CN104330098B - A kind of digitized receiver of CAN interface - Google Patents
A kind of digitized receiver of CAN interface Download PDFInfo
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- CN104330098B CN104330098B CN201410553806.3A CN201410553806A CN104330098B CN 104330098 B CN104330098 B CN 104330098B CN 201410553806 A CN201410553806 A CN 201410553806A CN 104330098 B CN104330098 B CN 104330098B
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Abstract
The invention provides the digitized receiver of a kind of CAN interface, outside mechanical corner variable quantity is sent to the second selsyn, obtains being proficient in angle digital quantity by SDC module；Outside mechanical corner variable quantity is sent to the first selsyn by decelerator, obtains knowing a little about angle digital quantity by SDC module；Know a little about angle digital quantity and be proficient in the angle digital quantity coarse-fine combinatorial operation through single-chip microcomputer, obtaining the receiver position digital amount of 17；Receiver position digital amount passes through CAN data bus transmission to servo controller via CAN Drive Module；Power module is SDC module, single-chip microcomputer and CAN Drive Module.Precision is directly affected less by the excitation power supply interference of the present invention, it is ensured that conversion accuracy, decreases the amount of calculation of servo antrol computer.
Description
Technical field
The invention belongs to a kind of angular transducer product, relate to servo system.
Background technology
The commonly used angular position sensor of servo system is receiver.The operation principle of traditional receiver is to pass through
Outside corner variable signal is passed to receiver by machine driving, by mechanical corner variable quantity (or warp inside receiver
Cross decelerator and carry out velocity transformation), it is sent to selsyn (or rotary transformer), is converted into 3 phases (the identical width of phase place
Degree difference) AC analogue signal output, pass to servo controller through signal-transmitting cable, servo controller passes through
SDC converts, and 3 cross streams analogue signals are transformed into angle digital quantity signal.Due to single selsyn (or rotate become
Depressor) precision is inadequate, need 2 rotary transformers with different tachometric surveies, the most again by these 2 different no-load voltage ratios
Angle digital quantity, carries out coarse-fine combination in servo antrol computer, obtains complete digital quantity angle signal, it is achieved
The real-time measurement of angle.Receiver operationally needs single-phase 400Hz excitation power supply, its theory diagram as it is shown in figure 1,
Signal flow diagram is as shown in Figure 3.
Traditional receiver, has the disadvantages that
1) the excitation power supply precision of selsyn (or rotary transformer) directly affects the precision of angle measurement, excitation power supply line
Pass by length, easily produce interference effect precision.
2) the 3 cross streams analogue signals exported, owing to the analogue signal power of output is little, transmitting range is remote, and deformation is tight
Weight, affects precision.
3) communication line core number is many, and general orientation receiver uses coarse-fine combination to need the independent cable of 8 core holding wires,
Just receiver needs the independent cable of 8 core holding wires, and its external wiring diagram is as shown in Figure 5.
4) need inside servo controller, carry out coarse-fine combination calculation, add the evaluation work of servo antrol computer
Amount.
5) need coarse-fine to zero correction during coarse-fine combination calculation, add the debugging work load of servo antrol computer.Often
The correction data of one receiver are the most different, and revising data needs to be stored on servo antrol computer, changes receiver
Time need debugging software data again.
6) receiver only achieves the partial function of sensor, and difficulty, measuring difficulties are checked and accepted in accuracy test.
Summary of the invention
In order to overcome the deficiencies in the prior art, the present invention provides the digitized receiver of a kind of CAN interface.
The technical solution adopted for the present invention to solve the technical problems is: include power module, two selsyns, two
Sheet SDC module, single-chip microcomputer and CAN Drive Module.
Outside mechanical corner variable quantity is sent to the second selsyn, obtains being proficient in AC analogue angle signal；Outward
The mechanical corner variable quantity in portion is sent to the first selsyn by decelerator, obtains knowing a little about AC analogue angle signal；
The speed ratio of the first selsyn and the second selsyn is 1:32, knows a little about AC analogue angle signal by knowing a little about
SDC module obtains knowing a little about 12 parallactic angle degree digital quantities, is proficient in AC analogue angle signal by being proficient in SDC module
Obtain being proficient in 12 parallactic angle degree digital quantities；Know a little about 12 parallactic angle degree digital quantities and be proficient in 12 parallactic angle degree digital quantities and send simultaneously
To single-chip microcomputer, through the coarse-fine combinatorial operation of single-chip microcomputer, obtain the receiver position digital amount of 17；Receiver position
Digital quantity passes through CAN data bus transmission to servo controller via CAN Drive Module；Power module is
SDC module, single-chip microcomputer and CAN Drive Module.
Described coarse-fine combinatorial operation comprises the following steps: 1) knows a little about 12 parallactic angle degree digital quantities and is proficient in 12 parallactic angles
Degree digital quantity zero-bit alignment；2) carry out disturbing position to revise according to P to the last digit knowing a little about 12 parallactic angle degree digital quantities；3)
Using revised high 5 high 5 as receiver position digital amount knowing a little about 12 parallactic angle degree digital quantities, take passage
12 parallactic angle degree digital quantities are the low 12 of receiver position digital amount.
Described power module, SDC module and CAN Drive Module are integrated into inside receiver.
Described power module uses direct current to turn 400Hz115V excitation power supply module.
The invention has the beneficial effects as follows:
1) cancel outside excitation power supply to power, use internal independence Inverter instead, without external disturbance to waveform influence,
Therefore precision is directly affected less by excitation power supply interference.
2) rotary transformer or 3 cross streams analogue signals of selsyn output, carry out SDC conversion nearby, without outside
Interference is to waveform influence, it is ensured that conversion accuracy.
3) communication line core number reduces, original 8+8=16 core be reduced to 4 cores, and cable is reduced to 1 by 2, outward
Shown in portion's wiring diagram 6.
4) directly read the whole-angle figure amount of driving target at servo antrol computer, be not required to SDC transducer is grasped
Make, it is not necessary to carry out coarse-fine combination, zero-bit correction etc. and calculate, decrease the amount of calculation of servo antrol computer.
5) need during coarse-fine combination calculation is proficient in zero-bit correction, completes when the parts of receiver are debugged.Each
Individual receiver is all general, and when changing receiver, servo antrol computer need not debugging software data again, directly
Change.Decrease debugging work load, it is achieved that the generalization of receiver.
6) component function of receiver is complete, Digital output interface, and inspection and acceptance is convenient, and metering is convenient.
Accompanying drawing explanation
Fig. 1 is the hardware principle block diagram of tradition receiver；
Fig. 2 is the hardware principle block diagram of CAN interface receiver；
Fig. 3 is the signal stream block diagram of tradition receiver；
Fig. 4 is the signal stream block diagram of CAN interface receiver；
Fig. 5 is the external wiring diagram of tradition receiver；
Fig. 6 is the external wiring diagram of CAN interface letter instrument；
Fig. 7 is the CAN interface receiver schematic diagram using selsyn scheme；
Fig. 8 is the CAN interface receiver schematic diagram using rotary transformer scheme；
Fig. 9 is to be proficient in zero-bit correction algorithm debugging flow chart；
Figure 10 is that wrong algorithm flow chart is tangled in coarse-fine combination calculation；
Figure 11 is that servo system actual bit angle setting calculates debugging flow chart；
Each data bit correspondence schematic diagram when Figure 12 is coarse-fine combination；
Figure 13 is full-shape amount calculation flow chart in position in receiver.
Detailed description of the invention
The present invention is further described with embodiment below in conjunction with the accompanying drawings, and the present invention includes but are not limited to following embodiment.
The present invention uses CAN technical research band CAN interface digitized receiver.The technical scheme is that handle
400Hz excitation power supply module, SDC module, CAN Drive Module are integrated into inside receiver, to receiver
Use direct current supply, between receiver and servo controller, use CAN data/address bus.Theory diagram as in figure 2 it is shown,
Signal flow diagram is as shown in Figure 4.
Its operation principle of digitized receiver of CAN interface is to be passed by outside corner variable signal by machine driving
Pass receiver, by mechanical corner variable quantity inside receiver, be sent to selsyn (or rotary transformer), turn
Change 3 phases (phase place same magnitude is different) AC analogue angle signal into.
The position angle precision used due to general servo system needs 0.1 mil, and the precision of a selsyn is current
Typically can only achieve 3 mils, it is impossible to meet requirement, measuring on different speed ratios so needing 2 selsyns,
Here 2 selsyns are set with the speed ratio of fixing (example is 1:32).The outer spindle of 1st passage is through slowing down
After be connected to the slow channel of selsyn arbor, industry internal title, knows a little about.The outer spindle of 2nd passage directly connects with selsyn
The fast passage connect, is referred to as inside industry being proficient in.
Receive the SDC module known a little about obtain knowing a little about 12 parallactic angle number of degrees words by knowing a little about AC analogue angle signal again
Amount.Receive the SDC module being proficient in obtain being proficient in 12 parallactic angle degree digital quantities by being proficient in AC analogue angle signal again.
12 parallactic angle degree digital quantities will be known a little about and be proficient in 12 parallactic angle degree digital quantities and be simultaneously sent to single-chip microcomputer through single-chip microcomputer
Coarse-fine combinatorial operation, obtains the receiver position digital amount of 17.
Owing to the connection of receiver and driving target is to connect with gear or shaft coupling, so this long position (17) number
Word amount is the position of the thick selsyn of receiver, and drives target actual positions to have a phase contrast, this phase contrast
It is that receiver is producing in time driving target to install, the most different after installing each time, drive target actual positions angle
Calculating and need to carry out in driving target, debugging flow chart is as shown in figure 11.Each data bit pair in coarse-fine combinatorial operation
Should be related to as shown in figure 12.
When the driving target location digital quantity that servo system needs receiver measurement to arrive, by CAN to receiver
Single-chip microcomputer inquire, after inquiry command heard by the single-chip microcomputer of receiver, carry out reporting the driving mesh in receiver
Cursor position digital quantity.Realize the work process of receiver.
Position full-shape amount calculation flow chart is as shown in figure 13.
Coarse-fine combinatorial operation: exactly short position (12) digital quantity of same angle metric 2 different weights is carried out
Superposition, obtains the process of a long position (17) digital quantity, it is achieved the raising of certainty of measurement, as shown in figure 12.
Have 3 steps: 1) be proficient in angle-data and know a little about angle-data zero-bit and align: debugging flow chart as it is shown in figure 9,
During coarse-fine combinatorial operation, owing to thick selsyn and essence selsyn are typically difficult to zero-bit pair when mechanical erection
Together, when coarse-fine combinatorial operation, need to carry out zero-bit correction to being proficient in digital quantity, to knowing a little about zero-bit alignment, claim
It is proficient in zero-bit correction.It is proficient in zero-bit correction algorithm, it is simply that when first measuring thick selsyn to zero-bit, essence selsyn
The angle-data of machine, when essence selsyn zero-bit correction, deducts this angle-data and obtains one and thick selsyn
The angle-data of zero-bit alignment.2) last digit is known a little about according to P (p7) error correction: debug flow chart as shown in Figure 10,
During coarse-fine combinatorial operation, owing to the tail position of thick digital quantity is probably the interference data of mistake, need when combination
Carrying out error correction, error correction algorithm is to be modified to interference position, and correction correspondence table is as shown in table 1.3) coarse-fine data
Superposition: debugging flow chart as shown in Figure 10, as shown in figure 12, repair through being proficient in zero-bit by each data bit corresponding relation
Just and after knowing a little about error correction, it is possible to data are overlapped, take during superposition and revised know a little about the high by 5 of numerical value q
Position is the high 5 of 17 whole-angle figure amounts, and taking revised 12 of zero-bit, to be proficient in numerical value y be 17 whole-angle figures
That measures is low 12, and combination obtains 17 whole-angle figure amounts u, obtains long position (17) digital quantity.
Embodiments of the invention one piece of receiver circuit board of design, as shown in Figure 7 and Figure 8, turns including direct current
400Hz115V excitation power supply module, two panels SDC module, single-chip microcomputer, CAN Drive Module.Its monolithic
Machine software includes: read SDC module angle numeral quantum program, carry out angle digital quantity know a little about and essence channel angle
Degree combinatorial operation subprogram, angle full-shape zero-bit correction interpretative subroutine, be proficient in zero-bit Data correction value subprogram,
Communicate subprogram, servo-actuated computer and debugging computer order analysis by CAN interface and servo-actuated computer to hold
Row response subprogram, the automatically saving and power on and automatically recover subprogram of data.
Tradition receiver is improved, external signal line is connected on PCB socket J1, J2 by tradition receiver,
From circuit board leads to receiver on male connector J0.Carry out following 6 steps to try:
The first step fills software: to the monolithic mechanical irrigation receiver software of receiver.
Second step is proficient in zero-bit correction: receiver is arranged on debugger debugging.Receiver and debugging computer
Connect with cable.Low speed rotates forward the external connecting shaft of receiver, reads with debugging computer and knows a little about and be proficient in
Original value number after SDC conversion, when knowing a little about Value Data and forwarding just change to 0 to, record essence channel value x is c1；When slightly
When channel value data forward just leave 0 to, record essence channel value x is c2.Low-speed reverse rotates the external connecting shaft of receiver,
Original value number after SDC conversion is known a little about and is proficient in reading, when knowing a little about Value Data and forwarding just change to 0 to, and record essence
Channel value x is c3；When knowing a little about Value Data and forwarding just leave 0 to, record essence channel value x is c4.Calculate and be proficient in
Road zero-bit correction value C0=(c1+c2+c3+c4)/4；Essence channel value y=x-C0 after zero-bit correction；(x: read in real time and be proficient in
Track data SDC changes original value), flow chart is as shown in Figure 9.
3rd step data recharges: zero-bit correction value C0 of being proficient in obtained on debugging computer is passed to receiver monolithic
In machine, and it is saved in the unit that can keep with power down by the single-chip microcomputer of receiver, during for later calculating.
4th step tangles combined authentication: set Z1 as 12 know a little about raw value p middle 2, i.e. p6,
P5 two；If Z2 is proficient in the highest 2 of data y after correction, i.e. y11, y10 two equal to 12；Root
Find correction Z3 according to table 1, be added to know a little about numerical value by Z3 correction, obtain 12 and revised know a little about numerical value
q.Taking revised know a little about numerical value q high 5 is the high 5 of 17 whole-angle figure amounts, takes zero-bit revised
12 are proficient in numerical value y is the low 12 of 17 whole-angle figure amounts.Obtaining 17 whole-angle figure amounts u, flow chart is such as
Shown in Figure 10.The debugging of receiver parts is complete.
5th step receiver zero-bit correction: be installed to receiver drive in target, uses debugging software to receiver
Zero correction is debugged.Driving target location is adjusted to mechanical zero, reads 17 the position digital amounts not having zero-bit correction
It is exactly full receiver zero-bit correction value that u is calculated as C5, C5, obtains driving realization of goal position quantity V=(u-C5), its
Middle u is to read in real time not have 17 position digital amounts of zero-bit correction.
6th step data recharges: full receiver zero-bit correction value C5 obtained on debugging computer is passed to receiver list
In sheet machine, and it is saved in the unit that can keep with power down by the single-chip microcomputer of receiver, during for later calculating.It is subject to
Letter instrument is all debugged complete.
Debugging the working software that complete receiver in use enables, its flow chart is as shown in figure 13.
Seeing Fig. 7 and Fig. 8, in the present embodiment, the receiver technical parameter needing design is as follows:
1) corner accuracy: 0.1 mil (1 mil=360/6000 degree)
2) frequency acquisition: 50Hz
3) power requirement: direct current 24 ± 8VDC
Embodiment 1 technical scheme: use the CAN interface receiver of selsyn scheme
1) system composition and operation principle
System composition is made up of decelerator, 2 selsyns of coarse-fine passage, receiver circuit board, circuit theory diagrams figure
As shown in Figure 7.
Receiver circuit board composition includes: direct current turns 400Hz115V excitation power supply module, two panels SDC module, list
Sheet machine, CAN Drive Module, DC power supplier, its theory diagram is as shown in Figure 2.
Its scm software includes: reads the angle numeral quantum program of SDC module, carry out angle digital quantity and know a little about
Road and be proficient in angle combinations interpretative subroutine, angle full-shape zero-bit correction interpretative subroutine, be proficient in zero-bit Data and repair
Read subprogram on the occasion of receiving preservation, communicate subprogram, servo-actuated calculating by CAN interface and servo-actuated computer
Machine and debugging computer order analysis perform response subprogram, the preservation of data and power on and automatically recover subprogram.
System principle diagram is as shown in Figure 7: be to be directly transmitted to be proficient in by outside corner variable quantity by machine driving
Selsyn, passes to corner variable quantity through 1:32 reductor simultaneously and knows a little about selsyn.Corner variable quantity turns
Change the AC signal of 3 phases (phase place same magnitude is different) into, AC signal is received SDC changer and is transformed into 12
Parallel-by-bit digital quantity, single-chip microcomputer gathers the parallel data volume of coarse-fine 2 passages simultaneously, enters with software in single-chip microcomputer
The coarse-fine combinatorial operation of row, zero-bit correction computing, obtain full-shape amount.When servo antrol computer needs full-shape amount, logical
Cross CAN to inquire, the timely response of receiver, full-shape amount is passed to servo antrol computer.
Single-chip microcomputer uses 51 series monolithic C8051F040 of Silicon Laboratories company, has CAN in sheet
Controller.CAN drives and uses PCA82C250 chip, and external interface is CAN2.0B agreement, 800K ripple
Special rate.
Embodiment 2 technical scheme: use the CAN interface receiver of rotary transformer scheme
System composition is made up of, as shown in Figure 8 decelerator, 2 rotary transformers of coarse-fine passage, receiver circuit board.
Receiver circuit board composition include: direct current turn 400Hz115V excitation power supply module, SDC module, single-chip microcomputer,
CAN Drive Module, DC power supplier, other schematic diagrams are as shown in Figure 8.
Its scm software includes: reads the angle numeral quantum program of SDC module, carry out angle digital quantity and know a little about
Be proficient in angle combinations interpretative subroutine, angle full-shape zero-bit correction interpretative subroutine, be proficient in zero-bit Data correction
Value receives and preserves reading subprogram, communicates subprogram, servo-actuated computer by CAN interface and servo-actuated computer
Perform response subprogram, the preservation of data with debugging computer order analysis and power on and automatically recover subprogram.
System principle diagram is as shown in Figure 8: be to be directly transmitted to be proficient in by outside corner variable quantity by machine driving
Rotary transformer, passes to corner variable quantity through 1:32 reductor simultaneously and knows a little about rotary transformer.Corner changes
Amount is converted into the AC signal of 2 phases (phase place same magnitude is different), AC signal is received SDC changer and is transformed into
12 parallel-by-bit digital quantities, single-chip microcomputer gathers the parallel data volume of coarse-fine 2 passages simultaneously, uses software in single-chip microcomputer
Carry out coarse-fine combinatorial operation, zero-bit correction computing, obtain full-shape amount.When servo antrol computer needs full-shape amount,
Inquired that by CAN the timely response of receiver passes to servo antrol computer full-shape amount.
Single-chip microcomputer uses 51 series monolithic C8051F040 of Silicon Laboratories company, has CAN in sheet
Controller.CAN drives and uses PCA82C250 chip, and external interface is CAN2.0B agreement, 800K ripple
Special rate.
Numerical value correction inquiry table known a little about by table 1
Table 2 description uses English and abbreviation table
Table 3 description uses variable, meets table
Claims (2)
1. a digitized receiver for CAN interface, including power module, two selsyns, two panels SDC module,
Single-chip microcomputer and CAN Drive Module, it is characterised in that: outside mechanical corner variable quantity is sent to second
Selsyn, obtains being proficient in AC analogue angle signal；Outside mechanical corner variable quantity is by decelerator transmission
To the first selsyn, obtain knowing a little about AC analogue angle signal；First selsyn and the second selsyn
Speed ratio is 1:32, knows a little about AC analogue angle signal and obtains knowing a little about 12 parallactic angle degree by knowing a little about SDC module
Digital quantity, is proficient in AC analogue angle signal and obtains being proficient in 12 parallactic angle number of degrees words by being proficient in SDC module
Amount；Know a little about 12 parallactic angle degree digital quantities and be proficient in 12 parallactic angle degree digital quantities and be simultaneously sent to single-chip microcomputer, through monolithic
The coarse-fine combinatorial operation of machine, described coarse-fine combinatorial operation comprises the following steps: 1) know a little about 12 parallactic angle number of degrees words
Measure and be proficient in 12 parallactic angle degree digital quantity zero-bits and align；2) to the last digit evidence knowing a little about 12 parallactic angle degree digital quantities
P carries out disturbing position to revise；3) using revised know a little about 12 parallactic angle degree digital quantities high 5 as receiver position
Putting the high 5 of digital quantity, taking Channel 12-Bit angle digital quantity is the low 12 of receiver position digital amount, obtains
The receiver position digital amount of 17；Receiver position digital amount passes through CAN via CAN Drive Module
Data bus transmission is to servo controller；Power module is SDC module, single-chip microcomputer and CAN driver mould
Block, described power module, SDC module and CAN Drive Module are integrated into inside receiver.
The digitized receiver of CAN interface the most according to claim 1, it is characterised in that: described power module
Direct current is used to turn 400Hz115V excitation power supply module.
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108120453A (en) * | 2017-12-11 | 2018-06-05 | 西北机电工程研究所 | Receiver balancing controls |
| CN108332707B (en) * | 2017-12-28 | 2020-10-20 | 中国船舶重工集团公司第七一0研究所 | Intelligent electronic trusted instrument |
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