CN108227527A - A kind of multiaxis cooperative control system and method based on CANopen bus communications - Google Patents
A kind of multiaxis cooperative control system and method based on CANopen bus communications Download PDFInfo
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Abstract
The invention discloses a kind of multiaxis cooperative control system and method based on CANopen bus communications, wherein, which includes host computer, overall control module, travelling control module, elevating control module and sensor acquisition module；Wherein, overall control module obtains motion control information and running state information, and corresponding movement instruction information is sent to travelling control module and elevating control module according to status information handling result；Movement instruction information is parsed into the control information of several motors by travelling control module；Elevating control module carries out motor movement feedforward PID closed-loop controls according to the imaginary axis of simulation；Collected sensor is uploaded to overall control module by the timing of sensor acquisition module.The present invention for solve the problems, such as existing pulse controlled wiring trouble, can not achieve that closed loop, reliability be not high, Collaborative Control effect is bad and different controllers between communication mode is chaotic, wiring is cumbersome and nonstandard.
Description
Technical field
The invention belongs to soft project, electronic engineering field more particularly to a kind of multiaxises based on CANopen bus communications
Cooperative control system and method.
Background technology
With the rapidly development of industrial automation, the integrated levels of industrial products is with increasing, while to industrial products matter
The reliability requirement of amount is also higher and higher.Understood according to preliminary, Pulse Width Control or analog quantity control according to current comparative maturity
System, is not only a great inconvenience on hardware, due to that cannot acquire current axis status information in real time even more in control
Closed-loop control is not achieved, the reliability of product does not catch up with demand yet.
Invention content
Present invention solves the technical problem that it is：One kind has been overcome the deficiencies of the prior art and provide based on CANopen buses to lead to
The multiaxis cooperative control system and method for news, for solving existing pulse controlled wiring trouble, can not achieve closed loop, reliability
Not high, Collaborative Control effect is bad and different controllers between communication mode is chaotic, wiring is cumbersome and nonstandard problem.
The object of the invention is achieved by the following technical programs：A kind of multiaxis collaboration based on CANopen bus communications
Control system, including：Host computer, overall control module, travelling control module, elevating control module and sensor acquisition module；
Wherein, overall control module obtains motion control information and running state information, and obtains state letter according to running state information
Handling result is ceased, after overall control module receives the movement instruction information from host computer, to movement instruction according to setting
Communication protocol carries out protocol analysis, travelling control module and elevating control module is sent according to status information handling result corresponding
Movement instruction information；The status information of itself is periodically sent to overall control module, walking control by travelling control module
Molding block is receiving the movement instruction information from overall control module, if being parsed into movement instruction information according to control algolithm
The control information of dry motor；The status information of itself is periodically sent to overall control module by elevating control module, is risen
It drops control module and is receiving the movement instruction information from overall control module, movement instruction is parsed according to the communication protocol of formulation
Information carries out motor movement according to the imaginary axis of simulation feedforward PID closed-loop controls；Sensor acquisition module passes through low speed CAN
Bus gets up each sensor series, and periodically acquires sensor information, and collected sensor is uploaded to by timing
Overall control module.
In the above-mentioned multiaxis cooperative control system based on CANopen bus communications, control of the travelling control module to motor
Information is settled accounts, and motor driver, and week are sent in a manner that low speed CAN bus is using event triggering, master-slave communication
Phase property inquires motor status information, movable information by low speed CAN bus.
In the above-mentioned multiaxis cooperative control system based on CANopen bus communications, elevating control module is total by low speed CAN
Line is sent to motor driver, and periodically by low speed CAN bus to motor by the way of event triggering, master-slave communication
Status information, current location velocity information are inquired.
In the above-mentioned multiaxis cooperative control system based on CANopen bus communications, the movement instruction information is transported for CAN frames
Dynamic command information.
In the above-mentioned multiaxis cooperative control system based on CANopen bus communications, travelling control module uses interpolation algorithm
The control information of motor is settled accounts.
In the above-mentioned multiaxis cooperative control system based on CANopen bus communications, the motion control information includes current
Movement velocity and angle, adjustable height.
In the above-mentioned multiaxis cooperative control system based on CANopen bus communications, the running state information includes walking
The status information of control module, the status information and sensor information of elevating control module.
A kind of multiaxis cooperative control method based on CANopen bus communications, the described method comprises the following steps：By total
Body control module obtains motion control information and running state information, and obtains status information processing knot according to running state information
Fruit, after overall control module receives the movement instruction information from host computer, to movement instruction according to the communication protocol of setting
Protocol analysis is carried out, sending corresponding movement to travelling control module and elevating control module according to status information handling result refers to
Enable information；The status information of itself is periodically sent to by overall control module, travelling control mould by travelling control module
Block is receiving the movement instruction information from overall control module, and movement instruction information is parsed into several according to control algolithm
The control information of motor；The status information of itself is periodically sent to by overall control module by elevating control module, is risen
It drops control module and is receiving the movement instruction information from overall control module, movement instruction is parsed according to the communication protocol of formulation
Information carries out motor movement according to the imaginary axis of simulation feedforward PID closed-loop controls；Low speed is passed through by sensor acquisition module
CAN bus gets up each sensor series, and periodically acquires sensor information, and timing uploads collected sensor
Give overall control module.
In the above-mentioned multiaxis cooperative control method based on CANopen bus communications, following steps are further included：It is controlled by walking
Molding block settles accounts the control information of motor, is sent in a manner that low speed CAN bus is using event triggering, master-slave communication
To motor driver, and periodically motor status information, movable information are inquired by low speed CAN bus.
The present invention has the advantages that compared with prior art：
The problem of communication mode that the present invention is directed between existing Pulse Width Control defect and different controllers is chaotic, is adopted
With CAN bus network communication mode, the Content of Communication needed between determining modules according to functional requirement completes communication protocol
Formulation, realize modules between serial communication；Using CAN bus network control mode realize wiring it is simple and reliable,
Closed-loop control can be realized to the acquisition and monitoring of motor status information, help to improve the safety and reliability of control system.
Using the inventive method, solve that the wiring of vehicle pulse control mode is complicated, and communication protocol is chaotic, communication information control trouble with
And the not high problem of safety reliability of vehicle.
Description of the drawings
By reading the detailed description of hereafter preferred embodiment, it is various other the advantages of and benefit it is common for this field
Technical staff will become clear.Attached drawing is only used for showing the purpose of preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings：
Fig. 1 is the block diagram of the multiaxis cooperative control system provided in an embodiment of the present invention based on CANopen bus communications；
Fig. 2 is the block diagram of travelling control module provided in an embodiment of the present invention；
Fig. 3 is the block diagram of elevating control module provided in an embodiment of the present invention；
Fig. 4 is the block diagram of sensor acquisition module provided in an embodiment of the present invention.
Specific embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although the disclosure is shown in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.It should be noted that in the absence of conflict, embodiment in the present invention and
Feature in embodiment can be combined with each other.The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Device embodiment
CAN bus has many advantages, such as that reliability is high, real-time is good relative to pulse or analog quantity, has been widely used in work
During industry automation, mechanical automation etc. are multi-field.The node that CAN bus can access at most can reach 110, can match many
The equipment for having CAN interface is incorporated into a bus network, and any node in bus network can be at any time
Send message to bus, node do not have master-slave, with it is more it is main mostly from working method and communication mode it is flexible.
CAN bus communication mode has the characteristics that fast transmission, long transmission distance, transmission form is more, carries CRC check.It is logical
Cross the priority detection to information, when can realize PRI conflict, the unaffected normal transmission of high priority；Pass through short frame
Structural transmission and using CRC check, the good reliability of transmission and error detection is efficient；Using twisted-pair feeder, coaxial cable or optical fiber
For communication media, wiring trouble can be greatly reduced.This patent makes the CAN bus based on LPC1788 realize the collaboration to 8 axis
Optimal trajectory control is realized in control.
Fig. 1 is the block diagram of the multiaxis cooperative control system provided in an embodiment of the present invention based on CANopen bus communications.Such as
Shown in Fig. 1, it is somebody's turn to do the multiaxis cooperative control system based on CANopen bus communications and includes：Host computer, overall control module, walking
Control module, elevating control module and sensor acquisition module；Wherein,
Overall control module obtains motion control information and running state information, and obtains state according to running state information
After information processing is as a result, overall control module receives the movement instruction information from host computer, to movement instruction according to setting
Communication protocol carry out protocol analysis, phase is sent to travelling control module and elevating control module according to status information handling result
The movement instruction information answered；
The status information of itself is periodically sent to overall control module by travelling control module, and travelling control module exists
The movement instruction information from overall control module is received, movement instruction information is parsed by several motors according to control algolithm
Control information；
The status information of itself is periodically sent to overall control module by elevating control module, and elevating control module exists
The movement instruction information from overall control module is received, movement instruction information is parsed according to the communication protocol of formulation, according to mould
The imaginary axis of plan carries out motor movement feedforward PID closed-loop controls；
Sensor acquisition module is got up each sensor series, and periodically acquire sensor by low speed CAN bus
Information, and collected sensor is uploaded to overall control module by timing.
Communicated between module using high-speed CAN bus, by overall control module definition be main website, excess-three module
Slave station is defined as, is arbitrated according to the priority (ID (identifier)) of each module of definition, always the message of highest priority
Override is handled, remaining message waiting bus free is further continued for sending, and ensures requirement of real-time of the system to different messages
And the real-time of communication can be improved.
As shown in Figure 1, overall control module is responsible for obtaining motion control information and running state information, such as current movement
The information of the state of speed and angle, adjustable height and current modules.Overall control module timing to current each
The status information of module is analyzed and determined, different states is handled accordingly.Overall control module, which receives, to be come from
After the movement instruction information of host computer, protocol analysis is carried out according to the communication protocol of setting to movement instruction, according to status information
Handling result sends corresponding movement instruction to travelling control module and elevating control module.
As shown in Fig. 2, the status information of itself is periodically sent to overall control module by travelling control module.Walking
Control module is receiving the CAN frame movement instruction information from overall control module, according to control algolithm by movement instruction information
It is parsed into the control information of four motors.Travelling control module settles accounts the control information of motor using interpolation algorithm, leads to
It crosses low speed CAN bus and is sent to motor driver, and periodically pass through low speed by the way of event triggering, master-slave communication
CAN bus inquires motor status information, movable information.
As shown in figure 3, the status information of itself is periodically sent to overall control module by elevating control module.Lifting
Control module is sent to motor driver, and periodically in a manner that low speed CAN bus is using event triggering, master-slave communication
Motor status information, current location velocity information are inquired by low speed CAN bus.Elevating control module comes from reception
The CAN frame movement instruction information of overall control module parses movement instruction information, according to simulation according to the communication protocol of formulation
Imaginary axis carries out four motor movements feedforward PID closed-loop controls.
As shown in figure 4, sensor acquisition module is responsible for being acquired each sensor, passed including 4 supporting leg rangings
Sensor, 2 voltage measuring instruments and an obliquity sensor.What 7 sensors were selected is CAN interface entirely, sensor
Acquisition module is got up each sensor series, and periodically acquire sensor information by low speed CAN bus, and timing will adopt
The sensor collected is uploaded to overall control module.
Specifically, connect modules according to standard：According to CAN bus line standard by host computer, overall control module,
Travelling control module, elevating control module, sensor acquisition module carry out line, and the both ends of CAN bus CANH with
Resistance upper 130 ohm in parallel between CANL.
According to standard configuration CAN addresses：In high-speed CAN bus network, host computer address configuration is 001, overall control
Module is configured to 002, and travelling control module is configured to 003, elevating control module and is configured to the configuration of 004, sensor acquisition module
It is 005.In control module of walking, 006 is configured to using traveling controller as travelling control module CANOpen communications main website,
007~00A is followed successively by the tributary address of movable motor driver 1~4；In elevating control module, using lifting controller as rising
The address for dropping control module CANOpen communications main website is 00B, and 00C~00F is with being followed successively by the slave station of lifting motor driver 5~8
Location；In sensor acquisition module, using sensor acquisition controller as the ground of sensor acquisition module CANOpen communications main website
Location is 010,011~014 tributary address for being followed successively by distance measuring sensor 1~4,015~016 for voltage measuring instrument 1~2 from
Station address, 017 is the tributary address of obliquity sensor.
Host computer according to setting communications protocol, will walking and elevating movement control information be sent to overall control module,
And receive the whole vehicle state that overall controller sends over.
Overall controller receives the state letter from travelling control module, elevating control module and sensor acquisition module
The state and data of breath, movable information and sensor, and it is judged and is handled.Overall controller is to the fortune that receives
Dynamic control information is parsed, and sending corresponding control according to the judgement of front and handling result and motion control analysis result refers to
It enables to travelling control module and elevating control module.
Travelling control module receives the motion control instruction from overall controller, and periodically believes the state of itself
Breath is sent to overall control module.Travelling control module is receiving the CAN frame movement instruction information from overall control module, root
Movement instruction information is parsed into the control information of four motors according to control algolithm, using interpolation algorithm to the control information of motor
It is resolved, ginsengs such as motor speed, acceleration, positions in a manner that low speed CAN bus is using event triggering, master-slave communication
Number is sent to motor driver, and periodically motor status information, movable information are inquired by low speed CAN bus.
Lifting controller receives the motion control instruction from overall controller, and periodically by the status information of itself
It is sent to overall control module.Elevating control module is receiving the CAN frame movement instruction information from overall control module, according to
The communication protocol parsing movement instruction information of formulation, obtains current direction of action, speed.Elevating control module periodically through
Low speed CAN bus reads position, speed and the status information of current motor by the way of event triggering, master-slave communication.
In control mode, the reference that four lifting shafts are used as by setting an imaginary axis marks, and four are risen using feedforward pid algorithm
It drops motor and carries out closed loop.
Sensor acquisition module periodically sends reading instruction to each sensor, and parses and sense according to communications protocol
The data and status information of device, and it is periodically sent to overall controller.
Embodiment of the method
The present embodiment additionally provides a kind of multiaxis cooperative control method based on CANopen bus communications, and this method includes
Following steps：
Motion control information and running state information are obtained, and obtain according to running state information by overall control module
Status information handling result, after overall control module receives the movement instruction information from host computer, to movement instruction according to
The communication protocol of setting carries out protocol analysis, and travelling control module and elevating control module are sent out according to status information handling result
Send corresponding movement instruction information；
The status information of itself is periodically sent to by overall control module, travelling control mould by travelling control module
Block is receiving the movement instruction information from overall control module, and movement instruction information is parsed into several according to control algolithm
The control information of motor；
The status information of itself is periodically sent to by overall control module, elevating control mould by elevating control module
Block is receiving the movement instruction information from overall control module, and movement instruction information, root are parsed according to the communication protocol of formulation
Feedforward PID closed-loop controls are carried out to motor movement according to the imaginary axis of simulation；
Each sensor series are got up by low speed CAN bus by sensor acquisition module, and periodically acquisition passes
Sensor information, and collected sensor is uploaded to overall control module by timing.
In above-described embodiment, following steps are further included：The control information of motor is settled accounts by travelling control module,
Motor driver is sent to, and periodically pass through low speed in a manner that low speed CAN bus is using event triggering, master-slave communication
CAN bus inquires motor status information, movable information.
In above-described embodiment, following steps are further included：It is touched by elevating control module by low speed CAN bus using event
Hair, master-slave communication mode be sent to motor driver, and periodically by low speed CAN bus to motor status information, when
Front position velocity information is inquired.
The problem of communication mode that the present embodiment is directed between existing Pulse Width Control defect and different controllers is chaotic,
Using CAN bus network communication mode, the Content of Communication needed between determining modules according to functional requirement completes communication protocols
The serial communication between modules is realized in the formulation of view；Wiring is realized using CAN bus network control mode simply may be used
It leans on, closed-loop control can be realized to the acquisition and monitoring of motor status information, help to improve the safety of control system and reliable
Property.Using the inventive method, solves vehicle pulse control mode wiring complexity, communication protocol is chaotic, communication information control fiber crops
The not high problem of tired and vehicle safety reliability.
Embodiment described above is the present invention more preferably specific embodiment, and those skilled in the art is in this hair
The usual variations and alternatives carried out in the range of bright technical solution should all include within the scope of the present invention.
Claims (10)
1. a kind of multiaxis cooperative control system based on CANopen bus communications, it is characterised in that including：Host computer, overall control
Molding block, travelling control module, elevating control module and sensor acquisition module；Wherein,
Overall control module obtains motion control information and running state information, and obtains status information according to running state information
After overall control module receives the movement instruction information from host computer, movement instruction is led to according to setting for handling result
Believe that agreement carries out protocol analysis, travelling control module and elevating control module are sent according to status information handling result corresponding
Movement instruction information；
The status information of itself is periodically sent to overall control module by travelling control module, and travelling control module is receiving
Movement instruction information, the control of several motors is parsed into according to control algolithm by the movement instruction information from overall control module
Information processed；
The status information of itself is periodically sent to overall control module by elevating control module, and elevating control module is receiving
Movement instruction information from overall control module parses movement instruction information, according to simulation according to the communication protocol of formulation
Imaginary axis carries out motor movement feedforward PID closed-loop controls；
Sensor acquisition module is got up each sensor series, and periodically acquire sensor information by low speed CAN bus,
And collected sensor is uploaded to overall control module by timing.
2. the multiaxis cooperative control system according to claim 1 based on CANopen bus communications, it is characterised in that：Row
It walks control module to settle accounts the control information of motor, be triggered low speed CAN bus using event, by way of master-slave communication
Motor driver is sent to, and periodically motor status information, movable information are inquired by low speed CAN bus.
3. the multiaxis cooperative control system according to claim 1 based on CANopen bus communications, it is characterised in that：It rises
Drop control module is sent to motor driver, and periodically in a manner that low speed CAN bus is using event triggering, master-slave communication
Motor status information, current location velocity information are inquired by low speed CAN bus.
4. the multiaxis cooperative control system according to claim 1 based on CANopen bus communications, it is characterised in that：Institute
Movement instruction information is stated as CAN frame movement instruction information.
5. the multiaxis cooperative control system according to claim 2 based on CANopen bus communications, it is characterised in that：Row
Control module is walked to settle accounts the control information of motor using interpolation algorithm.
6. the multiaxis cooperative control system according to claim 1 based on CANopen bus communications, it is characterised in that：Respectively
A sensor includes supporting leg distance measuring sensor, voltage measuring instrument and obliquity sensor.
7. the multiaxis cooperative control system according to claim 1 based on CANopen bus communications, it is characterised in that：Institute
It states motion control information and includes current movement velocity and angle, adjustable height.
8. the multiaxis cooperative control system according to claim 1 based on CANopen bus communications, it is characterised in that：Institute
State status information, the status information and sensor information of elevating control module that running state information includes travelling control module.
9. a kind of multiaxis cooperative control method based on CANopen bus communications, which is characterized in that the method includes following steps
Suddenly：
Motion control information and running state information are obtained, and obtain state according to running state information by overall control module
After information processing is as a result, overall control module receives the movement instruction information from host computer, to movement instruction according to setting
Communication protocol carry out protocol analysis, phase is sent to travelling control module and elevating control module according to status information handling result
The movement instruction information answered；
The status information of itself is periodically sent to by overall control module by travelling control module, travelling control module exists
The movement instruction information from overall control module is received, movement instruction information is parsed by several motors according to control algolithm
Control information；
The status information of itself is periodically sent to by overall control module by elevating control module, elevating control module exists
The movement instruction information from overall control module is received, movement instruction information is parsed according to the communication protocol of formulation, according to mould
The imaginary axis of plan carries out motor movement feedforward PID closed-loop controls；
Each sensor series are got up, and periodically acquire sensor by low speed CAN bus by sensor acquisition module
Information, and collected sensor is uploaded to overall control module by timing.
10. the multiaxis cooperative control method according to claim 1 based on CANopen bus communications, which is characterized in that also
Include the following steps：The control information of motor is settled accounts by travelling control module, event is used by low speed CAN bus
Triggering, master-slave communication mode be sent to motor driver, and periodically by low speed CAN bus to motor status information,
Movable information is inquired.
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