Traditional control systems transfer analog and digital signals to the power amplifier or other components via the computer,however they are bulky,and their structure is complex,the failure rate is high and these failures are difficult to be located.In order to achieve the real-time control for the simulator of five degrees of freedom (five-axis) coarse sun sensor physical signal source and simplify the system structure,the novel distributed real-time control system based on CAN fieldbus and using CanOpen protocol is researched.In this system,all the controls are distributed into computer,the fieldbus controller,servo drivers,digital I/O,and sensors,etc.,and the real-time data communication among all the components are connected via a network cable in cascade manmer;the failure of any node can be fast and accurately located and does not affect the normal operation of other nodes.The modular control system simplifies the design of the control system,reduces the number of cables and the space of the control system,minimizes the influence of the failures,and improves reliability and maintainability of the system.The flexibility and real-time performance of the system in motion trajectory are further verified by adopting the sinusoidal swing motion implemented by PVT.The control system promotes the development of the control structure in the industrial automation field,including stnucture simplification,real-time control performance and reliability,etc.%传统的控制系统通过计算机将模拟、数字信号传递给功率放大器等组件,其体积庞大、结构复杂、故障率高且定位难度大.为了实现对五自由度粗太阳敏感器物理信号源仿真设备的实时控制、简化系统结构,对基于CAN总线的利用CANopen协议的新型分布式实时控制系统进行了研究.计算机、总线控制器、伺服驱动器、数字I/O和传感器等组件之间通过一根网线以级联方式进行实时数据通信,任何一个节点发生故障均能精确和快速定位,且不影响其他节点正常运行.控制系统的模块化,简化了控制系统的设计,减少了电缆数量和控制系统空间,削弱了故障因素的影响,并且提高了系统的可靠性和可维护性.利用位置速度时间表格(PVT)实现的正弦摇摆运动也进一步验证了系统在运动轨迹方面的灵活性和实时性.该控制系统推动了工业自动化领域控制结构的简化以及控制实时性、可靠性等方面的发展.
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