X-Y platform synchronous control with CANopen

被引：0

作者：

Guan, Yu-Ming ^{[1
]}

Hung, Chung-Wen ^{[1
]}

Yu, Shih-Ting ^{[1
]}

Chen, Yu-Kai ^{[2
]}

机构：

[1] Natl Yunlin Univ Sci & Technol, Dept Elect Engn, 123 Univ Rd,Sect 3, Touliu 640, Yunlin, Taiwan

[2] Natl Formosa Univ, Dept Aeronaut Engn, 64 Wunhua Rd, Huwei Township 63201, Yunlin, Taiwan

来源：

PROCEEDINGS OF THE 2020 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS (ICAROB2020) | 2020年

关键词：

CAN (Controller Area Network); CANopen; X-Y Platform; synchronous control system; multi-motor; cross-coupling control;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

X-Y platform synchronous control with CANopen is proposed in this paper, the X-Y platform consists of three-phase hybrid stepper motor drivers and controllers which support the CANopen protocol. The communication network of the platform is based on CAN-bus and CANopen, and the proposed system supports the synchronization signal which meets the CiA301 communication protocol and CiA402 motion control protocol. The Interpolated Position mode of the CiA402 standard is implemented to improve the precision of position control. Compared with Interpolated Position mode, the other control method, cross-coupling control is also implemented to reduce the synchronization error of biaxial motion control. The experimental results show that both of the two method work well, and the comparison also is discussed.

引用

页码：31 / 34

页数：4

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