基于CAN总线的六自由度电动平台状态监测

由于CAN总线具有突出的实时性、可靠性以及灵活性等优点,将其应用于六自由度电动平台的控制系统中,对驱动器及交流伺服电机的运行状态进行监测.采用NI公司的PXI 8152高速CAN卡与6个驱动器之间进行通讯,并且基于LabVIEW的NI-XNET软件模块编制了状态监测软件和故障保护软件,实现了驱动器和交流伺服电机的状态监测以及系统发生故障时的安全保护.实验结果表明,基于CAN总线的六自由度电动平台状态监测系统易于实现,实时性好,抗干扰性强,并且运行稳定、可靠.

Status Monitoring of 6-DOF Electric Motion Platform Based on CAN Bus

As for CAN bus has predominant characteristics of high real-time performance, reliability and adaptability, et al, it is applied in control system of 6-DOF electric motion platform to monitor operating status of drivers and AC servo motors. PXI 8152 high speed CAN card of NI is adopted to communicate with six drivers, and monitoring software is developed based on the NI-XNET modular of LabVIEW. Finally, status monitoring of drivers and AC servo motors of 6-DOF electric motion platform is realized, and protection is accomplished when malfunction occurred. Experimental results show that the designed status monitoring system of 6-DOF electric motion platform has merits of easy to implement, high real-time performance, robust anti-interference ability, and good stability and reliability of operation.