同轴驱动是增大输出功率或消除传动齿隙非线性对控制精度影响的有效手段。针对双电机同轴驱动控制需求,建立基于CANopen 协议的双电机同轴控制系统,重点介绍了双电机消隙控制系统的实现方法,探讨了CANopen 的传输时序设计过程。实验结果表明:采用具备CANopen 协议的通用伺服驱动器实现的双电机同轴驱动控制,简化了系统的设计,提高了伺服系统控制精度和改善系统的动态性能。

Coaxial driven is an effective means to increase the output power or eliminate the nonlinearity of the transmission gear backlash on the control precision. According to the requirement of dual motor coaxial driven control, a dual motor coaxial control system based on CANopen protocol is set up. The implementation of dual motor anti-backlash control system is emphasized, and the design process of transmission sequence of CANopen is discussed. The experimental results show that using the universal servo driver with CANopen protocol to realize the dual motor coaxial driven control, which simplifies the design of system, improves the control precision of servo system and improves the dynamic performance of the system.

TM341