CN102262400A - Remote keying method and device of stepping motor driver based on CAN (Controller Area Network) communication - Google Patents
Remote keying method and device of stepping motor driver based on CAN (Controller Area Network) communication Download PDFInfo
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Abstract
The invention relates to the remote key control of a stepping motor driver, and particularly relates to a remote keying method and a remote keying device of the stepping motor driver based on CAN (Controller Area Network) communication. The device comprises a key, a control end signal processor, a CAN communication network and a controlled end signal processor, wherein the key is connected with the control end signal processor, the control end signal processor processes key signals as 'pressed down' or ' lifted up' code signals and sends the 'pressed down' or ' lifted up' code signals to the CAN communication network, and the controlled end signal processor receives the 'press down' or 'lifted up' code signals sent from the CAN communication network, decodes, synthesizes and restores the 'press down' or 'lifted up' code signals as the key signals, generates control signals and sends the control signals to the stepping motor driver. The remote keying device of the stepping motor driver based on CAN communication successfully achieves manual remote keying of an antenna of a large-power long-wavelength signal transmitter, realizes a control distance as long as several kilometers, totally satisfies the demand of the manual remote keying of the antenna regulation of the large-power long-wavelength signal transmitter, ensures stable application in a large-power high-frequency field high-interference environment, and has good effect.
Description
Technical field
The present invention relates to a kind of remote key-press control of stepper motor driver, particularly based on the remote keying method and the device of the stepper motor driver of CAN communication.
Background technology
High-power long wave sender is because the relation of frequency of operation, variable inductor volume in tuning, the filtering circuit is very big, during start work, need accent machine personnel according to the observation the ammeter of all kinds and different outgoing positions (comprise voltage, electric current, phase place etc., these ammeters signal flow at different levels indication arranged all), take all factors into consideration the back and determine the tuning setting of variable inductor (position by changing shunt contact or change syntonizing coil coupling angle).Early stage variable inductor is to realize tuning by the input end (worm screw) of the mechanical hook-up (worm and gear) of manual be rotatably connected shunt contact or syntonizing coil, this manufal tuning method needs the staff to enter in the antenna matching house to regulate, and various indication electric meters are located on the interior cabinet control panel of machine room, for powerful transmitter, for reducing the high-power high-frequency loss, antenna matching house generally is located near the antenna tower, and the distance of tens meters even several kms is arranged usually between machine room and the antenna tower, can only write to each other by intercom, regulate, not only regulate inconvenience, and have personal safety hidden danger.As improvement, adopt common interchange or direct current generator, carry out Long-distance Control by the button of being located on the control desk, because operation circuit is long, the rotator inertia of common AC/DC motor is difficult to one-time-reach-place, needs usually repeatedly to regulate repeatedly.
Stepper motor can be realized the accurate control of the anglec of rotation, set it and want the position that arrives, thereby the relatively formation driving pulse by physical location and preset position is controlled, because high-power long wave sender is by artificial push button signalling control step motor driver work when adjusting, (comprise voltage by the ammeter of observing all kinds and different outgoing positions, electric current, phase place etc.), determine the position when it stops operating after taking all factors into consideration, and because the cause of aerial array, its location status is affected by environment bigger, even utilize the position of adjusting to preset, still need manual button adjustment under the different weather environment.
The request for utilization of stepper motor: the controller of formation gating pulse is 10 to 15 meters to the maximum distance of stepper motor driver, and stepper motor driver also has only more than 10 meter to the maximum distance of stepper motor, and it is the control end of high-power long wave sender reaches more than 50 meter sometimes to the distance of stepper motor, even farther; Simultaneously, can cause very strong interference for the pulse signal of the low-voltage of controller generation because high-power environment field intensity of high frequency is down disturbed.So controller (button) can not be directly connected to stepper motor driver in this case realizes Stepping Motor Control.
Controller area network (CAN-CONTROLLER AREA NETWORK) is a kind of many main frames local area network, have advantages such as high-performance, high reliability, real-time and Long-distance Control, be used widely in numerous departments such as various control equipment, the vehicles, Medical Instruments and building, environment controls.For the long wave sender, need control, comprise also that except that the coil adjustment switch control and state show, the logical interlock of sender switching on and shutting down program and the state in each stage show, a lot of parts such as the logic control of safety guarantee and the collection of various analog quantitys and digital conversion, and each part all has the dozens or even hundreds of node that needs monitoring, can be divided into a plurality of controlled ends according to function and carry out decentralised control, consider the anti-interference under the high-power environment simultaneously, select for use CAN communication as bridge, monitoring each controlled end is a kind of optimal selection, yet how to utilize CAN communication to realize the antenna allotment control of high-power long wave sender, particularly manual remote keying, still not having successful experience at present can be for using for reference, and this technology has become the key that solves high-power long wave sender antenna allotment remote keying.The technological difficulties that wherein topmost needs overcome are how the action of button " pressing " and " lifting " to be sampled and handled to make the signal that becomes the identification of monolithic function.This is that any false artificial action all can be adopted because be with the clock frequency of 25MHz actuation of keys to be sampled as the field programmable gate array of sampling A.Button is a mechanical contact, can the phenomenon of spring back and forth occur at contact point when the moment of contact point disconnection or closure.In the higher circuit of this remolding sensitivity, the signal jitter that this bounce causes will have influence on the generation of control signal, with regard to system, the once action of button can only produce one " pressing " and " a lifting " signal, just it is not decomposed if push button signalling is not gone to tremble to handle, then dither signal also can generate " pressing " or " lifting " pulse, cause the equipment action undesired, and because controlled end wants to restore original push button signalling, " press " with " lifting " signal and must occur in pairs, because the uncertainty of shake, probably cause the situation of having only " pressing " signal not have " lifting " signal, the drive stepping motor action that causes controlled end not stop.
Summary of the invention
Technical matters to be solved by this invention is, at the above-mentioned deficiency of prior art, and provides a kind of remote keying method and device of the stepper motor driver based on CAN communication.
The object of the invention to solve the technical problems is to adopt following technical scheme to realize.The remote keying device of a kind of stepper motor driver based on CAN communication that proposes according to the present invention, comprising button, the control end signal processor, CAN communication network and controlled end signal processor, described button connects described control end signal processor, the coded signal that described control end signal processor is processed into push button signalling " pressing " or " lifting " send CAN communication network, and described controlled end signal processor is accepted described " pressing " of being transmitted by the CAN communication network or the coded signal of " lifting " is decoded, synthesize to be reduced to push button signalling and to generate control signal and send stepper motor driver.
Purpose of the present invention and solve its technical matters and can also be further achieved by the following technical measures.
The remote keying device of aforesaid stepper motor driver based on CAN communication, button K in the wherein said control end comprises just changes button and reverse button, described control end signal processor comprises control end field programmable gate array and control end single-chip microcomputer, also be provided with photoisolator in the described control end signal processor, control end digital isolator and control end CAN communication interface, described controlled end signal processor comprises controlled end single-chip microcomputer and controlled end field programmable gate array, also is provided with controlled end CAN communication interface in the described controlled end signal processor, controlled terminal number word isolator and controlled end output digital isolator; Just described, anti-button connects control end field programmable gate array in the described control end signal processor by described photoisolator, will be just by the control end single-chip microcomputer in the described control end signal processor, the reverse button signal Processing becomes the coded signal of " pressing " or " lifting ", send CAN communication network through digital isolator and control end CAN communication interface, described " pressing " or the coded signal of " lifting " that described controlled end CAN communication interface acceptance is transmitted by the CAN communication network, send controlled end single-chip microcomputer in the described controlled end signal processor through controlled terminal number word isolator, the coded signal of described " pressing " or " lifting " is decoded by described controlled end field programmable gate array, synthesize to be reduced to push button signalling and to generate control signal and send stepper motor driver by controlled end output digital isolator.
The remote keying device of aforesaid stepper motor driver based on CAN communication, be provided with button decomposing module, pulse strenching module, counter and communication module in the wherein said control end field programmable gate array, wherein said counter connects described push button signalling decomposing module, the input of described push button signalling decomposing module, it is the input I/O mouth of field programmable gate array, connect button by described photoisolator, the output of push button signalling decomposing module connects described pulse strenching module, and the letter module is connected in the output of described pulse strenching module; Be provided with communication module, coding module and CAN communication module in the described control end single-chip microcomputer, wherein, the input end of the communication module in the described control end single-chip microcomputer, be the I/O mouth of two 8 of P6, P7 of control end single-chip microcomputer and the I/O mouth of field programmable gate array, be that communication module in the control end field programmable gate array links to each other, the output terminal of the communication module in the described control end single-chip microcomputer connects coding module, and the output of described coding module connects the CAN communication module in the control end single-chip microcomputer; Just described, reverse button connects I/O mouth 138 pins and 139 pins of described field programmable gate array respectively by described photoisolator, described field programmable gate array is sampled to actuation of keys with the clock of 25MHz, the signal that is received the at first warp of the button decomposing module in field programmable gate array compares with described counter setting value, decompose, with just real, the reverse button signal Processing becomes the pulse signal of " pressing " or " lifting " to send the communication module of control end single-chip microcomputer, the communication module of described control end single-chip microcomputer with receive " pressing " or " lifting " pulse signal send coding module to encode, and CANARX and the CANTX port that will encode by the CAN communication module send control end CAN communication interface through digital isolator;
Be provided with the communication module of CAN communication module, decoder module and controlled end single-chip microcomputer in the described controlled end single-chip microcomputer, CAN communication module in the described controlled single-chip microcomputer connects the communication interface of described controlled end CAN by digital isolator, its output connects the input of decoder module, and the output of described decoder module connects the communication module of described controlled end single-chip microcomputer; The communication module, order synthesis module and the driving pulse that are provided with controlled end field programmable gate array in the described controlled end field programmable gate array form module; The communication module of described controlled end field programmable gate array connects the communication module of described controlled end single-chip microcomputer, and its output connects the input of described order synthesis module, and the output of described order synthesis module connects driving pulse and forms module; The CANARX of described single-chip microcomputer and CANTX port, it is the coded signal that the input end of the CAN communication module in the controlled end single-chip microcomputer is accepted the control end that digital isolator sends, described single-chip microcomputer is decoded into order with the coded signal that receives through decoder module, and described order is sent the I/O port of field programmable gate array by the communication module of controlled end single-chip microcomputer, it is the communication module of controlled end field programmable gate array, the order that the communication module of described controlled end field programmable gate array will receive is lost one's life and is made synthesis module synthesize, be reduced to push button signalling, and send driving pulse to form module generation driving pulse institute's reduction push button signalling and send stepper motor driver.
The remote keying device of aforesaid stepper motor driver based on CAN communication, field programmable gate array in the wherein said control end signal processor, field programmable gate array in single-chip microcomputer and the controlled end signal processor, the model of single-chip microcomputer is identical, the model of described field programmable gate array is XC2S200, the model of described single-chip microcomputer the has been integrated C8051F040 of a CAN communication module, described single-chip microcomputer passes through P6, the I/O mouth that P7 is two 8 totally 16 lines that link to each other with the I/O mouth of field programmable gate array, wherein 8 the tunnel as input, 8 the tunnel as output, communicates by predetermined protocol and field programmable gate array.
The present invention also provides a kind of remote keying method of stepper motor driver of the CAN communication based on aforementioned means, may further comprise the steps:
(1) field programmable gate array of push button signalling input control end is sampled to actuation of keys with the clock frequency of work, and button is in and is that depressed position high level, button are in that to lift the position be low level;
(2) push button signalling decomposes
(2-1) judge whether to be actual signal? the field programmable gate array of control end compares according to the end-state and the virgin state of a plurality of shake pulses that produced in course of action of button, be false triggering if state is identical, otherwise be actual signal, to avoid false triggering;
(2-2) a plurality of shake pulses that produce in the course of action that " pressing " or " lifting " pulse presses button or lift are decomposed, and only generate " pressing " or " lifting " pulse that a width is a field programmable gate array clock period;
(3) field programmable gate array of pulse delay broadening control end is that the pulse strenching of a field programmable gate array clock period " pressing " or " lifting " is the cycle period that surpasses the single-chip microcomputer master routine with width, and sends it single-chip microcomputer of control end to by predetermined protocol;
(4) single-chip microcomputer of pulse code control end is encoded to " pressing " or " lifting " action of button, and through the CAN communication interface coded signal is sent to controlled end by the CAN communication network;
(5) single-chip microcomputer in the controlled end signal processor of controlled end decoding generation control command is accepted coded signal by communication interface, and decoding and generation control command are sent the field programmable gate array in the controlled end signal processor;
(6) will order that synthetic to be reduced to order that the field programmable gate array in the controlled end signal processor of push button signalling will receive synthetic and be reduced to push button signalling;
(7) field programmable gate array that generates in the controlled end signal processor of drive signal send stepper motor driver according to push button signalling generation driving pulse.
The remote keying method of the stepper motor driver of the CAN communication of aforementioned means, the concrete grammar that wherein said step (2) push button signalling decomposes is: measure in advance that button once " is pressed " or " lifting " process in duration of broad pulse in a plurality of shake pulses of being produced, a counter is set in the programmable gate array at the scene, and its gate time is greater than the duration of broad pulse; In course of action of button, comprise misoperation and true action, each the shake pulse that is produced and the virgin state of button compare, if difference is the enabling counting device then, it is identical with virgin state to occur key-press status during the counting, then counter is reset, and does not provide pulse, judges misoperation or actual signal with this; It is identical with virgin state not occur key-press status during the counting, overflows up to counter, then provides one and represents button " to press " or the pulse of " lifting ".
The remote keying method of the stepper motor driver of the CAN of aforementioned means communication, wherein said step (3) with the pulse delay broadening be provided with in the programmable gate array at the scene a pulse strenching module just width be that the pulse strenching of " pressing " or " lifting " of a field programmable gate array clock period is for surpassing the cycle period of single-chip microcomputer master routine;
Describedly will " press " or the pulse signal of " lifting " sends single-chip microcomputer to by predetermined protocol, specifically: single-chip microcomputer links to each other with the I/O mouth of field programmable gate array by the I/O mouth of its two 8 of P6, P7, totally 16 lines, wherein 8 the tunnel as input, 8 the tunnel as output, communicates by agreement and the field programmable gate array of stipulating; Described agreement is as follows;
7 6 5 4 3 2 1 0
| Significance bit | C3 | C2 | C1 | C0 | S2 | S1 | S0 |
Wherein: C3C2C1C0 is a command word, and S2S1S0 is an address bit;
Pass through S2S1S0 three bit address positions when single-chip microcomputer is wanted data to 8 bytes of field programmable gate array addressing, field programmable gate array returns the state of each button to single-chip microcomputer by each byte; Single-chip microcomputer is discerned the key-press status that field programmable gate array is passed back one by one by the mode of inquiry, when judging that button has " pressing " or " lifting " action it is encoded.
The remote keying method of the stepper motor driver of the CAN communication of aforementioned means, the controlled end decoding of wherein said step (5) generates control command, specifically: controlled termination is received the keyboard-coding of being sent here by the CAN communication network, distinguish actual actuation of keys according to the keyboard-coding agreement, " pressing " or " lifting " order of button is assigned to field programmable gate array by C3C2C1C0 four order of the bit words.
The remote keying method of the stepper motor driver of the CAN communication of aforementioned means, wherein said step (6) will be ordered the synthetic push button signalling that is reduced to, specifically be that order synthesis module in the field programmable gate array is equivalent to a rest-set flip-flop, two input end in1 and in2 that described " pressing " and " lifting " order is lost one's life respectively and made synthesis module, order synthesis module output is the push button signalling of " truly ": when in1 " presses " and in2 when " lifting " pulse signal and being " 0 ", the button attonity is described, maintains the original state; When " pressing " pulse signal, in1 is " 0 ", when " lifting " pulse signal for " 1 ", showing has " lifting " pulse signal, illustrates that the button of pressing originally has been lifted, should not provide driving pulse by the control step motor driver, this moment, push button signalling should be " 0 "; When " pressing " pulse signal is " 1 ", and " lifting " pulse signal shows that button is pressed during for " 0 ", and this moment, stepper motor should be worked, and push button signalling should be " 1 "; When " pressing " and " lifting " pulse signal is " 1 ", show that button " is pressed " " to be lifted " not only or " being lifted " but also " being pressed ", therefore maintain the original state.
The remote keying method of the stepper motor driver of the CAN communication of aforementioned means, wherein said step (7) generates drive signal and comprises stepping pulse signal CP and direction level signal DIR, field programmable gate array generates the pulse signal of a fixed frequency by frequency division, utilize this frequency signal and do AND operation, promptly generate stepping pulse signal CP by the push button signalling of controlled end reduction; And the method for direction level signal utilization order synthesis module is handled, in1 and two input ends of in2 that two push button signallings that just change, reverse are lost one's life respectively and made synthesis module as two input signals, the height that the output of order synthesis module promptly changes direction level signal changes, and then the control step motor positive and inverse.
The present invention compared with prior art has tangible advantage and beneficial effect.By technique scheme, the remote keying method and the device that the present invention is based on the stepper motor driver of CAN communication can reach suitable technical progress and practicality, and have the extensive value on the industry, and it has following advantage at least:
1, the remote keying method and the device of the stepper motor driver based on CAN communication of the present invention utilize CAN communication successfully to realize the antenna allotment control of high-power long wave sender, particularly manual remote keying, command range reaches several kilometers, and the antenna that satisfies high-power long wave sender is fully allocated the needs of manual remote keying; And guarantee stable use the in high-power high-frequency field intensity interference environment, respond well.
2, the remote keying method of the stepper motor driver based on CAN communication of the present invention and the action of install " pressing " and " lifting " of successfully having solved button are sampled and are handled to make and become the signal that the monolithic function is discerned, comprising the processing of the identification of key-press from false action and true action, mechanical springing that the actuation of keys process is produced, thereby guarantee to encode, communicate by letter and synthetic finishing.
3, the present invention is simple in structure, on the basis of CAN communication network multinode Long-distance Control, use a small amount of chip, realized stepper motor sky accent remote keying, cost is lower, has solved the existing in the use deficiency of prior art, on practicality of using and cost benefit, really it is required to meet industry development fully, quite has industrial utilization.
4, structure of the present invention really transferred manual adjustment, general motor keying to have more technical progress than existing day, and its particular structure feature and function also are far from existing control and can compare, more existing control method has the multinomial effect of enhancement, and the progressive on possessing skills.
In sum, the remote keying method and the device that the present invention is based on the stepper motor driver of CAN communication have above-mentioned plurality of advantages and practical value, no matter it all has bigger improvement on the structure of product or function, obvious improvement is arranged technically, and produced handy and practical effect, and more existing control method has the outstanding multinomial effect of enhancement, thus be suitable for practicality more, and have the extensive value of industry, really be a new and innovative, progressive, practical new design.
Above-mentioned explanation only is the general introduction of technical solution of the present invention, for can clearer understanding technological means of the present invention, and can be implemented according to the content of instructions, and for above-mentioned and other purposes, feature and advantage of the present invention can be become apparent, below especially exemplified by preferred embodiment, and conjunction with figs., be described in detail as follows.
Description of drawings
Fig. 1 is the theory diagram of remote keying device that the present invention is based on the stepper motor driver of CAN communication.
Fig. 2 is remote keying method and the manipulated or operated apparatus that the present invention is based on the stepper motor driver of CAN communication.
Fig. 3 is the block diagram of remote keying method that the present invention is based on the stepper motor driver of CAN communication.
Fig. 4 removes the key jitter oscillogram in the inventive method.
Fig. 5 is that oscillogram is handled in pulse strenching in the inventive method.
Drive signal forms oscillogram during Fig. 6.
Embodiment
Relevant aforementioned and other technology contents, characteristics and effect of the present invention can clearly present in the following detailed description that cooperates with reference to graphic preferred embodiment.By the explanation of embodiment, when can being to reach technological means that predetermined purpose takes and effect to get one more deeply and concrete understanding to the present invention, yet appended graphic only provide with reference to the usefulness of explanation, be not to be used for the present invention is limited.
See also Fig. 1, shown in Figure 2, the remote keying device of a kind of stepper motor driver based on CAN communication provided by the present invention, comprising button K, control end signal processor 1, CAN communication network 2 and controlled end signal processor 3, described button K connects described control end signal processor 1, the coded signal that described control end signal processor 1 is processed into push button signalling " pressing " or " lifting " send CAN communication network 2, and described controlled end signal processor 3 is accepted described " pressing " of being transmitted by CAN communication network 2 or the coded signal of " lifting " is decoded, synthesize the reduction push button signalling and generate control signal and send stepper motor driver.
As shown in Figure 2, button K in the described control end comprises just changes button K1 and reverse button K2, described control end signal processor 1 comprises control end field programmable gate array 1-1 and control end single-chip microcomputer 1-2, also be provided with photoisolator 4 in the described control end signal processor 1, control end digital isolator 5 and control end CAN communication interface 6, described controlled end signal processor 3 comprises controlled end single-chip microcomputer 3-1 and controlled end field programmable gate array 3-2, also is provided with controlled end CAN communication interface 7 in the described controlled end signal processor 3, controlled terminal number word isolator 8 and controlled end output digital isolator 9; Just described, anti-button K1, the control end field programmable gate array 1-1 that K2 connects in the described control end signal processor 1 by described photoisolator 4, will be just by the control end single-chip microcomputer 1-2 in the described control end signal processor 1, the reverse button signal Processing becomes the coded signal of " pressing " or " lifting ", send CAN communication network 2 through digital isolator 5 and control end CAN communication interface 6, described " pressing " or the coded signal of " lifting " that described controlled end CAN communication interface 7 acceptance are transmitted by CAN communication network 2, send controlled end single-chip microcomputer 3-1 in the described controlled end signal processor 3 through controlled terminal number word isolator 8, by described controlled end field programmable gate array 3-2 the coded signal of described " pressing " or " lifting " is decoded, synthesize the reduction push button signalling and generate control signal and send stepper motor driver by controlled end output digital isolator 9, in order to the control step motor, realize stepper motor and the synchronous just commentaries on classics of actuation of keys, the counter-rotating and stop.
Be provided with button decomposing module 11, pulse strenching module 12, counter 13 among the described control end field programmable gate array 1-1, reach communication module 14, wherein said counter 13 connects described push button signalling decomposing module 11, the input of described push button signalling decomposing module 11, it is the input I/O mouth (shown in Figure 2) of field programmable gate array, meet button K1, K2 by described photoisolator 4, the photoisolator that two models of employing are TLP521-1 among Fig. 2 connects forward and backward button K1, K2 respectively; The output of the push button signalling decomposing module 11 in the field programmable gate array connects described pulse strenching module 12, and letter module 14 is connected in the output of described pulse strenching module 12; Be provided with communication module 15, coding module 16 and CAN communication module 17 among the described control end single-chip microcomputer 1-2, wherein, the input end of the communication module 15 among the described control end single-chip microcomputer 1-2, be the I/O mouth of two 8 of P6, P7 of control end single-chip microcomputer and the I/O mouth of field programmable gate array 1-1, be that communication module 14 in the control end field programmable gate array links to each other, the output terminal of the communication module 15 among the described control end single-chip microcomputer 1-2 connects coding module 16, and the output of described coding module 16 connects the CAN communication module 17 in the control end single-chip microcomputer; Just described, reverse button K1, K2 connects I/O mouth 138 pins and 139 pins of described field programmable gate array 1-1 respectively by described photoisolator 4, described field programmable gate array is sampled to actuation of keys with the clock of 25MHz, the signal that is received the at first button decomposing module in field programmable gate array 11 compares with described counter 13 setting values, decompose, with just real, the reverse button signal Processing becomes the pulse signal of " pressing " or " lifting " to send the communication module 15 of control end single-chip microcomputer 1-2, the communication module 15 of described control end single-chip microcomputer 1-2 with receive " pressing " or " lifting " pulse signal send coding module 16 to encode, and CANARX and the CANTX port that will encode by CAN communication module 17 send control end CAN communication interface 6 through digital isolator 5.
Be provided with the communication module 33 of CAN communication module 31, decoder module 32 and controlled end single-chip microcomputer among the described controlled end single-chip microcomputer 3-1, CAN communication module 31 among the described controlled single-chip microcomputer 3-1 connects the communication interface 7 of described controlled end CAN by digital isolator 8, its output connects the input of decoder module 32, and the output of described decoder module 32 connects the communication module 33 of described controlled end single-chip microcomputer; The communication module 34, order synthesis module 35 and the driving pulse that are provided with controlled end field programmable gate array among the described controlled end field programmable gate array 3-2 form module 36; The communication module 34 of described controlled end field programmable gate array 3-2 connects the communication module 33 of described controlled end single-chip microcomputer, and its output connects the input of described order synthesis module 35, and the output of described order synthesis module 35 connects driving pulse and forms module 36; The CANARX of described controlled end single-chip microcomputer 3-1 and CANTX port, it is the coded signal that the input end of the CAN communication module 31 in the controlled end single-chip microcomputer is accepted the control end that digital isolator 8 sends, described single-chip microcomputer 3-1 is decoded into order with the coded signal that receives through decoder module 32, and described order is sent the I/O port of field programmable gate array 3-2 by the communication module 33 of controlled end single-chip microcomputer, it is the communication module 34 of controlled end field programmable gate array 3-2, the order that the communication module 34 of described controlled end field programmable gate array will receive is lost one's life and is made synthesis module 35 synthesize, be reduced to push button signalling, and send driving pulse to form module 36 generation driving pulses the push button signalling that is reduced and send stepper motor driver.
Field programmable gate array 1-1 in the described control end signal processor 1, field programmable gate array 3-2 in single-chip microcomputer 1-2 and the controlled end signal processor 3, the model of single-chip microcomputer 3-1 is identical, the model of described field programmable gate array is XC2S200, the model of described single-chip microcomputer has been an integrated C8051F040 as the CAN2.0B controller of CAN communication module, described single-chip microcomputer passes through P6, the I/O mouth that P7 is two 8 links to each other with the I/O mouth of field programmable gate array, totally 16 lines, wherein 8 the tunnel as input, 8 the tunnel as output, communicates by predetermined protocol and field programmable gate array.
As Fig. 3, Fig. 4, Fig. 5, shown in Figure 6, the remote keying method of the stepper motor driver of a kind of CAN communication based on aforementioned means provided by the present invention may further comprise the steps:
(1) the field programmable gate array 1-1 of push button signalling input control end samples to actuation of keys with the clock frequency of work, and button is in and is that depressed position high level, button are in that to lift the position be low level;
(2-1) judge whether to be actual signal? the field programmable gate array of control end compares according to the end-state and the virgin state of a plurality of shake pulses that produced in course of action of button, be false triggering if state is identical, otherwise be actual signal, to avoid false triggering;
(2-2) a plurality of shake pulses that produce in the course of action that " pressing " or " lifting " pulse presses button or lift are decomposed, and only generate " pressing " or " lifting " pulse that a width is a field programmable gate array clock period;
(3) pulse delay broadening field programmable gate array is that the pulse strenching of a field programmable gate array clock period " pressing " or " lifting " is the cycle period that surpasses the single-chip microcomputer master routine with width, and sends it to single-chip microcomputer by predetermined protocol;
(4) the pulse code single-chip microcomputer is encoded to " pressing " or " lifting " action of button, and through the CAN communication interface coded signal is sent to controlled end by the CAN communication network;
(5) single-chip microcomputer in the controlled end signal processor of controlled end decoding generation control command is accepted coded signal by communication interface, and decoding and generation control command are sent the field programmable gate array in the controlled end signal processor;
(6) will order that synthetic to be reduced to order that the field programmable gate array in the controlled end signal processor of push button signalling will receive synthetic and be reduced to push button signalling;
(7) field programmable gate array that generates in the controlled end signal processor of drive signal send stepper motor driver according to push button signalling generation driving pulse.
Fig. 4 illustrates the oscillogram of step (2) push button signalling decomposition method, wherein clk is the clock signal of system, PB is for pressing key input signal, state is that (described state only uses for explanation for push button signalling after trembling, be not the output signal of the button decomposing module in the field programmable gate array), the signal that PB_down " presses " for the button of button decomposing module output, the signal that the button that PB_up exports for the button decomposing module " lifts ".In the PB push button signalling, PB1 is a plurality of shake pulses that button false triggering process is produced, PB2 is " pressing " a plurality of shake pulses that process produced of true action, PB3 not necessarily equates for " lifting " a plurality of shake pulses that process produced of true action, the width of a plurality of shake pulses that produced in all said process.
The concrete grammar that decomposes in conjunction with Fig. 4 description of step (2) push button signalling: measure in advance that button once " is pressed " or " lifting " process in the duration Δ ta of broad pulse in a plurality of shake pulses of being produced, a counter is set in the programmable gate array at the scene, and its gate time Δ t is greater than the duration Δ ta of broad pulse; Button is once moved each shake pulse of being produced in (" pressing " PB2 or " lifting " PB3 of comprising misoperation PB1 and true action) process all to be compared with the virgin state of button, if difference is the enabling counting device then, it is identical with virgin state to occur key-press status during the counting, then counter is reset, do not provide pulse, judge misoperation or actual signal with this; As the PB1 among Fig. 4, become " 1 " in time t 1 shake pulse by " 0 ", virgin state is " 0 ", therefore counter begins counting, before not reaching gate time Δ t, during t1-1, the key-press status that this shake pulse is reflected becomes " 0 " by " 1 ", identical with the virgin state of button, counter is reset; During to t1-2, the shake pulse becomes " 1 " by " 0 " again, counter begins counting again, so constantly reset, count up to time t2, at this moment, the shake key-press status that pulse reflected becomes " 1 " by " 0 ", different with the virgin state of button, counter begins counting once more, after overflowing, key-press status is identical with virgin state, do not provide the pulse PB_down or the PB_up that represent actuation of keys, reflect that promptly PB1 is misoperation, button decomposing module 11 does not produce pulse signal PB_down or PB_up, state maintains the original state, and judges whether to be actual signal with this.
When time of arrival during t3, shake pulse PB2 appears, become " 1 " by " 0 ", virgin state be " 0 ", so counter begins to count; Before not reaching gate time Δ t, it is identical with virgin state constantly to occur key-press status during the counting, counter is reset repeatedly, is counted, up to time t4, shake pulse PB2, become " 1 " by " 0 ", counter begins counting, through setting gate time Δ t, promptly in t4 arrived the time range of t4+ Δ t, it was identical with virgin state key-press status not occur, counter overflows, button decomposing module 11 provides a pulse PB_down who represents button " to press ", and state becomes " 1 " by " 0 ", represents button " to be pressed ".
When time of arrival during t5, shake pulse PB3 appears, become " 0 " by " 1 ", virgin state be " 1 ", so counter begins to count; Before not reaching gate time Δ t, it is identical with virgin state constantly to occur key-press status during the counting, counter is reset repeatedly, is counted, up to time t6, shake pulse PB3, become " 0 " by " 1 ", counter begins counting, through setting gate time Δ t, promptly in t6 arrived the time range of t6+ Δ t, it was identical with virgin state key-press status not occur, counter overflows, button decomposing module 11 provides a pulse PB_up who represents button " to lift ", and state becomes " 0 " by " 1 ", represents button " to be lifted ".
Step (3) described with the pulse delay broadening be provided with in the programmable gate array at the scene a pulse strenching module just width be that the pulse strenching of " pressing " or " lifting " of a field programmable gate array clock period is for surpassing the cycle period of single-chip microcomputer master routine.
See also oscillogram shown in Figure 5, clk is the clock signal of system among the figure, rst is that reset signal is the initial value that counter is set, and trig is button decomposing module true " pressing " and " lifting " pulse signal after going to tremble, and out is the signal of exporting after the pulse strenching.
Because the single-chip microcomputer coding is adopted in the CAN of native system communication, and the pulse signal of " pressing " and " lifting " (among the figure 5 in trig) only is the pulse of a field programmable gate array clock period, the work in series mode of single-chip microcomputer itself can not capture the signal of this response speed, consider its Limited resources, utilize the interrupt resources of single-chip microcomputer itself not to be suitable for the processing of a large amount of buttons.So for the pulse signals coding, carry out broadening by pulse strenching module pulse signals is set in the field programmable gate array, the broadening width was adjusted according to the cycle of a major cycle of single-chip microcomputer, guaranteed that it surpasses the cycle period of single-chip microcomputer master routine.The circulation of the each master routine of single-chip microcomputer utilization is inquired about the action whether each button has " pressing " or " lifting " to field programmable gate array like this, thereby action is encoded.
Carry out pulse strenching with going true " pressing " after the button decomposing module goes to tremble with " lifting " two pulse signal trig1 and trig2, utilize the pulse strenching module that the trigger pulse of importing is carried out broadening, surpass a clock period, just export two corresponding pulse out expansions 1 and out expansion 2, in complete pulse process of output, no matter import what trigger pulses, all only can export a pulse.As shown in the figure, expand in 2 recurrence intervals, occur a trig3 again, at this moment, can not export an expansion pulse again because of the appearance of trig3 at the output out that trig2 expanded.The method width of exporting this stretched pulse is stable, accurate.Because do not have external R, C timing device, its pulse width is only relevant with the performance of clock frequency that is adopted and FPGA.
Step (3) is described will " be pressed " or the pulse signal of " lifting " sends single-chip microcomputer to by predetermined protocol, specifically: single-chip microcomputer links to each other with the I/O mouth of field programmable gate array by the I/O mouth of its two 8 of P6, P7, totally 16 lines, wherein 8 the tunnel as input, 8 the tunnel as output, communicates by agreement and the field programmable gate array of stipulating; Described agreement is as follows;
7 6 5 4 3 2 1 0
| Significance bit | C3 | C2 | C1 | C0 | S2 | S1 | S0 |
Wherein: C3C2C1C0 is a command word, and S2S1S0 is an address bit;
Pass through S2S1S0 three bit address positions when single-chip microcomputer is wanted data to 8 bytes of field programmable gate array addressing, field programmable gate array returns the state of each button to single-chip microcomputer by each byte; Single-chip microcomputer is discerned the key-press status that field programmable gate array is passed back one by one by the mode of inquiry, has " pressing " or " lifting " when action that it is encoded when judgement has button.
The described single-chip microcomputer of step (4) is encoded to " pressing " or " lifting " action of button, as: single-chip microcomputer is judged " pressing ", then is encoded to 0x22; Single-chip microcomputer is judged " lifting ", then is encoded to 0x11, and the order that has other buttons to compile again is different with it just passable, then this order is sent out by the CAN router
The described controlled end decoding of step (5) generates control command, specifically: controlled termination is received the keyboard-coding of being sent here by the CAN communication network, distinguish actual actuation of keys according to the keyboard-coding agreement, " pressing " or " lifting " order of button is assigned to field programmable gate array by C3C2C1C0 four order of the bit words.
Step (6) is described will order the synthetic push button signalling that is reduced to, specifically be that order synthesis module in the field programmable gate array is equivalent to a rest-set flip-flop, two input end in1 and in2 (referring to table 1 and Fig. 6) that communication module 34 among the controlled end field programmable gate array 3-2 is lost one's life aforementioned " pressing " and " lifting " order after expansion that is received respectively and made synthesis module, 35 outputs of order synthesis module are the push button signalling out key of " truly ", and clock is the clock signal of system; When two input end in1 " press " and in2 when " lifting " pulse signal and being " 0 ", as the t2 among Fig. 6, t4, t6, t8 time, the button attonity is described, maintain the original state, wherein t2, t6 keep being output as " 1 ", be that button is in " pressing " state, t4, t8 keep being output as " 0 ", and promptly " button " is in " lifting " state; When " pressing " pulse signal, in1 is " 0 ", when in2 " lifts " pulse signal for " 1 ", t3 among the figure, t7 shows that " lifting " pulse signal is arranged, illustrate that the button of pressing originally is lifted, should not provide driving pulse by the control step motor driver, this moment, push button signalling out key should be " 0 "; When in1 " presses " pulse signal for " 1 ", and in2 is when " lifting " pulse signal for " 0 ", and t1, t5 among the figure show that button is pressed, and this moment, stepper motor should be worked, and signal out key should be " 1 "; When in1 " presses " and in2 when " lifting " pulse signal and being " 1 ", t9 among the figure show that button " is pressed " " to be lifted " not only or " being lifted " but also " being pressed ", so the out key maintains the original state.
Table 1
| Press In1 | Lift In2 | Push button signalling Out key |
| 0 | 0 | Maintain the original state |
| 0 | 1 | 0 |
| 1 | 1 | 0 |
| 1 | 1 | Maintain the original state |
The described generation drive signal of step (7), described drive signal comprises stepping pulse signal CP and direction level signal DIR, because stepper motor driver (that select for use is SH-2H090M), its drive signal is mainly stepping pulse signal CP and direction level signal DIR.Because native system, need not carry out the design of stepper motor lifting speed to the requirement of rotating speed and manual control mode, only need utilize field programmable gate array can meet the demands by the frequency signal that frequency division generates a fixed pulse.Utilize this frequency signal and by the push button signalling of controlled end reduction do " with " computing, can generate the stepper motor pulse signal.
And direction level signal utilizes the method for order synthesis module to handle, and two push button signallings that will just change, reverse both can change the height variation of direction level signal respectively as in1 and two inputs of in2, merit and control step motor positive and inverse.
Because during motor commutation, must after stopping operating, motor commutate again, and behind last CP end-of-pulsing of previous direction and before first CP pulse of next direction, send, so do the formation that an of short duration time-delay control program retrains the CP pulse by field programmable gate array, and the DIR signal is in case export the CP pulse again after changing several system clock cycles of just delaying time.
The above, it only is preferred embodiment of the present invention, be not that the present invention is done any pro forma restriction, though the present invention discloses as above with preferred embodiment, yet be not in order to limit the present invention, any those skilled in the art, in not breaking away from the technical solution of the present invention scope, when the technology contents that can utilize above-mentioned announcement is made a little change or is modified to the equivalent embodiment of equivalent variations, in every case be the content that does not break away from technical solution of the present invention, according to technical spirit of the present invention to any simple modification that above embodiment did, equivalent variations and modification all still belong in the scope of technical solution of the present invention.
Claims (10)
1. remote keying device based on the stepper motor driver of CAN communication, it is characterized in that comprising button, the control end signal processor, CAN communication network and controlled end signal processor, described button connects described control end signal processor, the coded signal that described control end signal processor is processed into push button signalling " pressing " or " lifting " send CAN communication network, and described controlled end signal processor acceptance is decoded by the coded signal of " pressing " or " lifting " that the CAN communication network transmits, synthesize to be reduced to push button signalling and to generate control signal and send stepper motor driver.
2. the remote keying device of the stepper motor driver based on CAN communication according to claim 1, it is characterized in that button K in the described control end comprises just changes button and reverse button, described control end signal processor comprises control end field programmable gate array and control end single-chip microcomputer, also be provided with photoisolator in the described control end signal processor, control end digital isolator and control end CAN communication interface, described controlled end signal processor comprises controlled end single-chip microcomputer and controlled end field programmable gate array, also is provided with controlled end CAN communication interface in the described controlled end signal processor, controlled terminal number word isolator and controlled end output digital isolator; Just described, anti-button connects control end field programmable gate array in the described control end signal processor by described photoisolator, will be just by the control end single-chip microcomputer in the described control end signal processor, the reverse button signal Processing becomes the coded signal of " pressing " or " lifting ", send CAN communication network through digital isolator and control end CAN communication interface, described " pressing " or the coded signal of " lifting " that described controlled end CAN communication interface acceptance is transmitted by the CAN communication network, send controlled end single-chip microcomputer in the described controlled end signal processor through controlled terminal number word isolator, the coded signal of described " pressing " or " lifting " is decoded by described controlled end field programmable gate array, synthesize to be reduced to push button signalling and to generate control signal and send stepper motor driver by controlled end output digital isolator.
3. the remote keying device of the stepper motor driver based on CAN communication according to claim 2, it is characterized in that being provided with the button decomposing module in the described control end field programmable gate array, the pulse strenching module, counter and communication module, wherein said counter connects described push button signalling decomposing module, the input of described push button signalling decomposing module, it is the input I/O mouth of field programmable gate array, connect button by described photoisolator, the output of push button signalling decomposing module connects described pulse strenching module, and the letter module is connected in the output of described pulse strenching module; Be provided with communication module, coding module and CAN communication module in the described control end single-chip microcomputer, wherein, the input end of the communication module in the described control end single-chip microcomputer, be the I/O mouth of two 8 of P6, P7 of control end single-chip microcomputer and the I/O mouth of field programmable gate array, be that communication module in the control end field programmable gate array links to each other, the output terminal of the communication module in the described control end single-chip microcomputer connects coding module, and the output of described coding module connects the CAN communication module in the control end single-chip microcomputer; Just described, reverse button connects I/O mouth 138 pins and 139 pins of described field programmable gate array respectively by described photoisolator, described field programmable gate array is sampled to actuation of keys with the clock of 25MHz, the signal that is received the at first warp of the button decomposing module in field programmable gate array compares with described counter setting value, decompose, with just real, the reverse button signal Processing becomes the pulse signal of " pressing " or " lifting " to send the communication module of control end single-chip microcomputer, the communication module of described control end single-chip microcomputer with receive " pressing " or " lifting " pulse signal send coding module to encode, and CANARX and the CANTX port that will encode by the CAN communication module send control end CAN communication interface through digital isolator;
Be provided with the communication module of CAN communication module, decoder module and controlled end single-chip microcomputer in the described controlled end single-chip microcomputer, CAN communication module in the described controlled single-chip microcomputer connects the communication interface of described controlled end CAN by digital isolator, its output connects the input of decoder module, and the output of described decoder module connects the communication module of described controlled end single-chip microcomputer; The communication module, order synthesis module and the driving pulse that are provided with controlled end field programmable gate array in the described controlled end field programmable gate array form module; The communication module of described controlled end field programmable gate array connects the communication module of described controlled end single-chip microcomputer, and its output connects the input of described order synthesis module, and the output of described order synthesis module connects driving pulse and forms module; The CANARX of described single-chip microcomputer and CANTX port, it is the coded signal that the input end of the CAN communication module in the controlled end single-chip microcomputer is accepted the control end that digital isolator sends, described single-chip microcomputer is decoded into order with the coded signal that receives through decoder module, and described order is sent the I/O port of field programmable gate array by the communication module of controlled end single-chip microcomputer, it is the communication module of controlled end field programmable gate array, the order that the communication module of described controlled end field programmable gate array will receive is lost one's life and is made synthesis module synthesize, be reduced to push button signalling, and send driving pulse to form module generation driving pulse institute's reduction push button signalling and send stepper motor driver.
4. according to the remote keying device of the described stepper motor driver based on CAN communication of claim 2, it is characterized in that the field programmable gate array in the described control end signal processor, field programmable gate array in single-chip microcomputer and the controlled end signal processor, the model of single-chip microcomputer is identical, the model of described field programmable gate array is XC2S200, the model of described single-chip microcomputer the has been integrated C8051F040 of a CAN communication module, described single-chip microcomputer passes through P6, the I/O mouth that P7 is two 8 links to each other with the I/O mouth of field programmable gate array, totally 16 lines, wherein 8 the tunnel as input, 8 the tunnel as output, communicates by predetermined protocol and field programmable gate array.
5. remote keying method based on the stepper motor driver of the CAN of the described device of claim 1 communication is characterized in that may further comprise the steps:
(1) field programmable gate array of push button signalling input control end is sampled to actuation of keys with the clock frequency of work, and button is in and is that depressed position high level, button are in that to lift the position be low level;
(2) push button signalling decomposes
(2-1) judge whether to be actual signal? the field programmable gate array of control end compares according to the end-state and the virgin state of a plurality of shake pulses that produced in course of action of button, be false triggering if state is identical, otherwise be actual signal, to avoid false triggering;
(2-2) a plurality of shake pulses that produce in the course of action that " pressing " or " lifting " pulse presses button or lift are decomposed, and only generate " pressing " or " lifting " pulse that a width is a field programmable gate array clock period;
(3) field programmable gate array of pulse delay broadening control end is that the pulse strenching of a field programmable gate array clock period " pressing " or " lifting " is the cycle period that surpasses the single-chip microcomputer master routine with width, and sends it single-chip microcomputer of control end to by predetermined protocol;
(4) single-chip microcomputer of pulse code control end is encoded to " pressing " or " lifting " action of button, and through the CAN communication interface coded signal is sent to controlled end by the CAN communication network;
(5) single-chip microcomputer in the controlled end signal processor of controlled end decoding generation control command is accepted coded signal by communication interface, and decoding and generation control command are sent the field programmable gate array in the controlled end signal processor;
(6) will order that synthetic to be reduced to order that the field programmable gate array in the controlled end signal processor of push button signalling will receive synthetic and be reduced to push button signalling;
(7) field programmable gate array that generates in the controlled end signal processor of drive signal send stepper motor driver according to push button signalling generation driving pulse.
6. according to the remote keying method of the stepper motor driver of the CAN of the described device of claim 5 communication, it is characterized in that the concrete grammar that described step (2) push button signalling decomposes is: measure in advance that button once " is pressed " or " lifting " process in duration of broad pulse in a plurality of shake pulses of being produced, a counter is set in the programmable gate array at the scene, and its gate time is greater than the duration of broad pulse; In course of action of button, comprise misoperation and true action, each the shake pulse that is produced and the virgin state of button compare, if difference is the enabling counting device then, it is identical with virgin state to occur key-press status during the counting, then counter is reset, and does not provide pulse, judges misoperation or actual signal with this; It is identical with virgin state not occur key-press status during the counting, overflows up to counter, then provides one and represents button " to press " or the pulse of " lifting ".
7. according to the remote keying method of the stepper motor driver of the CAN of the described device of claim 5 communication, it is characterized in that described step (3) with the pulse delay broadening be provided with in the programmable gate array at the scene a pulse strenching module just width be that the pulse strenching of " pressing " or " lifting " of a field programmable gate array clock period is for surpassing the cycle period of single-chip microcomputer master routine;
Describedly will " press " or the pulse signal of " lifting " sends single-chip microcomputer to by predetermined protocol, specifically: single-chip microcomputer links to each other with the I/O mouth of field programmable gate array by the I/O mouth of its two 8 of P6, P7, totally 16 lines, wherein 8 the tunnel as input, 8 the tunnel as output, communicates by agreement and the field programmable gate array of stipulating; Described agreement is as follows;
Wherein: C3C2C1C0 is a command word, and S2S1S0 is an address bit;
Pass through S2S1S0 three bit address positions when single-chip microcomputer is wanted data to 8 bytes of field programmable gate array addressing, field programmable gate array returns the state of each button to single-chip microcomputer by each byte; Single-chip microcomputer is discerned the key-press status that field programmable gate array is passed back one by one by the mode of inquiry, when judging that button has " pressing " or " lifting " action it is encoded.
8. according to the remote keying method of the stepper motor driver of the CAN of the described device of claim 5 communication, it is characterized in that the controlled end decoding of described step (5) generates control command, specifically: controlled termination is received the keyboard-coding of being sent here by the CAN communication network, distinguish actual actuation of keys according to the keyboard-coding agreement, " pressing " or " lifting " order of button is assigned to field programmable gate array by C3C2C1C0 four order of the bit words.
9. according to the remote keying method of the stepper motor driver of the CAN of the described device of claim 5 communication, it is characterized in that described step (6) will order the synthetic push button signalling that is reduced to, specifically be that order synthesis module in the field programmable gate array is equivalent to a rest-set flip-flop, two input end in1 and in2 that described " pressing " and " lifting " order is lost one's life respectively and made synthesis module, order synthesis module output is the push button signalling of " truly ": when in1 " presses " and in2 when " lifting " pulse signal and being " 0 ", the button attonity is described, maintains the original state; When " pressing " pulse signal, in1 is " 0 ", when " lifting " pulse signal for " 1 ", showing has " lifting " pulse signal, illustrates that the button of pressing originally has been lifted, should not provide driving pulse by the control step motor driver, this moment, push button signalling should be " 0 "; When " pressing " pulse signal is " 1 ", and " lifting " pulse signal shows that button is pressed during for " 0 ", and this moment, stepper motor should be worked, and push button signalling should be " 1 "; When " pressing " and " lifting " pulse signal is " 1 ", show that button " is pressed " " to be lifted " not only or " being lifted " but also " being pressed ", therefore maintain the original state.
10. according to the remote keying method of the stepper motor driver of the CAN of the described device of claim 5 communication, it is characterized in that described step (7) generates drive signal and comprises stepping pulse signal CP and direction level signal DIR, field programmable gate array generates the pulse signal of a fixed frequency by frequency division, utilize this frequency signal and do AND operation, promptly generate stepping pulse signal CP by the control key signal of controlled end reduction; And the method for direction level signal utilization order synthesis module is handled, in1 and two input ends of in2 that two push button signallings that just change, reverse are lost one's life respectively and made synthesis module as two input signals, the height that the output of order synthesis module promptly changes direction level signal changes, and then the control step motor positive and inverse.
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