Design and Control of a Three-Axis Motion Servo Control System Based on a CAN Bus

Abstract

The paper presents a DSP-based design and control of a three-axis servo motion system that effectively divides control tasks between the master control terminal and four slave drives. The proposed architecture enhances the immediacy of platform positioning and the integration between software and hardware. The paper utilizes a high-accuracy encoder as a reference value for accuracy improvement and integrates firmware via the proposed embedded execution program, thereby reducing the accuracy error of the low-accuracy encoder. The main control core employs a digital signal processor (DSP) for input and output signal reading and writing, digital communication interface processing, and user interface. The slave controller utilizes four digital signal processors to accomplish servo position control in a digital way. The paper employs encoder calibration technology to upgrade the positioning accuracy of the surge axis. Finally, the paper validates the correctness and feasibility of the proposed method through experimental results from a set of adjustable experimental platforms of linear motion stroke and rotary motion stroke. In summary, the paper underscores the integration of hardware and software to attain high-precision and dependable control of the motion system.