Multi Stepper Motor Control System Based On CAN Bus

With the social and economic development,people have put forward higher demands on the realtime,reliability,stability,flexibility,control precision and other aspects to automation and intelligent control in the fields of production,life and other fields.Correspondingly,multi-stepper motor control technology is also closely following the progress of the times,and has achieved unprecedented development.Currently in the field of multi-stepper motor control,the commonly used control method is to draw out multiple parallel signal lines to the master controller,so as to realize the control of a single master controller to multiple motors,this control mode usually has a series of problems,such as occupying large volume of the wiring to signal lines,the poor synchronization performance of the whole machine,the low precision of control,vulnerable to interference and the difficulty of extending maintenance.A new pattern of the multi stepper motor control system based on serial bus is presented,for example,the application of CAN bus,comparing with the centralized parallel mode,the overall performance of the system has been greatly improved,such as less communication lines,simple structure of the whole machine,and strong expansion ability.However,the synchronous control performance of multi stepper motor based on serial bus still has the problems of poor real-time performance and reliability,low stability and operating precision.Defects in the performance of the system entire machine,seriously hinder the application of multi stepper motor control system in multi axis digital control.In view of the above problems to the technical level and practical application of the multi stepper motor control system,this paper puts forward multi stepper motor control system based on CAN bus,the system uses CAN bus real-time communication algorithm and stepper motor subdivision drive technology to achieve real-time and precise control of multiple stepper motors.This paper first introduces the system architecture and function requirements of multi stepper motor control system based on CAN bus,the system architecture is a distributed multi-nodes control of master-slave mode using CAN bus communication.The master-node realizes the synchronous control of the stepper motor operation of each sub-node through three kinds of control messages,which are reference message,broadcast and point to point control message.In view of the blocking of the channel and the transmission delay which consist in the basic can communication with priority arbitration mechanism,this paper proposes a CAN communication clock synchronization and node polling algorithm,in consideration of the real-time requirement of communication and control,the bit field assignment of communication message format is completed;Considering the smoothness and accuracy requirement of stepper motor,detailed subdivision driving method and implementation are given;The hardware circuit of the system is designed,and the complete software is designed to hardware;At the last,the above methods and system functions are verified by experiments,The test of winding current,CAN real-time communication and the whole machine operation performance test under the Labview upper computer environment have been completed.Experiments verify the superiority of motor subdivision drive and the real-time performance of CAN communication mechanism and the reliability of synchronous operation of the whole machine.The results show that the motor runs smoothly,CAN communication has a high real-time performance,the whole machine runs stable and reliable,that is,the system achieves the expected synchronization and high precision control requirements to the multi-stepper motor.The research of this topic has high research significance and application value,and it can provide detailed technical support for multi stepper motor control.