CN108900135A - Monitoring system based on CANopen communication - Google Patents
Monitoring system based on CANopen communication Download PDFInfo
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- CN108900135A CN108900135A CN201810923537.3A CN201810923537A CN108900135A CN 108900135 A CN108900135 A CN 108900135A CN 201810923537 A CN201810923537 A CN 201810923537A CN 108900135 A CN108900135 A CN 108900135A
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- 238000004891 communication Methods 0.000 title claims abstract description 135
- 238000012544 monitoring process Methods 0.000 title claims abstract description 70
- 238000006243 chemical reaction Methods 0.000 claims description 18
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- 238000005516 engineering process Methods 0.000 abstract description 2
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- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 2
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
- H04L12/40032—Details regarding a bus interface enhancer
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a kind of monitoring systems based on CANopen communication, are related to intelligent motor control technology field, which includes：Host computer, CANopen communication module, frequency converter and motor；Host computer is connected to frequency converter by CANopen communication module, and host computer carries out parameter preset configuration to CANopen communication module to establish the communication connection between host computer and frequency converter；Based on the communication connection, host computer carries out parameter setting to frequency converter；Frequency converter is connected to motor, for being worked according to driving parameter motor.Above-mentioned technical proposal solve in the prior art using USB turn RS485 communication caused by delay it is longer, be unable to satisfy to real time monitoring application, with realize shorten due to communicate caused by monitoring delay；The use of measuring instrument in motor control and test is reduced simultaneously, reduces optional equipment and cost to realize.
Description
Technical field
The present embodiments relate to intelligent motor control technology fields, more particularly to the monitoring system based on CANopen communication
System.
Background technique
In the production application and research of threephase asynchronous machine, the analysis of monitoring and operation data to motor operating state
It is essential.When being monitored using frequency converter to it, the control setting of frequency converter is inflexible at present, generally also only real
When show a certain parameter current value of motor, not by multiple parameters for a period of time in data show, other motor operation
The waveform of parameter image current, voltage etc., which is shown, is more advantageous to analysis, but frequency converter does not have waveform display function generally.So needing
The flexible setting of parameter in monitoring is realized by programming in host computer, the waveform of multi-parameter such as show at the functions.
Currently, the communication of host computer and frequency converter uses USB to turn RS485 mostly, controlled by modbus agreement
System instruction assign and the feedback of motor operating state parameter.But it since modbus is communicated using poll response formula, passes
Make communication time long comprising station address coding, check code etc. simultaneously in transmission of data, the instruction issued so as to cause host computer with
There are longer delays for frequency converter posting status parameter.It needs to carry out threephase asynchronous machine real-time control to show with state certain
The occasion such as dynamic loading system etc. for showing analysis, is unable to satisfy demand.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of monitoring system based on CANopen communication, shorten monitoring to realize
It the extension time of monitoring and the display of system, realizes stringent real-time display, while providing waveform and the functions such as numerical value is shown, meet
The demand of motor control and analysis etc..
The embodiment of the invention provides a kind of monitoring systems based on CANopen communication, including：Host computer, CANopen are logical
Interrogate module, frequency converter and motor；
The host computer is connected to the frequency converter by the CANopen communication module, and the host computer is to described
CANopen communication module carries out parameter preset configuration to establish the communication connection between host computer and frequency converter；
Based on the communication connection, the host computer carries out parameter setting and status display to the frequency converter；
The frequency converter is connected to the motor, works for the motor according to the driving parameter.
Further, the CANopen communication module includes that USB interconnected turns CAN device and CANopen adapter,
The USB turns CAN device and connects with host computer, and the CANopen adapter is connected to the frequency converter.
Further, described to include to CANopen communication module progress parameter preset configuration：
The host computer turns CAN device to the USB and carries out the first communication configuration；
The frequency converter carries out the second communication to CANopen adapter and configures；
The host computer and frequency converter configure by the first communication configuration and the second communication and establish communication connection.
Further, the host computer includes：Setup module and monitoring module；
The setup module, including communications parameter setting unit and parameter of electric machine setting unit, the communications parameter setting
Unit is used to turn for the USB CAN device and carries out parameter preset configuration, and the parameter of electric machine setting unit is used to be the frequency converter
Setup parameter is to control the working condition of the motor；
The monitoring module, for monitoring the working condition of the motor, and by the working condition real-time display.
Further, the setup module further includes converting unit；The converting unit, for according to the parameter of electric machine
Read-write state, carry out data conversion, wherein the conversion formula under write state is：Conversion under reading state
Formula is：
Wherein, niFor parameter set in frequency converter, ntFor parameter under the international system of units (SI), N is the specified ginseng of motor
Number, M are numerical value corresponding with the nominal parameter of the motor in frequency converter.
Further, the setup module further includes control mode setting unit, and the control mode setting unit is used for
The frequency converter is set to the control mode of the motor.
Further, the monitoring module includes：Acquisition unit, the acquisition unit are used to implement the acquisition motor
The actual working state parameter of Kernel-based methods data object.
Further, the monitoring module further includes：Display unit, the display unit are used for waveform and/or numerical value
Mode real-time display described in motor actual working state.
Further, the host computer further includes alarm module, and the alarm module is for detecting the monitoring system
Failure, and send a warning.
Further, the motor is threephase asynchronous machine.
A kind of monitoring system based on CANopen communication provided by the above embodiment, including：Host computer, CANopen communication
Module, frequency converter and motor；Host computer is connected to frequency converter by CANopen communication module, and host computer communicates CANopen
Module carries out parameter preset configuration to establish the communication connection between host computer and frequency converter；Based on the communication connection, host computer
Parameter setting and status display are carried out to frequency converter；Frequency converter is connected to motor, for being worked according to driving parameter motor, with solution
Certainly in the prior art using USB turn RS485 communication caused by delay it is longer, be unable to satisfy to real time monitoring application, with reality
Now shorten due to monitoring delay caused by communicating；The use for reducing measuring instrument in motor control and test simultaneously, is subtracted with realizing
Few optional equipment and cost.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of monitoring system based on CANopen communication provided in an embodiment of the present invention；
Fig. 2 is a kind of another structural schematic diagram of monitoring system based on CANopen communication provided in an embodiment of the present invention；
Fig. 3 is a kind of another structural schematic diagram of monitoring system based on CANopen communication provided in an embodiment of the present invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Fig. 1 is a kind of structural schematic diagram of monitoring system based on CANopen communication provided in an embodiment of the present invention.Such as figure
Shown in 1, should include based on the CANopen monitoring system communicated：Host computer 110, CANopen communication module 120, frequency converter 130
And motor 140.
Host computer 110 is connected to frequency converter 130 by CANopen communication module 120, and host computer 110 communicates CANopen
Module 120 carries out communication connection of the parameter preset configuration to establish between host computer 110 and frequency converter 130；Connected based on the communication
It connects, host computer 110 carries out parameter setting and status display to frequency converter 130；Frequency converter 130 is connected to motor 140, is used for basis
Driving parameter motor 140 works.
Host computer 110 refers to the computer that can directly issue manipulation command, and installation, which is realized, in host computer 110 is based on
The LabVIEW of the monitoring system of CANopen communication develops software, and LabVIEW is a kind of graphical programming language, using graphical
Author language G writes program, and the program of generation is the form of block diagram.Realization is developed based on LabVIEW to communicate based on CANopen
Monitoring system, may be implemented by the monitoring system to CANopen communication module 120, frequency converter 130 and motor 140
The control of parameter setting and working condition.The monitoring system can be adapted for different model frequency converter and different capacity three it is different
Walk the control of motor.
CANopen communication module 120 is the module that communication transfer is carried out based on CANopen agreement.CANopen communication module
Data-interface there are many being integrated in 120, such as standard CAN interface, standard serial interface or Ethernet interface.CANopen communication
The communication equipment for using Ethernet interface or serial line interface can be converted into CANopen slave station by module 120, with CANopen master
Station is communicated and is configured.CANopen communication module 120 is based on CANopen agreement between host computer 110 and frequency converter 130
Carry out data transmission.CANopen agreement is the application layer protocol established based on CAN bus agreement, belongs to MS master-slave station agreement, one
There are a host and several slaves in a CANopen network,
Frequency converter 130 is a kind of to control the electric power control that alternating current generator works by changing frequency mode of working power supply
Control equipment.In embodiment, host computer 110 is communicated by CANopen communication module 120 with frequency converter 130.In embodiment
In, host computer 110 is host, and frequency converter 130 is slave.Host computer 110 is preset according to the model of CANopen communication module
Parameter configuration, such as communication node address, communication standard agreement or transparent transmission mode etc. are to establish between host computer and frequency converter
Communication connection.
Motor 140 refers to a kind of calutron that electric energy conversion or transmitting are realized according to the law of electromagnetic induction, according to work
Principle can be divided into synchronous motor and asynchronous machine etc..In embodiment, motor 140 can connect load equipment 150, such as water
Pump etc., for driving load equipment 150 to work.
Between host computer 110 and CANopen communication module 120 and CANopen communication module 120 and frequency converter 130
Between have built up communication connection, CANopen communication module 120 and frequency converter 130 may be implemented by host computer programming
Parameter configuration, including initiation parameter setting, and reset working status parameter etc..Wherein, the parameter packet of frequency converter 130
It includes：Rated motor parameter, Protection parameters, control mode etc., nominal parameter refer to that frequency converter is accurate and security control motor must
The parameter needed, Protection parameters refer to occurs parameter corresponding to overcurrent, the protection that hypervelocity race flies, motor to motor control in the process
Operation can prevent equipment fault and security risk under Protection parameters setting, and control mode refers to that control motor carries out
The mode of work, including closed loop direct torque mode, closed loop revolving speed control mode, open loop direct torque mode and open loop revolving speed control
Mode processed etc..Host computer 110 obtains the electric machine operation state parameter of user configuration, generates corresponding motor control order, and will
The motor control order is sent to frequency converter 130 by CANopen communication module 120, and frequency converter 130 receives motor control life
It enables, while controlling motor 140 and being operated.
A kind of monitoring system based on CANopen communication provided in this embodiment, including：Host computer, CANopen communicate mould
Block, frequency converter and motor；Host computer is connected to frequency converter by CANopen communication module, and host computer communicates mould to CANopen
Block carries out parameter preset configuration to establish the communication connection between host computer and frequency converter；Based on the communication connection, host computer pair
Frequency converter carries out parameter setting；Frequency converter is connected to motor, for being worked according to driving parameter motor, to solve in the prior art
Turn to be delayed caused by RS485 communication using USB longer, is unable to satisfy to real time monitoring application, is shortened with realizing due to logical
Monitoring delay caused by interrogating；Simultaneously reduce motor control and test in measuring instrument use, with realize reduce optional equipment and
Cost.
Fig. 2 is a kind of another structural schematic diagram of monitoring system based on CANopen communication provided in an embodiment of the present invention.
On the basis of the above embodiments, as shown in Fig. 2, CANopen communication module 120 includes that USB interconnected turns CAN device 121
With CANopen adapter 122, which turns CAN device 121 and host computer 110 connects, and CANopen adapter 122 is connected to frequency conversion
Device 130.
USB turns CAN device 121 and refers to will be that the data based on CAN protocol pass based on the data transfer of USB communications protocol
The equipment of defeated form, USB turn to be built-in with many kinds of function in CAN device 121 for User Exploitation use.USB turns the connection of CAN device 121
To after host computer 110, CAN device 121 is turned to USB by host computer 110 and carries out communication configuration, enable USB turn CAN device 121 with it is upper
Position machine 110 carries out normal communication.CANopen adapter 122 is used to the communication transfer of frequency converter 130 adapting to CAN bus, with
Turn CAN device 121 by USB and CANopen adapter 122 sets up communication connection between host computer 110 and frequency converter 130.
It is described to include to CANopen communication module progress parameter preset configuration in one embodiment：On described
Position machine turns CAN device to the USB and carries out the first communication configuration；The frequency converter carries out the second communication to CANopen adapter and matches
It sets；The host computer and frequency converter configure by the first communication configuration and the second communication and establish communication connection.
Specifically, the first communication configuration can be for using the node function calling USB in graphical programming language LabVIEW
The interface library functions for turning CAN device, to USB turn CAN device 121 carry out accordingly communicate configuration, enable USB turn CAN device 121 with it is upper
Position machine 110 carries out normal communication.Second communication configuration is specially the configuration to the CANopen communications parameter of frequency converter, is such as communicated
Node address, communication standard agreement and transparent transmission mode etc. enable CANopen adapter 122 to carry out data with frequency converter 130
Transmission.By above-mentioned the first communication configuration and the second communication configuration, communication is established between host computer 110 and frequency converter 130
Connection, so that the parameter configuration for carrying out CANopen communication module 120 and frequency converter 130 on host computer 110 is realized, to control
The working condition of motor 140 processed.
In one embodiment, which includes：Setup module 111 and monitoring module 112；The setting mould
Block 111, including communications parameter setting unit and parameter of electric machine setting unit, the communications parameter setting unit is for being described
USB turns CAN device and carries out parameter preset configuration, and the parameter of electric machine setting unit is used to set work shape for the frequency converter 130
State parameter is to control the working condition of the motor 140；The monitoring module 112, for monitoring the work shape of the motor 140
State, and by the working condition real-time display.
By graphical programming language, one or more setup modules 121 are developed on host computer 110, the setting mould
Block 121 is used to be arranged parameter when CANopen communication module 120 and motor 140 are run, specifically, setup module 121 can be with
Including communications parameter setting unit and parameter of electric machine setting unit.According to application demand, communications parameter, which can be divided into, does not have timeliness
It is required that acquisition Service Data Object (Service Data Objects, SDO) and used number of passes to what timeliness had a strong demand
According to object (PHP Data Object, PDO).SDO and PDO is all based on the communication object of CANopen agreement, by encapsulating CAN
The data frame of bus protocol is realized.PDO object is process data object, i.e. one-way transmission, is transmitted for connectionless data,
CAN message is responded without receiving node to confirm, from communications term for be belong to " productive consumption " model；SDO object is
Service Data Object has the reception section for specifying and being received address of node, and needing specified for there is the transmission of the data of connection
It is received to confirm that point responds CAN message, if time-out does not confirm that sending node will retransmit former message.This
Kind communication modes belong to the traffic model of " server client ".
Host computer 110 carries out in parameter setting frequency converter 130 by CANopen communication module 120, using CANopen
Network management (network management, NMT) and Service Data Object (Service data in communications protocol
Object, SDO) combination communicated, i.e., after entering pre-operation state by network management control order, this is carried out using SDO
The configuration of a little parameters, Protection parameters and nominal parameter of such parameter to real-time no requirement (NR), such as motor.
Host computer 110 sends 140 control command of motor by CANopen communication module 120 and obtains collected in real time
Motor status parameter, can be using network management in CANopen and process data object (Process data object, PDO)
Combination is communicated, i.e., after entering mode of operation by network management control order, the change of real time monitoring parameter is carried out using PDO
Change, to reduce delay when communication, such parameter is higher to requirement of real-time, such as the actual working state parameter of motor, strictly according to the facts
Border power, virtual voltage, actual current, actual speed and actual torque etc..
In one embodiment, which further includes converting unit, the converting unit, for according to institute
It states the read-write state of the parameter of electric machine, carries out data conversion, wherein the conversion formula under write state is：Read shape
Conversion formula under state is：
Wherein, niFor parameter set in frequency converter, ntFor parameter under the international system of units (SI), N is the specified ginseng of motor
Number, M are numerical value corresponding with the nominal parameter of the motor in frequency converter.
Since parameter can be not fully consistent under parameter and general international unit set in frequency converter, equally, phase
For same parameters, numerical value corresponding to the nominal parameter and frequency converter of motor is also not fully consistent, it is therefore desirable to be turned
It changes.For example, N is 500 revs/min, M 10000, the corresponding Rated motor revolving speed 500 of parameter 10000 in frequency converter represent
Rev/min, in the written state, if the motor speed of 250 revs/min of acquisition is thought, according to conversion formulaWrite-in
The parameter 5000 being arranged required for frequency converter；Under reading state, if the parameter of the frequency converter of setting is 5000, according to conversion
FormulaReading parameter of the motor under the international system of units (SI) is 250 revs/min.It should be noted that reading out
Parameter of the motor under the international system of units (SI) may be percentage, needed at this time multiplied by 100 to obtain actual parameter.It will be electric
The motion state parameters of the parameter and motor set needed for machine in the actual process are set on host computer to be read out, from
And it realizes monitoring system and realizes the versatility of different electric machine operation states within the scope of transducer drive.
In one embodiment, setup module 111 further includes control mode setting unit, and the control mode setting is single
Member is for being arranged the frequency converter to the control mode of the motor.
Specifically, can realize the conversion of control mode by the main control word in the address of variable of change frequency converter.Control
Mode processed refers to the mode that control motor works, including closed loop direct torque mode, closed loop revolving speed control mode, open loop turn
Square control mode and open loop revolving speed control mode etc..
In one embodiment, the monitoring module 112 includes：Acquisition unit, the acquisition unit are adopted for implementing
Collect the actual working state parameter of the Kernel-based methods data object of the motor.
During the work time, the actual working state parameter of motor can occur in real time with the variation of electric machine operation state
Variation, the actual working state parameter is higher to requirement of real-time, is procedure-oriented data object.Kernel-based methods data object
Actual working state parameter uses productive consumption mode, and the producer is main website i.e. host computer when real-time control, and consumer is slave station
That is frequency converter；But during electric machine operation state is uploaded to host computer in real time, the producer is slave station i.e. frequency converter, consumer
Maximized real-time is realized so that time loss is small for main website, that is, host computer.
In one embodiment, the monitoring module 112 further includes：Display unit, the display unit is for real-time
Show the actual working state parameter.
Display unit in monitoring module 112 is the interface layout that software function is realized by the front panel of LabVIEW,
On the interface in the form of waveform real-time display motor actual working state parameter, including voltage, frequency, revolving speed, torque etc.,
Multiple working status parameters of motor can directly be observed, reduce the use of the test equipments such as oscillograph and multimeter, reduced
Cost.
In one embodiment, the host computer 110 further includes alarm module 113, and the alarm module 113 is for examining
The failure of the monitoring system is surveyed, and is sent a warning.
Frequency converter alarm and frequency converter failure position are provided in major state word, in real time in the major state word of reading frequency converter
Frequency converter alarm and frequency converter failure position, and whether frequency converter is reminded in a manner of signal lamp boolean's control of LabVIEW
It operates normally, while CAN device state and CAN communication state is turned to the USB in CANopen communication and judged whether just with boolean's control
Normal open news.Boolean's control is used for through button, switch and indicator light input and display Boolean.
In one embodiment, the motor is threephase asynchronous machine.
The revolving speed moment of asynchronous machine changes with the variation of the size of load, and the revolving speed of asynchronous machine turns lower than electromagnetism
Speed.Threephase asynchronous machine in embodiment can be the threephase asynchronous machine of different model, and the parameter by changing frequency converter is matched
It sets, the control and driving to the threephase asynchronous machine of different model can be realized in monitoring system.Certainly, which can also be with
It is other motors, such as synchronous motor.
Technical solution provided in this embodiment is illustratively described below：
Fig. 3 is a kind of another structural schematic diagram of monitoring system based on CANopen communication provided in an embodiment of the present invention.
In the present embodiment, by taking ACS800-01 frequency converter is using Direct Torque Control threephase asynchronous machine as an example, to the base of this programme proposition
It is illustrated in the monitoring system of CANopen communication, wherein the partial parameters of the threephase asynchronous machine are：Power 1.5kW turns
Speed：1403r/min, voltage 380V, electric current 3.7A.ACS800-01 frequency converter is connected to power grid, and threephase asynchronous machine is by the frequency conversion
Device power supply.Monitoring system in the present embodiment can satisfy in the power bracket that ACS800-01 frequency converter can drive to not
With the driving and control of the threephase asynchronous machine of model.
Host computer is turned into CAN device by USB and CANopen adapter is connected to ACS800-01 frequency converter, then by the frequency conversion
The device drive control threephase asynchronous machine, the threephase asynchronous machine are connected to another load equipment, can be different with the three of model
Walk motor or other equipment, such as wind energy conversion system and water pump.In the present embodiment, load equipment use identical power for
The threephase asynchronous machine of 1.5kW.Main website communications parameter is configured, CANopen communication is opened, inputs Rated motor parameter, setting control
Mode processed starts motor and load, can be monitored in real time to threephase asynchronous machine.
Call USB to turn the interface library functions of CAN device using the node function in LabVIEW first, to USB turn CAN device into
The communication configuration of row first, such as communication initialization configuration and the transmitting-receiving of CAN frame.
After establishing communication connection between host computer and frequency converter, according to table 1, table 2 and table 3 to frequency converter A CS800-01
Carry out the second communication configuration.It should be noted that the model when frequency converter is different, corresponding parameter configuration can not phase
Together.
1 ACS800-01 inverter communication configuration parameter table of table
| Converter parameter group | Setting | Explanation |
| 98.02 | FIELDBUS | Activate the CANopen adapter of frequency converter |
| 51.01 | CANopen | It is set as CANopen communication |
| 51.02 | 1 | 1 is set by the node number of frequency converter |
| 51.03 | 8 | Communication speed is 1Mbit/s |
| 51.04 | 0/1 | PDO communication variables are arranged by 51 parameter settings or bus |
| 51.26 | 1 | Communications protocol is Transparent, i.e. transparent transmission |
The PDO communication variables of motor control instruction and motor status parameter for strong real-time, ACS800-01 frequency converter
51 parameter settings can be used, as shown in table 2.
2 ACS800-01 frequency converter PDO object of table communicates configuration parameter table
| Converter parameter group | Setting | Explanation |
| 51.05 | 1 | Receive enabled |
| 51.06 | 1 | It is asynchronous for receiving data transfer mode |
| 51.15 | 254 | It sends enabled |
| 51.16 | 255 | It is asynchronous for sending data transfer mode |
| 51.17 | 10 | PDO sends interval time 10ms |
Parameter group 51.07~51.14 is specifically to receive PDO variable in the address that ACS800-01 object dictionary defines, parameter
Group 51.07~51.14 is the specific PDO variable that sends in the address that ACS800-01 object dictionary defines.Wherein main several changes
The address of amount is shown in Table 3：
3 ACS800-01 frequency converter address of variable table of table
| Master index | Subindex | Explanation |
| 2005(hex) | Main control word | |
| 2006(hex) | Rotary speed instruction | |
| 4000(hex) | 03(hex) | Torque instruction |
| 4000(hex) | 04(hex) | Major state word |
The address of other parameters is that its index front two in parameter group is ten 4000 in object dictionary in (hex)
With a position, latter two are subindex.
When according to above table by the parameter configuration of frequency converter after the completion of, establish hardware between host computer and frequency converter and connect
It connects.
The working status parameter of frequency converter is configured, to control the working condition of driving threephase asynchronous machine, converter parameter
Nominal parameter and Protection parameters including threephase asynchronous machine etc., to realize the write-in and reading of the parameter of monitoring system.Table 4 is
Frequency converter nominal parameter table.
4 frequency converter nominal parameter table of table
To there are many control modes of ACS800-01 frequency converter, including：Closed loop direct torque mode, the control of closed loop revolving speed
Mode, open loop direct torque mode and open loop revolving speed control mode etc. can realize revolving speed control by changing main control word, turn
The control modes such as square control, opened loop control and closed-loop control.
According to application demand, SDO and PDO parameter configuration is carried out to the communications parameter of monitoring system, wherein SDO parameter configuration
For Service Data Object parameter configuration, timeliness is not required, i.e., the parameter not changed with the working condition of motor, PDO parameter
It is configured to process data object parameter configuration, requires timeliness high, i.e., the parameter changed with the working condition of motor.Firstly,
Judge whether the communications parameter is PDO parameter, if so, carrying out mode of operation, write-in motor control life by network management NMT
It enabling, frequency converter works according to the motor control order driving motor, while reading the actual working state parameter of motor in real time, if
It is no, then pre-operation state is entered by network management NMT, converter parameter, such as Protection parameters and nominal parameter, setting is written
The control mode of frequency converter such as sets open loop direct torque for control mode, using the Service Data Object SDO of response mode
It is communicated.
Specifically, the parameter that requirement of real-time is high, needs to first pass through NMT and enters mode of operation, pass through process data object
PDO is communicated.Since motor actual working state parameter is different from the expression number in the setting parameter in frequency converter, carrying out
It is converted during the read-write of parameter, such as the conversion formula such as following formula of write-in torque
TiFor the torque instruction in frequency converter, TmIt is the torque instruction for being actually subjected to control, TNFor nominal torque, ACS800-01
In indicate nominal torque with 10000 100%.
Meanwhile in order to facilitate the fault message of Inspection and monitoring system, the major state word of ACS800-01 frequency converter is read in real time
In frequency converter alarm and frequency converter failure position, and with cross LabVIEW boolean's control frequency converter is reminded in a manner of signal lamp
Whether normal operation, while turning CAN device state and CAN communication state also to USB in CANopen communication is with the judgement of boolean's control
No normal communication.
The present embodiment is by the monitoring experiment to threephase asynchronous machine, and to phase asynchronous electricity under different control modes
Machine is monitored, and frequency converter can the motor within the scope of drive control tested, communicated with detecting based on CANopen
The reliability of monitoring system, the monitoring system are applicable to using the phase asynchronous electricity of different model in transducer drive control range
Machine works, and compatibility is strong, is communicated using CANopen agreement, shortens communication time, can satisfy some to real-time
The application required is controlled, while motor control is flexible, can directly observe the multiple running state parameters of motor, reduced
The use of the test equipments such as oscillograph, multimeter, reduces costs, and Design of Monitoring and Control System and realizes simple.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of monitoring system based on CANopen communication, which is characterized in that including：Host computer, becomes CANopen communication module
Frequency device and motor；
The host computer is connected to the frequency converter by the CANopen communication module, and the host computer is to the CANopen
Communication module carries out parameter preset configuration to establish the communication connection between host computer and frequency converter；
Based on the communication connection, the host computer carries out parameter setting and status display to the frequency converter；
The frequency converter is connected to the motor, works for the motor according to the driving parameter.
2. monitoring system according to claim 1, which is characterized in that the CANopen communication module includes being connected with each other
USB turn CAN device and CANopen adapter, the USB turns CAN device and connects with host computer, CANopen adapter connection
To the frequency converter.
3. monitoring system according to claim 2, which is characterized in that described to be carried out in advance to the CANopen communication module
Setting parameter configuration, including：
The host computer turns CAN device to the USB and carries out the first communication configuration；
The frequency converter carries out the second communication to CANopen adapter and configures；
The host computer and frequency converter configure by the first communication configuration and the second communication and establish communication connection.
4. monitoring system according to claim 2, which is characterized in that the host computer includes：Setup module and monitoring mould
Block；
The setup module, including communications parameter setting unit and parameter of electric machine setting unit, the communications parameter setting unit
Parameter preset configuration is carried out for turning CAN device for the USB, the parameter of electric machine setting unit is used to set for the frequency converter
Parameter is to control the working condition of the motor；
The monitoring module, for monitoring the working condition of the motor, and by the working condition real-time display.
5. monitoring system according to claim 4, which is characterized in that the setup module further includes converting unit；
The converting unit carries out data conversion, wherein under write state for the read-write state according to the parameter of electric machine
Conversion formula be：Conversion formula under reading state is：
Wherein, niFor parameter set in frequency converter, ntFor parameter under the international system of units (SI), N is the nominal parameter of motor, and M is
Numerical value corresponding with the nominal parameter of the motor in frequency converter.
6. monitoring system according to claim 4, which is characterized in that the setup module further includes that control mode setting is single
Member, the control mode setting unit is for being arranged the frequency converter to the control mode of the motor.
7. monitoring system according to claim 4, which is characterized in that the monitoring module includes：Acquisition unit, it is described to adopt
Collection unit is used to implement to acquire the actual working state parameter of the Kernel-based methods data object of the motor.
8. monitoring system according to claim 7, which is characterized in that the monitoring module further includes：Display unit, it is described
Actual working state of the display unit for motor described in the real-time display in a manner of waveform and/or numerical value.
9. monitoring system according to claim 6, which is characterized in that the host computer further includes alarm module, the report
Alert module is used to detect the failure of the monitoring system, and sends a warning.
10. -9 described in any item monitoring systems according to claim 1, which is characterized in that the motor is threephase asynchronous machine.
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| CN201810923537.3A CN108900135A (en) | 2018-08-14 | 2018-08-14 | Monitoring system based on CANopen communication |
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