基于CAN总线的分布式多轴运动控制系统通信系统设计与实现

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1、北京邮电大学硕士学位论文基于CAN总线的分布式多轴运动控制系统通信系统设计与实现姓名：郭光磊申请学位级别：硕士专业：计算机科学与技术指导教师：杨放春20080302北京邮电大学硕士研究生学位论文ABSTRACTDESIGNANDIMPLEMENTATIONOFTHECOM[mJ]NICATIONSYSTEMFORTHEDISTRIBUTEDMULTI．AⅪSMOTIONCONTROLSYSTEMBASEDONCANBUSABSTRACTFieldbusisusedintheworkfieldandcommittedtorealizethedualseri

2、almulti-nodedigitalcommunicationschemebetweenthecomputermeasurementandcontroldevices．ItiSalsocalledanopen．digitalandmulti．nodecommunicationcontrolnetworkatlowlevel．Theemergenceoffieldbuswasastartoftheneweraintheindustrialcontroltechnologyfield．CAN，ControllerAreaNetwork，iSamembero

3、fthefieldbusfamily．ItiSabus-basedserialcommunicationnetworkwhichcanefficientlysupportthedistributedcontrolorreal—timecontrolsystem．Comparingwith0也erfieldbuses．CANhasmuchreliable，real—timeandflexibledatacommunicationcapabilities．Firstly,theauthorgivesabriefintroductiontotheCANfiel

4、dbusandexplainsitstechnologicalfeaturesandprotocolstandards．Astothecommunicationsystemforthedistributedmulti．axismotioncontTolsystembasedonCANbus，theauthoranalyzestherequirementsofthesystemandmakestheoveralldesignforit．Themainitemsoftheoveralldesignarenetworktopologyofthecommunic

5、ationsystem，thehardwarestructureandsoftwarestructureofthecommunicationsystem．ThekeypointoftheoveralldesignisfocusedonthedesignandimplementationfortheCANnodes．ThehardwarestructureoftheCANnodeiSmadeupofmicrocontrollerunit，CANcontrollerandCANreceiver／sender．Regardingthesoftwarestruc

6、tureoftheCANnode，theauthordevelopsthecommunicationsoftwaremodule，whichiSalsothemostimportantpartinthisthesis．Thecommunicationsoftwaremoduleconsistsoftheapplicationlayerprotocolmodule，thegeneric．¨．北京邮电大学硕士研究生学位论文communicationmoduleandthemotmncontrolapplicationmodule．Intheapplicati

7、onlayerprotocolmodule，theauthordiscussesthestructuredesignofthemessageidentifiers，thestructuredesignofthedatafieldinthemessage，themethodsofdataexchangeandthemessagefilterscheme．Inthegenericcommunicationmodule，itisabouttheinitializationprocedurefortheCANcontroller,receivingmessage

8、procedure，sendingmessageprocedure，errorp