CN115685887A

CN115685887A - CAN bus type servo and pulse type servo mixed-matched control system and method

Info

Publication number: CN115685887A
Application number: CN202211366568.6A
Authority: CN
Inventors: 郑武生; 杜川
Original assignee: Shenzhen Weideke Technology Co ltd
Current assignee: Shenzhen Weideke Technology Co ltd
Priority date: 2022-11-02
Filing date: 2022-11-02
Publication date: 2023-02-03
Also published as: CN117234136A

Abstract

The invention relates to a mixed-assembling control system and method of a CAN bus type servo and a pulse type servo, wherein the mixed-assembling control system comprises a CAN bus controller, a mainboard and a CAN pulse conversion module connected with the CAN bus controller, the CAN bus controller is connected with a plurality of CAN bus servos, the CAN pulse conversion module is connected with the plurality of pulse type servos, and the CAN pulse conversion module converts CAN data of the CAN bus controller into pulse data which is input to the pulse type servos to carry out position positioning control on the pulse type servos and a motor. The invention has the beneficial effects that: the full closed loop control of the system is realized, and the control of the position precision of the motor is ensured. The whole CAN bus control realizes strong anti-interference capability and strong signal.

Description

CAN bus type servo and pulse type servo mixed-matched control system and method

Technical Field

The invention relates to the technical field of industrial robot control, in particular to a mixed-lap control system and method of CAN bus type servo and pulse type servo.

Background

The existing controllers, bus type servo and pulse type servo can not be used in the same set of controllers in a mixed way. When hybrid control is required, two different types of controllers are used. The manufacturing cost is increased and the use for users is very inconvenient.

The bus type controller can only control the bus type servo. The burst controller can only control burst servo. The bus type servo and the pulse type servo cannot be mixedly controlled by the same set of controller. In the prior art, the conversion of bus interpolation data into pulse square waves is not realized, and the technical difficulty is that the real-time performance of the bus interpolation data and the real-time performance of the bus interpolation data are synchronous when the bus interpolation data are converted into the pulse square waves, and the technical requirement is higher.

Disclosure of Invention

The invention aims to realize a mixed control system and a mixed control method of CAN bus type servo and pulse type servo, wherein the bus type servo and the pulse type servo are controlled by the same controller. The technical scheme is as follows.

The utility model provides a CAN bus type is servo with servo control system that thoughtlessly takes of pulse type, includes CAN bus controller, mainboard, still includes the CAN that is connected with CAN bus controller and changes the pulse module, CAN bus controller and a plurality of CAN bus servo connection, CAN changes the pulse module and connects a plurality of pulse type servos, CAN changes the pulse module and handles CAN bus controller's CAN data conversion becomes pulse data, inputs pulse type servo driver carries out position positioning control to pulse type servo driver and motor.

A mixed control method of CAN bus type servo and pulse type servo comprises the following steps:

step 1, accumulating by a CAN bus controller with scanning period time as a unit, calculating by an acceleration and deceleration filter, and performing FIFO processing through secondary filtering to form an S-curve motion track;

and 2, adjusting the S curve according to the received feedback data in the process of sending the interpolation communication line segment instruction.

And further, solving a value y of the interpolation line segment, converting the y into 16-system data, and transmitting the data to the mainboard, the CAN bus type servo driver and the CAN conversion pulse generator module through the CAN bus.

The interpolation algorithm formula is as follows: y = (((a × x + b) × x + c) × x + d) × x + e

a = time unit;

b = speed unit;

c = speed difference ratio;

d = speed;

e = position;

x = interpolation time.

Has the advantages that: the bus type servo and the pulse type servo are controlled by the same controller. The manufacturing cost of mixed use is reduced, and convenience is provided for the use of a user.

Drawings

Fig. 1 is a block diagram of a mashup control system according to an embodiment of the present invention.

FIG. 2 is a flowchart of a mash-up control method according to an embodiment of the present invention.

FIG. 3 is a graph of an adjusted external speed command in an embodiment of the present invention.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments of the present invention, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in figure 1, a control system is taken with mixing of servo and pulse type of CAN bus type, includes CAN bus controller, mainboard, still includes the CAN that is connected with CAN bus controller and changes the pulse module, CAN bus controller and a plurality of CAN bus servo are connected, CAN changes the pulse module and connects a plurality of pulse type servo, CAN changes the pulse module will CAN bus controller's CAN data converts pulse data into, inputs to pulse type servo carries out position location control to pulse type servo and motor.

The CAN bus controller is connected with the mainboard and the CAN pulse generator module in series. CAN communication data originates from a CAN bus controller and is transmitted to a mainboard, a CAN bus servo driver and a CAN pulse generator module from the CAN bus controller, and the CAN pulse generator module receives the communication data transmitted by the CAN bus controller, converts digital quantity of communication into analog quantity and transmits the analog quantity to the pulse type servo driver in the form of pulse square waves.

In the embodiment of the invention, the CAN interface circuit comprises a CAN transceiver TJA1042T/3, a CAN controller TJA1042T/3, an HC32F460PETB, a R5F562N8BDFB # V0 singlechip and other devices. TJA1042T/3 is used as an interface between a CAN controller and a physical bus, CAN provide differential transmission capability to the bus and differential receiving capability to the controller, and has the capabilities of high speed, instant interference resistance and bus protection.

The CAN controller selects a TJA1042T/3 chip produced by EmiPh company, supports all functions of a physical layer and a data link layer of a CAN-BUS, has a multi-master structure, has the functions of grouping and broadcasting messages, has extremely strong error handling capacity because the BUS access priority depends on message identifiers, and is flexibly configured to allow local area network expansion.

R5F562N8BDFB # V0 is the core of the servo control card, which implements the application layer protocol for communication. The singlechip realizes the communication with the upper computer by accessing the register of TJA 1042T/3. The receiving register and the transmitting register of the CAN controller TJA1042T/3 are used for temporarily storing received and transmitted data. The singlechip HC32F460PETB sends data and sends a command bit through a command register which is set to TJA1042T/3, data receiving is realized in an interrupt mode, and a CAN controller chip provides an interrupt pin required by interrupt.

When the servo driver is operating in the position mode, a sequence of pulses is required as a control signal. After the CAN bus servo driver receives communication data sent by the CAN bus controller, the position of the corresponding motor CAN be controlled, the motor CAN feed the current position back to the CAN bus servo driver in real time, and the position feedback received by the CAN bus servo driver CAN feed back the feedback data to the CAN bus controller at the first time.

When the pulse type servo driver receives pulse square wave data sent by the CAN transfer pulse generator module, the position of the corresponding motor CAN be controlled, the motor CAN feed the current position back to the pulse type servo driver in real time, the position feedback received by the pulse type servo driver transmits the feedback data back to the CAN transfer pulse generator module at the first time, and when the CAN transfer pulse generator module receives the feedback data, the feedback data are transmitted back to the CAN bus controller at the first time.

In the whole example process, the full closed-loop control of the system is realized, and the control of the position precision of the motor is ensured. The whole CAN bus control realizes strong anti-interference capability and strong signal.

To solve the problem of mixed control of bus type servo and pulse type servo. The CAN pulse conversion module converts CAN data of the controller into pulse data, and then performs position positioning control on the pulse type servo and the motor. The CAN bus type servo and the pulse type servo CAN be used for position positioning control in the same CAN bus controller, and the CAN bus type servo and the pulse type servo are very convenient and flexible to use and CAN be used in a mixed mode at will.

As shown in fig. 2, a method for controlling the mixing and matching of the CAN bus type servo and the burst type servo includes the following steps:

s1, accumulating by a CAN bus controller in a scanning period time unit, calculating by an acceleration and deceleration filter, and performing FIFO (first in first out) processing by secondary filtering to form an S-curve motion track;

and S2, in the process of sending the interpolation communication line segment instruction, adjusting the S curve according to the received feedback data.

In S1, the interpolation algorithm is used, and the S-curve motion trajectory is formed by accumulating (time interruption triggered by crystal oscillator frequency) in units of chip system scanning cycle time, performing core code operation (S word calculation processing) by an acceleration/deceleration filter, and performing FIFO processing by secondary filtering.

In the S2, in the process of sending the interpolation communication line segment instruction, the S curve is correspondingly adjusted according to the received feedback data, so that a relatively perfect S curve running track can be finally obtained. The technical difficulty lies in controlling the track precision of the climbing and the descending of the S curve, and enabling the motor to be very flexible in the starting and stopping processes.

The calculation formula of the interpolation algorithm is as follows:

double a，b，c，d，e，x，y；

a = time unit;

b = speed unit;

c = speed difference ratio;

d = speed;

e, a second position;

x = interpolation time;

y＝(((a*x+b)*x+c)*x+d)*x+e；

and (3) solving a value y of the interpolation line segment, converting the y into 16-system data, and transmitting the data to the mainboard, the CAN bus type servo driver and the CAN conversion pulse generator module through the CAN bus. In the process of controlling the servo motor, the CAN bus controller CAN detect the real-time position fed back by the servo motor in the whole process, and then carry out corresponding interpolation adjustment according to the fed-back real-time position, so that the track precision is guaranteed, and the climbing and descending track precision of the S curve CAN reach 0.02 mm, as shown in figure 3.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a CAN bus type is servo with servo control system that thoughtlessly takes of pulse type, includes CAN bus controller, mainboard, its characterized in that still includes the CAN that is connected with CAN bus controller and changes the pulse module, CAN bus controller is servo with a plurality of CAN buses and is connected, CAN changes the pulse module and connects a plurality of pulse type servos, CAN changes the pulse module will CAN bus controller's CAN data conversion is pulse data, inputs to pulse type is servo, carries out position positioning control to pulse type servo and motor.

2. A mixed control method of CAN bus type servo and pulse type servo is characterized by comprising the following steps:

step 1, accumulating by using scanning period time as a unit through a CAN bus controller, calculating by an acceleration and deceleration filter, and performing FIFO processing through secondary filtering to form an S-curve motion track;

3. The CAN bus type servo and burst type servo mixed control method of claim 2, wherein the interpolation segment value y is obtained by an interpolation algorithm formula, and then converted into 16-system data, and transmitted to the motherboard, the CAN bus type servo driver and the CAN burst generator module through the CAN bus.

4. The CAN bus type servo and burst type servo mixing and matching control method according to claim 2, wherein the interpolation algorithm is calculated using the following equation: double a, b, c, d, e, x, y;

obtaining an interpolation segment value y = (((a x + b) × x + c) × x + d) × x + e;

wherein: a = time unit;

b = speed unit;

c = speed difference ratio;

d = speed;

e = position;

x = interpolation time.