Motion Design On Antenna Servo System Based On CANopen

In recent years,the application of radar system is more and more widely,as the important part of the radar system,antenna servo system design attracts more and more attention.Focused on the motion control and communication function module of the antenna servo system,this thesis studies the profile acceleration and deceleration algorithm and CAN communication interface respectively,and puts forward the solution and the realization method.First,the thesis analyzes the overall structure of the antenna servo system,discusses several special motion involved in position control,the control strategy and the control structure are designed,and gives a brief introduction to the experimental platform.According to the requirement of antenna reliability,the position feedback circuit and CAN interface circuit of the system are designed respectively,and the realization scheme is described in detail.Secondly,The linear and the S-curve acceleration and deceleration algorithm for motion profile are studied considering the frequent commutation characteristics of the antenna operation.The design and the realization scheme of both of the algorithm are studied by analyzing the structural function and the motion process in detail.The optimization method are put forward to solve the problem of position profile symmetry and motion variables calibration.The optimized algorithm is verified by experiment.In the end,the thesis investigates the solution of the communication interface of the antenna servo system based on CAN bus.The communication module is implemented through the analysis of CAN bus technology specification,CANopen device protocol and DSP eCAN hardware module.The function of physical layer and data link layer are completed by eCAN module on DSP and CANopen protocol is selected for the application layer.The realization of the CANopen protocol stack of slave device is designed,including communication object classification and processing,object dictionary storage structure and lookup method,the management mode of the servo driver parameter structure embedded into the object dictionary,the combination process of the DS402 device protocol and the driver software framework.The experiments are done to verify the solution finally.