CN100336083C - Signal collecting controller of pumping vehicle arm rack - Google Patents
Signal collecting controller of pumping vehicle arm rack Download PDFInfo
- Publication number
- CN100336083C CN100336083C CNB2005100311711A CN200510031171A CN100336083C CN 100336083 C CN100336083 C CN 100336083C CN B2005100311711 A CNB2005100311711 A CN B2005100311711A CN 200510031171 A CN200510031171 A CN 200510031171A CN 100336083 C CN100336083 C CN 100336083C
- Authority
- CN
- China
- Prior art keywords
- cpld
- bus
- controller
- microprocessor
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
The present invention discloses a sensor signal acquisition controller of a pump vehicle's arm support, which comprises a microprocessor, a CPLD bus decoder, a CAN bus interface, wherein the microprocessor is respectively connected with the CPLD bus decoder and the CAN bus interface, and an analog signal is received by an analog signal acquisition channel. The CAN bus interface comprises a CAN controller which is respectively connected with the microprocessor and the CPLD bus decoder, and the CAN controller is connected with a CAN driver by a photoelectric isolator. The analog signal acquisition channel comprises an AD converter, a multi-channel selector, a preprocessor and a power amplifier, wherein the AD converter is respectively connected with the microprocessor and the CPLD bus decoder, and the multi-channel selector is respectively connected with the CPLD bus decoder, the preprocessor and the power amplifier. The CPLD receives a digital signal by an absolute encoder signal acquisition channel which comprises an RS 422 interface and the photoelectric isolator. The present invention is designed based on the CAN bus interface which can have a plurality of information acquisition modes and can solve the problems of parallel processing for information distribution in an arm frame intelligent control system.
Description
Technical field
The present invention relates generally to a kind of signal pickup assembly, refers in particular to a kind of signal collecting controller of pumping vehicle arm rack.
Background technology
Jib is the principal organ of concrete mixer cloth, it mainly is to adopt the manual control mode of single-degree-of-freedom to control at present, under this control mode, the operator will move to the position that needs to the terminal discharging opening of jib, need carry out progressively and repeatedly adjusting of each degree of freedom of jib, its operation easier inefficient operation during than Datong District can not satisfy the needs of quick cloth.So the Roboticized intelligent control mode that employing is an Action Target with the terminal discharging opening of jib has real necessity, under this control mode, each degree of freedom of jib is the while intelligent linkage under the control of jib intelligent controller, makes the terminal discharging opening of jib arrive the target location rapidly.Realize that this roboticized control model not only needs the angular signal of real-time each degree of freedom of detection arm frame system, also want the given remote signal of real-time detecting operation person simultaneously, because the complicacy and the singularity of beam mechanism, also consider the convenience that sensor is installed, usually need to adopt sensors of various types (as absolute light photoelectric coder sensor, the current mode analog sensor, voltage-type analog sensor etc.) measure (converting this degree of freedom corner) indirectly and obtain these signals, demarcate the position and the operation information that just can obtain needs with pre-service again as measuring single-degree-of-freedom oil cylinder length.Work such as the collection of these signals, pre-service and demarcation can be finished by the jib intelligent controller, but certainly will increase the burden of this controller, influence the efficient of whole jib motion planning and the effect of each degree of freedom closed loop servo control.Therefore be necessary to design separately collection, demarcation and the preprocessing tasks that a controller is finished these sensor signals and operation signal, and the information after will handling in the mode of simple and fast passes to the jib intelligent controller, handles to reach the system task distributed parallel.
Summary of the invention
Technical matters to be solved by this invention just is: at the technical matters that prior art exists, design a kind of based on the CAN bus interface, have multiple information acquisition mode and can solve information distribution parallel processing in the jib intelligence control system, reach the signal collecting controller of pumping vehicle arm rack of the effect of system task distributed parallel processing.
In order to solve the problems of the technologies described above, the solution that the present invention proposes is: a kind of signal collecting controller of pumping vehicle arm rack, it comprises microprocessor, CPLD bus code translator, CAN bus interface, it is characterized in that: described microprocessor links to each other with CPLD bus code translator and CAN bus interface, and receives simulating signal by the collection of simulant signal passage; Described CPLD bus code translator links to each other with the CAN bus interface, and by absolute encoder signal sampling channel receiving digital signals; This CAN bus interface comprises the CAN controller that links to each other with CPLD bus code translator with microprocessor, and the CAN controller links to each other with the CAN driver by photoisolator.
Described collection of simulant signal passage then comprises AD converter that links to each other with CPLD bus code translator with microprocessor and the MUX that links to each other with CPLD bus code translator and the preprocessor and the power amplifier that link to each other with this MUX.
Described absolute encoder signal sampling channel comprises RS422 interface and photoisolator, and links to each other with CPLD bus code translator by photoisolator.
Described microprocessor also is connected with a monitor.
Compared with prior art, the present invention has the following advantages;
1, signal collecting controller of pumping vehicle arm rack of the present invention is based on the CAN Bus Interface Design, have multiple information acquisition mode and also can solve information distribution parallel processing in the jib intelligence control system, reach the effect that the system task distributed parallel is handled, thereby can satisfy the needs of concrete pump truck arm robotize control.Since adopt the CAN bus as means of communication, fast and flexible, and stability is strong, can adapt to on-the-spot complex operating environment well, is convenient to remote data transmission;
2, the microprocessor in the controller of the present invention can carry out necessary processing to the simulating signal and the digital signal that collect, and the semaphore that controlled system needs and then this semaphore sent uses for master controller.So both can guarantee the integrality of signal, alleviate the burden of master controller again, and make signals collecting and handle and to carry out separately, also reduce the quantity of information of communications simultaneously, reduce the possibility that mistake occurs;
3, signal collecting controller of pumping vehicle arm rack of the present invention has been expanded one road isolated form CANBUS communication interface by the CANBUS interface chip, can directly carry out message exchange by CAN bus and outside;
4, signal collecting controller of pumping vehicle arm rack of the present invention adopts MUX and AD converter to expand 8 tunnel 16 current/voltage pattern plan acquisition channel, can directly connect voltage sensor, can connect amperometric sensor by transfer resistance again;
5, signal collecting controller of pumping vehicle arm rack of the present invention isolate by RS422 interface chip and photoelectricity expanded 2 road RS422 absolute encoder input channels, 2 road counting directions are provided with passage and 2 road Zero positioning control channels, promptly can gather No. 2 absolute encoder signals, can set coder parameters again;
6, signal collecting controller of pumping vehicle arm rack design of the present invention has the LCD display interface, can install LCD display additional where necessary so that sensor states is carried out field monitoring.
Description of drawings
Fig. 1 is a structural principle block diagram of the present invention;
Fig. 2 is the specific embodiments of the invention circuit diagrams.
Marginal data
1, CPLD bus code translator 2, microprocessor
3, CAN bus interface 4, collection of simulant signal passage
5, absolute encoder signal sampling channel
Embodiment
Below with reference to accompanying drawing the present invention is described in further detail.
Basic structure of the present invention as shown in Figure 1, it adopts embedded monolithic microprocessor 2, extensive CPLD bus code translator 1, high-precision A converter, RS422 interface and CAN bus interface 3 technology, and a kind of collecting sensor signal controller based on the CAN bus communication is provided.As shown in Figure 1, the present invention includes microprocessor 2, CPLD bus code translator 1, CAN bus interface 3, microprocessor 2 links to each other with CPLD bus code translator 1 and CAN bus interface 3, and receives simulating signal by collection of simulant signal passage 4; CPLD bus code translator 1 links to each other with CAN bus interface 3, and by absolute encoder signal sampling channel 5 receiving digital signals; This CAN bus interface 3 comprises the CAN controller that links to each other with CPLD bus code translator 1 with microprocessor 2, and the CAN controller links to each other with the CAN driver by photoisolator.4 in collection of simulant signal passage comprises AD converter that links to each other with CPLD bus code translator 1 with microprocessor 2 and the MUX that links to each other with CPLD bus code translator 1 and the preprocessor and the power amplifier that link to each other with this MUX.Absolute encoder signal sampling channel 5 comprises RS422 interface and photoisolator, and links to each other with CPLD bus code translator 1 by photoisolator.Microprocessor 2 also is connected with a monitor.
Wherein, microprocessor 2 and CPLD bus code translator 1 constitute core of the present invention, are responsible for the circuit control and the signal processing function of entire controller, and its working condition is then monitored by special external " house dog " monitor; CAN bus interface 3 parts that CAN controller, CAN driver and photoisolator are formed are responsible for controller and extraneous communicating by letter; The absolute encoder signal sampling channel 5 that RS422 interface and photoisolator constitute is used for gathering the absolute encoder feedback signal and scrambler is carried out parameter calibration; The collection of simulant signal passage 4 that is made of AD converter, power amplifier, MUX and preprocessor is used for gathering curtage pattern plan feedback signal.
Principle of work: (1) collection of simulant signal: controller of the present invention can be gathered 8 tunnel analog input amounts simultaneously, these analog input amounts promptly can be that the voltage-type input quantity can be again the current mode input quantity, current signal can convert voltage signal to by the mode that increases sampling resistor in preprocessor and gather, the big I of sampling resistor is chosen as requested, for example for the analog current signal of 4-20Ma, can select the sampling resistor of 500 Ω for use, be 2-10V through the actual range after the voltage transitions like this, can satisfy the needs of AD converter.For 8 road analog input signals, can select 1 MUX to select one tunnel simulating signal by 8 at every turn and import.For precision that guarantees conversion and the scope that increases the analog input amount, also use operational amplifier that input signal is amplified and filtering before the AD conversion, the result of AD conversion is then directly read by microprocessor 2.During analog acquisition, at first send the beginning conversion command to AD converter and start the AD conversion by microprocessor 2, microprocessor 2 is waited for this EOC by the mode of inquiry AD transition status word then, reads transformation result after the end, and switching rate can be by microprocessor 2 controls.(2) digital signal acquiring: controller of the present invention can be gathered the digital signal of 2 tunnel absolute light photoelectric coder sensor feedback simultaneously, and as required the photoelectric encoder sensor is controlled.Absolute encoder generally provides standard RS422 interface, can select for use special RS422 interface chip that 2 tunnel encoder information are gathered, each absolute encoder also has a zero-bit that interface and a counting direction option interface are set, the counting zero-bit of scrambler can artificially be set by sending reset signal to the zero-bit interface, and counting direction then can the direction of passage option interface be controlled.During digital data acquisition, microprocessor 2 at first sends serial clock signal to scrambler, the serial data that shifts out of received code device then, judging according to the data bits that shifts out whether this secondary data shifts out again finishes, receive if all do not shift out then continue, serial data is recombined into together according to the order that shifts out if all shift out then, obtains the final sampled result of scrambler.(3) digital signal processing: the microprocessor 2 in the controller of the present invention can carry out necessary processing to the simulating signal and the digital signal that collect, and the semaphore that controlled system needs and then this semaphore sent uses for master controller.So both can guarantee the integrality of signal, alleviate the burden of master controller again, and make signals collecting and handle and to carry out separately, also reduce the quantity of information of communications simultaneously, reduce the possibility that mistake occurs.(4) CAN bus communication: controller of the present invention is by CAN bus interface 3 and outside exchange message, and 3 communications of CAN bus interface are finished by CAN controller and CAN driver.The CAN controller directly is subjected to the control of microprocessor 2 to carry out the reception and the transmission of information, and the CAN driver then provides differential reception and the sending function to bus.For the antijamming capability that strengthens the CAN bus node with realize the electrical isolation between each node on the bus, adopt optocoupler to isolate between CAN controller and the CAN driver.Since adopt CAN bus interface 3 as means of communication, fast and flexible, and stability is strong, can adapt to on-the-spot complex operating environment well, is convenient to remote data transmission.
Fig. 2 is for implementing physical circuit figure of the present invention.Wherein, EPM7128 is a CPLD bus code translator 1, and the programming by its inside realizes various decoding functions; W78E58 is a chip microprocessor 2, is responsible for the control of entire circuit and finishes various information processing functions; MAX813 is the outer watchdog monitor, is used for the duty of monitor microprocessors 2; INOUT and LCD_PORT are the external LCD display interface device, can install LCD display where necessary additional circuit state is monitored; SJA1000 is the CAN controller, is subjected to the control of microprocessor 2 to carry out the reception and the transmission of information; 6N137 is a photoisolator, can strengthen the antijamming capability of CAN bus node and realize the electrical isolation between each node on the bus; PCA82C250 is the CAN driver, and differential reception and sending function to bus are provided; CON16 with a plurality of resistance is a preprocessor, can convert the current signal of input to voltage signal and carry out the AD conversion again; ADG508 is a MUX, can select one the tunnel from the multichannel analog signals of input and import; AD622 is the signal operation amplifier, can amplify and filtering input signal; AD976 is an AD converter, finishes the AD translation function; MC1403 is a reference voltage source, for AD converter provides reference voltage; MAX488 is special-purpose RS422 interface chip, is used for realizing the information collection function of absolute encoder; PC827 is a photoisolator, is used for realizing the isolation of encoder to count direction and Zero positioning control signal.ASD10H is that wide voltage (9-36V) is isolated DC/DC converter, the operating voltage of the various needs of generator; B0505 is+the 5V isolated voltage source, for the CAN bus communication provides isolation voltage; JTAG is the DLL (dynamic link library) of CPLD; CON16 is the input interface circuit of absolute encoder; All the other are resistance capacitance and diode display circuit, finish corresponding subsidiary function.
Claims (4)
1, a kind of signal collecting controller of pumping vehicle arm rack, it comprises microprocessor (2), CPLD bus code translator (1), CAN bus interface (3), it is characterized in that: described microprocessor (2) links to each other with CPLD bus code translator (1) and CAN bus interface (3), and receives simulating signal by collection of simulant signal passage (4); Described CPLD bus code translator (1) links to each other with CAN bus interface (3), and by absolute encoder signal sampling channel (5) receiving digital signals; This CAN bus interface (3) comprises the CAN controller that links to each other with CPLD bus code translator (1) with microprocessor (2), this CAN bus interface (3) also comprises photoisolator and CAN driver, wherein, the CAN controller links to each other with the CAN driver by photoisolator.
2, signal collecting controller of pumping vehicle arm rack according to claim 1 is characterized in that: described collection of simulant signal passage (4) then comprises AD converter that links to each other with CPLD bus code translator (1) with microprocessor (2) and the MUX that links to each other with CPLD bus code translator (1) and the preprocessor and the power amplifier that link to each other with this MUX.
3, signal collecting controller of pumping vehicle arm rack according to claim 1, it is characterized in that: described absolute encoder signal sampling channel (5) comprises RS422 interface and photoisolator, and links to each other with CPLD bus code translator (1) by photoisolator.
4, according to claim 1 or 2 or 3 described signal collecting controller of pumping vehicle arm rack, it is characterized in that: described microprocessor (2) also is connected with a monitor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100311711A CN100336083C (en) | 2005-01-19 | 2005-01-19 | Signal collecting controller of pumping vehicle arm rack |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100311711A CN100336083C (en) | 2005-01-19 | 2005-01-19 | Signal collecting controller of pumping vehicle arm rack |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1645433A CN1645433A (en) | 2005-07-27 |
| CN100336083C true CN100336083C (en) | 2007-09-05 |
Family
ID=34876010
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005100311711A Expired - Fee Related CN100336083C (en) | 2005-01-19 | 2005-01-19 | Signal collecting controller of pumping vehicle arm rack |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100336083C (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102213958A (en) * | 2010-04-12 | 2011-10-12 | 上海天浔智能科技有限公司 | Digital servo controller and corresponding servo control system |
| CN101894491B (en) * | 2010-07-22 | 2012-05-23 | 三一重工股份有限公司 | Training system for concrete pump truck |
| CN102280019A (en) * | 2011-06-27 | 2011-12-14 | 江苏大学 | Electric power-assisted steering test bench data acquisition device and network system |
| CN103233581B (en) * | 2013-02-08 | 2016-07-06 | 上海格尼特控制技术有限公司 | A kind of control method of concrete arm support pumper |
| CN103558795A (en) * | 2013-11-20 | 2014-02-05 | 江南大学 | Vehicle operating data fusion collecting device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2062298U (en) * | 1989-11-13 | 1990-09-19 | 兰州市矿场机械研究所 | Liquid feeding pump cart for petroleum field |
| CN2318632Y (en) * | 1997-10-30 | 1999-05-12 | 淄博市博山光明实业公司 | Intelligent monitoring device for operation of environment protection equipment |
| CN2658294Y (en) * | 2003-11-18 | 2004-11-24 | 湖南久润机械有限公司 | Full tailer traction self-running arm support pump vehicle |
-
2005
- 2005-01-19 CN CNB2005100311711A patent/CN100336083C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2062298U (en) * | 1989-11-13 | 1990-09-19 | 兰州市矿场机械研究所 | Liquid feeding pump cart for petroleum field |
| CN2318632Y (en) * | 1997-10-30 | 1999-05-12 | 淄博市博山光明实业公司 | Intelligent monitoring device for operation of environment protection equipment |
| CN2658294Y (en) * | 2003-11-18 | 2004-11-24 | 湖南久润机械有限公司 | Full tailer traction self-running arm support pump vehicle |
Non-Patent Citations (2)
| Title |
|---|
| 混凝土泵车布料机构运动学分析及轨迹规划控制建模与仿真 郭立新，张国忠，李景坤，建筑机械，第2000年04期 2000 * |
| 混凝土泵车臂架智能控制系统开发 周淑文，张国忠，童新华，建筑机械，第2004年01期 2004 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1645433A (en) | 2005-07-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100336083C (en) | Signal collecting controller of pumping vehicle arm rack | |
| CN102403938B (en) | Decoding device and method for rotary transformer based on single FPGA (Field Programmable Gate Array) | |
| CN202794979U (en) | Intelligent supercharging water supply remote monitoring system | |
| EP1293853A1 (en) | Transceiver module for a field device | |
| CN101038317A (en) | Voltage transformer wireless monitoring system and method | |
| CN2831292Y (en) | Sensor signal acquisition controller of pump vehicle's arm support | |
| CN203640300U (en) | Hose tracking device | |
| CN1766767A (en) | Tester measure and control device based on DSP and measure and control method thereof | |
| CN202120092U (en) | Controlling device based on fieldbus | |
| CN103817695B (en) | A kind of control method of robot flexibility joint and drive unit | |
| CN214561049U (en) | Joint structure for industrial robot and robot system | |
| CN213276321U (en) | 8-channel analog input module | |
| CN205176566U (en) | Electricity liquid servo controller | |
| CN2856931Y (en) | Stationary slope level having self calibrating function | |
| CN2909342Y (en) | Vehicle production line self-propelled trolley control equipment based on As-in-field bus | |
| CN114527639A (en) | Control method and device of electro-hydraulic servo driver | |
| CN104865436A (en) | Self-adaptive multi-gear unmanned plane airborne current measurer with program control interface | |
| CN211478937U (en) | Control system for operating electric actuators of various models | |
| CN101236421A (en) | On site bus multi- sensor amalgamation device | |
| CN202434044U (en) | Multi-functional acquisition interface system aiming at comprehensive logging instrument | |
| CN218866019U (en) | Remote calibration device based on pose sensing and electric actuator | |
| CN201072505Y (en) | Electronic range limiter | |
| CN210716202U (en) | Intelligent electric actuator | |
| CN212723735U (en) | Patrol robot sensor information acquisition and motion control device | |
| CN109143982B (en) | CNC (computer numerical control) numerical control machine tool based on Beidou communication and GPS (global positioning system) communication dual-mode remote control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20070905 Termination date: 20130119 |