Motion Control System Based On Can Bus

Motion controller is a core technology in the field of modern automatic control, it can be called multi-subjects amalgamation of the field. As a modern assembly line production system of a core component of China’s high-tech industries is now in one of the fastest growing technology. The so-called motion controller can be programmed by this program control motor finish to material distribution and condition and operation, can replace part of repeated human labor. Good motion controller can do a lot of sports complex process can even more than one of the joint motion freedom.The subject of the motion controller is mainly used in the production line of high accuracy position control requirements of the equipment. This controller can be in a given control the operation of the motor and programming to according to the request of the route and speed. At the same time through the CAN bus transmission to coordinate each part of motion.This paper mainly involves the following aspects of work:(1) the location of the increment and specific speed requirements and trajectory model as the object of research, the Cortex-M3to give priority to the embedded system controller hardware and software platform design, the design of the main including Cortex-M3and drive circuit. LCD display circuit, such as buttons scanning circuit of interface design, which is the core part of the movement of the motor controller of control and optimization.(2Cortex-M3designed in the main program module, is divided into:key scan and liquid crystal display task modules, CAN bus transmission module, drive circuit module, through these module complete motion controller need to target movement.(3) the design of the fuzzy adaptive application of incremental PID control algorithm for control and adjust the position of the motor incremental control so as to achieve the effect of the trapezoidal trajectory planning, through the fuzzy adaptive PID algorithm can very good planning every position incremental, design, with the step motor subdivision circuit, making motor in the low frequency stage can also stable work, also can increase the accuracy of the step motor torque, improving the application levels. In paper finally, give a brief summary and outlook.