CN103067237B - Electric bag or sack cleaner based on CAN communication agreement control system and communication adjustment method - Google Patents
Electric bag or sack cleaner based on CAN communication agreement control system and communication adjustment method Download PDFInfo
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The present invention relates to a kind of CAN communication agreement controlling system for electricity bag or sack cleaner, present invention also offers the communication adjustment method of the system CAN bus based on CAN communication agreement, and a kind of electric bag based on CAN communication agreement or sack cleaner control system. Data communication between each node of network that CAN is constituted is real-time, and easily constitutes redundancy structure, improves the reliability of system and the motility of system; When system is wrong, when multinode occurring simultaneously to bus transmission data, cause that bus presents short circuit, thus damaging the phenomenon of some node; And CAN node has when mistake is serious and is automatically switched off output function, so that the operation of other nodes is unaffected in bus, thus ensureing not have as in a network, because respective nodes goes wrong so that bus is in " deadlock " state; And with other fieldbus comparatively, CAN also has the various features such as traffic rate height, easily realization and cost performance height.
Description
Technical field
The present invention relates to a kind of CAN communication agreement, more specifically, relate to a kind of CAN communication agreement controlling system for electricity bag or sack cleaner, present invention also offers the communication adjustment method of the system CAN bus based on CAN communication agreement, and a kind of electric bag based on CAN communication agreement or sack cleaner control system.
Background technology
Fieldbus is that one is applied to production scene, at the scene between equipment, carries out digital communication technology two-way, string shape, many nodes between field apparatus and control device. Also exist about more than 40 at present in the world and plant fieldbus. In current engineering project, bag area controller is essentially all employing PLC. And PLC is essentially all and adopts the field bus protocol based on 485 networks to carry out communication with remote site.
CAN is the abbreviation of controller local area network (ControllerAreaNetwork, CAN), is developed by the German BOSCH company researching and developing and producing automobile electronics famous, and to eventually become be the serial communication protocol of ISO International standardization. It it is one of most widely used fieldbus in the world. CAN is a kind of serial many main station controllers local area network bus. It has significantly high internet security, communication reliability and real-time, and simple and practical, and network cost is low.
The shortcoming of prior art: based on the field bus communication agreement of 485 networks, generally can only constitute primary and secondary structure system, communication mode also can only carry out in the way of main website poll, the real-time of system, reliability be poor and RS-485 network occurs now and then multinode simultaneously to bus send data time, cause that bus presents short circuit, thus damaging " dead chain " phenomenon of some node.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, a kind of special CAN communication agreement is provided, there is provided the communication modes of a kind of relatively reliable, quick, distance, it is achieved controlled the dcs being applied to sack cleaner combined by event-driven and loop cycle.
Technical scheme is as follows:
A kind of CAN communication agreement controlling system for electricity bag or sack cleaner, follow CAN2.0B specification, each node has fixing mark address, described agreement adopts frame priority principle distribution marker, different frame types has different priority, being determined various information frame transmission order under square one by priority, the structure of each frame identifier is: frame type+reserved bit+sender's type+destination address+source address+package number.
As preferably, described identifier is 29, particularly as follows: 4 frame types, 1 reserved bit, 1 sender's type, 7 destination addresses, 7 potential source addresses and 9 bit data packet numbers.
As preferably, 4 frame types respectively define: 0000 is warning message; 0001 for performing message synchronization frame; 0010 is order/state parameter; 0011 is configuration parameter; 0100 for retransmitting application; 0110 is state message synchronization frame; 1000 abandon for bus; 1001 for patrolling and examining frame or confirming Echo Frame.
As preferably, 1 sender's type respectively defines: 0 transmits for main frame; 1 transmits for slave computer.
As preferably, the arbitration field of the frame format of agreement is by identifier and SRR(SubstituteRemoteRequestBIT, full name is: substitute remote request position), IDE(IdentifierExtensionBit, full name is: identifier extension bits) and RTR(RemoteTransmissionRequestBIT, full name is: remotely send request position) composition; During transmission, SRR=1, IDE=1, RTR=1 or 0; During RTR=1, represent to be currently remote frame, during RTR=0, represent to be currently Frame.
Based on the communication adjustment method of the system CAN bus of CAN communication agreement, including main frame dispatch, slave computer dispatch; Described main frame sends successively: performs message synchronization frame, perform message, function message, state message synchronization frame; Slave computer sends: state message; Main frame dispatch duration and a slave computer dispatch duration constitute a communication cycle.
As preferably, described execution message synchronization frame, state message synchronization frame are respectively started main frame dispatch, slave computer dispatch, and for the broadcast singal that main frame sends, the slave computer receiving described message empties transmission relief area.
As preferably, the data that the Current communications cycle does not send, it is transmitted in next cycle.
As preferably, being provided with fault-tolerant district in function message interframe Tong Bu with state message; Fault-tolerant district it is provided with after state message.
As preferably, function message includes: when main frame powers on, roll-call message, host acknowledgement are believed, patrolled and examined message, perform the systemic-function between main frame and slave computer, specific as follows:
1) main frame is according to system configuration information by sequence of addresses, and when being powered on by main frame, slave computer is called the roll by roll-call message successively;
2) slave computer is carried out on-line checking by patrolling and examining message by main frame, if slave computer is online, then slave computer makes response within the Current communications cycle, registers to main frame, and response content includes the address number of slave computer, module type;
3) if address number is corresponding with module type, then main frame continues, to the configuration parameter needed for slave computer delivery module normal operation, running parameter, if address number and module type are not corresponding, then to report to the police;
4) after configuration parameter, running parameter are sent, main frame position machine still further below sends host acknowledgement letter, and slave computer is operated after receiving host acknowledgement letter.
As preferably, the operating mode that described state message is detected the slave computer each node of detection by operating mode obtains, for reporting node state to main frame; In communication cycle, with state message synchronization frame for time synchronized point, each operating mode detection slave computer sends the operating mode of each node by the order preset.
As preferably, configuration standby host is sent the documents with main frame simultaneously, and each slave computer accepts main frame and the message of standby host transmission simultaneously, if data inerrancy, then obeys host computer control, and transmits request standby host stopping dispatch.
A kind of electric bag based on CAN communication agreement or sack cleaner control system, based on CAN communication agreement, it then follows CAN2.0B specification; Described control system includes main control module, slave computer, and main control module and slave computer are attached by CAN.
As preferably, described slave computer includes analog input modular converter, pulse valve output control module, conventional output module, switching input module; Analog input modular converter, pulse valve output control module, conventional output module, switching input module are connected with the actuator of cleaner unit.
As preferably, main control module is connected to IPC host computer, and main control module and IPC host computer are communicated by Ethernet.
Beneficial effects of the present invention is as follows:
CAN communications protocol can work under multiple host pattern, each node in network all can adopt the mode of bit-by-bit arbitration of lossless structure to compete according to bus access priority (depending on message identifier) and send data to bus, and CAN protocol abolished station address coding, and instead communication data is encoded, this can make different nodes be simultaneously received identical data, these features make the data communication between each node of network that CAN is constituted real-time, and easily constitute redundancy structure, improve the reliability of system and the motility of system; CAN is connected with physical bus by two outfan CANH and CANL of CAN transceiver interface chip 82C250, and the state of CANH end can only be high level or suspended state, CANL end can only be low level or suspended state, this ensures that will not in the phenomenon in occurring in RS-485 network, namely when system is wrong, when multinode occurring simultaneously to bus transmission data, cause that bus presents short circuit, thus damaging the phenomenon of some node; And CAN node has when mistake is serious and is automatically switched off output function, so that the operation of other nodes is unaffected in bus, thus ensureing not have as in a network, because respective nodes goes wrong so that bus is in " deadlock " state; And with other fieldbus comparatively, CAN also has the various features such as traffic rate height, easily realization and cost performance height.
Accompanying drawing explanation
Fig. 1 is the communication cycle schematic diagram of the communication adjustment method of system CAN bus of the present invention;
Fig. 2 is the connection diagram of dust cleaner control system of the present invention;
In Fig. 2: 1 is IPC host computer, and 2 is main control module, 3 is analog input modular converter, and 4 is pulse valve output control module, and 5 is conventional output module, and 6 is switching input module, and 7 is cleaner unit actuator.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail.
A kind of CAN communication agreement controlling system for electricity bag or sack cleaner, follow CAN2.0B specification, each node has fixing mark address, described agreement adopts frame priority principle distribution marker, different frame types has different priority, being determined various information frame transmission order under square one by priority, the structure of each frame identifier is: frame type+reserved bit+sender's type+destination address+source address+package number.
Described identifier is 29, particularly as follows: 4 frame types, 1 reserved bit, 1 sender's type, 7 destination addresses, 7 potential source addresses and 9 bit data packet numbers.
4 frame types respectively define: 0000 is warning message; 0001 for performing message synchronization frame; 0010 is order/state parameter; 0011 is configuration parameter; 0100 for retransmitting application; 0110 is state message synchronization frame; 1000 abandon for bus; 1001 for patrolling and examining frame or confirming Echo Frame.
1 sender's type respectively defines: 0 transmits for main frame; 1 transmits for slave computer.
The arbitration field of the frame format of agreement is by identifier and SRR(SubstituteRemoteRequestBIT, full name is: substitute remote request position), IDE(IdentifierExtensionBit, full name is: identifier extension bits) and RTR(RemoteTransmissionRequestBIT, full name is: remotely send request position) composition; During transmission, SRR=1, IDE=1, RTR=1 or 0; During RTR=1, represent to be currently remote frame, during RTR=0, represent to be currently Frame.
Embodiment
1, agreement principle
Following CAN2.0B specification, the method adopting " source → purpose ", each node module (or claiming slave computer) has oneself fixing mark address. This agreement can complete following functions:
(1) broadcast message;
(2) connection between main frame and each node module;
(3) the information exchange between main frame and each node module.
This agreement adopts frame priority principle distribution marker, high four in each frame identifier represent frame type, different frame type has different priority, and priority determines various information frame transmission order under square one, being allocated as follows of 29 bit identifiers in agreement:
Frame type (4)+reserved bit (1)+sender's type (1)+destination address (7)+source address (7)+package number (9).
To all of order or data, except the data that timing acquiring sends, it is both needed to response (sending acknowledgement frame to ensure that communication is normal) in principle.
2, frame format arbitration field and controlling filed definition
Arbitration field is made up of 29 bit identifier ID28-ID0 and SRR, IDE and RTR. During transmission, SRR=1, IDE=1, RTR=1/0(remote frame/Frame).
The specific descriptions of 29 bit identifiers are as shown in table 1:
Table 1:29 bit identifier explanation
The communication adjustment method of a kind of system CAN bus based on CAN communication agreement, including main frame dispatch, slave computer dispatch; Described main frame sends successively: performs message synchronization frame, perform message, function message, state message synchronization frame; Slave computer sends: state message; Main frame dispatch duration and a slave computer dispatch duration constitute a communication cycle, as shown in Figure 1.
Described execution message synchronization frame, state message synchronization frame are respectively started main frame dispatch, slave computer dispatch, and for the broadcast singal that main frame sends, the slave computer receiving described message empties transmission relief area.
The data that the Current communications cycle does not send, were transmitted in next cycle.
It is provided with fault-tolerant district in function message interframe Tong Bu with state message; Fault-tolerant district it is provided with after state message.
Function message includes: when main frame powers on, roll-call message, host acknowledgement are believed, patrolled and examined message, perform the systemic-function between main frame and slave computer, specific as follows:
1) main frame is according to system configuration information by sequence of addresses, and when being powered on by main frame, slave computer is called the roll by roll-call message successively;
2) slave computer is carried out on-line checking by patrolling and examining message by main frame, if slave computer is online, then slave computer makes response within the Current communications cycle, registers to main frame, and response content includes the address number of slave computer, module type;
3) if address number is corresponding with module type, then main frame continues, to the configuration parameter needed for slave computer delivery module normal operation, running parameter, if address number and module type are not corresponding, then to report to the police;
4) after configuration parameter, running parameter are sent, main frame position machine still further below sends host acknowledgement letter, and slave computer is operated after receiving host acknowledgement letter.
The operating mode that described state message is detected the slave computer each node of detection by operating mode obtains, for reporting node state to main frame; In communication cycle, with state message synchronization frame for time synchronized point, each operating mode detection slave computer sends the operating mode of each node by the order preset.
Embodiment
The system worked well stage presses communication cycle periodic duty, and a communication cycle is divided into main frame dispatch period and slave computer dispatch period.
1, performing message synchronization frame and state message synchronization frame and indicate the beginning of respective period respectively, for the broadcast singal that main frame sends, the slave computer receiving this message empties transmission relief area, does not send next cycle of data and sends out.
2, all there are fault-tolerant district two periods.
3, message is performed: require to perform the command information of module action, send by configuration order. Send on demand, it does not have then do not send out, used time in this stage random length.
4, function message: perform systemic-function, send on demand, it does not have then do not send out, used time random length.
Including:
4.1, roll-call message when main frame powers on: slave computer is called the roll successively by sequence of addresses by main frame according to system configuration information, it is desirable to slave computer must in the response of this time window, and response content includes the information such as the address number of slave computer, module type. The slave computer consistent with module type to address, transmits downwards the information such as the configuration parameter needed for slave computer normal operation, running parameter, otherwise reports to the police. Main frame preserves all configuration informations, safeguards registered module and unregistered module list;
4.2, the confirmation letter of main frame: slave computer is called the roll during host power-on reset, also to register to embedded host during slave computer electrification reset, main frame transmits downwards sends out confirmation letter after the information such as the configuration parameter needed for slave computer normal operation, running parameter, and slave computer receives after the confirmation letter of main frame can normal operation;
Between main frame and slave computer, the foundation of contact and configuration process are consuming time longer, it is possible to take whole or be divided into multiple communication cycle and complete, it is achieved method be that main frame does not send state message synchronization frame frame within such cycle, namely slave computer does not send state message.
4.3, message is patrolled and examined: main frame is to whether slave computer detects online, and main frame is sent out by certain algorithm and patrolled and examined message, and the slave computer patrolled and examined is responded in the time of origin sheet of its configuration, and continuous several times is not responded, and main frame judges that slave computer breaks down.
After slave computer resets, Deng roll-call message or state message synchronization frame, if the former, then it is host reset, if the latter, then represent that this slave computer is already registered for, can only be access in again after dropping by the wayside control, at this moment to embedded host register, host verification module type with address with whether project configuration is consistent, after confirmation, the information such as configuration parameter, running parameter is issued this slave computer again, it is achieved online insertion and removal.
5, state message: operating mode detection slave computer reports the time period of test point state to main frame.
Whole operating modes detection slave computer sends detection information in a communication cycle, system configuration parameter regulation slave computer transmitting sequentially in communication cycle. With state message synchronization frame frame for time synchronized point, slave computer is by sending information after its configuration time value. Configuration time value is accurate to 0.4ms(400kbps), with two byte representations.
Method of the present invention, configuration standby host is sent the documents with main frame simultaneously, and each slave computer accepts main frame and the message of standby host transmission simultaneously, if data inerrancy, then obeys host computer control, and transmits request standby host stopping dispatch.
Main frame is patrolled and examined by slave computer address number order at each communication cycle at ordinary times, and slave computer is responded in the timeslice of respective configuration.
Each slave computer is likely to receive the control instruction of main frame and standby host simultaneously, as long as data are without apparent error, obeys host computer control; Transmitting and please stop paying out by standby host, standby host receives rear control logic out of service, and automatically abandons A identity, it is ensured that system only has an A machine.
A kind of electric bag based on CAN communication agreement or sack cleaner control system, based on CAN communication agreement, it then follows CAN2.0B specification; Described control system includes main control module 2, slave computer, and main control module 2 and slave computer are attached by CAN. Described slave computer includes analog input modular converter 3, pulse valve output control module 4, conventional output module 5, switching input module 6; Analog input modular converter 3, pulse valve output control module 4, conventional output module 5, switching input module 6 are connected with the actuator 7 of cleaner unit. Main control module 2 is connected to IPC host computer 1, and main control module 2 and IPC host computer 1 are communicated by Ethernet.
As in figure 2 it is shown, dust cleaner control system includes IPC host computer 1, main control module 2, analog input modular converter 3, pulse valve output control module 4, conventional output module 5, switching input module 6, cleaner unit actuator 7. Each position of technology controlling and process point dispersing apparatus of cleaner unit, the distance between farthest two control point is less than 1 km, and the physical quantity of monitoring includes analog quantity and the switching values such as electromagnetic valve, motor such as temperature, pressure, humidity.
Described control system can adopt automatically, timing and manually controlling. When automatically controlling, differential manometer gathering the pressure difference signal inside and outside filter bag. When pressure difference reaches the ultimate value set, embedded host sends signal by fieldbus, slave computer module controls to promote valve and closes baffle plate of giving vent to anger immediately, filtration is made to stop, wait a moment pulse valve to open, in revolution injection tube, filter bag is carried out deashing by the pulse gas of ejection successively, makes dust strip down from filter bag. Through after a while, embedded host sends signal, and pulse valve cuts out, and stops winding-up, waits a moment lifting valve and mentions, opens baffle plate of giving vent to anger. Now, equipment deashing completes, and returns to filtration condition.
Described control system can also timing controlled, namely in order each room is timed deashing. When timing controlled, the winding-up time of every room, interval time and the deadline of all jetting of every room all can regulate.
In the present embodiment:
1, main control module 2: embedded host is the control Scheduling Core of whole system, are used for responding the incoming events such as keyboard, CAN and ethernet communication; The processes such as monitoring slave computer plug, the maintenance function each module initialization of unit, safeguard system information, it is ensured that slave computer is by system information work; Run control program, safeguard and monitor the operation of whole system by functional unit, to reach system process control requirement; The data that module is transmitted process by predefined functional unit at logical layer, filing, it is provided that related interfaces shows.
2, analog input modular converter 3, has 2 road input powers: 24V/1.0A, 12V/1.5A; 2 CAN mouth: CAN1 are main, and CAN2 is that redundancy is used; Conversion chip: ADS7871,14BIT.
3, pulse valve output control module 4, for accepting the order of main frame, output pulse signal; There are 2 road input powers: 24V/1.0A, 12V/1.5A; 2 CAN mouth: CAN1 are main, and CAN2 is that redundancy is used; Output channel: maximum 16 row, 32 row; Optocoupler drives output, is connected to solid-state relay plate DDPX-JG04/V11, is connected to pulse valve again through solid-state relay plate.
4, common output module, for accepting the order of main frame, performs output; There are 2 road input powers: 24V/1.0A, 12V/1.5A; 2 CAN mouth: CAN1 are main, and CAN2 is that redundancy is used; Driving chip: MC33289,2 road OUT, every road output peak point current 5A, all have independent cross stream, owe overvoltage diagnosis and protection, and there is excess temperature turn-off performance; Output channel: 32 tunnels, 24V, Max:5A.
5, switching input module 6, have 2 road input powers: 24V/1.0A, 12V/1.5A; 2 CAN mouth: CAN1 are main, and CAN2 is that redundancy is used; Input channel high level correspondence sampled result logic " 1 ".
Each module CAN2.0B communication packet is arranged:
1, broadcast frame (each module is broadcasted by main control module)
2, registered frame
3, acknowledgement frame
Main frame sends acknowledgement frame: each module is successfully write configuration parameter by main control module, the backward each module of command parameter sends out acknowledgement frame.
4, frame is patrolled and examined
5, configuration parameter (being main control module dispatch)
(1) analog input modular converter:
Note: ddddddeeccaabb (DATA7 ~ DATA1) defines:
Dddddd:0-passage (OK) disabling/1-passage enables, the corresponding passage of everybody correspondence, retains the default write 0 not defined.
Ee: time delay turn-off time (s)
It is conventional that cc:cc.0:1 time delay disconnects/0; Cc.1:1 has linkage to require, and/0 is conventional
Aa:CAN timeslice number, each timeslice be 0.36ms(or other)
Bb: Communication fault-tolerant time (ms)
(2) pulse valve output control module:
First frame:
Second frame:
3rd frame:
Note: ddddddeeccaabb(DATA7 ~ DATA1) definition and 5(1) analog input modular converter is identical.
(3) conventional output module:
First frame:
Second frame:
3rd frame:
Note: ddddddeeccaabb(DATA7 ~ DATA1) definition and 5(1) analog input modular converter is identical.
(4) switching input module:
Note: ddddddeeccaabb(DATA7 ~ DATA1) definition and 5(1) analog input modular converter is identical.
6, order/state parameter
Regulation: what the past conventional output module of main control module, pulse valve output control module were write is command parameter, and what analog input modular converter, switching input module were up write is state parameter.
(1) analog input modular converter:
First frame:
Second frame:
| Aaaa: | Bit15 | Bit14 | … | bit4 | bit3 | bit2 | bit1 | bit0 |
| Respective channel number | CH16 | CH15 | … | CH5 | CH4 | CH3 | CH2 | CH1 |
Note: bbbb(n) ~ bbbb(m) order: corresponding aaaa place value is the order from low to high of 1.
(2) pulse valve output control module:
(3) common output module:
Data [1] i.e. bb, data [5] ~ data [2] i.e. aaaaaaaa, is defined as follows:
(4) switching input module:
7, warning message
(1) conventional output module:
(2) pulse valve output control module:
In above table, blank cell is default or without content, its default on sake of clarity of the present invention whether, the open centimetre of embodiment whether there is no impact.
Above-described embodiment is intended merely to the explanation present invention, and is not used as limitation of the invention. As long as according to the technical spirit of the present invention, above-described embodiment is changed, modification etc. is all by the scope of the claims dropping on the present invention.
Claims (12)
1. the communication adjustment method based on the system CAN bus of CAN communication agreement, it is characterised in that include main frame dispatch, slave computer dispatch; Described main frame sends successively: performs message synchronization frame, perform message, function message, state message synchronization frame; Slave computer sends: state message; Main frame dispatch duration and a slave computer dispatch duration constitute a communication cycle;
Described execution message synchronization frame, state message synchronization frame are respectively started main frame dispatch, slave computer dispatch, and for the broadcast singal that main frame sends, the slave computer receiving described message empties transmission relief area;
The data that the Current communications cycle does not send, were transmitted in next cycle;
Described CAN communication agreement controls system for electricity bag or sack cleaner, follow CAN2.0B specification, each node has fixing mark address, described agreement adopts frame priority principle distribution marker, different frame types has different priority, being determined various information frame transmission order under square one by priority, the structure of each frame identifier is: frame type+reserved bit+sender's type+destination address+source address+package number; Wherein, sender's type definition main frame transmits or slave computer transmits, and package number defines the type of packet.
2. the communication adjustment method of the system CAN bus based on CAN communication agreement according to claim 1, it is characterized in that, described identifier is 29, particularly as follows: 4 frame types, 1 reserved bit, 1 sender's type, 7 destination addresses, 7 potential source addresses and 9 bit data packet numbers.
3. the communication adjustment method of the system CAN bus based on CAN communication agreement according to claim 2, it is characterised in that 4 frame types respectively define: 0000 is warning message; 0001 for performing message synchronization frame; 0010 is order/state parameter; 0011 is configuration parameter; 0100 for retransmitting application; 0110 is state message synchronization frame; 1000 abandon for bus; 1001 for patrolling and examining frame or confirming Echo Frame.
4. the communication adjustment method of the system CAN bus based on CAN communication agreement according to claim 2, it is characterised in that 1 sender's type respectively defines: 0 transmits for main frame; 1 transmits for slave computer.
5. the communication adjustment method of the system CAN bus based on CAN communication agreement according to claim 1, it is characterized in that, the arbitration field of the frame format of agreement is by identifier and SRR (SubstituteRemoteRequestBIT, full name is: substitute remote request position), IDE (IdentifierExtensionBit, full name is: identifier extension bits) and RTR (RemoteTransmissionRequestBIT, full name is: remotely send request position) composition; During transmission, SRR=1, IDE=1, RTR=1 or 0; During RTR=1, represent to be currently remote frame, during RTR=0, represent to be currently Frame.
6. the communication adjustment method of the system CAN bus based on CAN communication agreement according to any one of claim 1 to 5, it is characterised in that be provided with fault-tolerant district in function message interframe Tong Bu with state message; Fault-tolerant district it is provided with after state message.
7. the communication adjustment method of the system CAN bus based on CAN communication agreement according to any one of claim 1 to 5, it is characterized in that, function message includes: when main frame powers on, roll-call message, host acknowledgement are believed, patrolled and examined message, perform the systemic-function between main frame and slave computer, specific as follows:
1) main frame is according to system configuration information by sequence of addresses, and when being powered on by main frame, slave computer is called the roll by roll-call message successively;
2) slave computer is carried out on-line checking by patrolling and examining message by main frame, if slave computer is online, then slave computer makes response within the Current communications cycle, registers to main frame, and response content includes the address number of slave computer, module type;
3) if address number is corresponding with module type, then main frame continues, to the configuration parameter needed for slave computer delivery module normal operation, running parameter, if address number and module type are not corresponding, then to report to the police;
4) after configuration parameter, running parameter are sent, main frame position machine still further below sends host acknowledgement letter, and slave computer is operated after receiving host acknowledgement letter.
8. the communication adjustment method of the system CAN bus based on CAN communication agreement according to any one of claim 1 to 5, it is characterised in that the operating mode that described state message is detected the slave computer each node of detection by operating mode obtains, for reporting node state to main frame; In communication cycle, with state message synchronization frame for time synchronized point, each operating mode detection slave computer sends the operating mode of each node by the order preset.
9. the communication adjustment method of the system CAN bus based on CAN communication agreement according to any one of claim 1 to 5, it is characterized in that, configuration standby host is sent the documents with main frame simultaneously, each slave computer accepts main frame and the message of standby host transmission simultaneously, if data inerrancy, then obey host computer control, and transmit request standby host stopping dispatch.
10. the electric bag based on CAN communication agreement or sack cleaner control system, it is characterised in that based on CAN communication agreement, it then follows CAN2.0B specification; Described control system includes main control module, slave computer, and main control module and slave computer utilize the communication adjustment method of the system CAN bus based on CAN communication agreement described in any one of claim 1 to 9, are attached by CAN.
11. the electric bag based on CAN communication agreement according to claim 10 or sack cleaner control system, it is characterized in that, described slave computer includes analog input modular converter, pulse valve output control module, conventional output module, switching input module; Analog input modular converter, pulse valve output control module, conventional output module, switching input module are connected with the actuator of cleaner unit.
12. the electric bag based on CAN communication agreement according to claim 10 or sack cleaner control system, it is characterised in that main control module is connected to IPC host computer, and main control module and IPC host computer are communicated by Ethernet.
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|---|---|---|---|---|
| CN104378274B (en) * | 2014-11-20 | 2017-12-15 | 中国船舶重工集团公司第七二六研究所 | Dereliction network communicating system based on CAN |
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