Author(s)

Mu Weiwei

Corresponding Author

Mu Weiwei

ABSTRACT

The architecture of distributed machinery arms control system based on CAN bus was introduced in this study. The main controller received the operator control information and controlled six joint controllers to achieve the motion task. The real-time communication between the main controller and the joint controller was realized by CAN. The joint controller realized the DC motor PID servo control by controlling LM 629. TheμC/OS-II embedded real-time operating system was transplanted in the main controller, which allocated each management task module. Each joint controller completed the PID servo control of joint motor and monitored feedback error messages. The software design system and flow chart of main controller and joint controller were given. Finally, the experiment proved that good results were achieved.

KEYWORDS

CAN Bus, Excavate Coal, LM629, Embedded