CN110879550A - Motor control system and CAN communication method - Google Patents
Motor control system and CAN communication method Download PDFInfo
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- CN110879550A CN110879550A CN201911203797.4A CN201911203797A CN110879550A CN 110879550 A CN110879550 A CN 110879550A CN 201911203797 A CN201911203797 A CN 201911203797A CN 110879550 A CN110879550 A CN 110879550A
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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
- G05B19/0423—Input/output
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
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- 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
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- 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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- 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
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
Abstract
The invention belongs to the technical field of motor regulation and control, and discloses a motor control system and a CAN communication method.A rotary transformer is used for acquiring speed and absolute position angle information of a motor in real time; the rotary transformer decoding chip is used for converting the analog signal output by the rotary transformer end into a digital signal and transmitting the digital signal to the DSP processor for processing; and the DSP is used for transmitting the digital signals transmitted by the rotary transformer decoding chip to an upper computer PC end of a VCU of the simulation vehicle controller through a CAN bus after data processing is finished, and is used for displaying feedback information of the upper computer. The invention CAN realize the real-time information interaction function between the motor controller and the PC of the upper computer, and provides visual data display for the upper computer in the process of debugging the control system.
Description
Technical Field
The invention belongs to the technical field of motor regulation and control, and particularly relates to a motor control system and a CAN communication method.
Background
Currently, the closest prior art: modern vehicles are used with a large number of electronic devices to control their normal operation in order to increase performance. Data interaction is required among the devices, and when a control system becomes complex, signal lines for data interaction become more and more, and the connection mode becomes more complex. Bosch corporation developed a serial data communication protocol-CAN bus has solved this problem, and compared with general serial data communication mode, the communication mode of CAN bus has obvious advantages: high communication rate, strong data integrity, high flexibility of the communication network, and the like. The CAN bus is widely used in the automobile communication industry, and many automobile manufacturing companies in the world adopt the CAN bus to realize data communication between an automobile internal control system and various detection and execution mechanisms.
In summary, the problems of the prior art are as follows: (1) in the prior art, the running stability of the motor control system is poor due to the fact that the advantages of low cost, high utilization rate, high transmission rate, high data reliability and the like of CAN communication are not utilized, and the VCU and other MCUs perform data interaction effects poorly due to the fact that the vehicle-mounted communication function of the motor controller is completely achieved due to the fact that the CAN communication transceiving function is not utilized.
(2) In the prior art, only traditional electrical isolation is realized in the design of a CAN communication circuit, and in the field of motor controllers, particularly applied to vehicle-mounted motors with complex working environment changes, transmission signals are seriously damaged by the interference of external high-frequency signals.
(3) In the prior art, due to the characteristic of high-speed transmission of CAN communication, electromagnetic waves are easily generated on a signal wire to radiate and emit outwards, and the normal work of other devices is influenced.
The difficulty of solving the technical problems is as follows: (1) how to realize the high-efficient receiving and dispatching function of CAN communication data, and receive, send each other and do not influence.
(2) How to ensure that the transmission of CAN communication data is not damaged by the interference of other devices and high-frequency signals.
(3) How to ensure that the CAN communication data CAN not generate electromagnetic wave to radiate outwards in the high-speed transmission on the signal wire, thereby influencing the normal work of other devices and circuits.
The significance of solving the technical problems is as follows: the method CAN solve the problems of CAN communication data transmission efficiency and stability, and CAN be used for solving the problems in industrial production with low communication requirements or vehicle-mounted communication with high communication requirements.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a motor control system and a CAN communication method.
The present invention is achieved as such, a motor control system comprising:
the rotary transformer is integrated at the end of the permanent magnet synchronous motor and is used for acquiring the speed and absolute position angle information of the motor in real time;
the rotary transformer decoding chip is connected with the rotary transformer and used for converting the analog signal output by the rotary transformer end into a digital signal and transmitting the digital signal to the DSP processor for processing;
the DSP is used for transmitting the digital signals transmitted by the rotary transformer decoding chip to an upper computer PC end of a VCU (simulation vehicle control unit) through a CAN (controller area network) bus after data processing is finished;
and the PC end of the upper computer is used for displaying the feedback information of the upper computer.
Further, the PC end of the upper computer is also used for writing motor rotating speed and torque information into a message frame and transmitting the information to the DSP processor for analysis through CAN communication, and the DSP processor controls the rotating speed and the torque of the motor by controlling the duty ratio of three-phase six-path PWM waves of the motor according to the analyzed information so as to complete control.
Further, CANT and CANR led out from the DSP end are respectively and electrically isolated through an isolation chip ADUM1201 and high-frequency interference is eliminated; then, in order to prevent the excessive current flowing born by the I/O port of the DSP processor and convert the signal into a differential signal which CAN be identified by the CAN bus, the differential signal passes through the CAN transceiver chip TJA 1050T; in addition, in order to inhibit the electromagnetic wave generated by the high-speed signal line from radiating and emitting outwards, the electromagnetic wave also passes through a common mode choke coil consisting of a mutual inductance coil; and finally, in order to prevent the data from generating reflected waves, an impedance matching circuit and an anti-static device PESD1CAN are arranged at the data transmission terminal, so that the CAN bus is accessed for communication.
Furthermore, a capacitor is respectively arranged between the power supply and the reference ground of the isolation ends at the two sides of the isolation chip and used for filtering high-frequency interference.
Furthermore, the CAN transceiver is a physical interface between the DSP processor and the bus and is used for providing differential sending and receiving signals for the CAN bus;
the impedance matching circuit is a resistor for preventing the data from being damaged completely by reflected waves generated by the data reflected back at the transmission terminal, and is used for absorbing the reflection and echo of the bus terminal signal and preventing the signal from generating a loop to influence the transmission of normal signals.
Further, the motor control system further includes:
and the CAN communication module is connected with the DSP and used for transmitting instructions to the DSP from the PC end of the upper computer through a CAN bus, receiving data fed back by the motor and displaying results in the CCS and the CAN.
Another object of the present invention is to provide a CAN communication method of the motor control system, the CAN communication method including:
step one, information sending: the CAN communication module writes a frame of data in a certain sending mailbox, and then sends a CAN message frame to the PC end of the upper computer by the sending mailbox at regular intervals by using a timer 0, wherein the content of the message frame comprises a frame ID, a data length, a data high position CANL and a data low position CANH. The specific process is as follows: firstly, when a frame of data is ready to be sent, initializing a mailbox, forbidding mailbox enabling, then writing a frame ID into an MSGID register, opening mailbox enabling, then writing mailbox data length and CANL and CANH data, finally requesting to send, and sending a frame of data when a bus is idle.
Step two, information receiving: when the CAN bus is detected to have data transmission, an interrupt is generated, and data in a message frame is received by using a certain receiving mailbox, wherein the content of the message frame comprises a frame ID, a data length, a data high-order CANL and a data low-order CANH. The specific process is as follows: firstly, judging whether mailbox interrupt is generated, if so, firstly reading the data length, then reading an information Identifier (IDE) to judge whether a message frame is an extended frame or a standard frame, further knowing the length of a read frame ID (namely the length of an MSGID register (28-0 bits of the extended frame and 28-18 bits of the standard frame), then reading CANL and CANH data of the mailbox, and finally waiting for receiving the setting of the message register to generate the next interrupt.
Another object of the present invention is to provide an information data processing terminal implementing the CAN communication method.
Another object of the present invention is to provide a computer-readable storage medium including instructions which, when run on a computer, cause the computer to perform the CAN communication method.
Another object of the present invention is to provide an automobile equipped with the motor control system.
In summary, the advantages and positive effects of the invention are: the invention provides a motor control system CAN communication module based on DSP28335, which aims to realize real-time communication between a Motor Controller (MCU) and a Vehicle Control Unit (VCU) to ensure the reliability of a control system, display information such as angle, speed and the like of a motor in real time in the process of debugging the motor control system, increase the visualization degree of data and facilitate further debugging of the motor control system.
The invention can realize the real-time information interaction function between the motor controller and the upper computer PC, comprises the functions of reading the running state of the motor, controlling the state of the motor and the like by the upper computer, and provides visual data display for the upper computer in the process of debugging the control system. The result shows that the invention meets the data communication protocol of CAN communication, CAN simulate vehicle-mounted communication through the complete CAN communication transceiving function, and has strong practical value.
Drawings
Fig. 1 is a schematic structural diagram of a motor control system according to an embodiment of the present invention.
In the figure: 1. a rotary transformer; 2. a rotation change decoding chip; 3. a DSP processor; 4. a PC end of an upper computer; 5. and a CAN communication module.
Fig. 2 is a flowchart of a CAN communication method provided in the embodiment of the present invention.
Fig. 3 is a schematic diagram of a motor control system according to an embodiment of the present invention.
Fig. 4 is a hardware circuit diagram of a CAN communication module according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of an admm 1201 provided in an embodiment of the present invention.
Fig. 6 is a schematic diagram of an impedance matching circuit according to an embodiment of the present invention.
Fig. 7 is a flowchart of a CAN communication transmission function provided in the embodiment of the present invention.
Fig. 8 is a flowchart of a CAN communication receiving function according to an embodiment of the present invention.
Fig. 9 is a diagram of data received during a motor start process according to an embodiment of the present invention.
Fig. 10 is a graph of speed and angle received during start-up of a motor provided by an embodiment of the present invention.
Fig. 11 is a graph of the speed and angle received during a motor ramp-up provided by an embodiment of the present invention.
Fig. 12 is a diagram of transmitting standard frame data by the PC according to the embodiment of the present invention.
Fig. 13 is a diagram of the DSP end receiving standard frame data according to the embodiment of the present invention.
Fig. 14 is a diagram of transmitting extended frame data by the PC according to the embodiment of the present invention.
Fig. 15 is a diagram of receiving spread frame data at the DSP according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the prior art, the running stability of the motor control system is poor due to the fact that the advantages of low cost, high utilization rate, high transmission rate, high data reliability and the like of CAN communication are not utilized, and the VCU and other MCUs perform data interaction effects poorly due to the fact that the vehicle-mounted communication function of the motor controller is completely achieved due to the fact that the CAN communication transceiving function is not utilized.
In order to solve the problems in the prior art, the present invention provides a motor control system and a CAN communication method, and the present invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, a motor control system according to an embodiment of the present invention includes:
the rotary transformer 1 is integrated at the end of the permanent magnet synchronous motor and used for collecting speed and absolute position angle information of the motor in real time.
And the rotary transformer decoding chip 2 is connected with the rotary transformer and used for converting the analog signal output by the rotary transformer end into a digital signal and transmitting the digital signal to the DSP processor for processing.
And the DSP processor 3 is used for transmitting the digital signals transmitted by the rotary transformer decoding chip to an upper computer PC end of the simulation vehicle control unit VCU through the CAN bus after data processing is finished.
And the PC end 4 of the upper computer is used for displaying the feedback information of the upper computer.
A CAN communication module 5 connected with the DSP processor and used for transmitting instructions from the PC end of the upper computer to the DSP processor and receiving data fed back by the motor through a CAN bus and displaying results in the CCS and the CAN
In the embodiment of the invention, the PC end of the upper computer is also used for writing the information of the rotating speed and the torque of the motor into a message frame and transmitting the information to the DSP processor for analysis through CAN communication, and the DSP processor controls the rotating speed and the torque of the motor by controlling the duty ratio of three-phase six-path PWM waves of the motor according to the analyzed information, thereby completing the control.
In the embodiment of the invention, the CAN communication sending and receiving data pin end of the DSP processor is sequentially connected with an isolation chip, a CAN transceiver, a common mode choke coil, an impedance matching circuit and an antistatic device, and is finally accessed to a CAN bus for communication.
In the embodiment of the invention, a capacitor is respectively arranged between the power supply and the reference ground of the isolation ends at two sides of the isolation chip and is used for filtering high-frequency interference.
In the embodiment of the invention, the CAN transceiver is a physical interface between the controller and the bus and is used for providing differential sending and receiving signals for the CAN bus;
the data transmission terminal is a resistor for preventing the data from being damaged completely by reflected waves generated by the data reflected back at the transmission terminal, and is used for absorbing the reflection and echo of the bus terminal signal and preventing the signal from generating a loop to influence the transmission of normal signals.
As shown in fig. 2, the CAN communication method provided in the embodiment of the present invention includes:
s101, information transmission: the CAN communication module writes a frame of data in a certain sending mailbox, and then sends a CAN message frame to the PC end of the upper computer by the sending mailbox at regular intervals by using a timer 0, wherein the content of the message frame comprises a frame ID, a data length, a data high position CANL and a data low position CANH.
S102, receiving information: when the CAN bus is detected to have data transmission, an interrupt is generated, and data in a message frame is received by using a certain receiving mailbox, wherein the content of the message frame comprises a frame ID, a data length, a data high-order CANL and a data low-order CANH.
The invention is further described with reference to specific examples.
1. Motor control system CAN communication hardware implementation
1.1 general implementation of the Motor control System
The general block diagram of the motor control system is shown in fig. 3, and a rotary transformer is integrated at the end of the permanent magnet synchronous motor, so that information such as the speed and the absolute position angle of the motor can be acquired in real time. On one hand, an analog signal output by a rotary transformer end CAN be converted into a digital signal by using an AD2S1210 rotary-transformer decoding chip, then the digital signal is transmitted to the DSP28335 for processing, and after the data processing is finished, the digital signal is transmitted to an upper computer PC end of a VCU of a simulation vehicle controller through a CAN bus for displaying, so that the information feedback function from a motor to an upper computer is completed. On the other hand, the system CAN also achieve the effect of controlling the motor, information such as the rotating speed, the torque and the like of the motor is written into a message frame at the PC end and is transmitted to the controller DSP for analysis through CAN communication, and the DSP achieves the purpose of controlling the rotating speed, the torque and the like of the motor by controlling the duty ratio of three-phase six-path PWM waves of the motor according to the analyzed information, so that the control is completed. Two nodes of CAN communication are respectively a DSP28335 and an upper computer PC simulating a VCU.
1.2 CAN communication module hardware design
In order to improve the stability and reliability of data transmission on the CAN bus, a hardware circuit design shown in fig. 4 is adopted in the design, considering that interference of external signals and the information may generate a loop at a data transmission terminal and be reflected back to destroy data. And ADUM1201, TJA1050T, a common mode choke coil, an impedance matching circuit and an antistatic device PESD1CAN are sequentially connected to the CAN communication transmitting and receiving data pin end of the processor DSP, and are finally accessed to a CAN bus for communication.
1.2.1 ADUM1201 isolation chip
Compared with the traditional photoelectric isolator, the ADuM1201 has better performance, not only eliminates the uncertain transmission rate of the traditional photoelectric isolator, the nonlinear transmission function and the influence of temperature and service life on the device and provides more stable conversion performance, but also has the power consumption far smaller than that of the photoelectric isolator under the same signal transmission rate. A capacitor is arranged between the power supply and the reference ground of the two side isolation ends of the ADuM1201, and the capacitor is used for filtering high-frequency interference. The relevant circuit connections are shown in fig. 5.
1.2.2 TJA 1050T-CAN Transceiver
The signals output by the DSP28335 cannot be directly connected to the physical bus, and in order to prevent excessive sink currents to be applied to the I/O port of the processor, a CAN bus transceiver must be used therebetween, and therefore, a transceiver TJA1050T based on the CAN bus protocol is provided. The transceiver is a physical interface between the controller and the bus, and has the functions of providing differential sending and receiving signals for the CAN bus, enabling the receiving end to present a recessive state or a dominant state aiming at the level on the CAN bus, and the corresponding relation is shown in table 1.
TABLE 1 TXD-CANH-CANL relationship Table
1.2.3 data transmission terminal
The essence of the data transmission terminal is a resistor that prevents the reflected wave generated by the data being reflected back at the transmission terminal from destroying the integrity of the data, as shown in fig. 6. The typical value of the general data transmission terminal resistor is 120 ohms (two 62-ohm resistors and two 62-ohm capacitors CAN be adopted in practical application), and the terminal resistor has the function of absorbing the reflection and echo of the bus terminal signal, preventing the signal from generating a loop and influencing the transmission of the normal signal, thereby improving the anti-interference performance and reliability of the CAN bus communication.
2 motor control system CAN communication software design
The software is an important part of the test system, and the software of the whole system is mainly written on CCS (code composer studio) and then is written on DSP 28335. The functions of transmitting instructions from the PC to the DSP, receiving data fed back by the motor and displaying results in CCS and CAN data analysis software are mainly realized through the CAN bus.
2.1 implementation of CAN communication Transmission function
The CAN communication data sending function of the system is realized by adopting the sending function of an eCAN module message mailbox of the DSP 28335. Firstly writing a frame of data in a certain sending mailbox, and then sending a CAN message frame to an upper computer PC by the sending mailbox at regular intervals by using a timer 0, wherein the content of the message frame comprises a frame ID, a data length, a data high order (CANL) and a data low order (CANH). The transmit function flow diagram is shown in fig. 7.
2.2 implementation of CAN communication reception function
The CAN communication receiving function is realized by adopting the functions of the CAN interruption of the eCAN module of the DSP28335 and the data storage of the message mailbox. When detecting that data transmission exists on the CAN bus, an interrupt is generated, and a certain receiving mailbox is utilized to receive data in a message frame, wherein the content of the message frame comprises a frame ID, a data length, a data high order (CANL) and a data low order (CANH). The receive function flow diagram is shown in fig. 8.
3. The invention is further described below in connection with the test results.
3.1 CAN communication transmission function test
During the starting process of the motor, the information of the rotating speed and the angle of the motor is sent to the PC terminal through the CAN bus to be displayed, as shown in FIG. 9, wherein the upper 16 bits of the CANL data are speed information, and the lower 16 bits of the CANH data are angle information. The curve drawn after extracting the angle and speed information of fig. 9 is shown in fig. 10, which shows that the motor runs smoothly during the starting process, the rotating speed rises from 0 to the set speed of 300r/min quickly, and fluctuates within the allowable error range, and the value of the angle acquired by the rotary transformer is 0-32768, which is in accordance with the effect of converting the decoder 15 bit precision. The test shows that the CAN bus is used for communication, the data sent by the DSP and the data received by the PC terminal are normal, and the expected effect is achieved. The rotating speed and angle curve chart which is described in the process that the rotating speed of the motor is increased from 300r/min to 600r/min by adopting the same method is shown in fig. 11, and the design is also proved to be capable of well realizing the transmitting function of CAN communication.
3.2 CAN communication receiving function test
As shown in fig. 13, the data received from the DSP end is stored in the 31 st mailbox, and it CAN be observed that the high bit of the data in the 31 st mailbox is 0x 11223323344, and the low bit of the data is 0x 55667788. Since bit [31] of the message identifier register (MSGID) is 0, the frame is a standard frame and the frame ID is bit [28:18] of MSGID, which is 0x 0000. This test CAN confirm that the standard frame reception function of CAN communication CAN be achieved.
As shown in fig. 15, the data received by the DSP end is stored in the 31 st mailbox, and it CAN be observed that the high bit of the data in the 31 st mailbox is 0x 11223323344, and the low bit of the data is 0x 55667799. Since the [31] bit of the message identifier register (MSGID) is 1, the frame is an extended frame, and the frame ID is the [28:0] bit of MSGID, which is 0x 00000000. This test CAN confirm that the extended frame reception function of CAN communication CAN be achieved.
4. The present invention will be further described with reference to effects.
The invention utilizes the advantages of low cost, high utilization rate, high transmission rate, high data reliability and the like of CAN communication to communicate information such as angle, speed and the like fed back by the permanent magnet synchronous motor control system in real time with the upper computer through the CAN bus, and CAN also realize the control of the upper computer on the motor running condition through the CAN bus, thereby increasing the visualization degree of the actual running condition of the motor, improving the running stability of the motor control system and being beneficial to further debugging and optimizing the motor control system. The vehicle-mounted communication function of the motor controller is completely realized by using the CAN communication transceiving function, and the vehicle-mounted communication function CAN be subjected to data interaction with a VCU and other MCUs.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When used in whole or in part, can be implemented in a computer program product that includes one or more computer instructions. When loaded or executed on a computer, cause the flow or functions according to embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A motor control system, comprising: the rotary transformer is integrated at the end of the permanent magnet synchronous motor and is used for acquiring the speed and absolute position angle information of the motor in real time;
the rotary transformer decoding chip is connected with the rotary transformer and used for converting the analog signal output by the rotary transformer end into a digital signal and transmitting the digital signal to the DSP processor for processing;
the DSP is used for transmitting the digital signals transmitted by the rotary transformer decoding chip to an upper computer PC end of a VCU (simulation vehicle control unit) through a CAN (controller area network) bus after data processing is finished;
and the PC end of the upper computer is used for displaying the feedback information of the upper computer.
2. The motor control system of claim 1, wherein the PC of the upper computer is further configured to write motor speed and torque information into a message frame, and transmit the message frame to the DSP processor for analysis through CAN communication, and the DSP processor controls the motor speed and torque by controlling duty ratios of three-phase six-way PWM waves of the motor according to the analyzed information, thereby completing the control.
3. The motor control system of claim 1, wherein the CAN communication transmitting and receiving data pin end of the DSP processor is sequentially connected with an isolation chip, a CAN transceiver, a common mode choke coil, an impedance matching circuit and an antistatic device, and is finally connected to a CAN bus for communication.
4. The motor control system of claim 3, wherein a capacitor is respectively arranged between the power supply and the reference ground at the two side isolation ends of the isolation chip for filtering high-frequency interference;
the CAN transceiver is a physical interface between the DSP processor and the bus and is used for providing differential sending and receiving signals for the CAN bus;
the impedance matching circuit is a complete resistor designed for preventing data from being damaged by reflected waves generated by the data reflected back at the transmission terminal, and is used for absorbing the reflection and echo of a bus terminal signal and preventing the signal from generating a loop to influence the transmission of a normal signal.
5. The motor control system of claim 1, further comprising:
and the CAN communication module is connected with the DSP and used for transmitting instructions to the DSP from the PC end of the upper computer through a CAN bus, receiving data fed back by the motor and displaying results in the CCS and the CAN.
6. A CAN communication method of the motor control system according to any one of claims 1 to 5, wherein the CAN communication method comprises:
step one, information sending: the CAN communication module writes a frame of data in a certain sending mailbox, and then sends a CAN message frame to the PC end of the upper computer by the sending mailbox at regular intervals by using a timer 0, wherein the content of the message frame comprises a frame ID, a data length, a data high position CANL and a data low position CANH;
step two, information receiving: when the CAN bus is detected to have data transmission, an interrupt is generated, and data in a message frame is received by using a certain receiving mailbox, wherein the content of the message frame comprises a frame ID, a data length, a data high-order CANL and a data low-order CANH.
7. The CAN communication method of claim 6, wherein step one comprises: firstly, initializing a mailbox when preparing to send a frame of data, forbidding the mailbox to enable, then writing a frame ID into an MSGID register, opening the mailbox to enable, then writing the length of the mailbox data and CANL and CANH data, finally requesting to send, and sending out a frame of data when a bus is idle;
the second step specifically comprises: firstly judging whether mailbox interrupt is generated, if so, reading the data length, then reading the message identifier to judge whether the message frame is an extension frame or a standard frame, further reading the length of the frame ID, including reading the length of an MSGID register, then reading CANL and CANH data of the mailbox, and finally waiting for the setting of a message receiving register to generate the next interrupt.
8. An information data processing terminal implementing the CAN communication method of claim 7.
9. A computer-readable storage medium comprising instructions that, when executed on a computer, cause the computer to perform the CAN communication method of claim 7.
10. An automobile equipped with the motor control system according to any one of claims 1 to 6.
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