摘  要：以混合动力试验台的研制为背景，结合车辆控制中CAN总线的普及应用，分析并采用CAN总线的高层CANopen协议，实现了试验台中多电机系统的实时控制。提供的CANopen主从站节点的构建与设置以及功能编程方法，在系统实际运行中得以充分验证。相关实现方案适用于多数工业自动化应用场合。关键词： CAN总线；CANopen协议；多电机系统控制；现场总线；电机控制

Abstract: Taking the development of a HEV（Hybrid Electric Vehicle）test bench as the background,taking the popular application of CAN bus in the vehicle industry into account,this paper presented a scheme to implement the real-time control of multi-motor systems in the test bench.One of CAN high layer protocol,CANopen had been analyzed and adopted to realize the real-time communication.The building and setting of the CANopen master and slave nodes,and relevant program flow charts were presented in detail.Verified by the teat and operation of the real system,the scheme that applied in this paper is applicable in most industrial automation applications.
Key Words: CAN bus;CANopen protocol;Multi-motor systems control;Fieldbus;Motor control