摘要由于这些年来传动系统高速迅猛的发展 ，多电机传动系统已经在多种领域得到了大范围的应用。通过研究多电机协调控制方法可以使多电机传动系统的动态性能和稳态性能得到大幅度的提高，从而满足某些特定系统对多电机控制的同步要求，因此，我们必须更加关注多电机控制方法的研究。实现多个电机的协调运转，通常采用两种方法：一种是机械方式，另一种是电方式。早在上个世纪初期，在各种工业生产中机械同步技术就得到了广泛的应用。牢固可靠的机械方式的协调传动使得机械方式在20世纪初期得到了较为广泛的应用。但是，没有那种方式是完美的，就机械协调传动方式而言他本身也有不可去除的缺陷，难以在一些高精度动态定位的控制系统应用中取得较好而得效果。而和机械方式不同的是，电方式的多电机协调控制使用就具有高精度，高稳态性，且应用更加灵活。因此在生产实践中电方式的多电机协调控制获得了广泛的应用。61615

而多电机控制的关键性问题是如何来保证多个伺服电机高精度同步运动。这不仅需要有正确合理的硬件系统设计，还需要采用恰当有效的控制策略，使得各个轴具有较大的动态刚度和较快的响应能力。为满足这项要求，目前电机驱动器大多配有485串行通信口。

    485串行接口是美国电子工业协会在上个世纪70年代末推出的数字通讯电气标准，它弥补了232串行接口的传输效率低，通信距离比较短等缺点。该标准具有很强的抗干扰性，相对较远的传输距离等优点。485串行接口收发器采用平衡发送和差分接收的方式，因此具有抑制共模干扰的能力。此外，由于其比较长的通信距离和比较高的灵敏度，使他能够检测到低至200mY的电压。使用485串行接口总线组网，只要一对双绞线就可以实现多个系统的联网分布，并且具有较低的价格和较长的通信距离，更重要的是结构简单易行。RS-485为半双工，它的最大传输速率10 ，最大传输距离1200m。标准只对接口的电气特性作了规定，没有规定接插件、传输电缆和通讯协议，而是由用户自己在此基础上建立高层通信协议的。

毕业论文关键词： 多电机   485串口  半双工

毕业设计说明书（论文）外文摘要

Title multi-motor  controller  designed based on RS-485           

Abstract 

With the development of the drive system in recent years, motor drive system has been widely used in various fields.

In order to improve the dynamic performance of motor drive system and the steady state performance, to meet some specific systems  requirements for motor control, motor coordination control method research is becoming more and more important. To realize the motor coordination, usually adopts two methods: one is mechanical way, another is electrical. As early as the beginning of the 20th century, mechanical  technology is widely applied to industrial production. Coordinate way due to mechanical transmission connections are secure, in early to get more extensive application, but mechanical coordination of transmission way has its inherent defects, to some request high precision of dynamic positioning control system difficult to obtain good effect. Electricity way, on the contrary, the more motor coordination control using more flexible, higher precision and better steady state performance, gradually gained wide application in the production practice.

And more motor synchronous control is the key problem of how to guarantee the movement of multiple servo motors high precision. This not only need to have the appropriate hardware design, still need to use appropriate control strategy, making each axis has a larger dynamic stiffness and rapid response capability. In order to meet the requirements, the motor drives are equipped with 485 serial communication port.