具有位置反馈接口的总线式步进伺服驱动器开发

发布时间：2018-03-21 21:04

本文选题：CAN总线　切入点：驱动器　出处：《北方工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：步进电机驱动器作为当今数控系统中关键的环节,是各种数控设备必备的部件。现如今机床行业发展迅速,具有网络性、高效性、低成本等优点的步进电机驱动器已成为未来设备的必备。鉴于传统意义上的步进电机驱动器已经无法适应现代化制造的发展,具有位置接口的总线式步进电机驱动器成为了许多运动控制系统设计的重点研究开发方向。本文针对工业现场总线CAN总线通信技术研究为基础,设计研发了使用STM32和TC1002架构的总线式闭环步进电机驱动器,在完成驱动器整体设计构想后,对驱动器的硬件电路和软件系统进行了设计。在驱动器硬件电路方面,本文设计驱动器的主控芯片使用意法半导体公司推出的STM32F407VGT6,步进电机驱动控制芯片使用天微公司开发的TC1002芯片。驱动器使用MCP2551作为CAN收发器接入通讯总线,CAN通讯总线的逻辑控制器使用USB-CANII逻辑分析仪,实现PC机上运动控制软件与驱动器的信息交互功能。此外,本文还按照模块划分对供电电路、各种芯片的外围电路以及所需的辅助电路进行了详细的设计。完成PCB绘制、样机制作后,为驱动器设计了系统程序的整体框架。在系统程序中移植了 RT-thread实时操作系统,并在Keil编译环境下使用C语言设计了 CAN通讯收发程序、编码器信号采集程序、步进电机位置速度闭环控制程序、S型速度规划程序以及其他模块的应用程序。完成硬件设计和软件编写后,搭建总线式步进电机闭环驱动器运动测试平台。利用VS2012设计了驱动器专用上位机控制软件,对驱动器的各个功能进行了验证和测试,保证了驱动器的正常运行。基于USB-CANII逻辑分析仪完成了CAN总线多机通信、速度规划、闭环运动测试、点到点运动控制等实验。实验测试结果表明本文设计的驱动器达到了预期效果,为今后研究工作的深入进行奠定了良好的基础。
[Abstract]:Stepping motor driver, as a key link in the CNC system today, is a necessary part of all kinds of numerical control equipment. Nowadays, the machine tool industry is developing rapidly, with network and high efficiency. Stepping motor drivers with low cost and other advantages have become necessary for future equipment. Since the traditional stepper motor drivers can no longer adapt to the development of modern manufacturing, The bus stepping motor driver with position interface has become the focus of research and development in the design of many motion control systems. This paper is based on the research of industrial field bus CAN bus communication technology. A bus-type closed-loop stepper motor driver based on STM32 and TC1002 is designed and developed. After the design of the driver, the hardware circuit and software system of the driver are designed. In this paper, the main control chip of the driver is designed using STM32F407VGT6 produced by Italy Semiconductor Company, and the stepper motor drive control chip uses TC1002 chip developed by Tianwei Company. The driver uses MCP2551 as the CAN transceiver to access the can communication bus. The logic controller of the line uses the USB-CANII logic analyzer, In addition, according to the module division, the power supply circuit, the peripheral circuit of various chips and the auxiliary circuit are designed in detail. The PCB drawing is completed. After the prototype is made, the whole frame of the system program is designed for the driver. The RT-thread real-time operating system is transplanted into the system program, and the CAN communication transceiver program and the encoder signal acquisition program are designed by using C language in the Keil compiling environment. Step Motor position and Speed Closed-Loop Control Program S-Type Speed Planning Program and other Module applications. After completion of hardware design and software programming, The motion test platform of the closed-loop drive of step motor is built. The control software of the driver is designed by using VS2012, and the functions of the driver are verified and tested. Based on the USB-CANII logic analyzer, the CAN bus multi-computer communication, speed planning, closed-loop motion test are completed. The experimental results show that the driver designed in this paper has achieved the desired results and laid a good foundation for further research work in the future.
【学位授予单位】：北方工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273;TM383.6

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