Research On Synchronized Control System Of Two-motor Based On CANopen Protocol

In recent years,Along with the rapid development of industry,the quality requirements of various processing machinery and processing products are increasingly high,the structure of which are becoming increasingly complex.The control system of single-motor has gradually unable to meet market demand.The multi-motor synchronous control system has been widely used in various fields.The synchronization control precision is the important obstacle that hinders its further development,which is the key to decide final product quality.Accordingly,researches and explorations on the problem of multi-motor synchronous control are of great significance.In this paper,research and design of precision of two-motor position synchronous control system based on project Design and Implementation of High-frequency Infrared Measurement System for Xi’an Institute of Optics and Precision Mechanics,Chinese Academy of Sciences.Firstly I designed the software and hardware module of servo control subsystem to synchronized control of two-motor based on CANopen Protocol.Secondly,I set up the external time reference of system to unified time of all components of system.Then,I put forward the parallel control approach to achieve two-motor synchronization control of position and time of two-motor system,satisfying high requirements for position accurateness of single-motor.At last,I designed an improved PID control algorithm to reduce the velocity fluctuation of the motor by variable Speed-Reference.So,we improved the precious of position.According to the criteria of the servo control system,we selected the BLS-111 B AC servo motor and CD1-K motor driver of Infranor company.Then I designed the synchronized control system of Two-motor based on CANopen Protocol.The software on computer is compiled with VC++ 6.0,data based on CANopen Protocol.So we can control the status of the system by NMT messages,get information of position and velocity of motors by PDO messages,transmit control commend by SDO messages,realizing real-time monitoring.Last,according to the results of experiments of single-motor/two-motor control system,the control strategy is achieved.The results confirmed: Synchronized control system of two-motor based on CANopen protocol satisfied the design requirements;software on host computer was stable and reliable;the control precision of system is improved by the improved PID control algorithm based on Speed-Reference.