基于CAN总线的机器人步进控制系统设计.doc

摘 要 随着总线技术的产生和发展，现场总线技术在仪器控制、生产过程等领域起着越来越重要的作用。其中，CAN总线作为一种有效支持分布式控制和实时控制的技术，以其稳定性好、可靠性高、抗干扰能力强、通讯速率高、维护成本低及其独特的设计逐渐受到人们的重视，并被公认为最有前途的现场总线之一。随着现场总线技术的迅猛发展，传统的自动化控制受到严重挑战，取而代之的将是具有开放性的现场总线控制，基于CAN协议的现场总线控制的研究与开发具有非常现实的意义。 为了适应科学技术的需要，本文在研究广泛文献的基础上，研制了基于CAN总线的机器人步进控制系统，实现了CAN总线舵机控制。 本文在讨论了CAN总线的技术原理和技术规范的基础上提出和实现了基于CAN协议的舵机控制系统。其中，选用基于ARM Corex—M3内核的STM32F103RBT6的32位单片机与CAN收发器SN65HVD230芯片设计了具体的硬件电路，采用Keil ARM高级语言编写了单片机系统软件结构的软件模块，并且采用MFC编写上位机软件。 关键词：现场总线；CAN总线；STM32微控制器；Visual c++6.0；舵机；控制系统 Abstract With the emergence and development of instrumentation bus technology．fieldbus in the contro apparatus production process. and other fields have been playing an increasingly important role．CAN fieldbus as an effective distributed controI and real-time control of the technology，low maintenance costs and its unique design is attracting increasing attention and is recognized as one of the most promising fieldbusWith the rapid development of fieldbus technology, traditional automatic control is seriousoy challenged, and will be replaced by the open fieldbus control． research and deveIopment based on the agreement of CAN is of great practical significance． To meet the needs of science and technologythe paper studies in a wide range of literature, and developed a control according to the rudder machine of the CAN bus, carried out CAN bus rudder machine control． In this papera detailed analysis based on the design of the CAN protocoI of intelligant control is given as well as design features．According to functiona needs and hardware design, selection STM32F103RBT6 and SN65HVD230 CAN chip as a specific hardware circuit, use Keil ARM to develop system architecture and software modules and use VC MFC to program for the host computer． Key words：FieldbusCAN bus ;STM32chip ;Visual c++6.0;Rudder;Control system 目录 摘 要 1 Abstract 2 1 引言 4 1.1选题目的及意义 4 1.2现场总线的发展趋势 5 1.3本次选题的工作内容及任务 6 1.4本次设计的先进性 6 1.5 本章小结 6 2 CAN总线的概念及其相关协议 7 2.1 CAN总线的概念 7 2.2 CAN总线的特点 9 2.3 CAN总线的分层结构和通信协议 10 2.4报