CN115361253A - Distributed field bus control system of guide frame climbing platform - Google Patents
Distributed field bus control system of guide frame climbing platform Download PDFInfo
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- CN115361253A CN115361253A CN202211070121.4A CN202211070121A CN115361253A CN 115361253 A CN115361253 A CN 115361253A CN 202211070121 A CN202211070121 A CN 202211070121A CN 115361253 A CN115361253 A CN 115361253A
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- 230000002452 interceptive effect Effects 0.000 claims description 5
- 230000004044 response Effects 0.000 abstract description 5
- 238000013461 design Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 4
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- 238000010276 construction Methods 0.000 description 2
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- 238000012544 monitoring process Methods 0.000 description 2
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/407—Bus networks with decentralised control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a distributed field bus control system of a guide frame climbing platform, which comprises an EtherCAT, an Ethernet, a main control unit, a serial slave control unit and a sub-control execution unit; the main control unit comprises a main station control system and an HMI touch control system which are connected through the Ethernet; the serial slave control unit comprises a plurality of groups of slave control systems which are sequentially linearly distributed; the sub-control execution unit comprises a plurality of groups of upright post driving systems which are sequentially and linearly distributed. In the invention, in order to realize the reliable use of the electric control system of the guide frame climbing platform and ensure the safe operation of the high-altitude platform, the distributed field bus control system which is simple and convenient to operate, simple and regular in layout, stable and reliable in performance, higher in centralized control degree, higher in communication response speed and higher in repeated expansibility is provided.
Description
Technical Field
The invention relates to the technical field of bus control networks under an electrical control system, in particular to a distributed field bus control system of a guide frame climbing platform.
Background
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 field bus provides powerful technical support for realizing real-time and reliable data communication between nodes of a distributed control system.
The traditional direct I/O access mode is to change field signals into weak current signals, connect electrical analog quantity and switching value signals to an I/O interface of the DCS between the devices one to one through a hard-wired cable, enter the DCS for configuration, and realize the monitoring of electrical devices. In the existing I/O access technology, because electrical quantity is connected to an I/O cabinet of a DCS between electronic devices through cables on site, the number of I/O cards of the DCS is large, the number of cables is large, the cable installation engineering quantity is large, and the reliability of the DCS is influenced by interference caused by long-distance cable introduction; all information content needs to be collected to a data acquisition system of the DCS in a centralized manner, so that risks are not dispersed, and the reliability of the system is influenced; the analog quantity must be sent to DCS through the electric quantity transducer, and the anti-jamming capability is poor. From the above, when the conventional electrical control system is applied to the guide frame climbing aerial work platform, the following technical defects may exist:
a) Because the number of the actuating mechanisms is large and the actuating mechanisms are dispersed, the distance between the stations on a communication line is long, and centralized control is difficult to perform;
b) Because the guide frame climbs the platform long and has the multiunit stand structure, lead to whole equipment communication distance far away to influence communication quality.
Disclosure of Invention
The invention aims to solve the technical problem of providing a distributed field bus control system of a guide frame climbing platform, which has high centralized control degree, high communication response speed and strong repeated expansibility.
In order to solve the technical problem, the invention adopts the following technical scheme: a distributed field bus control system of a guide frame climbing platform comprises an EtherCAT and an Ethernet, and further comprises a main control unit, a serial slave control unit and a sub-control execution unit;
the main control unit comprises a main station control system and an HMI touch control system which are connected through the Ethernet;
the serial slave control unit comprises a plurality of groups of slave control systems which are sequentially linearly distributed;
the sub-control execution unit comprises a plurality of groups of upright post driving systems which are sequentially and linearly distributed;
the master station control system is connected to a first group of the slave station control systems through the EtherCAT, the first group of the slave station control systems is connected to a first group of the upright post drive systems through the EtherCAT, the first group of the upright post drive systems is connected to a second group of the slave station control systems through the EtherCAT, and the second group of the slave station control systems is connected to a second group of the upright post drive systems through the EtherCAT, so that recursion is carried out until the whole group of the slave station control systems and the upright post drive systems are sequentially connected in series in an interactive mode to form linearity.
Further, the master station control system at least comprises a master station CPU and a plurality of local IOs connected in an extending mode, each local IO and the HMI touch system are respectively connected to the master station CPU, and the master station CPU comprises an EtherCAT master station communication module.
Furthermore, the HMI touch control system is connected with the Ethernet of the master station CPU through a network cable directly or an industrial switch.
Further, the main control unit is connected with the Ethernet of an upper computer through the HMI touch system.
Further, the number of the slave station control systems is consistent with the number of the column driving systems.
Further, the slave station control system at least comprises an EtherCAT slave station communication module and a field device, wherein the EtherCAT slave station communication module is connected to the field device through the EtherCAT, and the field device comprises a plurality of extended and connected remote IOs.
Further, the column driving system at least comprises an EtherCAT communication assembly, the first group of EtherCAT slave station communication modules is connected to the first group of EtherCAT communication assemblies through the EtherCAT, the first group of EtherCAT communication assemblies is connected to the second group of EtherCAT slave station communication modules through the EtherCAT, the second group of EtherCAT slave station communication modules is connected to the second group of EtherCAT communication assemblies through the EtherCAT, recursion is performed in sequence until the complete group of EtherCAT slave station communication modules and the EtherCAT communication assemblies are sequentially connected in series in an interactive mode to form a linear path, and the first group of EtherCAT slave station communication modules are used for achieving the EtherCAT connection with the EtherCAT master station communication module.
Furthermore, the master station control system and the slave station control system both further comprise power modules.
The invention has the following beneficial effects:
in the invention, in order to realize the reliable use of the electric control system of the guide frame climbing platform and ensure the safe operation of the high-altitude platform, the communication connection mode of EtherCAT and Ethernet is adopted, so that the control system can realize the construction of an integral circuit by only one network cable except a power cable, further realize the linear connection and data interaction between the master control unit, the serial slave control unit and the sub-control execution unit, realize the control of each slave station execution unit only by the local operation of the master station, execute remote actions according to instructions, and provide the distributed field bus control system which has the advantages of simple and convenient operation, simple and regular layout, stable and reliable performance, higher centralized control degree, higher communication response speed and stronger repeated expansibility.
Drawings
FIG. 1 is a general framework flow diagram of an embodiment of the invention.
Fig. 2 is a schematic flow chart of a specific framework according to an embodiment of the present invention.
The components in the drawings are labeled as follows: 1. a main control unit; 2. a serial slave control unit; 3. a sub-control execution unit; 4. an industrial switch; 5. an upper computer; 6. a master station control system; 601. a master station CPU; 602. an EtherCAT master station communication module; 603. a local IO; 7. an HMI touch system; 8. a power supply module; 9. a slave station control system; 10. EtherCAT slave station communication module; 11. a field device; 1101. remote IO; 12. a column drive system; 1201. EtherCAT communication component.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely 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. It should be noted that "a plurality of groups" means more than two groups; the electrical devices or modules involved in the present invention are all prior art and available via commercial sources.
See fig. 1-2.
The invention provides a distributed field bus control system of a guide frame climbing platform, which comprises an EtherCAT and an Ethernet, and also comprises a main control unit 1, a serial slave control unit 2 and a sub-control execution unit 3;
the main control unit 1 comprises a main station control system 6 and an HMI touch control system 7 which are connected through the Ethernet;
the serial slave control unit 2 comprises a plurality of groups of slave control systems 9 which are sequentially distributed linearly;
the sub-control execution unit 3 comprises a plurality of groups of upright column driving systems 12 which are sequentially and linearly distributed;
the master station control system 6 is connected to the first group of the slave station control systems 9 through the EtherCAT, the first group of the slave station control systems 9 is connected to the first group of the column driving systems 12 through the EtherCAT, the first group of the column driving systems 12 is connected to the second group of the slave station control systems 9 through the EtherCAT, and the second group of the slave station control systems 9 is connected to the second group of the column driving systems 12 through the EtherCAT, so that recursion is performed until the whole group of the slave station control systems 9 and the column driving systems 12 are sequentially connected in series in an interactive mode to form linearity.
In the invention, in order to realize the reliable use of the electric control system of the guide frame climbing platform and ensure the safe operation of the high-altitude platform, the communication connection mode of EtherCAT and Ethernet is adopted, so that the control system can realize the construction of an integral circuit by only one network cable except a power cable, further realize the linear connection and data interaction between the master control unit, the serial slave control unit and the sub-control execution unit, realize the control of each slave station execution unit only by the local operation of the master station, execute remote actions according to instructions, and provide the distributed field bus control system which has the advantages of simple and convenient operation, simple and regular layout, stable and reliable performance, higher centralized control degree, higher communication response speed and stronger repeated expansibility.
In an embodiment, the master station control system 6 at least includes a master station CPU601 and a plurality of local IOs 603 connected in an extended manner, each local IO603 and the HMI touch system 7 are respectively connected to the master station CPU601, and the master station CPU601 includes an EtherCAT master station communication module 602. By means of the design, the main control unit 1 issues control tasks through the local IO603 or the HMI touch system 7 via the EtherCAT respectively, the main station control system 6 takes the main station CPU601 as a control hub, and sends out control commands after analyzing and processing the tasks, the EtherCAT main station communication module 602 serves as a communication end of the main station CPU601 and also serves as a communication main station of the system, and is connected with the serial slave control unit 2 and the sub-control execution unit 3 to establish configuration to realize overall control.
In one embodiment, the HMI touch system 7 implements the Ethernet connection with the master CPU601 through a network cable direct connection or an industrial switch 4. By the design, a technician can execute a control instruction at an ultra-long distance by inputting a control command through the button of the local IO603 or the operation panel of the HMI touch system 7, and the system is convenient to operate and quick in response.
In an embodiment, the main control unit 1 realizes the Ethernet connection with the upper computer 5 through the HMI touch system 7. Due to the design, the control system is simple to operate, a technician can realize the control of the whole system by pressing the button of the local IO603 with one hand or performing point contact on the touch screen of the HMI touch system 7, and the upper computer 5 can display the state parameter information of each slave station control system 9 and each upright post drive system 12 in real time, so that the visual monitoring effect is achieved, and the safe and stable operation of the control system is guaranteed.
In one embodiment, the number of slave control systems 9 is the same as the number of column drive systems 12;
in one embodiment, in order to adapt to different building facades, the upright posts of the guide frame climbing platform in the control system comprise different forms such as a single post, a double post and a multi-post, and each upright post is provided with one upright post driving system 12;
in one embodiment, the master station CPU601 supports EtherCAT communication, supports simultaneous expansion of multiple sets of the slave station control system 9 and the column driving system 12, and has an EtherCAT bus communication rate up to 100Mb/s, a maximum distance between two nodes up to 100m, and at most 125 sets of the slave station control system 9 and the column driving system 12;
in actual operation, the same number of the upright post driving systems 12 are configured according to the actual number of the upright posts of the guide frame climbing platform, the same number of the slave station control systems 9 are flexibly expanded, and the data interactive connection between each group of the slave station control systems 9 and the upright post driving systems 12 and the main control unit 1 is respectively realized through the EtherCAT to form a distributed bus control system.
In an embodiment, the slave control system 9 includes at least an EtherCAT slave communication module 10 and a field device 11, the EtherCAT slave communication module 10 is connected to the field device 11 via the EtherCAT, and the field device 11 includes a plurality of extended remote IOs 1101. In this design, the slave station control system 9 serves as a data transfer station, the EtherCAT slave station communication module 10 is used to receive the control instruction sent by the EtherCAT master station communication module 602, and then the control instruction is sent to the distributed and expanded remote IO1101 after signal mapping processing, and the specified instruction action is completed through the distributed and expanded remote IO1101.
In an embodiment, the pillar driving system 12 at least includes an EtherCAT communication assembly 1201, the first group of the EtherCAT slave station communication modules 10 is connected to the first group of the EtherCAT communication assembly 1201 through the EtherCAT, the first group of the EtherCAT communication assembly 1201 is connected to the second group of the EtherCAT slave station communication module 10 through the EtherCAT, the second group of the EtherCAT slave station communication module 10 is connected to the second group of the EtherCAT communication assembly 1201 through the EtherCAT, and the sequential recursion is performed until the complete group of the EtherCAT slave station communication modules 10 and the EtherCAT communication assembly 1201 sequentially interact and are connected in series to form a linear path, and the EtherCAT connection with the EtherCAT master station communication module 602 is realized by the first group of the EtherCAT slave station communication module 10;
during operation, a technician only needs to press a button of the local IO603 or click an operation panel of the HMI touch system 7 to input a control task, the master station control system 6 takes the master station CPU601 as a control hub, analyzes and processes the task, and then sends a control command by the EtherCAT master station communication module 602, the slave station control system 9 serves as a data transfer station, receives the control command by the EtherCAT slave station communication module 10, and then sends a signal to the distributed and expanded remote IO1101 and the EtherCAT communication assembly 1201 after being enhanced by mapping processing, and the distributed and expanded remote IO1101 and the column driving system 12 complete final command action;
by the design, in the control system, the master station control system 6, each group of slave station control systems 9 and each group of upright post drive systems 12 are built by only using one network cable as the communication cable of the EtherCAT except for the power cable, so that compared with the traditional hard-wire connection, a large amount of field wiring tasks are reduced, and the layout is more simplified.
In one embodiment, the master station control system 6 and the slave station control system 9 each further include a power supply module 8. By the design, the power supply module 8 supplies power to the master station CPU601 and the EtherCAT slave station communication module 10 respectively, so that stable operation of the master control unit 1 and the serial slave control unit 2 is guaranteed.
It should be understood that the examples and embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the present disclosure, as various modifications or changes in light thereof will be suggested to persons skilled in the art and are to be included within the spirit and purview of this application.
Claims (8)
1. The utility model provides a distributed field bus control system of guide frame platform that climbs, includes etherCAT and Ethernet, its characterized in that: the system also comprises a main control unit (1), a serial slave control unit (2) and a sub-control execution unit (3);
the main control unit (1) comprises a main station control system (6) and an HMI touch system (7) which are connected through the Ethernet;
the serial slave control unit (2) comprises a plurality of groups of slave control systems (9) which are sequentially distributed linearly;
the sub-control execution unit (3) comprises a plurality of groups of upright post driving systems (12) which are sequentially and linearly distributed;
the master station control system (6) is connected to a first group of the slave station control systems (9) through the EtherCAT, the first group of the slave station control systems (9) is connected to a first group of the column driving systems (12) through the EtherCAT, the first group of the column driving systems (12) is connected to a second group of the slave station control systems (9) through the EtherCAT, and the second group of the slave station control systems (9) is connected to the second group of the column driving systems (12) through the EtherCAT, so that recursion is carried out until the whole group of the slave station control systems (9) and the column driving systems (12) are sequentially connected in series in an interactive mode to form linearity.
2. The distributed fieldbus control system of a guide frame climbing platform of claim 1, further comprising: the master station control system (6) at least comprises a master station CPU (601) and a plurality of local IOs (603) connected in an expansion mode, each local IO (603) and the HMI touch system (7) are connected to the master station CPU (601) respectively, and the master station CPU (601) comprises an EtherCAT master station communication module (602).
3. The distributed fieldbus control system of the guide frame climbing platform of claim 2, further comprising: the HMI touch system (7) is directly connected with the Ethernet of the master station CPU (601) through a network cable or an industrial switch (4).
4. The distributed fieldbus control system of a guide frame climbing platform of claim 1, further comprising: the main control unit (1) is connected with the upper computer (5) through the HMI touch system (7) in an Ethernet mode.
5. The distributed fieldbus control system of claim 1, wherein: the number of slave control systems (9) is consistent with the number of column driving systems (12).
6. The distributed fieldbus control system of claim 1, wherein: the slave control system (9) comprises at least an EtherCAT slave communication module (10) and a field device (11), the EtherCAT slave communication module (10) being connected to the field device (11) via the EtherCAT, the field device (11) comprising a plurality of extended connected remote IOs (1101).
7. The distributed fieldbus control system of the guide-climbing platform of claim 2 or claim 6, further comprising: the column driving system (12) at least comprises an EtherCAT communication assembly (1201), a first group of EtherCAT slave station communication modules (10) are connected to the first group of EtherCAT communication assemblies (1201) through the EtherCAT, the first group of EtherCAT communication assemblies (1201) are connected to a second group of EtherCAT slave station communication modules (10) through the EtherCAT, the second group of EtherCAT slave station communication modules (10) are connected to the second group of EtherCAT communication assemblies (1201) through the EtherCAT, recursion is carried out in sequence until the whole group of EtherCAT slave station communication modules (10) and the EtherCAT communication assemblies (1201) are sequentially connected in series to form a linear path, and the first group of EtherCAT slave station communication modules (10) are connected with the EtherCAT master station communication module (602).
8. The distributed fieldbus control system of claim 1, wherein: the master station control system (6) and the slave station control system (9) both further comprise a power supply module (8).
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| CN202211070121.4A CN115361253A (en) | 2022-08-31 | 2022-08-31 | Distributed field bus control system of guide frame climbing platform |
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| CN202211070121.4A CN115361253A (en) | 2022-08-31 | 2022-08-31 | Distributed field bus control system of guide frame climbing platform |
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| CN110412896A (en) * | 2018-04-26 | 2019-11-05 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | Magnetic suspension electromagnetic propulsion control system based on real-time ethernet |
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2022
- 2022-08-31 CN CN202211070121.4A patent/CN115361253A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201966855U (en) * | 2010-12-22 | 2011-09-07 | 施大发 | AC (alternating current) servo control system based on Ether CAT network |
| CN103529804A (en) * | 2013-10-25 | 2014-01-22 | 深圳市汇川控制技术有限公司 | Distributed control system based on EtherCAT bus |
| CN103631190A (en) * | 2013-11-05 | 2014-03-12 | 上海交通大学 | Monitoring system based on EtherCAT network |
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