In order to improve the extendibility of ball & beam system,a controlling system based on CAN bus by using one PC to control several ball & beam systems is designed.The hardware of controlling system included three modules,including PC controlling,ball position signal acquisition and driving circuit.The three modules can connect to the nodes of the CAN bus.The software is divided into information acquisition,circuit drive and PID control.One PC is able to control several ball & beam systems by just adding corresponding nodes and modules to CAN bus.%为改善球杆系统的扩展性,实现以1台计算机控制多台球杆系统的控制效果,该文设计了1套基于CAN总线的控制系统.控制系统的硬件包括上位机控制模块、小球位置信号采集模块以及驱动电路模块等3个模块,这3个模块可以连接CAN总线的节点;软件部分分为信息采集、电路驱动和PID控制.只需在CAN总线增加小球位置信号采集模块和驱动电路模块的节点,就能够实现以一控多的控制效果.
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