CN112462672A - Building block steering engine control system based on bus technology and control method thereof - Google Patents
Building block steering engine control system based on bus technology and control method thereof Download PDFInfo
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- CN112462672A CN112462672A CN202011398349.7A CN202011398349A CN112462672A CN 112462672 A CN112462672 A CN 112462672A CN 202011398349 A CN202011398349 A CN 202011398349A CN 112462672 A CN112462672 A CN 112462672A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
A building block steering engine control system based on bus technology and a control method thereof relate to a steering engine control mode, in particular to a bus control mode, which comprises a steering engine module main body, a steering engine driving mechanism and a main control module, wherein the steering engine module main body is provided with a first connecting surface, a second connecting surface, a third connecting surface and a fourth connecting surface which are sequentially connected end to end, the first connecting surface is provided with a first bolt hole, a second bolt hole and a signal input interface, the second connecting surface is provided with a first rotating shaft hole, the third connecting surface is provided with a third bolt hole, a fourth bolt hole and a signal output interface, the fourth connecting surface is provided with a second rotating shaft hole, the steering engine driving mechanism comprises a cross rotating shaft, the cross rotating shaft is connected with a driving motor through a transmission gear set, the cross rotating shaft comprises a first connecting end and a second cross connecting end, and both the first connecting end and the second connecting end are provided, the main control module is connected with the steering engine through a bus, and has the characteristics of high steering engine control precision, good system real-time performance and the like.
Description
Technical Field
The invention relates to the technical field of control, in particular to a building block steering engine control system based on a bus technology and a control method thereof.
Background
At present, the mainstream buses used by the bus steering engine include an S-Wire single bus and a UART asynchronous bus; and the communication application protocols of the S-Wire single bus and the UART asynchronous bus have certain application range. Because the steering engine equipment is resource-limited, namely, the steering engine equipment only has a small amount of memory space and limited computing capacity, and some complicated protocols are too bulky to be applied to the steering engine equipment and are not suitable for use.
In the traditional S-Wire single-bus steering engine, the steering engine on each bus is connected in series to one signal line, and data on the signal line can be seen by each steering engine. In the UART asynchronous bus steering engine, the steering engine on each bus is equivalent to a data transceiver, and the UART asynchronous bus steering engine is used by a sender to send data, and then the sender sends back a response and sends a next data packet in a communication mode.
Disclosure of Invention
The invention aims to provide a building block steering engine control system based on a bus technology and a control method thereof aiming at the defects and shortcomings of the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme: the steering engine module comprises a steering engine module body 1, a steering engine driving mechanism and a main control module, wherein the steering engine module body 1 comprises a middle frame 101, a front cover 102 and a rear cover 103, the front cover 102 and the rear cover 103 are detachably connected with two sides of the middle frame 101, the steering engine module body 1 is of a rectangular block structure, the steering engine module body 1 is provided with a first connecting surface 11, a second connecting surface 12, a third connecting surface 13 and a fourth connecting surface 14 which are sequentially connected end to end, the first connecting surface 11, the second connecting surface 12, the third connecting surface 13 and the fourth connecting surface 14 are of a rectangular structure and form the steering engine module body 1 together with two square end faces, the first connecting surface 11 is provided with a first bolt hole 111, a second bolt hole 112 and a steering engine signal input interface 113, the second connecting surface 12 is provided with a first bolt hole, the third connecting surface 13 is provided with a third bolt hole 131, the third bolt hole is symmetrically arranged, The driving mechanism of the steering engine comprises a steering engine driving circuit board, a driving motor 21, a transmission gear set 22 and a cross rotating shaft 23, the driving motor 21, the steering engine signal input interface 113 and the steering engine signal output interface 133 are electrically connected with the steering engine driving circuit board, the cross rotating shaft 23 is connected with the driving motor 21 through the transmission gear set 22, the cross rotating shaft 23 comprises a first connecting end 231 installed in the first rotating shaft hole and a second connecting end 231 installed in the second rotating shaft hole, and the steering engine signal output interface 133 is symmetrically arranged with the second pin hole 112 A second connecting end 232 in the rotating shaft hole, wherein the first connecting end 231 and the second connecting end 232 are both provided with a cross connecting hole 233, the steering engine driving circuit board comprises a steering engine MCU, a steering engine synchronous clock module and a steering engine communication interface, the steering engine communication interface is connected with the steering engine signal input interface 113 and the steering engine signal output interface 133, the steering engine signal input interface 113 and the steering engine signal output interface 133 are Type-c interfaces, the Type-c interface is used for connecting different steering engines in series, the main control module comprises a main control MCU, a main control synchronous clock module and a main control communication interface, the main control module is connected with a steering engine through a Type-c interface, the steering engine module and the main control module are communicated through a bus protocol, and the bus protocol is mapped on the Type-c interface.
The bus protocol and the Type-c interface are connected through a method that a TX end in a master control communication interface is connected with an RX end of a Type-c interface, an RX end in the master control communication interface is connected with a TX end of the Type-c interface, a CTS end in the master control communication interface is connected with an RTS end of the Type-c interface, the RTS end in the master control communication interface is connected with a CTS end of the Type-c interface, a connection method for communication between a steering engine module and the steering engine module is that the steering engine and the Type-c interface are connected through a method that the TX end of the steering engine communication interface is connected with the TX end of the Type-c interface, an RX end of the machine communication interface is connected with the RX end of the Type-c interface, a CTS end of the machine communication interface is connected with the CTS end of the Type-c interface, and an RTS end of the machine communication interface is connected with the RTS end.
The steering engine control method based on the bus technology comprises the following steps:
1) setting a master control module as a master-slave working mode, and setting a unique address number for each steering engine on a bus;
2) according to the address number configured by the steering engines, the main control module reads the position information corresponding to each steering engine;
3) the main control module sends the position instruction with the address information to the steering engine according to a unified communication protocol format through a bus;
4) and after the steering engine receives a position instruction matched with the address of the steering engine on the bus, the steering engine is adjusted to a specified position.
The working principle of the invention is as follows: according to the invention, the steering engine is arranged in the building blocks, the steering engine and the main control module are communicated by adopting a bus protocol, the Type-C interfaces are arranged on two sides of the building block where the steering engine is arranged, the bus protocol is mapped on the Type-C interfaces, so that the main control module or the steering engine is connected with the steering engine through the Type-C interface, and when data are transmitted and received between the steering engine and the steering engine or between the main control module and the steering engine through the bus protocol, the main control module MCU is triggered to recognize the data. In the whole operation system, the master control module is used as a host, each steering engine is used as a slave, each steering engine has unique address information, the steering engine sends the position information of the steering engine to the master control module through a bus, meanwhile, the master control module sends information containing the address of the slave in a broadcasting mode through the bus, and when the steering engine receives the information matched with the address of the steering engine, the position of the steering engine is adjusted correspondingly according to the received instruction.
After the technical scheme is adopted, the invention has the beneficial effects that: according to the invention, bus control modes are adopted among the steering engines and between the steering engines and the main control, on one hand, the serial connection mode is adopted among the steering engines, the complexity of system wiring is greatly simplified, on the other hand, the main control has higher control precision on the steering engines, and meanwhile, the main control can conveniently monitor relevant information of each steering engine in real time, so that the steering engines are effectively protected.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of the present invention.
FIG. 2 is a schematic view of the structure of FIG. 1 from another angle;
fig. 3 is an exploded view of fig. 1.
Fig. 4 is a schematic diagram of the connection of the apparatus of the present invention.
FIG. 5 is a schematic diagram of communication connection of a main control communication interface, a Type-c interface and a steering engine communication interface in the invention.
Description of reference numerals: the steering engine module comprises a steering engine module body 1, a middle frame 101, a front cover 102, a rear cover 103, a first connecting surface 11, a first bolt hole 111, a second bolt hole 112, a steering engine signal input interface 113, a second connecting surface 12, a third connecting surface 13, a third bolt hole 131, a fourth bolt hole 132, a steering engine signal output interface 133, a fourth connecting surface 14, a driving motor 21, a transmission gear set 22, a cross rotating shaft 23, a first connecting end 231, a second connecting end 232 and a cross connecting hole 233.
Detailed Description
Referring to fig. 1 to 5, the technical solution adopted by the present embodiment is: the steering engine module comprises a steering engine module body 1, a steering engine driving mechanism and a main control module, wherein the steering engine module body 1 comprises a middle frame 101, a front cover 102 and a rear cover 103, the front cover 102 and the rear cover 103 are detachably connected with two sides of the middle frame 101, the steering engine module body 1 is of a rectangular block structure, the steering engine module body 1 is provided with a first connecting surface 11, a second connecting surface 12, a third connecting surface 13 and a fourth connecting surface 14 which are sequentially connected end to end, the first connecting surface 11, the second connecting surface 12, the third connecting surface 13 and the fourth connecting surface 14 are of a rectangular structure and form the steering engine module body 1 together with two square end faces, the first connecting surface 11 is provided with a first bolt hole 111, a second bolt hole 112 and a steering engine signal input interface 113, the second connecting surface 12 is provided with a first bolt hole, the third connecting surface 13 is provided with a third bolt hole 131, the third bolt hole is symmetrically arranged, The driving mechanism of the steering engine comprises a steering engine driving circuit board, a driving motor 21, a transmission gear set 22 and a cross rotating shaft 23, the driving motor 21, the steering engine signal input interface 113 and the steering engine signal output interface 133 are electrically connected with the steering engine driving circuit board, the cross rotating shaft 23 is connected with the driving motor 21 through the transmission gear set 22, the cross rotating shaft 23 comprises a first connecting end 231 installed in the first rotating shaft hole and a second connecting end 231 installed in the second rotating shaft hole, and the steering engine signal output interface 133 is symmetrically arranged with the second pin hole 112 The second connecting end 232 is arranged in the rotating shaft hole, the first connecting end 231 and the second connecting end 232 are both provided with a cross connecting hole 233, the steering engine driving circuit board comprises a steering engine MCU, a steering engine synchronous clock module and a steering engine communication interface, the steering engine communication interface is connected with a steering engine signal input interface 113 and a steering engine signal output interface 133, the steering engine signal input interface 113 and the steering engine signal output interface 133 are Type-c interfaces, the Type-c interfaces are used for connecting different steering engines in series, the main control module comprises a main control MCU, a main control synchronous clock module and a main control communication interface, the main control module is connected with the steering engine through the Type-c interfaces, the steering engine module and the main control module are communicated through bus protocols, the bus protocols are mapped on the Type-c interfaces, the bus protocols adopt USART universal synchronous and asynchronous receiving bus protocols, a full duplex mode of operation is employed.
The method for connecting the bus protocol with the Type-c interface comprises the steps that a TX end in a main control communication interface is connected with an RX end of the Type-c interface, an RX end in the main control communication interface is connected with a TX end of the Type-c interface, a CTS end in the main control communication interface is connected with an RTS end of the Type-c interface, an RTS end in the main control communication interface is connected with a CTS end of the Type-c interface, the steering engine module and the steering engine module are communicated with each other by a connecting method, the TX end of the steering engine communication interface is connected with the TX end of the Type-c interface, the RX end of the machine communication interface is connected with the RX end of the Type-c interface, the CTS end of the machine communication interface is connected with the CTS end of the Type-c interface, the RTS end of the Type-c interface is connected with the RTS end of the Type-c interface, and after the steering engine or the main control on the bus sends data, and the next data packet is sent after the receiver sends back a response, so that the data can be safely and reliably transmitted to the next-stage steering engine.
The steering engine control method based on the bus technology comprises the following steps:
1) setting a master control module into a master-slave working mode during initialization, and setting a unique address number for each steering engine on a bus;
2) according to the address number configured by the steering engines, the main control module reads the position information corresponding to each steering engine;
3) the main control module firstly sends an address information command through a bus, when the highest bit of a data bit in the address information command is 1, the command is represented as the address command, the command contains steering engine address information and is used for searching a corresponding steering engine, after the host sends the address command, the data information command is sent, the highest bit of the data bit in the data information command is 0, the command is represented as the data information command, the command contains position information corresponding to the steering engine, the interval between the address and the data command word in the data frame is unlimited, and after the address command word is sent in series, the data command can be sent.
4) After the steering engine receives the position command matched with the address of the steering engine on the bus, the steering engine sends a message of receiving the command to the main control unit on the bus to indicate that the data is received, and meanwhile, the steering engine is adjusted to the specified position according to the data command.
According to the invention, the steering engine is arranged in the building block, the steering engine and the main control module are communicated by adopting a universal synchronous asynchronous receiving and sending bus protocol, the Type-C interfaces are arranged on two sides of the building block where the steering engine is arranged, the bus protocol is mapped on the Type-C interfaces, so that the main control module or the steering engine is connected with the steering engine through the Type-C interfaces, and when data are received and sent between the steering engine and the steering engine or between the main control module and the steering engine through the bus protocol, the main control module MCU is triggered to recognize the data. In the whole operation system, the master control module is used as a host, each steering engine is used as a slave, each steering engine has unique address information, the steering engine sends the position information of the steering engine to the master control module through a bus, meanwhile, the master control module sends information containing the address of the slave in a broadcasting mode through the bus, and when the steering engine receives the information matched with the address of the steering engine, the position of the steering engine is adjusted correspondingly according to the received instruction.
The above description is only for the purpose of illustrating the technical solutions of the present invention and not for the purpose of limiting the same, and other modifications or equivalent substitutions made by those skilled in the art to the technical solutions of the present invention should be covered within the scope of the claims of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (3)
1. The utility model provides a building blocks steering wheel control system based on bus technique which characterized in that: the steering engine module comprises a steering engine module main body (1), a steering engine driving mechanism and a main control module, wherein the steering engine module main body (1) comprises a middle frame (101), a front cover (102) and a rear cover (103) which are detachably connected with the two sides of the middle frame (101), the steering engine module main body (1) is of a rectangular block structure, the steering engine module main body (1) is provided with a first connecting surface (11), a second connecting surface (12), a third connecting surface (13) and a fourth connecting surface (14) which are sequentially connected end to end, the first connecting surface (11), the second connecting surface (12), the third connecting surface (13) and the fourth connecting surface (14) are of a rectangular structure and form the steering engine module main body (1) with two square end surfaces, the first connecting surface (11) is provided with a first bolt hole (111), a second bolt hole (112) and a steering engine signal input interface (113), the second connecting surface (12) is provided with a first rotating shaft, the third connection face (13) is provided with a third plug pin hole (131) which is symmetrically arranged with the first plug pin hole (111) and has the same structure, a fourth plug pin hole (132) which is symmetrically arranged with the second plug pin hole (112) and has the same structure, and a steering engine signal output interface (133) which is symmetrically arranged with the steering engine signal input interface (113), wherein the depth of the first plug pin hole (111) is larger than that of the second plug pin hole (112), the fourth connection face (14) is provided with a second rotating shaft hole, the first plug pin hole (111) is symmetrically arranged with the third plug pin hole (131) and has the same structure and the depth larger than that of the second plug pin hole (112) and the fourth plug pin hole (132) which are symmetrically arranged with the same structure, the steering engine driving mechanism comprises a steering engine driving circuit board, a driving motor (21), a transmission gear group (22) and a cross rotating shaft (23), and the driving motor (21), The steering engine signal input interface (113) and the steering engine signal output interface (133) are electrically connected with the steering engine driving circuit board, the cross rotating shaft (23) is connected with the driving motor (21) through the transmission gear set (22), the cross rotating shaft (23) comprises a first connecting end (231) installed in the first rotating shaft hole and a second connecting end (232) installed in the second rotating shaft hole, the first connecting end (231) and the second connecting end (232) are respectively provided with a cross connecting hole (233), the steering engine driving circuit board comprises a steering engine MCU, a steering engine synchronous clock module and a steering engine communication interface, the steering engine communication interface is connected with the steering engine signal input interface (113) and the steering engine signal output interface (133), and the steering engine signal input interface (113) and the steering engine signal output interface (133) are Type-c interfaces, the Type-c interface is used for connecting different steering engines in series, the main control module comprises a main control MCU, a main control synchronous clock module and a main control communication interface, the main control module is connected with the steering engines through the Type-c interface, the steering engine module and the main control module are communicated through bus protocols, and the bus protocols are mapped on the Type-c interface.
2. The building block steering engine control system based on the bus technology as claimed in claim 1, wherein: the bus protocol and the Type-c interface are connected through a method that a TX end in a master control communication interface is connected with an RX end of a Type-c interface, an RX end in the master control communication interface is connected with a TX end of the Type-c interface, a CTS end in the master control communication interface is connected with an RTS end of the Type-c interface, the RTS end in the master control communication interface is connected with a CTS end of the Type-c interface, a connection method for communication between a steering engine module and the steering engine module is that the steering engine and the Type-c interface are connected through a method that the TX end of the steering engine communication interface is connected with the TX end of the Type-c interface, an RX end of the machine communication interface is connected with the RX end of the Type-c interface, a CTS end of the machine communication interface is connected with the CTS end of the Type-c interface, and an RTS end of the machine communication interface is connected with the RTS end.
3. A building block steering engine control method based on a bus technology is characterized by comprising the following steps: comprises the following steps:
1) setting a master control module as a master-slave working mode, and setting a unique address number for each steering engine on a bus;
2) according to the address number configured by the steering engines, the main control module reads the position information corresponding to each steering engine;
3) the main control module sends the position instruction with the address information to the steering engine according to a unified communication protocol format through a bus;
4) and after the steering engine receives a position instruction matched with the address of the steering engine on the bus, the steering engine is adjusted to a specified position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011398349.7A CN112462672A (en) | 2020-12-03 | 2020-12-03 | Building block steering engine control system based on bus technology and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011398349.7A CN112462672A (en) | 2020-12-03 | 2020-12-03 | Building block steering engine control system based on bus technology and control method thereof |
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| CN112462672A true CN112462672A (en) | 2021-03-09 |
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| CN202011398349.7A Pending CN112462672A (en) | 2020-12-03 | 2020-12-03 | Building block steering engine control system based on bus technology and control method thereof |
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| CN211928097U (en) * | 2019-12-27 | 2020-11-13 | 深圳市越疆科技有限公司 | Circuit board detection system and equipment |
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2020
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| CN101082896A (en) * | 2007-08-03 | 2007-12-05 | 杭州华三通信技术有限公司 | Control method and device between master-salve module |
| CN108508927A (en) * | 2017-02-27 | 2018-09-07 | 北京格分维科技有限公司 | A kind of control system and control method of bus steering engine |
| CN209707953U (en) * | 2019-05-31 | 2019-11-29 | 深圳市童心网络有限公司 | A kind of universal synchronous transceiver bus steering engine |
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Application publication date: 20210309 |