CN112019099A - Direct current motor distribution control system - Google Patents
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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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
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Abstract
The invention provides a direct current motor distributed control system, which comprises a host and a plurality of slave machines; the host comprises a host controller and a host wireless transceiving module, and the host controller is connected with the host wireless transceiving module; the slave machine comprises a slave machine wireless transceiving module, a slave machine controller, an ID module and a direct current motor driving module which are connected in sequence; the slave wireless transceiver module is connected with the host wireless transceiver module. The installation of this application is convenient, from the module only need provide the power cord can, saved other redundant communication cables, it is convenient to maintain. And a communication ID automatic distribution algorithm, wherein the host periodically inspects the online number of the modules, and when the first handshake matching is successful, the system randomly distributes a communication ID according to the number of the slave machines of the current system. Unmanned retail lane miniaturization and intellectualization, the distributed driving module effectively reduces the size and complex wiring of a lane control system.
Description
Technical Field
The invention relates to the field of unmanned retail, in particular to a direct current motor distribution control system.
Background
The unmanned vending machine is not limited by conditions such as time, place and occasion, can save manpower, is convenient for transaction, and is more and more widely applied. The unmanned vending machine comprises a cabinet, a rack, an electronic touch screen, a card swiping area, a mechanical arm, a magnetic bar code sensing device, an intelligent goods channel and the like. But the communication cable of the current vending machine is complex and inconvenient to maintain.
Disclosure of Invention
In order to solve the problems that the communication cable of the existing unmanned vending machine is complex and inconvenient to maintain, the embodiment of the application provides a direct current motor distribution control system.
In a first aspect, an embodiment of the present application provides a distributed control system for a direct current motor, including:
a master and a plurality of slaves; the host comprises a host controller and a host wireless transceiving module, and the host controller is connected with the host wireless transceiving module;
the slave machine comprises a slave machine wireless transceiving module, a slave machine controller, an ID module and a direct current motor driving module which are sequentially connected; the slave wireless transceiver module is connected with the host wireless transceiver module.
Wherein the master wireless transceiver module comprises an NRF24L01 module, and the slave wireless transceiver module comprises an NRF24L01 module.
The master controller is used for searching the slave through the periodic polling of the master wireless transceiving module.
The master machine is used for randomly allocating the master machine to the slave machine for one communication ID when the master machine and the slave machine are matched, and the master machine carries out corresponding operation on the slave machine.
Wherein the slave is configured to:
calculating the slope of a parabola from zero to a target speed of the direct current motor to obtain the value of the acceleration of the direct current motor, wherein the parabola is a section of zero-crossing point;
obtaining the change rate of the pulse frequency according to the value of the acceleration, wherein the acceleration is zero when the speed of the direct current motor reaches an expected value, and the change value of the pulse frequency is also zero;
the pulses are generated by a timer of the main control system, and the high level time of each pulse is calculated by using the change rate of the pulse frequency through timing interruption so as to change the pulse frequency until the change rate of the pulse frequency is zero and the acceleration is finished.
The master machine is used for performing data handshake transmission with the slave machine by adopting a frequency hopping method, and the master machine periodically patrols and checks whether the slave machine is on line or not.
The NRF24L01 module has 125 frequency points and supports frequency hopping;
the host is also used for randomly distributing fixed communication frequency to the slave, the host records the frequency point to a flash, and a slave ID module and a table of the communication frequency are established in the host flash;
the host computer has 1000 hops per second and 80 channels, the frequency hopping channel interval is larger than 5, the autocorrelation is not larger than 2, the cross correlation is not larger than 3, the frequency hopping sequence length is the 9 th power of 2 multiplied by 10, and the initial synchronization time is smaller than 300 milliseconds.
When the slave is added, the default factory ID of the slave is 0XFF, the host polls all communication channels and checks the IDs of all the slaves, and when the IDs are 0XFF, an ID number and a communication channel are allocated to the slave according to the form;
and when the ID and the communication channel no-response signal in the polling list exceed the preset times, judging that the slave is off-line, and deleting the configuration information of the slave from the polling list.
And the direct current motor distribution control system transmits data through 2.4 GHz.
In a second aspect, the present application provides an unmanned vending machine comprising any one of the above dc motor distributed control systems.
The direct current motor distribution control system has the following beneficial effects:
the direct current motor distributed control system comprises a host and a plurality of slaves; the host comprises a host controller and a host wireless transceiving module, and the host controller is connected with the host wireless transceiving module; the slave machine comprises a slave machine wireless transceiving module, a slave machine controller, an ID module and a direct current motor driving module which are connected in sequence; the slave wireless transceiver module is connected with the host wireless transceiver module. The installation of this application is convenient, from the module only need provide the power cord can, saved other redundant communication cables, it is convenient to maintain. Unmanned retail lane miniaturization and intelligentization. The distributed driving module effectively reduces the size and the complex wiring of the cargo path control system.
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Fig. 1 is a schematic structural diagram of a distributed control system of a dc motor according to an embodiment of the present application.
Detailed Description
The present application is further described with reference to the following figures and examples.
In the following description, the terms "first" and "second" are used for descriptive purposes only and are not intended to indicate or imply relative importance. The following description provides embodiments of the invention, which may be combined or substituted for various embodiments, and this application is therefore intended to cover all possible combinations of the same and/or different embodiments described. Thus, if one embodiment includes feature A, B, C and another embodiment includes feature B, D, then this application should also be considered to include an embodiment that includes one or more of all other possible combinations of A, B, C, D, even though this embodiment may not be explicitly recited in text below.
The following description provides examples, and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made in the function and arrangement of elements described without departing from the scope of the disclosure. Various examples may omit, substitute, or add various procedures or components as appropriate. For example, the described methods may be performed in an order different than the order described, and various steps may be added, omitted, or combined. Furthermore, features described with respect to some examples may be combined into other examples.
The application provides a direct current motor distributed control system, which comprises a host and a plurality of slave machines; the host comprises a host controller and a host wireless transceiving module, and the host controller is connected with the host wireless transceiving module; the slave machine comprises a slave machine wireless transceiving module, a slave machine controller, an ID module and a direct current motor driving module which are connected in sequence; the slave wireless transceiver module is connected with the host wireless transceiver module.
In some embodiments, the master wireless transceiver module comprises an NRF24L01 module and the slave wireless transceiver module comprises an NRF24L01 module. The following description will be made by taking an example in which the master wireless transceiver module includes an NRF24L01 module, and the slave wireless transceiver module includes an NRF24L01 module.
As shown in fig. 1, the present application provides a distributed control system for a dc motor, which includes a master and a plurality of slaves; the host comprises a host controller 1 and a host wireless transceiver module 2, the host wireless transceiver module 2 comprises an NRF24L01 module, and the host controller 1 is connected with the host wireless transceiver module 2. NRF24L01 is a monolithic wireless transceiver chip manufactured by NORDIC operating in the ISM band from 2.4GHz to 2.5 GHz. The wireless transceiver includes: a frequency generator, an enhanced "SchockBurst" mode controller, a power amplifier, a crystal oscillator, a modulator, and a demodulator. NRF24L01 may implement point-to-point or 1 (receive) to 6 (transmit) wireless communication. NRF24L01 samples SPI communication, and MCU is conveniently connected. The chip adopted by the NRF24L01 wireless module is NRF24L01, and the chip is mainly characterized in that: 1)2.4G global open ISM band, license exemption. 2) The highest working rate is 2Mbps, the high-efficiency GFSK modulation is realized, and the anti-interference capability is strong. 3)125 optional frequency channels to meet the requirements of multi-point communication and frequency modulation communication. From 2.4G to 2.4+ 0.125G. 4) Built-in CRC error detection and point-to-multipoint communication address control. 5) Low working voltage (1.9-3.6V). 6) Automatic response can be set to ensure reliable data transmission.
The operating mode of NRF24L01 is controlled by CE and CONFIG registers (0X00) d1PWR _ UP (first bit) and PWIM _ RX (0 th bit). The transceiving mode is divided into: an Enhanced shockburst (TM) transceiving mode and a shockburst (TM) transceiving mode, wherein only the Enhanced shockburst (TM) transceiving mode supports automatic ACK and automatic retransmission. And starting the automatic ACK, and selecting an Enhanced mode by default.
As shown in fig. 1, the slave includes a slave wireless transceiver module 3, a slave controller 4, an ID module 5, and a dc motor driving module 6, which are connected in sequence; the slave wireless transceiver module 3 is connected to the master wireless transceiver module 2. The slave wireless transceiver module comprises an NRF24L01 module.
The working principle of the direct current motor distribution control system is as follows: the master controller is used for searching the slave through the periodic polling of the master wireless transceiving module. The master machine is used for randomly distributing one communication ID to the slave machine when the master machine and the slave machine are matched, and the master machine carries out corresponding operation on the slave machine. I.e. the periodic polling by the master control system, the search of the slaves by the master NRF24L01 module. When the matching of the host and the slave is completed, the host can randomly allocate a communication ID to the slave so as to complete the system ad hoc network, and the host can perform corresponding operation on the slave module.
A direct current motor control algorithm is arranged in the slave computer system, so that the direct current motor is smoothly started, and mechanical vibration is avoided. The slave ID module 5 is mainly used for counting the number of online modules by a system, and the maximum supported online number is 255.
The direct current motor control algorithm implementation process comprises the following steps: the speed of a dc motor is essentially a change in speed achieved by changing the pulse frequency. The principle of the smooth starting is that the speed of the direct current motor is a parabola of which the section from 0 to the target speed is a zero crossing point, the value of the acceleration is obtained by solving the value of the acceleration which is the slope of the parabola, and the change rate of the pulse frequency is further obtained, when the speed of the direct current motor reaches the expected value, the acceleration is zero, and the change value of the pulse frequency is also 0. The pulses are generated by a timer of the main control system, the high level time of each pulse is calculated by using the change rate of the pulse frequency through timing interruption, and then the pulse frequency is changed until the change rate of the pulse frequency is 0 and the acceleration is finished, so that the direct current motor reaches the expected speed value. And S-shaped smooth starting of the direct current motor is realized.
In the present application, the slave is used for: calculating the slope of the parabola to obtain the value of the acceleration of the direct current motor, wherein the speed of the direct current motor is a parabola of a section of zero crossing point from zero to a target speed; obtaining the change rate of the pulse frequency according to the value of the acceleration, wherein the acceleration is zero when the speed of the direct current motor reaches an expected value, and the change value of the pulse frequency is also zero; the pulses are generated by a timer of the main control system, and the high level time of each pulse is calculated by using the change rate of the pulse frequency through timing interruption so as to change the pulse frequency until the change rate of the pulse frequency is zero and the acceleration is finished.
The communication algorithm of the direct current motor distributed control system comprises the following steps: the host computer adopts the means of frequency hopping to carry out data handshake transmission, and the host computer can confirm whether the module is online or not through the periodic polling module, thereby lightening the CPU burden of the host computer. Frequency hopping is a carrier technology in mobile communication, has good anti-interference effect, and can effectively improve communication quality. The frequency hopping means that the carrier frequency jumps according to a certain rule within a certain range. Frequency hopping means that a transmitting terminal and a receiving terminal transmit and receive information according to a same frequency point sequence, which is a frequency Hopping Sequence (HSN). One hopping sequence is that in a given frequency point set (MA) containing N frequency points, a permutation of all (N) frequency points is uniquely determined by a Hopping Sequence Number (HSN) and a mobile allocation offset (MAIO) through a certain algorithm. The N channels on different time slots (TN) may use the same hopping sequence and different channels within the same time slot of the same cell use different mobile allocation offsets (MAIOs).
When the tight frequency reuse technology is adopted, the system interference is the most important factor for determining the frequency reuse ratio. In order to reduce system interference, the commonly used techniques are power control, Discontinuous Transmission (DTX); in order to prevent interference and improve the communication quality of the system under the same interference condition, a frequency hopping technology is generally adopted.
In some embodiments, the master is used for data handshake transmission with the slave by means of frequency hopping, and the master periodically patrols whether the slave is on line or not.
In some embodiments, NRF24L01 has 125 frequency bins and supports frequency hopping. The host system randomly allocates fixed communication frequency to the slave, and records the frequency point into the flash, a table of slave module communication ID and communication frequency is created in the host flash,
the host system has 1000 hops per second and 80 channels, the frequency hopping channel interval is larger than 5, the autocorrelation is not larger than 2, the cross correlation is not larger than 3, the frequency hopping sequence length is 9 times of 2 x 10, about 23 days, and the initial synchronization time is less than 300 milliseconds. When the slave module is added, the default factory ID of the slave is 0XFF, the host system polls all communication channels and checks all slave IDs, when the ID is 0XFF, an ID number and a communication channel are allocated to the slave according to the form, when no response signal of the ID and the communication channel in the polling form exceeds 3 times, the slave is judged to be off-line, and the configuration information of the slave is deleted from the polling form.
In some embodiments, the master is further configured to randomly allocate a fixed communication frequency to the slave, record the frequency point into the flash, and create a table of slave ID modules and communication frequencies inside the master flash; the host computer 1000 hops 80 channels per second, the frequency hopping channel interval is greater than 5, the autocorrelation is not greater than 2, the cross correlation is not greater than 3, the frequency hopping sequence length is 2 times 10 to the power of 9, and the initial synchronization time is less than 300 milliseconds. When the slave is added, the default factory ID of the slave is 0XFF, the master polls all communication channels and checks all slave IDs, and when the ID is 0XFF, an ID number and a communication channel are allocated to the slave according to the form; and when the ID and the communication channel no-response signal in the polling list exceed the preset times, judging that the slave is off-line, and deleting the configuration information of the slave from the polling list. The preset number of times is, for example, 3 times.
The utility model provides a direct current motor distributed control system based on NRF24L01 mainly carries out data transmission through 2.4GHz, and this system divide into host computer and direct current motor drive module and constitutes, and the host computer system carries out the wireless network deployment of one-to-many through single host computer many slaves, guarantees system data communication's stability through frequency hopping technique, improves the interference killing feature.
The installation of this application is convenient, from the module only need provide the power cord can, saved other redundant communication cables, it is convenient to maintain. And a communication ID automatic distribution algorithm, wherein the host periodically inspects the online number of the modules, and when the first handshake matching is successful, the system randomly distributes a communication ID according to the number of the slave machines of the current system. Unmanned retail lane miniaturization and intelligentization. The distributed driving module effectively reduces the size and the complex wiring of the cargo path control system.
The application also provides a direct current motor distribution control method, which comprises the following steps: the master controller searches the slave machines through the periodical polling of the master wireless transceiving module; when the matching of the host and the slave is completed, the host is randomly allocated to the slave by a communication ID, and the host carries out corresponding operation on the slave.
The distribution control method of the direct current motor comprises the following steps:
calculating the slope of the parabola to obtain the value of the acceleration of the direct current motor, wherein the speed of the direct current motor is a parabola of a section of zero crossing point from zero to a target speed; obtaining the change rate of the pulse frequency according to the value of the acceleration, wherein the acceleration is zero when the speed of the direct current motor reaches an expected value, and the change value of the pulse frequency is also zero; the pulses are generated by a timer of the main control system, and the high level time of each pulse is calculated by using the change rate of the pulse frequency through timing interruption so as to change the pulse frequency until the change rate of the pulse frequency is zero and the acceleration is finished.
The distribution control method of the direct current motor comprises the following steps:
the host randomly allocates fixed communication frequency to the slave, records the frequency point into the flash, and creates a table of slave ID module and communication frequency in the host flash; the host computer 1000 hops 80 channels per second, the frequency hopping channel interval is greater than 5, the autocorrelation is not greater than 2, the cross correlation is not greater than 3, the frequency hopping sequence length is 2 times 10 to the power of 9, and the initial synchronization time is less than 300 milliseconds. When the slave is added, the default factory ID of the slave is 0XFF, the master polls all communication channels and checks all slave IDs, and when the ID is 0XFF, an ID number and a communication channel are allocated to the slave according to the form; and when the ID and the communication channel no-response signal in the polling list exceed the preset times, judging that the slave is off-line, and deleting the configuration information of the slave from the polling list.
For the embodiment of the dc motor distributed control method, it is basically the same as the embodiment of the dc motor distributed control system, and please refer to the embodiment of the dc motor distributed control system for relevant points.
The application also provides an unmanned vending machine, which comprises any one of the direct current motor distribution control systems.
It is clear to a person skilled in the art that the solution according to the embodiments of the invention can be implemented by means of software and/or hardware. The "unit" and "module" in this specification refer to software and/or hardware that can perform a specific function independently or in cooperation with other components, where the hardware may be, for example, an FPGA (Field-Programmable Gate Array), an IC (Integrated Circuit), or the like.
Each processing unit and/or module according to the embodiments of the present invention may be implemented by an analog circuit that implements the functions described in the embodiments of the present invention, or may be implemented by software that executes the functions described in the embodiments of the present invention.
Embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the above-mentioned dc motor distributed control system. The computer-readable storage medium may include, but is not limited to, any type of disk including floppy disks, optical disks, DVD, CD-ROMs, microdrive, and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of media or device suitable for storing instructions and/or data.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
All functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A direct current motor distributed control system is characterized by comprising a host and a plurality of slaves; the host comprises a host controller and a host wireless transceiving module, and the host controller is connected with the host wireless transceiving module;
the slave machine comprises a slave machine wireless transceiving module, a slave machine controller, an ID module and a direct current motor driving module which are sequentially connected; the slave wireless transceiver module is connected with the host wireless transceiver module.
2. The distributed dc motor control system of claim 1, wherein said master wireless transceiver module comprises an NRF24L01 module, and said slave wireless transceiver module comprises an NRF24L01 module.
3. The distributed dc motor control system according to claim 1 or 2, wherein the master controller is configured to perform the slave search by periodically polling the master wireless transceiver module.
4. The distributed control system of claim 3, wherein the master is configured to randomly assign the master to the slave with a communication ID when the master and the slave are matched, and the master performs corresponding operations on the slave.
5. The distributed dc motor control system according to claim 1 or 2, wherein the slave is configured to:
calculating the slope of a parabola from zero to a target speed of the direct current motor to obtain the value of the acceleration of the direct current motor, wherein the parabola is a section of zero-crossing point;
obtaining the change rate of the pulse frequency according to the value of the acceleration, wherein the acceleration is zero when the speed of the direct current motor reaches an expected value, and the change value of the pulse frequency is also zero;
the pulses are generated by a timer of the main control system, and the high level time of each pulse is calculated by using the change rate of the pulse frequency through timing interruption so as to change the pulse frequency until the change rate of the pulse frequency is zero and the acceleration is finished.
6. The distributed control system for the direct current motors according to claim 1 or 2, wherein the master is used for performing data handshake transmission with the slaves by adopting a frequency hopping method, and the master periodically inspects whether the slaves are on line or not.
7. The distributed control system for DC motors of claim 6, wherein the NRF24L01 module has 125 frequency points to support frequency hopping;
the host is also used for randomly distributing fixed communication frequency to the slave, the host records the frequency point to a flash, and a slave ID module and a table of the communication frequency are established in the host flash;
the host computer has 1000 hops per second and 80 channels, the frequency hopping channel interval is larger than 5, the autocorrelation is not larger than 2, the cross correlation is not larger than 3, the frequency hopping sequence length is the 9 th power of 2 multiplied by 10, and the initial synchronization time is smaller than 300 milliseconds.
8. The distributed control system of the direct current motor according to claim 7, wherein when the slave is added, the default factory ID of the slave is 0XFF, the master polls all communication channels and checks all slave IDs, and when the ID is 0XFF, allocates one ID number and one communication channel to the slave according to the table;
and when the ID and the communication channel no-response signal in the polling list exceed the preset times, judging that the slave is off-line, and deleting the configuration information of the slave from the polling list.
9. The dc motor distributed control system of claim 8, wherein the dc motor distributed control system performs data transmission at 2.4 GHz.
10. An unmanned vending machine comprising a distributed control system for a dc motor as claimed in any one of claims 1 to 9.
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