基于CANopn议的分布式控制系统设计.docVIP

基于CANopen协议的分布式控制系统设计 孙树文 杨建武 （北京工业大学 机械工程与应用电子学院，北京 100022） 摘要：针对印刷机外围设备多分散、数据传输信息量大、实时性和可靠性要求高等问题，设计了一种基于CAN现场总线的分布式控制系统。监控主机运行软PLC程序，通过PC-CAN卡与现场I/O从站进行通信，形成分布式网络，简化了系统结构，提高了可靠性。本文介绍了分布式监控系统的整体结构、工作原理及特点；分析了CANopen协议、详细说明了采用P87C591单片机开发I/O从站的硬件电路、软件设计流程以及从站节点的调试方法。经系统测试和模拟运行表明，I/O从站与监控主机通讯可靠、准确，实时性满足了印刷机控制系统的要求，具有一定的参考价值和广阔的应用前景。 关键词：CANopen；CAN总线；软PLC；分布式控制系统；P87C591 中国分类号：TP247 文献标识码：A The Design of Distributed Control System I/O Slave Based on CANopen Protocol Sun Shuwen, Yang Jianwu, Zhang Huihui, Zhao Jianguang ???(College of Mechanical Engineering Applied Electronics Technology, Beijing University of Technology, Beijing 100022 ,China) Abstract: Countering the problems existing in the printing machine, such as the excessive and distributed peripheral equipment, many information exchange, the reliability, veracity and real time feature of data communication, a distributed control system based on CAN (Control Area Networks) Bus is designed. The SoftPLC is studied and realized on the platform of monitor host computer. Via PC-CAN card, the master computer and I/O slave nodes can communicate with each other directly, like a distributed network. The system structure is more concise. The function of distributed setting and concentrated control is realized in this system. The whole structure and principle of system, the hardware circuit, the software programming and the testing experiment were discussed in detail. Practical using shows that this distributed control system has the better control effect, indicates it’s brilliant and validity beyond traditional control methods and is suitable for similar practical engineering. Keywords: CANopen, CANbus, SoftPLC, Distributed Control System, P87C591 0 引言 印刷机有大量的外围设备，存在大量的I/O信号，如何保证外围设备与控制主机之间的实时通讯，使得印刷机可靠运行，目前采用的方式主要有２种：１）采用传统的PLC构成集散型控制系统（DCS）；２）采用基于现场总线的分布式I/O系统。采用前一种方式存在系统不开放、硬件投资大、布线复杂、维修不便的缺点，具有明显的局限性[1]。而采用第二种方式基本局限于国外产品，如西门子公司的基于Profibus分布式I/O系统，WAGO公司基于CANbus、DeviceNET、Profibus分布式I/O系统，但价格较高