【摘要】 变形机翼作为变体飞机的重要组成部分，近年来日益受到重视，得到了快速发展。以超声波电动机驱动变形机翼的控制系统为研究对象，设计了包括上位机、协议转换器和基于CANOpen协议的10台超声波电动机驱动控制器在内的控制系统，阐述了通过CANFestival进行基于CAN总线下CANOpen协议的主从站配置；详细介绍了通过STM32单片机发送SDO配置信息方法。更多还原

【Abstract】 As an important part of variant aircraft, deformable wing has been paid more and more attention and developed rapidly in recent years. The control system of deformed wing driven by ultrasonic motor was taken as the research object. A control system including upper computer, protocol converter and ten ultrasonic motor drive controllers based on CANOpen protocol was designed. The configuration of master and slave stations based on CANOpen protocol was described through CANFestival. The method of sending SDO configuration information through STM32 microcontroller was introduced in detail.更多还原