Design and Development of X-Y Platform Synchronous Control System with CANopen Protocol
| Autor: | Yu,Shih-Ting, 游仕庭 |
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| Rok vydání: | 2019 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 107 Due to the instability of production quality caused by communication asynchronization in multi-axis machine, synchronized motor control is important issue. The CANopen industrial communication protocol in the CAN communication architecture is implemented in this paper. In order to reduce Multi-axis machine tools movement errors caused by the asynchronous commands, A X-Y platform system with the synchronous control based on CANopen was built. The stepping motor driver is implemented, and the driver includes the CiA402 device protocol of CANopen communication protocol. Users can manage easily the real-time data of the X-Y axis stepping motor. To decrease the error from the hardware structure, SVPWM was used to achieve the microstepping to increase the resolution of the step angle, and the encoder was used to perform a closed loop control system to raise the accuracy of the position. A Cross-Coupled Control, CCC, is proposed in this paper to reduce the contour error. Circular contour motion is used to compare the performance of CCC and the performance of the interpolated position, IP. The experimental results show the proposed system is compatible with CANopen CiA402, and the CCC performance is better than IP in low speed, obviously. After analyzing the analysis results, the reason of worse performance in high speed mode for CCC is the system cannot complete each synchronization command in the short SYNC time. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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