技术与信息
CANopen通讯的水下阀门电机控制设计与实现
1*2211
张纪亚，张妍，孙钦，周国宪，邓军辉
(1.深圳市行健自动化股份有限公司，广东深圳518057；
2.中海油研究总院有限责任公司，北京100028)
摘要：文章针对水下阀门电机控制提出了基于CANopen通讯协议的控制方案，介绍了CANopen通讯协议的技术及
特点，深入研究了电机驱动器状态机执行过程，详细设计了水下阀门电机控制硬件结构、通讯结构和主站软件控制
流程图，编程实现了水下阀门电机控制的上、下位机，并通过搭建的试验台对其进行测试验证。试验结果表明，利用
CANopen通信可以对水下阀门电机实现精确控制，控制网络运行快捷简便、稳定可靠、实时效果好、数据交换流畅，能
够满足水下阀门电机控制的需求，提高了控制性能。
关键词：CANopen协议；全电动水下系统；水下阀门；电机控制
中图分类号：TE952文献标志码：A文章编号：1008-4800(2024)27-0108-05
DOI:10.19900/ki.ISSN1008-4800.2024.27.028
DesignandImplementationofSubseaValveMotorControlfor
CANopenCommunication
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ZHANGJiya,ZHANGYan,SUNQin,ZHOUGuoxian,DENGJunhui
(1.ShenzhenWellreachAutomationCo.,Ltd.,Shenzhen518057,China;
2.CNOOCResearchInstituteLtd.,Beijing100028,China)
Abstract:ThispaperproposesacontrolschemebasedontheCANopencommunicationprotocolforsubseavalvemotorscontrol.
ThetechnologyandcharacteristicsoftheCANopencommunicationprotocolarebrieflyintroduced,andtheexecutionprocessof
themotordriverstatemachineisstudiedindepth.Thehardwarestructure,communicationstructureandmainstationsoftware
controlflowchartofsubseavalvemotorcontrolaredesignedindetail.Theupperandlowercomputerforsubseavalvemotorcontrol
isprogrammedandverifiedthroughtheconstructionofatestbench.TheexperimentalresultsshowthattheuseofCANopen
communicationcanachieveprecisecontrolofsubseavalvemotors.Thecontrolnetworkoperatesquickly,conveniently,stably,
reliably,withgoodreal-timeeffectsandsmoothdataexchange,whichcanmeettherequirements