CN105182847A - High-reliability dual-redundant CAN bus communication method applied in motion control system - Google Patents
High-reliability dual-redundant CAN bus communication method applied in motion control system Download PDFInfo
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- CN105182847A CN105182847A CN201510536440.3A CN201510536440A CN105182847A CN 105182847 A CN105182847 A CN 105182847A CN 201510536440 A CN201510536440 A CN 201510536440A CN 105182847 A CN105182847 A CN 105182847A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0421—Multiprocessor system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25032—CAN, canbus, controller area network bus
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25232—DCS, distributed control system, decentralised control unit
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Abstract
Provided is a high-reliability dual-redundant CAN bus communication method applied in a motion control system. The method comprises: (1) using two CAN buses A and B for communication between a main controller and each joint controller; (2) initializing the two CAN buses; (3) the main controller sending joint position instructions of the joint controllers to each joint controller through the A bus and the B bus in an instruction sending period of a control period in a time sharing manner, and after sending, sending broadcast instructions to the A bus and the B bus; (4) each joint controller receiving the joint position instruction message through inquiring the A bus and the B bus, and analyzing and storing the instruction message which is received first; (5) each joint controller receiving broadcast instructions through inquiring the A bus and the B bus, after broadcast instructions are received, moving according to the analytic instruction message, and acquiring current state information, sending the respective state information to the main controller in timer interruption in a time sharing manner; and the next control period starting to execute from the step (3).
Description
Technical field
The present invention relates to a kind of CAN communication means, relate to a kind of highly reliable dual-redundant CAN bus communication means being applied to kinetic control system specifically.
Background technology
Distributed Motion Control System comprises a master controller and several joint controls, master controller mainly completes the planning of motion path, the position command cooked up is sent to each joint control, collects the positional information in each joint simultaneously, for follow-up movement locus is prepared.Need between master controller and joint control to set up a kind of quick, reliable communication mode.Communication mode in the past is mostly selected to set up point-to-point serial communication or analogue communication mode between master controller and each joint control, separate between each joint control, lacks a kind of highly reliable high speed communications link.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, provides a kind of highly reliable dual-redundant CAN bus communication means being applied to kinetic control system.
Technical solution of the present invention is: a kind of highly reliable dual-redundant CAN bus communication means being applied to kinetic control system, and described kinetic control system comprises a master controller and at least two joint controls; Step is as follows:
(1) will two CAN be adopted between master controller with each joint control to communicate, two CAN be designated as A bus and B bus backups each other and hardware circuit is separate, and every bar CAN both can receive data, also can send data;
(2) initialization two CAN, arrange the communication protocol of CAN;
(3) the joint position instruction of each joint control is sent to each joint control by A bus and B bus in the instruction transmit time segments timesharing of control cycle by master controller respectively, sends broadcasting instructions after being sent completely to A bus and B bus; Described control cycle comprises instruction transmit time segments and joint states information returns the period, and wherein joint states information returns the period and adopts the mode of Interruption to communicate;
(4) each joint control receives the joint position instruction message of master controller by inquiry A, B bus, and is carried out resolving by the instruction message first received and be saved in internal memory;
(5) each joint control receives broadcasting instructions by inquiry A, B bus, after receiving broadcasting instructions, each joint control moves according to the instruction message of resolving simultaneously, and gather current status information, in Interruption, respective status information is sent to master controller by timesharing; Next control cycle circulates execution from step (3).
The data receiving state of Real-Time Monitoring A bus, B bus in Interruption, when certain bus continuous t time does not receive the instruction message of master controller, this bus of initialization immediately, communication is switched to another bus, wait to enter into next control cycle, recover the mode of two bus redundancies, described t at least two control cycles.
The state of Real-Time Monitoring A bus, B bus in Interruption, t reads CAN error flag position at regular intervals, when this error flag position is set, this bus of initialization immediately, communication is switched to another bus, wait to enter into next control cycle, recover the mode of two bus redundancies, described t at least two control cycles.
The present invention compared with prior art beneficial effect is:
(1) the present invention proposes a kind of dual-redundant CAN bus that uses as the communication means of physical link, by self-defined CAN communication protocol, establish the digital communication highway between a master controller and multiple joint control, the reliability solving Distributed Motion Control System existence is low, the problems such as the Limited information of slow, the multiple joint motions poor synchronization of traffic rate, transmission.
(2) adopt two-way independently CAN realize the two redundancy backup of hardware, the mode adopting data message Real-Time Monitoring and CAN hardware state to detect in real time realizes the stripping of fault CAN, online switching mode is adopted to realize the Rapid reset of fault CAN, for the reliability of dual-redundant CAN bus communication provides guarantee;
(3) bus real-time is improved to the mode of multiple joints website employing director data time-sharing send, broadcast synchronous averaging, solve the shortcoming of multiple joint motions poor synchronization, improve the real-time of kinematic system, greatly strengthen the coordinated movement of various economic factors between multi-joint.
Accompanying drawing explanation
Fig. 1 is the topology diagram of dual-redundant CAN bus of the present invention;
Fig. 2 is kinetic control system control cycle schematic diagram of the present invention;
Fig. 3 is CAN data message Real-Time Monitoring process flow diagram of the present invention;
Fig. 4 is CAN hardware state Real-Time Monitoring process flow diagram of the present invention.
Embodiment
Elaborate to the present invention below in conjunction with drawings and Examples, the present invention relates to a kind of highly reliable dual-redundant CAN bus communication means being applied to kinetic control system, described kinetic control system comprises a master controller and at least two joint controls; This example is described for seven joint controls.Concrete steps are as follows:
(1) communicate adopting two CAN to carry out between master controller with each joint control (topological structure of dual-redundant CAN bus as shown in Figure 1), article two, CAN is designated as A bus and B bus backups each other and hardware circuit is separate, every bar CAN both can receive data, also can send data, namely form separate dual-redundant CAN bus communication;
(2) initialization two CAN, arrange the communication protocol of CAN;
Carry out digital communication by the CAN that two-way is identical between master controller with each joint control, master controller sends to the instruction message of joint control to be divided into two kinds: steering order and broadcasting instructions.The effect of broadcasting instructions be synchronous each joint motion, determine to return frame information.The message that each joint control returns to master controller only has one: status return message.The information such as the joint position information of joint control collection are returned to master controller by status return message, adjust movement locus at any time for master controller.
The present invention can select identical for the definition of the communication protocol of CAN A, B, and message is defined as follows shown in table.
Consider the reason that kinetic control system is high to requirement of real-time, the communication speed of CAN A, B can be selected to be 1Mbit/s, what then master controller sent 7 location message to 7 joint controls T.T. is about 0.7ms, and the time sending broadcast is about 0.1ms.
Theory calculate and test findings show, master controller completes 1 path planning and sends to 7 joint controls to by 7 joint position command signals, and start the mistiming of simultaneously moving in joint and be about 0.8ms, being enhanced than serial data transmission such as RS232 in the past.Meet the strong request of Distributed Motion Control System to traffic rate.
(3) the joint position instruction of each joint control is sent to each joint control by A bus and B bus at the instruction transmit time segments of control cycle by master controller respectively, sends broadcasting instructions after being sent completely to A bus and B bus; Described control cycle comprises instruction transmit time segments and joint states information returns the period, and wherein joint states information returns the period and adopts the mode of Interruption to communicate; Such as shown in Figure 2, the control cycle of kinetic control system is 20ms, wherein the duration of instruction transmit time segments is 2ms, within the 2ms period, master controller is to each joint control distribution steering order (joint position instruction), after completing each joint control instruction distribution, master controller finally sends broadcast frame instruction, with the motion in this synchronous each joint.
(4) each joint control receives the joint position instruction message of master controller by inquiry A, B bus, and is carried out resolving by the instruction message first received and be saved in internal memory;
(5) each joint control receives broadcasting instructions by inquiry A, B bus, after receiving broadcasting instructions, each joint control moves according to the instruction message of resolving simultaneously, and gather current status information, in Interruption, respective status information is sent to master controller by timesharing; Next control cycle circulates execution from step (3).
It is not simultaneously that joint control returns joint states information, but timesharing returns, reduce the load factor of communication bus with this, such as, feed back at once after No. 1 joint control receives broadcast frame, if feedback multiframe data, then two PWM cycles of time delay between frame and frame; After No. 2 joint controls receive broadcast frame, time delay 40 timing cycles feed back, if feedback multiframe data, then and two PWM cycles of time delay between frame and frame; After No. 3 joint controls receive broadcast frame, time delay 80 timing cycles feed back, if feedback multiframe data, then and two PWM cycles of time delay between frame and frame, by that analogy.Therefore can be reduced the total inorganic nitrogen of system by time-sharing send data, improve the reliability of system.
In order to improve reliability, in Interruption, the mode of data message Real-Time Monitoring and CAN hardware state Real-Time Monitoring is adopted to realize the stripping of fault CAN.Data message Real-Time Monitoring is when certain the continuous 50ms of CAN does not receive the instruction message of master controller, then show that mistake appears in communication, this CAN of initialization immediately, communication is simultaneously switched to another CAN, wait to enter into next control cycle, recover the mode of two bus redundancies.CAN hardware state Real-Time Monitoring in Interruption, reads CAN error flag position at regular intervals (this is the error flag position that dsp chip carries, be mainly used in characterizing CAN communications status, whether CAN such as, there is format error, whether there is fill-error), if this error flag position is set, then this CAN of initialization immediately, communication is simultaneously switched to another CAN, wait to enter into next control cycle, recover the mode of two bus redundancies.Therefore dual-redundant CAN bus malfunction monitoring and the low reliability in real time in the changing method communication process of solving over, improve the security of system.As shown in Figure 3, hardware state Real-Time Monitoring process flow diagram as shown in Figure 4 for CAN data message Real-Time Monitoring process flow diagram.
The unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (3)
1. be applied to a highly reliable dual-redundant CAN bus communication means for kinetic control system, described kinetic control system comprises a master controller and at least two joint controls; It is characterized in that step is as follows:
(1) will two CAN be adopted between master controller with each joint control to communicate, two CAN be designated as A bus and B bus backups each other and hardware circuit is separate, and every bar CAN both can receive data, also can send data;
(2) initialization two CAN, arrange the communication protocol of CAN;
(3) the joint position instruction of each joint control is sent to each joint control by A bus and B bus in the instruction transmit time segments timesharing of control cycle by master controller respectively, sends broadcasting instructions after being sent completely to A bus and B bus; Described control cycle comprises instruction transmit time segments and joint states information returns the period, and wherein joint states information returns the period and adopts the mode of Interruption to communicate;
(4) each joint control receives the joint position instruction message of master controller by inquiry A, B bus, and is carried out resolving by the instruction message first received and be saved in internal memory;
(5) each joint control receives broadcasting instructions by inquiry A, B bus, after receiving broadcasting instructions, each joint control moves according to the instruction message of resolving simultaneously, and gather current status information, in Interruption, respective status information is sent to master controller by timesharing; Next control cycle circulates execution from step (3).
2. a kind of highly reliable dual-redundant CAN bus communication means being applied to kinetic control system according to claim 1, it is characterized in that: the data receiving state of Real-Time Monitoring A bus, B bus in Interruption, when certain bus continuous t time does not receive the instruction message of master controller, this bus of initialization immediately, communication is switched to another bus, wait to enter into next control cycle, recover the mode of two bus redundancies, described t at least two control cycles.
3. a kind of highly reliable dual-redundant CAN bus communication means being applied to kinetic control system according to claim 1 and 2, it is characterized in that: the state of Real-Time Monitoring A bus, B bus in Interruption, t reads CAN error flag position at regular intervals, when this error flag position is set, this bus of initialization immediately, is switched to another bus by communication, wait to enter into next control cycle, recover the mode of two bus redundancies, described t at least two control cycles.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105843764A (en) * | 2016-04-07 | 2016-08-10 | 大族激光科技产业集团股份有限公司 | Robot control method and device |
| CN107024875A (en) * | 2017-04-21 | 2017-08-08 | 钟阳光 | A kind of motion control real-time communication method based on CAN network |
| CN107132799A (en) * | 2017-06-21 | 2017-09-05 | 湖南利能科技股份有限公司 | A kind of apparatus and method of many MCU data interactions intelligent acquisitions |
| CN110262214A (en) * | 2019-07-22 | 2019-09-20 | 北京航天发射技术研究所 | Play perpendicular control system |
| CN110568780A (en) * | 2018-06-05 | 2019-12-13 | 中国科学院宁波材料技术与工程研究所 | Master-slave cooperative motion control system |
| CN111010259A (en) * | 2019-12-25 | 2020-04-14 | 香港大德昌龙生物科技有限公司 | Communication method and apparatus, in-vitro diagnostic device, computer-readable storage medium |
| CN112859711A (en) * | 2021-02-07 | 2021-05-28 | 航天科工空间工程发展有限公司 | Spacecraft CAN bus autonomous switching processing system and method |
| CN113219421A (en) * | 2021-02-05 | 2021-08-06 | 南京恩瑞特实业有限公司 | Secondary radar state monitoring system based on CAN bus |
| WO2022199000A1 (en) * | 2021-03-26 | 2022-09-29 | 深圳市优必选科技股份有限公司 | Control method, control system and intelligent device |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105843764A (en) * | 2016-04-07 | 2016-08-10 | 大族激光科技产业集团股份有限公司 | Robot control method and device |
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| CN110568780A (en) * | 2018-06-05 | 2019-12-13 | 中国科学院宁波材料技术与工程研究所 | Master-slave cooperative motion control system |
| CN110262214A (en) * | 2019-07-22 | 2019-09-20 | 北京航天发射技术研究所 | Play perpendicular control system |
| CN111010259A (en) * | 2019-12-25 | 2020-04-14 | 香港大德昌龙生物科技有限公司 | Communication method and apparatus, in-vitro diagnostic device, computer-readable storage medium |
| CN113219421A (en) * | 2021-02-05 | 2021-08-06 | 南京恩瑞特实业有限公司 | Secondary radar state monitoring system based on CAN bus |
| CN112859711A (en) * | 2021-02-07 | 2021-05-28 | 航天科工空间工程发展有限公司 | Spacecraft CAN bus autonomous switching processing system and method |
| WO2022199000A1 (en) * | 2021-03-26 | 2022-09-29 | 深圳市优必选科技股份有限公司 | Control method, control system and intelligent device |
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Application publication date: 20151223 |