CN111786862B

CN111786862B - Control system and control method thereof and all-terrain vehicle

Info

Publication number: CN111786862B
Application number: CN201910272525.3A
Authority: CN
Inventors: 樊友雪
Original assignee: Segway Technology Co Ltd
Current assignee: Segway Technology Co Ltd
Priority date: 2019-04-04
Filing date: 2019-04-04
Publication date: 2022-07-12
Anticipated expiration: 2039-04-04
Also published as: CN111786862A

Abstract

The invention discloses a control system, a control method thereof and an all-terrain vehicle. Wherein, control system is applied to the target device, and control system controls through predetermined automatic control bus, and this control system includes: the master station is used for sending master control signals to each slave station unit, wherein the master control signals are sent through a preset communication protocol; and the at least one slave station unit is connected with the master station through an automatic control bus and used for reading the master control signal and acquiring the state feedback information of each motion device of the target equipment so as to control the position and/or the speed of the target equipment. The invention solves the technical problems of low transmission speed and limited transmission distance of a CAN bus communication system in the related art, which causes lower equipment applicability.

Description

Control system and control method thereof and all-terrain vehicle

Technical Field

The invention relates to the technical field of motion control, in particular to a control system and a control method thereof and an all-terrain vehicle.

Background

At present, the control communication bus of the electric vehicle basically uses a Controller Area Network (CAN) communication bus system. The CAN communication bus system of the electric vehicle operates in the form of a broadcast type network, similar to a broadcast packet in an ethernet, or like a hub used in the network in the past. Each node on the network can "see" each transmitted packet. Its CAN communication cannot send messages to a single node so that each node reacts to its operation-related messages.

Since its CAN communication is a low-level protocol, it does not have any security function built in. By default, it has no encryption or authentication. This will lead to man-in-the-middle attacks (no encryption) and spoofing attacks (no authentication). While a manufacturer may have certified mechanisms for critical tasks of the system, such as modifying software and controlling actuators, in some cases, the manufacturer does not implement all of the certified mechanisms. Even if the password is implemented, the password is easy to crack.

In addition, since the conventional CAN communication bus is event-triggered based, uncertainty of information transmission time and priority inversion are inherent disadvantages.

Moreover, the CAN communication bus also has the defects of slow transmission speed and limited transmission distance. It cannot be interconnected with the Internet and realize remote information sharing. Secondly, it is difficult to directly interface with the upper control machine, and the existing CAN interface card is expensive compared with the Ethernet network card. And the CAN fieldbus, neither its communication distance nor communication rate, is comparable to ethernet.

With the development of artificial intelligence, the application of intelligent driving and the application of digital communication are diversified and intelligent, higher requirements are put forward on the high speed and real-time performance of bus communication, and the current CAN communication cannot adapt to the current requirements.

Aiming at the problem that the CAN bus communication system in the related technology has defects to cause low applicability, no effective solution is provided at present.

Disclosure of Invention

The embodiment of the invention provides a control system, a control method thereof and an all-terrain vehicle, which are used for at least solving the technical problems of low transmission speed, limited transmission distance and low equipment applicability of a CAN bus communication system in the related art.

According to an aspect of an embodiment of the present invention, there is provided a control system, applied to a target device, where the control system performs control through a preset automation control bus, and the control system includes: the master station is used for sending master control signals to each slave station unit, wherein the master control signals are sent through a preset communication protocol; and the at least one slave station unit is connected with the master station through the automatic control bus and used for reading the master control signal and acquiring state feedback information of each motion device of the target equipment so as to control the position and/or the speed of the target equipment.

Further, the master station is a central control system of the target device, and the central control system performs bidirectional communication with at least one of the following components of the target device through the automatic control bus: the system comprises a motor driver, a battery management system BMS, an electric power steering pump, an instrument device, a fault diagnosis interface, a charger, a DC/DC and an intelligent device.

Further, the target device is an all-terrain vehicle, the automatic control bus is an Ethernet control automation technology EtherCAT bus, the preset communication protocol is a CANopen protocol, and the master station and each slave station unit establish an EthereCAT communication network.

Further, the control system analyzes a plurality of pieces of vehicle information of the all-terrain vehicle through the EthereCAT communication network, wherein the vehicle information comprises at least one of the following items: motor information, vehicle information, safety information, and temperature information.

Further, the central control system accesses a plurality of control signals of the all-terrain vehicle and generates the master control signal according to the plurality of control signals, wherein the control signals at least comprise: the pedal starts an acceleration signal, a key signal, a brake signal, a vehicle body signal and a gear signal.

Further, the system software of the control system includes: the whole vehicle data interaction layer is used for carrying out data interaction with the protocol chip of each slave station unit, acquiring the whole vehicle data of the all-terrain vehicle by using the microprocessor, classifying the whole vehicle data and transmitting the classified data to the communication protocol layer; the communication protocol layer comprises: the system comprises a network management layer and a data transceiving layer, wherein the network management layer is used for managing a network state machine, and the data transceiving layer is used for synchronously transmitting the data of the whole vehicle; and the motion control protocol layer is used for planning a whole vehicle position ring, a speed ring and a current ring of the all-terrain vehicle.

Further, the CANopen communication protocol is a CANopen-DS402 digital motion communication protocol.

Further, the motor driver accesses various parameters in the motor driver by using the function set of the preset communication protocol.

Further, each of the slave units includes at least: the slave station unit comprises a slave station control module, a communication module and at least one motion control module, wherein the slave station unit completes position control and speed control through the at least one motion control module, and is one of the following units: the system comprises a battery management system BMS, a motor drive control system MCU, an intelligent device control system and an electronic control unit ECU control system.

Further, when the slave station unit uses a single chip microcomputer, the single chip microcomputer processes a task of the motion control system of the preset communication protocol, wherein the task is as follows: and synchronously processing the object dictionary of the preset communication protocol and the data of the process data object PDO.

According to another aspect of the embodiments of the present invention, there is also provided a control method of a control system, applied to any one of the above control systems, including: at least one slave station unit acquires a communication address allocated by a master station, initializes each register, and reads configuration data and sets the motor state of target equipment through the slave station unit; each slave station unit receives a master control signal sent by the master station according to a preset communication protocol; the slave station unit reads the master control signal and decodes the master control signal; the slave station unit collects the state feedback information of each motion control module of the target equipment to complete filling of a state data packet; and the slave station unit receives a data frame fed back by the master station based on the state data packet to obtain instruction data, and sends the instruction data to each motion control module to perform position control and speed control on the target equipment.

Further, after reading in configuration data and setting a motor state of a target device by the slave station unit, the method further includes: and setting a communication cycle, a communication type and a communication parameter variable with the master station through the slave station unit.

According to another aspect of an embodiment of the present invention, there is also provided an all-terrain vehicle comprising the control system of any one of the above.

According to another aspect of the embodiments of the present invention, there is also provided a storage medium for storing a program, wherein the program, when executed by a processor, controls a device on which the storage medium is located to execute the control method of the control system according to any one of the above.

According to another aspect of the embodiments of the present invention, there is also provided a processor, configured to execute a program, where the program executes a control method of any one of the above control systems.

In the embodiment of the invention, the control system comprises a master station and slave station units, communication is realized by presetting an automatic control bus in real time, each slave station unit CAN control related devices of the whole target equipment, each slave station unit CAN control position, speed, temperature, safety and the like, the automatic control bus communication technology CAN be utilized in the whole vehicle and an intelligent control system by each slave station unit, the control performance is improved, and the technical problem that the equipment applicability is low due to the fact that the CAN bus communication system in the related technology is low in transmission speed and limited in transmission distance is solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

FIG. 1 is a schematic diagram of an alternative control system according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a complete vehicle control system of an all-terrain vehicle based on EtherCAT bus communication according to an embodiment of the invention;

fig. 3 is a diagram of an alternative CANopen communication architecture according to an embodiment of the present invention;

FIG. 4 is a hardware block diagram of an alternative slave unit according to an embodiment of the present invention;

FIG. 5 is a control block diagram of a slave unit of an EthereCAT bus according to an embodiment of the present invention; and

FIG. 6 is a flow chart of an alternative control system control method according to an embodiment of the present invention.

Detailed Description

In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

To facilitate the understanding of the present invention, some terms or nouns related to the embodiments of the present invention are explained below:

ethernet Control Automation technology (ethercontrol Automation, EtherCAT for short): is an open architecture, field bus system based on Ethernet. Automation generally requires a short data update time (or referred to as cycle time), low jitter during data synchronization, and low hardware cost. The data transmitted by each node of the general industrial communication network is not long, and is mostly smaller than the minimum length of an Ethernet frame. Each node sends a frame for updating data each time, which causes low utilization rate of bandwidth and the overall performance of the network is also reduced. EtherCAT utilizes a technology called "transmission at a high speed" to improve above-mentioned problem, in EtherCAT network, need not to receive the data packet, decode directly, then copy the process data to each apparatus, EtherCAT slave station apparatus reads the corresponding addressing data when the message passes its node (reach I/O terminal module), likewise, the input data is inserted into the message when the message passes, when the data frame passes EtherCAT node, the node will load the material, will transmit it to the next node again, discern the material corresponding to this node at the same time, process correspondingly, if the node needs to send out the material, will insert the material to be sent out in the material transmitted to a node too. The communication protocol is optimized for program data, standard Ethernet frame transmission is used, the data sequence is independent of the physical sequence of the equipment on the website, and the address sequence is not limited. The master station can communicate with the slave station in the modes of broadcasting, multicasting and the like. The cycle time is short because the slave microprocessor does not need to process Ethernet packets. All program data is processed by the slave station controller hardware.

CANopen, a high-level communication protocol structured on a control area network, includes a communication sub-protocol and an equipment sub-protocol, is often used in embedded systems, and is also a field bus commonly used in industrial control.

PDO, process data object.

SDO, a Service Data Objects (SDO) is a specification for using a uniform Data programming model between different Data sources.

The ECU, an Electronic Control Unit (ECU), is a microcomputer controller dedicated for vehicles, and includes but is not limited to: microprocessor (CPU), memory (ROM, RAM), input/output interface (I/O), A/D converter (A/D), and large scale integrated circuit (LSI) such as shaping and driving.

BMS, Battery Management System (BMS), is used to manage Battery usage, is a link between a Battery and a user, and is mainly used for a secondary Battery, in order to improve the utilization rate of the Battery and prevent overcharge and overdischarge of the Battery, and the objects used include, but are not limited to: electric automobile, storage battery car, robot, unmanned aerial vehicle etc..

The following embodiments of the present invention can be applied to a control system based on EtherCAT bus communication, and the specific devices include but are not limited to: electric vehicles, all-terrain vehicles, and the like. Using the EtherCAT bus, the physical layer is ethernet based, and the lines used include, but are not limited to: the optical fiber and the common twisted pair eliminate the data frame blockage, shorten the time of the data frame passing through the slave station unit and enable the data frame to have extremely high real-time performance and efficiency; the EtherCAT bus compatible Ethernet network connection supports the global access of the access internet, and the whole network theoretically supports an infinite number of nodes; finally, the EtherCAT bus can be used for solving the problem of time asynchronism caused by different distribution time delay and site local time through the distribution time and the accurate time stamp of the EtherCAT bus, and accurate clock synchronization is provided for cooperative operation and application of strict time sequence of each device. The following is illustrated by means of various examples.

In the embodiments of the present invention, based on EtherCAT bus communication, the communication protocol mainly used is a CANopen communication protocol (i.e., a preset communication protocol) under EtherCAT, where the CANopen communication protocol includes a plurality of subsets, for example, a CiA402 subset.

The control system described below may be a control system for a target device in which both a master station and at least one slave unit are components belonging to the target device.

Fig. 1 is a schematic diagram of an alternative control system according to an embodiment of the present invention, applied to a target device, where the control system is controlled by a preset automation control bus, and includes:

the master station 11 is configured to send a master control signal to each slave station unit, where the master control signal is sent through a preset communication protocol; the method is mainly transmitted through an object dictionary and a PDO in a preset communication protocol.

And the at least one slave station unit 12 is connected with the master station through an automatic control bus and used for reading the master control signal and acquiring the state feedback information of each moving device of the target equipment so as to control the position and/or the speed of the target equipment.

Alternatively, the automation control bus in the embodiment of the present invention may be understood as an EtherCAT bus.

In the control system, a master station may be connected to a plurality of slave units, each slave unit may include a slave control module, a communication module, and at least one motion control module, and each motion control module controls one unit. Optionally, the slave station control module may adopt an ARM core chip as a processor; the communication module can use a LAN9252 control chip, and the motion control module can be a multifunctional position control card, thereby completing position control and speed control.

And the above target devices include but are not limited to: the motion devices can refer to drivers, digital motion controllers, bearings and the like in the target equipment, and the driving target position, the driving speed, the driving acceleration and the like of the equipment can be controlled by collecting state feedback information of the motion devices.

In the following embodiments, the control system comprises a master station and slave station units, each slave station unit CAN control the relevant device of the whole target equipment through real-time EtherCAT bus communication, and each slave station unit CAN control position, speed, temperature, safety and the like.

The control system of the embodiment of the present invention is explained in detail below.

Optionally, the master station is a central control system of the target device, and the central control system performs bidirectional communication with at least one of the following components of the target device through an automatic control bus: the system comprises a motor driver, a battery management system BMS, an electric power steering pump, an instrument device, a fault diagnosis interface, a charger, a DC/DC and an intelligent device. These components include the slave unit and other equipment components.

Optionally, the central control system provides an object for the digital motion controller of the control system based on an application protocol of the automation control bus and based on a preset communication protocol. In the embodiment of the present invention, the application protocol may be COE (CAN application protocol based on EtherCAT); and the preset communication protocol may be a CANopen communication protocol, which includes but is not limited to: object dictionary, PDO, SDO, and network management.

Alternatively, when providing objects for a digital motion controller of a control system, a subset of CiA402 may be used to provide standard object requirements for the digital motion controller.

The above-mentioned using the CiA402 subset to provide standard object requirements for the digital motion controller means that the digital motion controller converts the starting, stopping, alarming, turning and other states of the target device into corresponding control signals, and the CiA402 subset is used to provide control commands corresponding to these states, for example, 01 represents starting, 02 represents turning, 021 represents left turning, 022 represents right turning, 03 represents stopping, 04 represents alarming, and the digital motion controller converts the operating state of the target device into a specific control command to inform the main control center of the device of the current driving state of the target device.

In the embodiment of the present invention, the motor driver accesses each parameter in the motor driver by using the function set of the preset communication protocol, preferably, the function set may be a standard CANopen protocol function set, and the motor driver accesses the parameter of the entire driver by using the standard CANopen protocol function set while supporting a standard CANopen function code.

Preferably, the target device is an all-terrain vehicle, ORV.

Optionally, when the target device is an all-terrain vehicle (atv), an ethereat communication network is established between the master station and each slave station unit, and the control system obtains a plurality of pieces of vehicle information of the atv through analysis of the ethereat communication network, wherein the vehicle information includes at least one of the following: motor information, vehicle information, safety information, and temperature information. Optionally, the motor information may be information of the rotation speed, energy consumption, and the like of a driving motor in the all-terrain vehicle; the whole vehicle information can refer to the vehicle running speed, the vehicle length, the vehicle tire model, the vehicle weight, the model of each part in the vehicle and corresponding parameters of the all-terrain vehicle; the security information may include: the running safety of the vehicle and whether each part of the vehicle has a fault lamp; temperature information may include, but is not limited to: the temperature of the drive, the vehicle interior temperature, etc.

Fig. 2 is a schematic diagram of a complete atv control system based on EtherCAT bus communication according to an embodiment of the present invention, and as shown in fig. 2, a central control system 21 is used as a master station, a battery management unit 22(BMS, corresponding to the battery management system), a motor drive unit 23(MCU, corresponding to the motor drive), an intelligent device 24, and an electronic control unit 25(ECU) are used as slave station units, and the central control system 21 is connected to each slave station unit. The central control system is connected to a first input/output module (i.e., a first I/O in fig. 2), the battery management unit 22 is connected to the temperature detection module 26, the motor driving unit 23 is connected to the motor 27, the intelligent device 24 is connected to a second input/output module (and a second I/O in fig. 2), and the electronic control unit 25 is connected to a third input/output module (i.e., a third I/O in fig. 2).

Alternatively, the central control system 21, the intelligent device 24 and the electronic control unit 25 may be connected to one input/output module (i.e. connected to the same I/O) at the same time.

The temperature detection module can detect the temperature of the battery and inform the battery management unit; the motor driving unit may send a motor control signal to the motor 27 to control the operation of the motor, and the target device may be operated with the assistance of each slave station unit.

In the embodiment of the present invention, as shown in fig. 2, the central control system 21 may be connected in series with the battery management unit 22, the battery management unit 22 may be connected in series with the motor driving unit 23, the motor driving unit 23 may be connected in series with the intelligent device 24, and the intelligent device 24 may be connected in series with the electronic control unit 25.

Alternatively, the motor driver may control each function module to manage all functions (including device functions and power components) of the target device, and the state of the motor driver may be controlled by and displayed in a control word. The mechanism state can be controlled by an external control word and an external signal.

In the embodiment of the present invention, the writing of the control word may be controlled by any hardware signal. Table 1 is an action table corresponding to a plurality of control signals according to an embodiment of the present invention, and the contents in table 1 are as follows:

TABLE 1

In table 1, the "event" includes a plurality of control fields, and the "action" corresponds to each control field, and each control field corresponds to a corresponding action. The state of the motor driver can be controlled by means of a control word and displayed in the control word, and the mechanical state of the motor drive unit (or motor driver) can be controlled by means of an external control word and an external signal.

As another optional embodiment of the present invention, when the target device is an all-terrain vehicle, the central control system accesses a plurality of control signals of the all-terrain vehicle, and generates the master control signal according to the plurality of control signals, where the control signals at least include: the pedal starts an acceleration signal, a key signal, a brake signal, a vehicle body signal and a gear signal. Optionally, the central control system is connected with an external power supply main contactor, a charger relay and a motor high-voltage relay.

The pedal starting acceleration signal can be a signal obtained after a pedal of the vehicle is stepped; the key signal may be a signal fed back after a control key of the vehicle is inserted into the key hole; the brake signal can be a signal fed back after each brake plate or brake device of the vehicle is operated; the vehicle body signal can be a vehicle body feedback signal detected by a vehicle self detection module; the gear signal is a signal fed back by acquiring the position of the current gear in real time, and when the gear is acquired, the gear signal needs to be communicated with a central control system in real time, so that the real-time gear signal is obtained. Of course, in the embodiment of the invention, the central control system can be connected with the power supply main contactor, the charger relay and the motor high-voltage relay besides being connected with the signals, the action of the battery can be controlled through the power supply main contactor, and the charging or the power-off can be controlled through the charger relay; the motor can be started or shut down through the motor high-voltage relay.

As another optional implementation of the present invention, the master station uses an embedded system, and the slave station unit uses a single chip microcomputer.

Alternatively, each slave unit comprises at least: the slave station control module, the communication module and the at least one motion control module complete position control and speed control through the at least one motion control module, wherein the slave station unit is one of the following: the system comprises a battery management system BMS, a motor drive control system MCU, an intelligent device control system and an electronic control unit ECU control system.

In the embodiment of the invention, an embedded system can be used as a master station, and a singlechip is used as a slave station, so that an EtherCAT network control bus communication system is established. The software realizes the control of the EtherCAT communication network, processes data transmitted on the EtherCAT network, including vehicle information, safety information, temperature information and the like, and sends the processed data to the application layer, and the application layer controls the equipment device according to the related control protocol by using the data. In the embodiment of the present invention, only the motion control system CiA402 of the core part is taken as an example to analyze and explain hardware and software architectures, and other information processing is basically the same, and thus, description is not repeated.

In the selection of the CANopen protocol, the embodiment of the present invention may select the CANopen-DS 402. The CANopen-DS402 protocol may be understood as a digital motion control protocol over the EtherCAT bus to which the control system connects the various controllers or other control components. During operation, data can be obtained from the drive unit via the EtherCAT bus by selecting or specifying events (interrupts). Optionally, the control module has a process data object PDO for real-time operation, and the communication channel is used for the inter-conversion of real-time data (such as setpoint or current position data).

Fig. 3 is a diagram of an alternative CANopen communication architecture according to an embodiment of the present invention, and as shown in fig. 3, a master station may transmit a control command to a slave station unit, including a target speed at which a vehicle is to be controlled; the slave station unit can feed back the actual position information of the current vehicle of the master station. The master station runs a master application 31, and also comprises a position controller 32, and the position and the speed of the vehicle (mainly controlling each slave station unit) are controlled by the position controller; and the slave station unit can comprise: the speed controller 33 and the calibration controller 34 can adjust the speed and position of the vehicle through the slave station unit, and send the adjusted speed and position to the driving module 35 to adjust the position and driving speed of the vehicle.

In the embodiment of the invention, when the slave station unit uses the singlechip, the singlechip processes the tasks of the motion control system of the preset communication protocol, and the tasks are as follows: and synchronously processing the data of the object dictionary of a preset communication protocol (which can be CANopen protocol) and the Process Data Object (PDO). Namely, a slave station control module in the slave station unit adopts an ARM series single chip microcomputer, and the ARM series single chip microcomputer can also perform task processing of a CANopen control system, including object dictionary and PDO data of a CANopen protocol, and perform real-time synchronous data processing; and the communication module can use the control chip LAN9252 to process the communication protocol program.

Fig. 4 is a hardware structure diagram of an optional slave station unit according to an embodiment of the present invention, and as shown in fig. 4, the slave station unit includes an Application layer (Device Application), a data link layer (ESC), and a physical layer (Network Interface). The MCU slave station controller in the application layer can read and write data of an EtherCAT protocol chip LAN9252 through an SPI interface and execute related data exchange; the data link layer can execute data exchange of the EtherCAT protocol from the station chip LAN9252 through the EtherCAT protocol to complete the communication protocol, the EEPROM chip is an XML file downloading an object dictionary and is provided for the main station to operate the EtherCAT protocol to realize communication, and optionally, the chip EEPROM and the chip LAN9252 can communicate through I2C; for the physical layer, RJ45 is a standard ethernet physical interface linking master devices, with which RJ45 performs data switching.

Fig. 5 is a control structure diagram of a slave unit of an EthereCAT bus according to an embodiment of the present invention, and as shown in fig. 5, an EtherCAT master device is a master station, an EtherCAT slave device is a slave station, the EtherCAT master station and the EtherCAT slave station are connected in series, and both the master station and the slave station have data input and/or output interfaces.

Optionally, the EEPROM in fig. 5 may temporarily store the control command or the detected information; the microprocessor/single chip microcomputer is used as a processing center of the slave station unit and is connected with the communication protocol IC through a local bus, the communication protocol IC can be connected with each magnetic piece and each PHY module, and each magnetic piece or each PHY module is connected with a corresponding RJ 45.

Optionally, the dashed line in fig. 5 indicates that a secondary station may be added or extended.

Preferably, in the embodiment of the present invention, the CANopen communication protocol is selected as a CANopen-DS402 digital motion communication protocol.

The basic idea of system software design in the embodiment of the invention is to divide the whole vehicle data transceiving, the EtherCAT communication protocol and the motion control into three layers, wherein the whole vehicle data transceiving layer is provided, the EtherCAT communication protocol layer is provided, and the motion control protocol layer is provided. The data design levels are explained below.

The first one is a vehicle data interaction layer, which performs data interaction with a protocol chip (such as chip LAN9252) of each slave station unit, acquires vehicle data of the all-terrain vehicle by using a microprocessor, classifies the vehicle data, and transmits the classified data to a communication protocol layer.

Second, the communication protocol layer, includes: the system comprises a network management layer and a data transceiving layer, wherein the network management layer is used for managing a network state machine, and the data transceiving layer is used for synchronously transmitting the data of the whole vehicle.

Optionally, the network state machine may be managed by a communication protocol layer, and the transceiving of periodic and aperiodic data is realized; for the synchronization control, an accurate synchronization signal is generated.

And thirdly, the device is used for planning a whole vehicle position ring, a speed ring and a current ring of the all-terrain vehicle.

Optionally, the motion control protocol layer may also implement the DS402 protocol.

And when the control system is in specific operation, the communication of the DS402 protocol and the control of the motor can be realized. The specific control method is as follows.

In accordance with an embodiment of the present invention, there is provided an embodiment of a control method for a control system, it being noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in an order different than presented herein.

The following embodiments of the present invention are applied to the control system described in the above example.

The embodiments of the present invention may be described mainly with respect to a slave unit, but it is needless to say that the embodiments of the present invention may also be described with respect to a master unit, and the present invention is not particularly limited in this application.

Fig. 6 is a flowchart of an alternative control system control method according to an embodiment of the present invention, as shown in fig. 6, the method includes the steps of:

step S602, at least one slave station unit acquires a communication address allocated by a master station, initializes each register, and reads configuration data and sets the motor state of target equipment through the slave station unit;

step S604, each slave station unit receives a master control signal sent by the master station according to a preset communication protocol;

step S606, the slave station unit reads the master control signal and decodes the master control signal;

step S608, the slave station unit collects the state feedback information of each motion control module of the target equipment to complete filling of a state data packet;

and step S610, the slave station unit receives a data frame fed back by the master station based on the state data packet to obtain instruction data, and sends the instruction data to each motion control module to perform position control and speed control on the target equipment.

The method comprises the steps that a communication address distributed by a master station can be obtained through at least one slave station unit, each register is initialized, configuration data are read in and the motor state of target equipment is set through the slave station unit, each slave station unit receives a master control signal sent by the master station according to a preset communication protocol, reads the master control signal and decodes the master control signal, the slave station unit collects state feedback information of each motion control module of the target equipment to complete filling of a state data packet, receives a data frame fed back by the master station based on the state data packet to obtain instruction data, and sends the instruction data to each motion control module to control the position and the speed of the target equipment. In this embodiment, the control system includes master station and slave station unit, through real-time EtherCAT bus communication, every slave station unit CAN control the relevant device of whole target device, the slave station unit is through reading the master control signal, accomplish the state feedback of equipment, realize letting every slave station unit carry out control such as position, speed, temperature, safety, CAN utilize EtherCAT bus communication technique in whole car and intelligent control system through the slave station unit, improve control performance, and then solve the technical problem that the CAN bus communication system of correlation technique has that transmission speed is slow, transmission distance is limited, lead to the equipment suitability lower.

Optionally, after reading in the configuration data and setting the motor state of the target device by the slave station unit, the method further includes: and setting a communication cycle, a communication type and a communication parameter variable with the master station through the slave station unit.

In the embodiment of the invention, the control system mainly comprises two stages during operation:

first phase, initialization phase: establishing communication between a master station and a slave station, wherein the communication between the master station and the slave station comprises the steps of allocating communication addresses of I/O slave stations by the master station, initializing I/O related registers, setting communication parameters, preparing for communication, reading configuration data by a slave station singlechip, setting the state of a motor, the communication period and the like;

meanwhile, in the initial stage, the slave station needs to set a communication type, an operation mode of an initial state, each communication parameter variable and the like.

Second phase, cycle run phase: the master station can send control words and instruction data to each slave station according to the DS402 protocol and the object dictionary, the slave station single chip microcomputer reads out the data and decodes the data, and meanwhile, state feedback information of each device is collected and a state data packet is filled.

Meanwhile, in the period operation stage, after the master station receives the returned data frame, the information in the state data message is read and correspondingly processed.

And after the slave singlechip finishes the initial configuration work, starting to enter a working cycle and waiting for the arrival of the master station data frame.

And when detecting that the data frame reaches the slave station controller, the slave station receives the data frame, responds to the interruption reading instruction data, processes the data and sends the processed data to the motion control module, and detects whether a state request event occurs. And if the data of the state request module arrives, the program reads the current equipment state data, writes the current equipment state data into the state data module, returns the current equipment state data to the master station, and finishes one-time communication.

The invention designs a control system based on real-time EtherCAT bus communication, wherein each slave station motion controller unit can control related devices of a whole vehicle, and each slave station can control position, speed, temperature, safety and the like. The slave station can utilize an EtherCAT bus communication technology in a finished automobile and an artificial intelligence control system, and the control performance is improved.

According to another aspect of the embodiments of the present invention, there is also provided a storage medium for storing a program, wherein the program, when executed by a processor, controls a device on which the storage medium is located to perform the control method of the control system of any one of the above.

The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the processor executes the program and realizes the following steps: at least one slave station unit acquires a communication address allocated by the master station, initializes each register, and reads configuration data and sets the motor state of target equipment through the slave station unit; each slave station unit receives a master control signal sent by a master station according to a preset communication protocol; the slave station unit reads the master control signal and decodes the master control signal; the slave station unit collects the state feedback information of each motion control module of the target equipment to complete the filling of a state data packet; and the slave station unit receives the data frame fed back by the master station based on the state data packet to obtain instruction data, and sends the instruction data to each motion control module to control the position and the speed of the target equipment.

Optionally, when the processor executes the program, the following steps may be further implemented: after the configuration data and the motor state of the setting target device are read in by the slave unit, a communication cycle, a communication type, and a communication parameter variable with the master are set by the slave unit.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. A control system is applied to target equipment and is controlled through a preset automatic control bus, and the control system comprises:

the master station is used for sending master control signals to each slave station unit, wherein the master control signals are sent through a preset communication protocol;

at least one slave station unit connected with the master station through the automatic control bus and used for reading the master control signal and collecting the state feedback information of each motion device of the target equipment so as to control the position and/or the speed of the target equipment,

the target equipment is an all-terrain vehicle, the automatic control bus is an Ethernet control automation technology EtherCAT bus, the preset communication protocol is a CANopen protocol, the master station and each slave station unit establish an EtherCAT communication network,

the system software of the control system comprises: the whole vehicle data interaction layer is used for carrying out data interaction with the protocol chip of each slave station unit, acquiring the whole vehicle data of the all-terrain vehicle by using the microprocessor, classifying the whole vehicle data and transmitting the classified data to the communication protocol layer; the communication protocol layer comprises: the system comprises a network management layer and a data transceiving layer, wherein the network management layer is used for managing a network state machine, and the data transceiving layer is used for synchronously transmitting the data of the whole vehicle; a motion control protocol layer used for planning the position loop, the speed loop and the current loop of the whole all-terrain vehicle,

the master station is a central control system of the target equipment, and the central control system is in bidirectional communication with at least one of the following components of the control system through the automatic control bus: a motor driver, a battery management system BMS, an electric power steering pump, an instrument device, a fault diagnosis interface, a charger, a DC/DC and an intelligent device,

and the motor driver accesses various parameters in the motor driver by using the function set of the preset communication protocol.

2. The control system of claim 1 wherein the control system analyzes a plurality of vehicle information of the all-terrain vehicle via the EtherCAT communication network, wherein the vehicle information comprises at least one of: motor information, vehicle information, safety information and temperature information.

3. The control system of claim 1, wherein the central control system accesses a plurality of control signals of the all-terrain vehicle and generates the master control signal according to the plurality of control signals, the control signals comprising at least: the pedal starts an acceleration signal, a key signal, a brake signal, a vehicle body signal and a gear signal.

4. The control system of claim 1, wherein the CANopen communication protocol is a CANopen-DS402 digital motion communication protocol.

5. The control system of claim 1, wherein each of said slave station units comprises at least: the slave station unit comprises a slave station control module, a communication module and at least one motion control module, wherein the slave station unit completes position control and speed control through the at least one motion control module, and is one of the following units: the system comprises a battery management system BMS, a motor drive control system MCU, an intelligent device control system and an electronic control unit ECU control system.

6. The control system of claim 5, wherein when a single chip microcomputer is used in the slave station unit, the single chip microcomputer is used for processing tasks of the motion control system of the preset communication protocol, wherein the tasks are as follows: and synchronously processing the data of the object dictionary of the preset communication protocol and the process data object PDO.

7. A control method of a control system, applied to the control system according to any one of claims 1 to 6, comprising:

at least one slave station unit acquires a communication address allocated by a master station, initializes each register, and reads configuration data and sets the motor state of target equipment through the slave station unit;

each slave station unit receives a master control signal sent by the master station according to a preset communication protocol;

the slave station unit reads the master control signal and decodes the master control signal;

the slave station unit collects the state feedback information of each motion control module of the target equipment to complete filling of a state data packet;

and the slave station unit receives a data frame fed back by the master station based on the state data packet to obtain instruction data, and sends the instruction data to each motion control module to perform position control and speed control on the target equipment.

8. The control method according to claim 7, wherein after reading in configuration data and setting a motor state of a target device by the slave station unit, the method further comprises: and setting a communication cycle, a communication type and a communication parameter variable with the master station through the slave station unit.

9. An all-terrain vehicle, characterized in that it comprises a control system according to any one of claims 1 to 6.

10. A storage medium storing a program, wherein the program, when executed by a processor, controls an apparatus in which the storage medium is located to execute a control method of a control system according to any one of claims 7 to 8.

11. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to execute a control method of the control system according to any one of claims 7 to 8 when running.