CN111338274A - Digital closed-loop control device based on CAN bus - Google Patents
Digital closed-loop control device based on CAN bus Download PDFInfo
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Abstract
The invention discloses a CAN bus-based digital quantity closed-loop control device, which comprises a shell and a circuit board assembly arranged in the shell, wherein the circuit board assembly comprises a main control unit, a CAN communication unit, an actuator driving and state detection unit and a power management unit; the shell is provided with a CAN communication interface, a power supply interface and an actuator driving and state detecting interface. The invention provides a CAN bus-based digital quantity closed-loop control device which has the functions of local control, remote monitoring, address storage, state feedback and the like, has high expansibility and universality and CAN be applied to a multi-node digital quantity actuator closed-loop monitoring system.
Description
Technical Field
The invention belongs to the field of automatic control, and particularly relates to a digital quantity closed-loop control device based on a CAN bus.
Background
The digital actuators such as electromagnetic pneumatic valves, air cylinders, common motors and the like are widely applied to industrial control industries such as petroleum, electric power, cement, chemical engineering and the like, and are important actuating mechanisms of automatic control systems. Such actuators generally have the following characteristics: the control mode is dry contact control; with a state feedback function. At present, a control device matched with the actuator is not available in the market, and an industrial field generally adopts a relay switch electrical control mode, but has the following defects:
firstly, poor stability: the cable laying is complex, and the electromagnetic interference of a control loop is serious;
secondly, the real-time performance is poor: the mechanical action control of the relay contact is relied on, the opening and closing action of the mechanical contact is in the order of tens of milliseconds, and the influence on the response speed of an actuator is generated;
thirdly, poor expansibility: the control mode combines the mechanical contacts of the actuator in series and parallel to form a logic control circuit, and the system is difficult to expand;
fourthly, the maintainability is poor: the relay control mode needs many devices and is not easy to maintain.
Disclosure of Invention
The invention aims to overcome the defects of the prior art that a digital actuator adopts a relay switch electric control mode, and provides a CAN bus-based digital closed-loop control device.
The invention is realized by the following technical scheme:
a digital closed-loop control device based on a CAN bus comprises a shell and a circuit board assembly arranged in the shell, wherein the circuit board assembly comprises a main control unit, a CAN communication unit, an actuator driving and state detection unit and a power management unit; one end of the CAN communication unit is connected with the main control unit, and the other end of the CAN communication unit is connected with a CAN communication bus; the main control unit is connected with the driving input end of the actuator driving and state detecting unit, the driving output end of the actuator driving and state detecting unit is connected with the digital quantity actuator, and a feedback signal wire of the digital quantity actuator is connected with the main control unit; the input end of the power management unit is connected with the control voltage, and the output end of the power management unit is respectively connected with the main control unit, the CAN communication unit and the actuator driving and state detection unit.
In the technical scheme, the shell is provided with a CAN communication interface, a power supply interface and an actuator driving and state detecting interface.
In the above technical solution, the main control unit includes a main control chip, an RF6 pin of the main control chip is connected to a driving pin-INA of the voltage comparator, and is connected to a pull-up resistor R2; the RD0 pin and the RD1 pin are respectively connected with the feedback signal end of the digital quantity actuator after being connected with resistors R3 and R4 in series, and the RD0 and the RD1 pin are respectively connected with pull-up resistors R1 and R5 after being connected with resistors R3 and R4 in series; the RF0 pin and the RF1 pin are respectively connected with an RXD pin and a TXD pin of the CAN communication chip; pin 1 of the crystal oscillator is connected with pin OSC1 of the main control chip, pin 2 is connected with pin OSC2 of the main control chip, and pin 1 and pin 2 of the crystal oscillator are respectively connected with capacitors C1 and C2 in series and then grounded; an RB0 pin of the main control chip is connected with the LED I after being connected with the resistor R6 in series; pin 1 of the program download port is connected with MCLR pin of the main control chip, pin 2 is connected with 5V power supply, pin 3 is grounded, pin 4 is connected with RGD pin of the main control chip, and pin 5 is connected with RGC pin of the main control chip.
In the above technical solution, the main control chip integrates an EEPROM memory therein to complete address storage of the control device.
In the above technical solution, the CAN communication unit includes a CAN communication chip, and a TXD pin and an RXD pin of the CAN communication chip are respectively connected with an RF1 pin and an RF0 pin of the main control chip; the CANH pin and the CANL pin are connected to the CAN communication bus; the VSS pin is grounded, and the VDD pin is connected with a 5V power supply.
In the above technical solution, capacitors are connected in parallel between the CANH pin and the CANL pin of the CAN communication chip and the ground.
In the above technical scheme, two ends of the CAN communication bus are connected with two terminal matching resistors.
In the above technical solution, the actuator driving and state detecting unit includes an actuator driving unit and a state detecting circuit, the actuator driving unit includes an in-situ control switch and a voltage comparator, an OutA pin of the voltage comparator is connected in series with a resistor R8 and then connected with a control voltage, and an OutA pin of the voltage comparator is connected in series with a resistor R7 and then connected with the digital quantity actuator; an INA pin of the voltage comparator is connected with an RF6 pin of the main control chip, and an INA pin is connected with the output end of a voltage division circuit consisting of R9 and R10; one end of the local control switch is connected with control voltage, and the other end of the local control switch is connected between the resistor R7 and the digital quantity actuator.
In the above technical solution, the state detection circuit grounds the common end of the digital quantity actuator, and the feedback signal line thereof is connected to the input end of the main control chip.
In the above technical solution, the power management unit includes a voltage conversion chip, a Vin pin of the voltage conversion chip is connected to a control voltage, a GND pin is grounded, and a Vout pin outputs a 5V voltage; the Vin pin and the Vout pin are respectively connected with the capacitors C4 and C5 in series and then grounded.
The invention has the beneficial effects that:
the invention provides a digital quantity closed-loop control device based on a CAN bus, which CAN be used as a CAN node to access a digital quantity actuator monitoring network and upload the state information of the digital quantity actuator monitoring network to a monitoring system to realize the closed-loop control of the digital quantity actuator; the CAN bus control system has a local control function, and the local control priority is higher than that of CAN bus control; a unique network identification address can be stored; the method has high expansibility and universality, and can be applied to the digital quantity actuators of the same type only by modifying an external interface mode.
Drawings
FIG. 1 is a schematic circuit diagram of a digital quantity closed-loop control device based on a CAN bus according to the present invention;
FIG. 2 is a schematic circuit diagram of a main control unit in the digital closed-loop control device based on the CAN bus according to the present invention;
FIG. 3 is a schematic circuit diagram of a CAN communication unit in the digital quantity closed-loop control device based on the CAN bus according to the present invention;
FIG. 4 is a schematic circuit diagram of an actuator driving unit in the CAN bus based digital closed-loop control device according to the present invention;
FIG. 5 is a schematic circuit diagram of a power management unit in the CAN bus based digital closed-loop control device according to the present invention;
FIG. 6 is a flow chart of a control method for applying the CAN bus based digital quantity closed-loop control device of the present invention;
FIG. 7 is a flow chart of CAN bus communication in a control method based on a CAN bus digital quantity closed-loop control device of the present invention.
Wherein:
1 main control unit 2CAN communication unit
3 actuator driving and state detecting unit 4 power supply management unit
5 main control chip 6CAN communication chip
7 local control switch 8 voltage comparator
9 voltage conversion chip 10CAN communication interface
11 power supply interface 12 actuator driving and state detection interface
13 crystal oscillator 14LED I.
For a person skilled in the art, other relevant figures can be obtained from the above figures without inventive effort.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution of the digital quantity closed-loop control device based on the CAN bus according to the present invention is further described below by referring to the drawings of the specification and the specific embodiments.
As shown in fig. 1, a CAN bus-based digital closed-loop control device includes a housing and a circuit board assembly disposed in the housing, the circuit board assembly includes:
a main control unit 1 for controlling data processing of the apparatus;
a CAN communication unit 2 which realizes communication between the control device and an upper computer;
the actuator driving and state detecting unit 3 completes the driving of the digital quantity actuator according to the data protocol of the upper computer or the command of the local control switch 7;
and the power management unit 4 is used for converting the control voltage into the voltage required by the main control unit 1 and the CAN communication unit 2.
One end of the CAN communication unit 2 is connected with the main control unit 1, and the other end of the CAN communication unit is connected with a CAN communication bus; the main control unit 1 is connected with the driving input end of the actuator driving and state detecting unit 3; the driving output end of the actuator driving and state detecting unit 3 is connected with a digital quantity actuator, and a feedback signal wire of the digital quantity actuator is connected with the main control unit 1; the input end of the power management unit 4 is connected with control voltage, and the output end of the power management unit is respectively connected with the main control unit 1, the CAN communication unit 2 and the actuator driving and state detection unit 3; the shell is provided with a CAN communication interface 10, a power supply interface 11 and an actuator driving and state detecting interface 12;
as shown in fig. 2, the main control unit 1 includes a main control chip 5.
The RF6 pin of the main control chip 5 is connected with the driving pin-INA of the voltage comparator 8 in the actuator driving and state detecting unit 3, the RF6 pin is connected with the pull-up resistor R2, and the other end of the R2 is connected with a 5V power supply;
the RD0 pin of the main control chip 5 is connected with the feedback signal end of the digital quantity actuator after being connected with the resistor R3 in series, the other path is connected with the pull-up resistor R1, and the other end of the R1 is connected with the 5V power supply;
the RD1 pin of the main control chip 5 is connected with the feedback signal end of the digital quantity actuator after being connected with the resistor R4 in series, the other path is connected with the pull-up resistor R5, and the other end of the R5 is connected with the 5V power supply;
the resistance values of R1, R5 and R2 are all 4.7K, R3 and R4 are all current-limiting resistors, and the resistance values are all 510 omega;
the RF0 and RF1 pins of the main control chip 5 are respectively connected with RXD and TXD pins of the CAN communication chip 6 in the CAN communication unit 2;
in order to facilitate setting of CAN communication parameters, a crystal oscillator 13 adopts 4MHz, a pin 1 of the crystal oscillator 13 is connected with an OSC1 pin of a main control chip 5, a pin 2 is connected with an OSC2 pin of the main control chip 5, the pins 1 and 2 of the crystal oscillator 13 are respectively connected with capacitors C1 and C2 in series and then grounded, the crystal oscillator 13 adopts C1 and C2 for filtering, and the filtering capacitors C1 and C2 are 22 pF;
the RB0 pin of the main control chip 5 is connected with the LED I14 after being connected with the resistor R6 in series, the other end of the LED I14 is grounded, the LED I14 is an indicator lamp, the resistor R6 is a current-limiting resistor of the LED I14, and the resistance value of the resistor R is 510 omega;
The main control chip 5 of the main control unit 1 adopts a dsPIC30F4011 chip of Microchip company, the chip is a high-performance 16-bit digital signal controller combining a singlechip and DSP technology, and a CAN communication interface and an EEPROM memory are integrated inside the chip to support the functions of internal data storage and CAN communication.
The invention adopts the EEPROM memory integrated in the main control chip 5 of the main control unit 1 to finish the address storage of the device, does not need a hardware storage circuit, saves the design cost and meets the miniaturization requirement of the control device.
As shown in fig. 3, the CAN communication unit 2 includes a CAN communication chip 6, and a TXD pin and an RXD pin of the CAN communication chip 6 are respectively connected with an RF1 pin and an RF0 pin of the main control chip 5; CANH pin and CANL of CAN communication chip 6 connect on the CAN communication bus, VSS pin ground connection, VDD pin connects the 5V power that power management unit 4 exported.
CANH pin and CAN pin L hang on CAN communication bus, realize controlling means and host computer's communication.
The CAN communication chip 6 adopts a CAN controller with the micro satellite company model MCP2551 to realize CAN bus communication, and the MCP2551 is a fault-tolerant high-speed CAN device, CAN be used as a CAN protocol controller and a physical bus interface, completely accords with the ISO-11898 standard, and has the functions of power-on reset and voltage event undervoltage protection. The MCP2551 provides the interface between the CAN controller and the physical bus, i.e., the CAN communication interface 10, for the present invention.
Two terminals of the CAN communication bus need to be connected to match with a 120 omega resistor, and if the two terminals are omitted, the reliability of data communication is reduced.
All parallelly connected 30 pF's little electric capacity between CAN communication chip 6's CANH pin, CANL pin and the ground, high frequency interference on the bus CAN be filtered, prevents electromagnetic radiation.
As shown in fig. 4, the actuator driving and status detecting unit 3 includes an actuator driving unit and a status detecting circuit, the actuator driving unit includes an in-situ control switch 7 and a voltage comparator 8, an OutA pin series resistor R8 of the voltage comparator 8 is followed by a control voltage, and an OutA pin series resistor R7 is followed by a digital actuator; an INA pin of the voltage comparator 8 is connected with an RF6 pin of the main control chip 5, an INA pin is connected with an output end of a voltage division circuit consisting of R9 and R10, and the resistance values of R9 and R10 are 6K and 3K respectively;
one end of the local control switch 7 is connected with a control voltage, and the other end is connected between the resistor R7 and the digital quantity actuator. The connection setting enables the local control priority to be higher than the CAN bus command, and if the SW is opened, the control signal CAN be directly output to drive the actuator to act.
The control voltage is DC 7-36V, and the voltage value is determined according to the driving voltage of the digital quantity actuator.
The voltage comparator 8 is LM 393. The actuator driving unit realizes actuator driving through the voltage comparator.
The actuator driving and state detecting unit 3 can complete the driving of the digital actuator according to the upper computer data protocol or local switching commands, and after the digital actuator acts, the main control unit 1 acquires the state information of the actuator through feedback signals. Because the logic level of the main control unit 1 cannot directly drive the digital quantity actuator, the driving circuit is realized by adopting the LM393 voltage comparator, and the LM393 is a double-path voltage comparator integrated circuit, so that compared with other circuits, the LM393 has the advantages of high response speed, simple circuit structure and the like.
In the state detection circuit, the common end of the digital quantity actuator is grounded, the feedback signal line is connected to the input ends (RD0 pin and RD1 pin) of the main control chip 5, and the MCU of the main control chip 5 can judge the state information of the actuator according to the voltage signals of the input ends (RD0 pin and RD1 pin).
The signal feedback principle of the digital quantity actuator is as follows: when the digital quantity actuator is opened, the signal common line and the feedback signal line are connected; when the actuator is closed, the signal common line and the feedback signal line are disconnected.
As shown in FIG. 5, the power management unit 4 includes a voltage conversion chip 9, a Vin pin of which is connected to a control voltage (DC 7-36V), a GND pin of which is connected to ground, and a Vout pin of which outputs a voltage of 5V required by other units; the Vin pin and the Vout pin are respectively connected with the capacitors C4 and C5 in series and then grounded. The capacitance values of the filter capacitors C4 and C5 added to the pins Vin and Vout are 47uF and 10uF respectively, so that the power supply interference is effectively reduced.
The control device adopts DC 7-36V to supply power, the voltage conversion chip 9 is LM7805, and the voltage conversion chip realizes the voltage conversion from DC 7-36V to 5V so as to meet the power consumption requirements of the main control unit 1 and the CAN communication unit 2. The limit current of LM7805 series three-terminal voltage stabilizer is 1000mA, the peripheral elements needed are very few, and there are overcurrent, overheat and regulating tube protection circuits, so it is reliable and convenient to use and low in cost.
Example 2
As shown in fig. 6, the device disclosed in embodiment 1 is applied, and a closed-loop control method based on CAN bus digital quantity includes the following steps:
starting S1;
(ii) reading device address S2
After the device is started, firstly reading the address information of the device;
(iii) CAN communication initialization S3
When the address reading of the device is completed, parameters such as a CAN communication interface, a baud rate, message types and the like need to be initialized, and preparation is made for CAN data interaction;
(iv) determining whether the actuator is open S4
If the actuator is opened, an actuator opening response S7 is directly sent, otherwise, S5 is entered, and CAN bus commands are inquired.
(v) query CAN bus command S5
If an actuator opening command is received, the step S6 is entered, and the actuator is opened; if an actuator closing command is received, entering S8, closing the actuator; if the CAN bus command is not received, circularly waiting;
(vi) opening actuator S6
The control device opens the actuator;
(vii) sending an actuator on response S7
Sending an actuator opening response according to the device feedback signal;
(viii) closing executor S8
The control device closes the actuator;
(ix) transmitting an actuator close response,
sending an actuator closing response according to the device feedback signal;
(x) is over.
The control device and the upper monitoring system are communicated by a CAN bus, receive corresponding instructions according to set addresses, execute corresponding operations after analysis, and upload actuator state information according to a fixed data format. The flow of the specific communication method for inquiring the CAN bus command is shown in FIG. 7, and comprises the following steps:
starting S11;
(ii) inquiring whether the CAN mailbox receives the instruction S12
Inquiring whether a CAN mailbox of the control device receives an instruction of an upper monitoring system, if not, executing the step (vi), and if a new instruction is received, executing the step (iii);
(iii) determining whether the address and the device are matched S13
And (5) judging whether the address of the device in the instruction is consistent with that of the device, if the address in the instruction is not consistent with that of the device, executing the step (vi), and if the address is consistent, executing the step (vi).
(iv) obtaining and analyzing the communication data S14;
(v) performing a corresponding operation according to the instruction and returning data S15;
(vi) ends S16.
The device CAN construct a digital actuator monitoring network and is provided with a CAN bus interface; the device has expansibility and interchangeability, can store the network identification address, and has the functions of online modification and online inquiry of the identification address; the device has high cost performance, the address storage is completed by adopting the EEPROM memory inside the main control chip dsPIC30F of the main control unit, an external memory device is not needed, and the hardware development cost of the device is reduced; the device has high safety, has a local control function, and has higher local control priority than CAN bus control; the device has universality, and can be applied to digital quantity actuators of the same type only by changing an external interface mode.
The applicant declares that the above description is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and it should be understood by those skilled in the art that any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are within the scope and disclosure of the present invention.
Claims (10)
1. The utility model provides a based on CAN bus digital quantity closed loop control device, includes the shell and sets up the circuit board subassembly in the shell, its characterized in that: the circuit board assembly comprises a main control unit (1), a CAN communication unit (2), an actuator driving and state detection unit (3) and a power management unit (4); one end of the CAN communication unit (2) is connected with the main control unit (1), and the other end of the CAN communication unit is connected with a CAN communication bus; the main control unit (1) is connected with the drive input end of the actuator drive and state detection unit (3), the drive output end of the actuator drive and state detection unit (3) is connected with the digital quantity actuator, and a feedback signal line of the digital quantity actuator is connected with the main control unit (1); the input end of the power management unit (4) is connected with the control voltage, and the output end of the power management unit is respectively connected with the main control unit (1), the CAN communication unit (2) and the actuator driving and state detection unit (3).
2. The CAN-bus-based digital closed-loop control device according to claim 1, wherein: the shell is provided with a CAN communication interface (10), a power supply interface (11) and an actuator driving and state detecting interface (12).
3. The CAN-bus-based digital closed-loop control device according to claim 1, wherein: the main control unit (1) comprises a main control chip (5), wherein an RF6 pin of the main control chip (5) is connected with a driving pin-INA of the voltage comparator (8) and is connected with a pull-up resistor R2; the RD0 pin and the RD1 pin are respectively connected with the feedback signal end of the digital quantity actuator after being connected with resistors R3 and R4 in series, and the RD0 and the RD1 pin are respectively connected with pull-up resistors R1 and R5 after being connected with resistors R3 and R4 in series; the RF0 pin and the RF1 pin are respectively connected with an RXD pin and a TXD pin of the CAN communication chip (6); the No. 1 pin of the crystal oscillator (13) is connected with the OSC1 pin of the main control chip (5), the No. 2 pin is connected with the OSC2 pin of the main control chip (5), and the No. 1 and No. 2 pins of the crystal oscillator (13) are respectively connected with capacitors C1 and C2 in series and then are grounded; an RB0 pin of the main control chip (5) is connected with the LED I (14) after being connected with the resistor R6 in series; the No. 1 pin of the program downloading port is connected with the MCLR pin of the main control chip (5), the No. 2 pin is connected with the 5V power supply, the No. 3 pin is grounded, the No. 4 pin is connected with the RGD pin of the main control chip (5), and the No. 5 pin is connected with the RGC pin of the main control chip (5).
4. The CAN-bus-based digital closed-loop control device according to claim 3, wherein: an EEPROM memory is integrated in the main control chip (5) to finish address storage of the control device.
5. The CAN-bus-based digital closed-loop control device according to claim 1, wherein: the CAN communication unit (2) comprises a CAN communication chip (6), and a TXD pin and an RXD pin of the CAN communication chip are respectively connected with an RF1 pin and an RF0 pin of the main control chip (5); the CANH pin and the CANL pin are connected to the CAN communication bus; the VSS pin is grounded, and the VDD pin is connected with a 5V power supply.
6. The CAN bus-based digital quantity closed-loop control device of claim 5, wherein: and capacitors are connected in parallel between the CANH pin and the CANL pin of the CAN communication chip (6) and the ground.
7. The CAN bus-based digital quantity closed-loop control device of claim 5, wherein: and two ends of the CAN communication bus are connected with two terminal matching resistors.
8. The CAN-bus-based digital closed-loop control device according to claim 1, wherein: the actuator driving and state detecting unit (3) comprises an actuator driving unit and a state detecting circuit, the actuator driving unit comprises an in-situ control switch (7) and a voltage comparator (8), an outA pin of the voltage comparator (8) is connected with a control voltage after being connected with a resistor R8 in series, and a digital quantity actuator is connected after the outA pin is connected with a resistor R7 in series; an INA pin of the voltage comparator (8) is connected with an RF6 pin of the main control chip (5), and a + INA pin is connected with the output end of a voltage division circuit consisting of R9 and R10; one end of the local control switch (7) is connected with a control voltage, and the other end of the local control switch is connected between the resistor R7 and the digital quantity actuator.
9. The CAN bus-based digital quantity closed-loop control device of claim 8, wherein: the state detection circuit is used for grounding the public end of the digital quantity actuator, and a feedback signal wire of the state detection circuit is connected with the input end of the main control chip (5).
10. The CAN-bus-based digital closed-loop control device according to claim 1, wherein: the power management unit (4) comprises a voltage conversion chip (9), wherein a Vin pin of the voltage conversion chip is connected with a control voltage, a GND pin of the voltage conversion chip is grounded, and a Vout pin of the voltage conversion chip outputs 5V voltage; the Vin pin and the Vout pin are respectively connected with the capacitors C4 and C5 in series and then grounded.
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| CN111487908A (en) * | 2020-04-27 | 2020-08-04 | 核工业理化工程研究院 | CAN bus based digital quantity closed-loop control device and control method |
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