CN114114967A - Distributed six-degree-of-freedom platform synchronous control system based on CAN bus - Google Patents
Distributed six-degree-of-freedom platform synchronous control system based on CAN bus Download PDFInfo
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- CN114114967A CN114114967A CN202111376519.6A CN202111376519A CN114114967A CN 114114967 A CN114114967 A CN 114114967A CN 202111376519 A CN202111376519 A CN 202111376519A CN 114114967 A CN114114967 A CN 114114967A
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- 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
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Abstract
A distributed six-degree-of-freedom platform synchronous control system based on a CAN bus comprises a human-computer interaction interface, a master controller, the CAN bus and 6 slave controllers, wherein the master controller respectively carries out data interaction with the 6 slave controllers through the CAN bus; the main controller is connected with the human-computer interaction interface; the slave controller drives a motor through a driver, and the motor is connected with the electric cylinder; the motor is also connected with the slave controller through a multi-turn absolute encoder; the main controller controls the calculation of forward solution and backward solution of the platform pose, the selection and switching of the platform motion mode, the generation and sending of system synchronous signals, the packaging and sending of platform operation data and the receiving and execution of control instructions; the slave controller drives the motor to drive the electric cylinder to move through the control driver; the CAN bus is responsible for communication between the master controller and the slave controller. The system can control the six-freedom-degree platform to move stably in real time, and keeps the 6 electric cylinders synchronous.
Description
Technical Field
The invention relates to a distributed six-degree-of-freedom platform synchronous control system based on a CAN bus.
Background
The six-degree-of-freedom platform is usually developed based on a Stewart platform principle, has the advantages of large structural rigidity, strong bearing capacity, no accumulated error, high motion precision, quick dynamic response of a system, simple position inverse solution, convenient force feedback control and the like, becomes one of main hotspots of robot research in recent years, and arouses high attention and interest of robot researchers.
The Stewart platform is a strong coupling motion platform consisting of six electric cylinders, so that the control of the six electric cylinders requires higher synchronism requirements. The EtherCat fieldbus is a real-time Ethernet fieldbus system and has the characteristics of high speed, good synchronism and the like, so that when a six-degree-of-freedom platform control system is constructed, the EtherCat fieldbus technology is commonly used for constructing a six-electric-cylinder control system. However, since the EtherCat fieldbus is a paid bus technology and cannot autonomously develop a master station and a slave station, a device with an EtherCat bus module must be selected in the selection of the controller, which is subject to many limitations and high in device cost.
CAN is an abbreviation of Controller Area Network (hereinafter CAN) and is a serial communication protocol standardized by ISO international. The CAN has high transmission performance and reliability, and has been widely used in industrial automation, ships, medical equipment, industrial equipment, and the like. The field bus is one of the hot spots of the technical development in the current automation field, and is known as a computer local area network in the automation field. The occurrence of the method provides powerful technical support for realizing real-time and reliable data communication among all nodes of a distributed control system.
Disclosure of Invention
The invention aims to provide a distributed six-degree-of-freedom platform synchronous control system based on a CAN bus to solve the problems in the background technology.
The technical scheme adopted for achieving the purpose is that the distributed six-degree-of-freedom platform synchronous control system based on the CAN bus comprises a human-computer interaction interface, a master controller, the CAN bus and 6 slave controllers, wherein the master controller respectively carries out data interaction with the 6 slave controllers through the CAN bus; the main controller is connected with the human-computer interaction interface; the slave controller drives a motor through a driver, and the motor is connected with the electric cylinder; the motor is also connected with the slave controller through a multi-turn absolute encoder; the main controller controls the calculation of forward solution and backward solution of the platform pose, the selection and switching of the platform motion mode, the generation and sending of system synchronous signals, the packaging and sending of platform operation data and the receiving and execution of control instructions; the slave controller drives the motor to drive the electric cylinder to move through the control driver; the CAN bus is responsible for communication between the master controller and the slave controller.
Further, the master controller sends the target position to the slave controller through the CAN bus, and the slave controller returns the motion state of each electric cylinder to the master controller through the CAN bus.
Furthermore, the main controller is connected with the human-computer interaction interface through a serial port, an operator sends a motion command to the main controller through the human-computer interaction interface, and the main controller packs platform motion data in real time and sends the platform motion data to the human-computer interaction interface.
Furthermore, the master controller sends a synchronous pulse to the slave controller at regular time, and the clock unification of the master controller and the slave controller is ensured.
Advantageous effects
Compared with the prior art, the invention has the following advantages.
The invention realizes the communication between the master controller and the slave controller by utilizing the CAN bus technology, realizes the synchronous control of the control system by utilizing the synchronous pulse signal, replaces the EtherCat field bus charged abroad on the premise of ensuring the quick synchronization of the control system, reduces the equipment cost and improves the diversity of the selection of the control system.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of a control system according to the present invention.
Detailed Description
The invention is further described with reference to the following examples and the accompanying drawings.
As shown in fig. 1, a distributed six-degree-of-freedom platform synchronous control system based on a CAN bus comprises a human-computer interaction interface 1, a master controller 2, a CAN bus 3 and 6 slave controllers 4, wherein the master controller 2 respectively performs data interaction with the 6 slave controllers 4 through the CAN bus 3; the main controller 2 is connected with the human-computer interaction interface 1; the slave controller 4 drives a motor 6 through a driver 5, and the motor 6 is connected with an electric cylinder 7; the motor 6 is also connected with the slave controller 4 through a multi-turn absolute encoder 8; the main controller 2 controls the calculation of forward solution and backward solution of the platform pose, the selection and switching of the platform motion mode, the generation and sending of system synchronous signals, the packaging and sending of platform operation data and the receiving and execution of control instructions; the slave controller 4 drives the motor 6 to drive the electric cylinder 7 to move through the control driver 5; the CAN bus 3 is responsible for communication between the master controller 2 and the slave controller 4.
The master controller 2 sends the target position to the slave controller 4 through the CAN bus 3, and the slave controller 4 returns the motion state of each electric cylinder 7 to the master controller 2 through the CAN bus 3.
The main controller 2 is connected with the human-computer interaction interface 1 through a serial port, an operator sends a motion command to the main controller 2 through the human-computer interaction interface 1, and the main controller 2 packs platform motion data in real time and sends the platform motion data to the human-computer interaction interface 1.
The master controller 2 sends synchronous pulses to the slave controllers 4 at regular time, and the clock unification of the master controller 2 and the slave controllers 4 is guaranteed.
The invention relates to a distributed six-degree-of-freedom platform synchronous control system, which comprises a master controller 2, a slave controller 4, a CAN bus 3 and a human-computer interaction interface 1, wherein the master controller 2 is responsible for the overall control of a platform; the motion control of each electric cylinder 7 is performed from the controller 4; the CAN bus 3 is responsible for the communication between the master controller 2 and the slave controller 4; the master controller 2 generates synchronous pulses and sends the synchronous pulses to the 6 slave controllers 4 respectively, so that the operation of each part of the system is kept synchronous; the human-computer interaction interface 1 collects data and issues instructions, and all parts run cooperatively to ensure normal operation of the system.
The main controller 2 is a control center of the platform and is responsible for the overall control of the platform, and comprises the calculation of positive solution and negative solution of the platform pose, the selection and switching of the platform motion mode, the generation and sending of system synchronization signals, the packing and sending of platform operation data, the receiving and execution of control instructions and the processing of abnormal conditions;
the master controller 2 and the slave controllers 4 perform data interaction through the CAN bus 3, the master controller 2 sends a target position to the slave controllers 4 through the CAN bus 3, and the slave controllers 4 return the motion states of the electric cylinders 7 to the master controller 2 through the CAN bus 3; the master controller 2 sends synchronous pulses to the slave controllers 4 at regular time, and the clock unification of the master controller 2 and the slave controllers 4 is ensured;
the slave controller 4 is a control unit of each motion joint of the platform and controls each electric cylinder 7 to stably move to a target position; the main controller 2 is connected with the human-computer interaction interface 1 through a serial port, an operator sends a motion command to the main controller 2 through the human-computer interaction interface 1, and the main controller 2 packs platform motion data in real time and sends the platform motion data to the human-computer interaction interface 1.
When the invention is implemented, after the main controller 2 receives a motion command, the motion inverse solution of the platform pose is carried out according to the received platform target pose and speed, and the target positions and the total motion time of the 6 motion cylinders 7 are calculated. The master controller 2 then sends the target positions and movement times of the individual movement cylinders 7 to the slave controller 4 in a point-to-point manner via the CAN bus 3. The command analysis is carried out after the motion command of the motion cylinder 7 is received from the controller 4;
after the command is successfully analyzed and the command is judged to be executable, the total displacement is calculated according to the current motion position and the target position of the electric cylinder, and then the motor motion step of each synchronous pulse is calculated according to the motion time. Thereupon the slave controller 4 returns a command acknowledge instruction to the master controller 2 via the CAN bus 3. When the master controller 2 receives 6 acknowledgement commands, it starts to send synchronization pulses to the slave controller 4.
Upon receiving the synchronization pulse from the controller 4, the movement pitch is inputted as a control amount to the driver 5. Subsequently, the driver 5 drives the motor 6 to move so as to drive the electric cylinder 7 to move. When the next synchronous pulse arrives, collecting the angle value of the multi-turn absolute encoder 8 from the controller 4 as the actual feedback angle position of the motor 6; the actual movement step distance of the motor 6 can be calculated according to the formula 1, the step distance deviation value can be calculated according to the formula 2, and finally the control quantity calculated according to the formula 3 is input into the driver 5. This is repeated cyclically, and the slave controller 4 controls the moving cylinder 7 to move step by step to the target position under the drive of the synchronization pulse. After the electric cylinder 7 is moved to the target position, the cylinder 7 is moved to the position mark from the controller position, and is transmitted to the main controller 2. And after receiving the 6 in-place marks, the main controller 2 sets the platform in-place marks and stops sending the synchronous pulse to complete the motion control of the platform.
GDn＝Posn-Posn-1 (1)
ΔGDn＝GDn-GD (2)
DAn＝GD+ΔGDn (3)
Because the motion of the platform is driven by the synchronous pulse which is generated by the master controller and simultaneously sent to the slave controllers, the motion of the 6 motion cylinders is strictly synchronized, and the control system has strong synchronism.
Claims (4)
1. A distributed six-degree-of-freedom platform synchronous control system based on a CAN bus comprises a human-computer interaction interface (1), a master controller (2), the CAN bus (3) and 6 slave controllers (4), and is characterized in that the master controller (2) respectively carries out data interaction with the 6 slave controllers (4) through the CAN bus (3); the main controller (2) is connected with the human-computer interaction interface (1); the slave controller (4) drives the motor (6) through the driver (5), and the motor (6) is connected with the electric cylinder (7); the motor (6) is also connected with the slave controller (4) through a multi-turn absolute encoder (8); the main controller (2) controls the calculation of forward solution and backward solution of the platform pose, the selection and switching of the platform motion mode, the generation and sending of system synchronous signals, the packaging and sending of platform operation data and the receiving and execution of control instructions; the slave controller (4) drives the motor (6) to drive the electric cylinder (7) to move through the control driver (5); the CAN bus (3) is responsible for communication between the master controller (2) and the slave controller (4).
2. The CAN-bus-based distributed six-degree-of-freedom platform synchronous control system according to claim 1, wherein the master controller (2) sends the target position to the slave controller (4) through the CAN bus (3), and the slave controller (4) returns the motion state of each electric cylinder (7) to the master controller (2) through the CAN bus (3).
3. The CAN-bus-based distributed six-degree-of-freedom platform synchronous control system as claimed in claim 1, wherein the main controller (2) is connected with the human-computer interaction interface (1) through a serial port, an operator sends a motion command to the main controller (2) through the human-computer interaction interface (1), and the main controller (2) packs platform motion data in real time and sends the packed platform motion data to the human-computer interaction interface (1).
4. The CAN-bus-based distributed six-degree-of-freedom platform synchronous control system is characterized in that the master controller (2) sends synchronous pulses to the slave controller (4) in a timing mode to ensure that clocks of the master controller (2) and the slave controller (4) are unified.
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