CN115562122A - Open architecture servo control system, equipment and method based on SOC - Google Patents

Abstract

The invention discloses a system, a device and a method for servo control of an open architecture based on SOC, which relate to the technical field of photoelectric tracking and comprise the following steps: the controller comprises a CANopen controller, wherein an SOC (system on chip) processor, a CAN (controller area network) transceiver and various communication interfaces are integrated in the CANopen controller; an azimuth driver in CAN communication with a CANopen controller; a pitch drive in CAN communication with a CANopen controller; the rate gyroscope is in communication connection with the CANopen controller; the sensor control panel is in communication connection with the CANopen controller; and the display control machine is in communication connection with the CANopen controller. The method has the advantages that on the basis of SOC control panel hardware, the real-time operating system and the CANopen protocol are combined, the advantages of the three aspects are combined, the response time in the servo control system is greatly reduced, and the rapid and accurate control for the servo system is realized.

Description

Open architecture servo control system, equipment and method based on SOC

Technical Field

The invention relates to the technical field of photoelectric tracking, in particular to a system, equipment and a method for servo control of an open architecture based on an SOC (system on chip).

Background

The servo controller is an important component of the photoelectric tracking system, the motion control of the photoelectric tracking system is completed by control software running on a control computer or a servo control panel, and the performance of the servo controller directly determines the stable tracking effect of the photoelectric system.

Compared with a servo controller based on an industrial personal computer/Windows, the embedded servo controller has the advantages of compact structure, high reliability and good environmental adaptability, and is the mainstream trend of a servo control platform. In recent years, a servo controller with an SOC processor as a core is rapidly developed, has the advantages of real-time performance of an FPGA, flexibility of an ARM, and high integration, and is widely applied to the field of industrial automation.

The CANopen protocol is an open and standardized high-level protocol based on a CAN field bus, is a field bus commonly used for industrial control, supports interoperability and interchangeability of various CAN manufacturer devices, and CAN provide a standard and unified system communication mode, a device function description mode and a network management function in a CAN network. The CANopen protocol is real-time and efficient, flexible in networking and good in compatibility, so that design development and debugging delivery are more efficient and standard.

At present, the SOC control board mostly runs in a bare machine state, the single-process sequential execution mode has low response speed, the self-developed control algorithm has narrow adaptation surface, a driver does not fully exert the performance of the control algorithm, and the servo debugging has higher requirement on the professional performance of operators. On the basis of SOC control panel hardware, the advantages of a real-time operating system and a CANopen protocol are combined, and the method and the device have good application value for improving the batch production delivery efficiency of the photoelectric equipment.

Disclosure of Invention

In order to solve the technical problems, the technical scheme combines the advantages of a real-time operating system and a CANopen protocol on the basis of SOC control panel hardware, integrates the advantages of three aspects, takes generalization, modularization and reusability as guiding ideas and inherits the integrated mature technology, and realizes the rapid and precise control aiming at the servo system.

In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:

an open architecture SOC-based servo control system comprising:

the CANopen controller is internally integrated with an SOC (system on chip) processor, a CAN (controller area network) transceiver, a GPIO (general purpose input/output) interface, an RS422 serial interface and a NET (network Internet interface);

the azimuth driver realizes CAN communication with the CANopen controller through the CAN transceiver;

the pitching driver is communicated with the CANopen controller through the CAN transceiver;

the rate gyroscope is in communication connection with the CANopen controller through the RS422 serial interface;

the sensor control panel is in communication connection with the CANopen controller through the RS422 serial interface;

and the display control machine is in communication connection with the CANopen controller through the NET port.

Preferably, the servo control system further comprises:

the azimuth motor is electrically connected with the azimuth driver and used for executing an azimuth conversion command;

the azimuth encoder is electrically connected with the azimuth driver and is used for acquiring the rotation angle of the azimuth motor and conveying the rotation angle to the azimuth driver;

the pitching motor is electrically connected with the pitching driver and is used for executing a pitching angle transformation command;

the pitching encoder is electrically connected with the pitching driver and is used for acquiring the rotation angle of the pitching motor and transmitting the rotation angle to the pitching driver.

Preferably, the CANopen controller, the azimuth driver and the pitching driver form a CAN communication bus network;

the CANopen controller serves as a master station, and the azimuth driver and the pitch driver serve as slave stations.

Further, a servo control apparatus is provided for carrying the above-mentioned servo control system, and is characterized by comprising:

the communication unit is used for receiving and sending the CAN message;

the object dictionary unit stores the operation parameters and the state variables of all stations of the CAN communication bus network;

an application unit for implementing a device sub-protocol.

Optionally, the CAN packet includes:

the NMT message is used for network management;

the SDO message is used for completing PDO mapping of the operation object in the object dictionary;

the PDO message is used for sending and receiving real-time data;

the special function message at least comprises a SYNC message and an EMCY message, realizes the synchronization function by receiving the SYNC message, and processes the emergency situation by receiving the EMCY message;

the SDO message and the PDO message are processed in a polling mode, and the NMT message and the special function message are processed in an interrupt mode.

Optionally, the polling manner is to put the CAN sending mailbox and the receiving FIFO query subfunction into a time slice of a background cycle of the main program for a certain period, and query the mailbox and the FIFO buffer area according to the time slice, whether there is a message to be sent or whether there is a message to be received and processed;

the interrupt mode is to put the sending and processing message into the interrupt service program, and the CAN controller enters the interrupt immediately after receiving the message and executes the message processing program in the interrupt.

Further, a method for controlling a servo based on an open architecture of an SOC is provided, which is applicable to the above-mentioned servo control apparatus, and includes:

s100, initializing a system;

s200, starting and setting a timer;

s300, judging whether data are input into the NET port, if so, analyzing the data according to a command input by the NET port, and outputting the data to a direction driver and/or a pitching driver, otherwise, not responding;

s400, judging whether the CAN transceiver has data input, if so, processing the data received by the CAN transceiver, then transmitting the processed data to the display and control machine through the NET port according to a period set by a timer, and if not, not responding;

s500, returning to the step S300 to circulate.

Preferably, the system initialization specifically includes the following steps:

s101, sending an NMT message to enable state machines in an azimuth driver and/or a pitching driver to enter a working mode, and finishing initialization of a CANopen protocol;

s102, setting parameters of CANopen through the SDO message, and initializing a position driver and/or a pitching driver;

s103, the master station sends SYNC messages, and after the SYNC messages are sent, the azimuth driver and/or the pitching driver enter real-time data exchange.

Preferably, the servo control method further includes:

s600, if any fault occurs in the operation process of the azimuth driver and/or the pitching driver, the azimuth driver and/or the pitching driver can actively report and send an emergency message to the master station, and report the current fault information of the azimuth driver and/or the pitching driver to the master station.

Compared with the prior art, the invention has the beneficial effects that:

the invention provides a novel servo control method, which combines the advantages of a real-time operating system and a CANopen protocol on the basis of SOC control panel hardware, realizes an object dictionary by adopting a linear table through a high-capacity data memory of an SOC control panel processor, predefines specified entries, allocates indexes and sub-indexes, and assigns default values, thereby reducing the realization difficulty and the difficulty of data search and modification, further greatly reducing the response time in a servo control system, improving the response frequency of servo control, and further realizing the rapid and precise control of the servo system.

Drawings

FIG. 1 is a block diagram of a servo control system according to the present invention;

FIG. 2 is a schematic view of a topology of a CAN communication bus network proposed in the present invention;

FIG. 3 is a relationship between a CAN bus and a CANopen protocol;

FIG. 4 is a schematic diagram of a working flow of a servo control system according to the present invention;

FIG. 5 is a data flow diagram of a servo control system according to the present invention;

FIG. 6 is a block diagram of a servo control apparatus according to the present invention;

FIG. 7 is a schematic diagram illustrating an operation flow of a servo control apparatus according to the present invention;

FIG. 8 is a flowchart of steps S100-S500 of the servo control method according to the present invention;

FIG. 9 is a flowchart of steps S101-S103 of the servo control method according to the present invention.

Detailed Description

The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments described below are by way of example only, and other obvious variations will occur to those skilled in the art.

To facilitate a more detailed description of the present solution, first, a description is given of the relationship between the CAN bus and the CANopen protocol:

referring to FIG. 3, the CAN bus standard is currently set by the International organization for standardization (ISO) as the bus International Standard. The CAN bus data is transmitted by adopting differential signals, has stronger anti-interference performance, CAN transmit 10 kilometers at the lowest communication frequency of 5Kbps and CAN transmit 40 meters at the highest communication frequency of 1 Mbps. CAN signal transmission has two structural forms of a standard frame and an extension frame, and supports multiple working modes of a master and a slave, a server/a client, production/consumption and the like, and a CAN bus adopts a non-destructive bus arbitration technology to set message priority so as to avoid bus collision. The CAN bus is widely applied to the field of discrete control, is supported by a plurality of huge heads in the field of industrial automation, and communication chips supporting the CAN protocol are increasing day by day.

The CAN field bus only defines a first layer physical layer and a second layer data link layer in an ISO model, does not specify an application layer, is not complete per se, and needs a high-level protocol to define the use of 11/29 bit identifiers and 8 bytes of data in a CAN message. Moreover, in industrial automation applications based on CAN bus, there is an increasing need for an open, standardized high-level protocol: the protocol supports interoperability and interchangeability of various CAN manufacturer devices, CAN provide a standard and uniform system communication mode in a CAN network, provides a device function description mode and executes a network management function.

The CANopen protocol is a high-level communication protocol configured on the CAN network, including a communication sub-protocol and various device sub-protocols, which are commonly used in embedded systems, and is a field bus protocol commonly used in industrial control at present. CANopen implements the application layer protocol in the OSI model, and the CANopen standard includes an addressing scheme, individual communication sub-protocols, and an application layer defined by device sub-protocols. CANopen supports network management, device monitoring and inter-node communication, including a simple transport layer that handles segmented delivery of data and combinations thereof. CANopen carries out standard drafting and auditing work by a non-profit organization, ciA (canina utonomaion), a basic CANopen communication sub protocol is defined in a canina automation (CiA) draftdata 301, the communication sub protocol aiming at individual functions is expanded based on the CiA301, for example, the CiA305 protocol aiming at node configuration and baud rate configuration, and the CiA401 aiming at an I/O module and the CiA402 aiming at motion control are mainly arranged on equipment sub protocols.

Referring to fig. 1, the apparatus includes:

a servo control system, comprising:

the CANopen controller is internally integrated with an SOC (system on chip) processor, a CAN (controller area network) transceiver, a GPIO (general purpose input/output) interface, an RS422 serial interface and a NET (network interface), and is internally provided with real-time control software;

the azimuth driver is communicated with the CANopen controller through the CAN transceiver;

the pitching driver is communicated with the CANopen controller through the CAN transceiver to realize CAN communication;

the rate gyroscope is in communication connection with the CANopen controller through an RS422 serial interface;

the sensor control panel is in communication connection with the CANopen controller through an RS422 serial interface;

the display control machine is in communication connection with the CANopen controller through a NET network port;

the azimuth motor is electrically connected with the azimuth driver and is used for executing an azimuth conversion instruction;

the azimuth encoder is electrically connected with the azimuth driver and used for acquiring the rotation angle of the azimuth motor and conveying the rotation angle to the azimuth driver;

the pitching motor is electrically connected with the pitching driver and is used for executing a pitching angle conversion command;

every single move encoder, every single move encoder and every single move driver electric connection, every single move encoder is used for gathering every single move motor's turned angle to carry to every single move driver.

As shown in fig. 2, the CANopen controller, the azimuth driver and the pitch driver form a CAN communication bus network, the CANopen controller serves as a master station, and the azimuth driver and the pitch driver serve as slave stations;

referring to fig. 5, the CANopen controller uses the SOC processor and the real-time control software as the core, and further includes a CAN transceiver, a GPIO interface, an RS422 serial interface, and a NET port. CAN bus communication is realized through a CAN transceiver, a CANopen controller is used as a master station of a CAN communication bus network to control an azimuth driver, a/or pitching driver, an azimuth motor and/or a pitching motor, and servo parameters to be controlled comprise angles, speeds and moments. And the RS422 serial interface realizes RS422 communication and is used for sending a control instruction and returning current data and state information of the sensor to the sensor control board. The NET port interface is used for expanding a network port and realizing communication interaction with the display and control machine. The GPIO interface realizes the control of the input/output interface and is used for completing the enabling of the driver and other auxiliary functions;

the display control machine is mainly responsible for tasks such as human-computer interaction and the like, network communication between the display control machine and the SOC control board is realized, and instructions are sent to the orientation driver and/or the pitching driver through the SOC control board to control the orientation motor and/or the pitching motor to operate and realize data interaction;

the SOC control board sends position, speed and moment instructions to the position driver and/or the pitching driver to drive the position motor and/or the pitching motor to operate, real-time monitoring is carried out through position, speed and other data fed back by the position encoder and/or the pitching encoder, and the position driver and/or the pitching driver are mainly used for amplifying received instruction signals into high-power voltage and current to meet the requirements for driving the position motor and/or the pitching motor to work;

as shown in fig. 4, when the system operates, the CANopen controller is powered on to complete initialization of the azimuth driver and/or the pitch driver, that is, to cyclically wait for receiving a command of the display and control machine, and after the CANopen controller analyzes the received command, the CANopen controller controls the azimuth motor and/or the pitch motor to operate at a specified speed, and simultaneously returns the received angular position, rotational speed and limit state data of the motor to the display and control machine at a set cycle.

To facilitate understanding of the present solution, the following further describes the present solution in conjunction with a servo control device:

referring to fig. 5, a servo control apparatus includes:

the main tasks of the communication unit are the reception and transmission of messages and the implementation of a state machine. Firstly, an information transmission channel is built in a physical layer, programming is carried out according to different embedded platforms, and a CAN message transceiving bottom layer driving program is completed. Then distributing identifiers to the service objects with different functions, and compiling different processing sub-functions; the SOC processor mainly has two processing modes of polling and interruption for the CAN messages, wherein the polling is to put a CAN sending mailbox and a receiving FIFO inquiry subfunction into a time slice of a main program background cycle with a certain period, for example, the time slice with the period of 1ms, namely, the mailbox and the FIFO buffer area are inquired every 1ms, and whether messages needing to be sent exist or whether the messages need to be received and processed exist is judged. The interrupt is to put the sending and processing message into the interrupt service program, and the CAN controller enters the interrupt immediately after receiving the message and executes the message processing program in the interrupt. If the processing program of the CAN message is too complex, too much time is consumed, and the normal operation of other functional modules of the system is influenced, so that the CAN message processing method is suitable for processing communication objects with high requirements on real-time performance and synchronism, the processing flow of the message needs to be simple and quick, and otherwise, the processing flow is considered to be executed in a segmented mode. For communication objects which are complex in processing and have low real-time requirement, in order to save system resources, processing is carried out in a polling mode; the NMT object mainly realizes the functions of node starting, node monitoring and a state machine, has low requirement on real-time performance and simple processing, only needs to change the node state, wherein heartbeat messages used in the node monitoring are sent periodically and are processed by a polling method; the SDO and PDO messages have more transmission data, not only data information, but also control information, the SDO object also needs to read, write and feed back an object dictionary, although the PDO message can quickly search data by adopting an object dictionary mapping mode, the PDO message involves a motor control algorithm, the processing flow is complex, and therefore the SDO and the PDO are also processed by adopting a polling method.

The synchronous message is used for a synchronous function as the name implies, has high real-time requirement and simple processing, and only needs to change a synchronous flag bit, so that an interrupt mode is adopted for processing;

and the object dictionary unit is a medium for data exchange between the communication unit and the application program unit in the equipment model and is also a bridge for data exchange between the external equipment and the CAN substation equipment. The object dictionary stores substation operation parameters and state variables, and other nodes in the network can send requests for configuring parameters and monitoring operation states to the equipment; the object dictionary is an ordered object group, describes all parameters corresponding to CANopen nodes, and includes storage positions of communication data which are also listed as indexes. Each object is addressed with a 16-bit index value, called the index, under which an 8-bit sub-index is defined. The specific parameters in each index are identified by a maximum 32-bit variable, i.e., a 4-byte data field. Items in the CANopen object dictionary are described by a series of subprotocols, and the CANopen object dictionary mainly comprises a communication subprotocol, an equipment subprotocol and a manufacturer self-defined subprotocol; due to the existence of the application layer protocol CANopen, the devices in the network do not need to individually define the communication rules, the CANopen protocol prescribes parameters and state variables required by mutual communication of all devices during operation, and the difficulty in developing the CANopen substation is greatly reduced by the unified standard. Because the data stored in the data structure generally adopts a linear table and a linked list, and because of the specification of the unified object dictionary and the large capacity of the data memory of the SOC processor, the object dictionary can be realized by adopting the linear table. Items specified in the CANopen protocol are predefined, indexes and sub-indexes are distributed, default values are assigned, and the difficulty in realizing and the difficulty in searching and modifying data are reduced;

and the application unit is used for realizing the device subprotocol.

Referring to fig. 7, the CANopen communication model defines 4 messages, which are a management message NMT, a service data object SDO, a process data object PDO, and a special function object. The SDO and the PDO are both used for data transmission, the SDO is a response type transmission mode, and the PDO transmits data in real time according to predefined content.

The servo control system uses these 4 types of messages to do the following:

and carrying out network management through the NMT message. In a servo control system, an SOC control board is used as a main node, and an azimuth driver and a pitching driver are used as slave nodes; after the system is powered on, each slave node needs to be initialized, the master node enables the slave node to enter a human-ready state through an NMT message, and then the slave node can receive messages such as SDO and PDO.

PDO mapping of the operation objects in the object dictionary is completed through SDO. After the slave node is initialized, the servo driver of the motor shaft is required to be able to control the motor according to the received message content in modes of interpolation, speed, position, and the like. And performing read-write operation on the corresponding object according to the object index to realize the required function. Before sending the PDO message, the application object is mapped to the PDO, which may configure PDO mapping parameters by sending an SDO message.

Real-time data is sent and received through the PDO. The PDO is described in the object dictionary by PDO communication parameters and PDO mapping parameters, the content of which is predefined, for transmitting real-time data. After the mapping of the PDO is completed by the SDO, the position and velocity information can be transmitted to the servo driver in real time through the PDO and the actual position information uploaded by the servo driver is received. The PDO has various transmission modes, and the running synchronism of each node is ensured by a mode of sending SYNC signals.

The special function objects comprise synchronous frames SYNC, emergency event objects EMCY and the like, and the emergency condition is processed by receiving EMCY messages. And the abnormal condition of the driver is processed in time, so that accidents are prevented.

Still further, referring to fig. 8, a servo control method is provided, which includes:

s100, initializing a system;

s200, starting and setting a timer;

s300, judging whether data are input into the NET port, if so, outputting the data to a direction driver and/or a pitching driver after analyzing according to a command input by the NET port, and if not, not responding;

s400, judging whether the CAN transceiver has data input, if so, processing the data received by the CAN transceiver, then transmitting the processed data to the display and control machine through the NET port according to a period set by a timer, and if not, not responding;

s500, returning to the step S300 for circulation;

s600, if any fault occurs in the operation process of the azimuth driver and/or the pitching driver, the azimuth driver and/or the pitching driver can actively report and send an emergency message to the master station, and report the current fault information of the azimuth driver and/or the pitching driver to the master station.

Specifically, the system initialization steps are as follows:

s101, the CANopen controller sends an NMT message to enable state machines in the azimuth driver and/or the pitching driver to enter a working mode, and initialization of a CANopen protocol is completed;

s102, setting parameters of CANopen through the SDO message, and initializing a position driver and/or a pitching driver, wherein the CANopen communication parameter setting in the initialization process comprises the following steps: SYNC communication period, PDO transmission parameter and mapping parameter. The driver initialization settings include: the motor control system comprises the resolution of a motor encoder, the working mode of a motor, a driver input/output interface, motor acceleration parameters and motor deceleration parameters. The configuration of the parameters is completed through SDO, and the writing operation of the SDO on the object dictionary index is completed;

s103, the master station sends a SYNC message, after the SYNC message is sent, the azimuth driver and/or the pitching driver enter a real-time data exchange state, and in the state, the SDO message can be sent to control the starting and stopping of the motor. In the PDO communication process, the SDO can normally communicate, and the SDO is actively applied by the main node only when needed. The PDO communication real-time transmission data comprises the position of the motor, the motor current returned by the driver and the limit state information.

In summary, the method has the advantages that on the basis of SOC control board hardware, the real-time operating system and the CANopen protocol are combined, the advantages of the three aspects are combined, the response time in the servo control system is greatly shortened, and the rapid and accurate control for the servo system is realized.

The foregoing shows and describes the general principles, principal features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (9)

1. An open architecture SOC-based servo control system, comprising:

the CANopen controller is internally integrated with an SOC (system on chip) processor, a CAN (controller area network) transceiver, a GPIO (general purpose input/output) interface, an RS422 serial interface and a NET (network internet protocol) port;

the azimuth driver is communicated with the CANopen controller through the CAN transceiver;

the pitching driver is communicated with the CANopen controller through the CAN transceiver to realize CAN communication;

the rate gyroscope is in communication connection with the CANopen controller through the RS422 serial interface;

the sensor control panel is in communication connection with the CANopen controller through the RS422 serial interface;

and the display control machine is in communication connection with the CANopen controller through the NET port.

2. The open architecture SOC-based servo control system of claim 1, further comprising:

the azimuth motor is electrically connected with the azimuth driver and is used for executing an azimuth conversion instruction;

the azimuth encoder is electrically connected with the azimuth driver and is used for acquiring the rotation angle of the azimuth motor and conveying the rotation angle to the azimuth driver;

the pitching motor is electrically connected with the pitching driver and is used for executing a pitching angle transformation command;

the pitching encoder is electrically connected with the pitching driver and used for acquiring the rotation angle of the pitching motor and conveying the rotation angle to the pitching driver.

3. The open architecture SOC-based servo control system of claim 2, wherein the CANopen controller, the azimuth driver and the pitch driver form a CAN communication bus network;

the CANopen controller serves as a master station, and the azimuth driver and the pitch driver serve as slave stations.

4. A servo control apparatus for carrying a servo control system of an open architecture based on SOC according to any one of claims 1 to 3, comprising:

the communication unit is used for receiving and sending the CAN message;

the object dictionary unit stores the operating parameters and the state variables of all stations of the CAN communication bus network;

an application unit for implementing a device sub-protocol.

5. The servo control apparatus of claim 4, wherein the CAN message comprises:

the NMT message is used for network management;

the SDO message is used for completing PDO mapping of the operation object in the object dictionary;

the PDO message is used for sending and receiving real-time data;

the special function message at least comprises a SYNC message and an EMCY message, the synchronization function is realized by receiving the SYNC message, and the emergency condition is processed by receiving the EMCY message;

and processing the SDO message and the PDO message in a polling mode, and processing the NMT message and the special function message in an interrupt mode.

6. The servo control device according to claim 5, wherein the polling manner is to put the CAN sending mailbox and receiving FIFO inquiry subfunction into a time slice of a certain period of the main program background cycle, and inquire the mailbox and FIFO buffer according to the time slice whether there is a message to be sent or a message to be received and processed;

the interrupt mode is to put the sending and processing message into the interrupt service program, and the CAN controller enters the interrupt immediately after receiving the message and executes the message processing program in the interrupt.

7. An open architecture servo control method based on SOC, adapted to the servo control apparatus according to any one of claims 4 to 6, comprising:

s100, initializing a system;

s200, starting and setting a timer;

s300, judging whether data are input into the NET port, if so, analyzing the data according to a command input by the NET port, and outputting the data to a direction driver and/or a pitching driver, otherwise, not responding;

s400, judging whether data are input into the CAN transceiver, if so, processing the data received by the CAN transceiver, transmitting the processed data to the display and control machine through the NET according to a period set by a timer, and if not, not responding;

s500, returning to the step S300 to circulate.

8. The open architecture SOC-based servo control method of claim 7, wherein the system initialization specifically comprises the steps of:

s101, the CANopen controller sends an NMT message to enable state machines in the azimuth driver and/or the pitching driver to enter a working mode, and initialization of a CANopen protocol is completed;

s102, setting parameters of CANopen through the SDO message, and initializing an orientation driver and/or a pitching driver;

s103, the master station sends a SYNC message, and after the SYNC message is sent, the azimuth driver and/or the pitch driver enter real-time data exchange.

9. The open architecture SOC-based servo control method of claim 8, further comprising:

s600, if any fault occurs in the operation process of the azimuth driver and/or the pitching driver, the azimuth driver and/or the pitching driver can actively report and send an emergency message to the master station, and report the current fault information of the azimuth driver and/or the pitching driver to the master station.

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