider these factors. This paper not only analyzes the key factors influencing the synchronization performance of system but also proposes a synchronization method. Therefore, the method proposed in this paper has certain theoretical value and engineering significance.

INTELLECTUALIZATION OF MECHATRONIC MODULES

2020 ◽  
pp. 56-62
Author(s):  
V.A. Kokovin
Keyword(s):  
Control System ◽  
Real Time ◽  
Distributed Control ◽  
Functional Network ◽  
Distributed Control System ◽  
Industrial Automation ◽  
Iec 61499 ◽  
Network Component

The paper discusses the interaction of mechatronic devices in real time through events and messages. The approach to the development of a distributed control system for mechatronic devices based on the IEC 61499 standard is analyzed. The analysis of the use of IoT, IoRT in industrial automation is given, the advantages and features of using these network components are considered. The concept of a Functional Network Component and the requirements for it are given.

Design of Interpolation Algorithm in the Multi-Axis Motion Control System

2011 ◽  
Vol 411 ◽  
pp. 259-263
Author(s):  
Hai Ming Shen ◽  
Kun Qi Wang ◽  
Yong You Tian
Keyword(s):  
Control System ◽  
Motion Control ◽  
Modular Design ◽  
Interpolation Algorithm ◽  
Interpolation Theory ◽  
Processing Efficiency ◽  
Motion Control System ◽  
Quartus Ii ◽  
Linear Interpolator ◽  
Schematic Diagrams

This paper describes an interpolation algorithm in the multi-axis motion control system, which can achieve six-axis interpolation operations, greatly improving the processing efficiency. Using modular design idea on the Quartus II platform, by DDA interpolation theory, interpolation modules are built through VHDL. And these interpolator modules are connected into schematic diagrams. By those schematic diagrams a linear interpolator, a circular interpolator and a composite interpolator are formed. The corresponding functions of those interpolators have been simulated on the Quartus II platform. The simulation shows that this interpolation algorithm is effective to complex multi-axis motion control system.

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