血液凝固分析仪的多步进电动机控制系统设计

摘要

An innovative multiple stepper motors control system of three-tier architecture is designed to complete the multi-axis motion control of mechanical devices in the blood coagulation analyzer.The three parts of the system are described,especially the middle layer for master coordination and the hardware and software of slaves.Host computer is PC,and the middle layer of this system uses Kinetis K60 used ARM Cortex-M4-core chip as control core.The salve machine uses MC9S12XS128 as control core and SLA7078MR as driving chips of the stepper motor,combining with the CAN,the communication between host computer and slaves is realized.Continuous operation test shows that the system is stable and has good real-time and reliability,and can provide a reliable solution for the development of multi-axis control device based on a stepper motor control system.%设计了一种新型三层构架的多步进电机控制系统,以实现血凝仪内部各个机械装置的多轴运动控制.阐述了系统的3个组成部分,重点对系统的中间主控协调层及下位节点的硬件及软件进行设计.上位采用PC机;中间层采用了基于ARM Cortex-M4内核的Kinetis K60控制器;下位节点采用MC9S12XSI28微控制器为控制核心、SLA7078MR为步进电机驱动主芯片,并结合CAN总线,通过中间层实现上位机和下位节点的通信.经连续运行测试证明,系统运行稳定,具备良好的实时性和可靠性,可为以步进电机控制系统为基础的多轴控制装置的开发提供可靠的解决方案.