CN203745880U - Intelligent steering engine driver based on CAN bus - Google Patents
Intelligent steering engine driver based on CAN bus Download PDFInfo
- Publication number
- CN203745880U CN203745880U CN201420080075.0U CN201420080075U CN203745880U CN 203745880 U CN203745880 U CN 203745880U CN 201420080075 U CN201420080075 U CN 201420080075U CN 203745880 U CN203745880 U CN 203745880U
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- driver
- controller
- steering wheel
- steering engine
- bus
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- 238000005070 sampling Methods 0.000 claims abstract description 28
- 230000000694 effects Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000007667 floating Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
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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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- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The utility model discloses an intelligent steering engine driver based on a CAN bus. The intelligent steering engine driver contains a CAN transceiver, a controller, a driver, a sampling module and a sensor module. The sampling module, the sensor module and the CAN transceiver are all connected with the controller. An input end of the sampling module is connected with the driver, and an output end of the sampling module is connected with the input end of the controller. The sensor module is connected with a steering engine. The controller is connected with a host computer through the CAN transceiver. A control end of the controller is connected with an input end of the driver. The driver drives the steering engine to operate. The controller in the device is utilized to dispose of status data of the steering engine and status data of the driver, thus reducing load of the host computer and raising stability of the host computer. Each intelligent steering engine driver can sense status of other steering engines through the CAN bus so as to adjust status of a native machine.
Description
Technical field
The utility model relates to a kind of intelligent steering engine driver based on CAN bus
Background technology
On engineering machinery, agricultural machinery, remote control equipment, steering wheel is commonly used to carry out predetermined action as actuator, and carrying out this class action needs steering engine driver to drive.
Conventional driver only has servo driving function, and the information such as position feedback all feed back on host computer or master controller, have increased the weight of host computer or master controller computing workload; Each driver can only rely on host computer or master controller directly to control, and can not carry out information interaction with adjacent driver, cannot realize the network control of CAN bus; Conventional driver does not possess the sampling to voltage, electric current, temperature, and host computer or master controller cannot be recognized the duty of driver.
Utility model content
Technical problem to be solved in the utility model is to provide the intelligent steering engine driver based on CAN bus, thus the precision of the execution of lifting means, efficiency, and provide based on CAN bus networking plan.
A kind of intelligent steering engine driver based on CAN bus, comprise CAN transceiver, controller, driver, sampling module and sensor assembly, described sampling module, sensor assembly and CAN transceiver are all connected with controller, the input end of described sampling module is connected with driver and gathers the electric current of driver, voltage and temperature, the output terminal of described sampling module is connected with the input end of controller, described sensor assembly is for gathering angle and the position of steering wheel, described controller is connected with host computer by CAN transceiver, the control end of described controller is connected with the input end of driver, by driver drives steering wheel, work.
Described sensor assembly comprises angular transducer and position transducer.
Described sampling module comprises temperature sampling chip, voltage sample chip and current sample chip.
Be provided with on the equipment of a plurality of steering wheels, adopt the described intelligent steering engine driver based on CAN bus, each steering wheel is connected with an intelligent steering engine driver respectively, host computer is according to the duty of each steering wheel of Real-time Collection, sending controling instruction via controller is delivered to intelligent steering engine driver, according to equilibrium of forces principle, intelligent steering engine driver drives the duty of steering wheel, makes the equipment that a plurality of steering wheels are installed remain on equilibrium state; Meanwhile, controller is uploaded the operating state data of intelligent driver by CAN transceiver;
The operating state data of described steering wheel comprises angle and the position of steering wheel.
The operating state data of described intelligent driver comprises output current, output voltage and the temperature of driver.
When host computer cannot send steering order, the steering wheel state that controller utilizes other controllers that CAN transceiver obtains from CAN bus to control, send steering order and adjust this steering wheel and reset, the stable state that steering wheel is set by operating personnel before entering into is guaranteed equipment and personnel's safety;
When host computer obtains the fault-signal of certain steering wheel, when intelligence steering engine driver is repeatedly attempted also cannot changing its state, host computer is adjusted the state of other non-fault steering gear systems according to the data of the sensor assembly collection of each steering wheel, by intelligent driver, drive steering wheel, according to equilibrium of forces principle, make equipment enter into steady state (SS), guarantee the stability and security of equipment.
Beneficial effect
The utility model provides a kind of intelligent steering engine driver based on CAN bus, comprise CAN transceiver, controller, driver, sampling module and sensor assembly, described sampling module, sensor assembly and CAN transceiver are all connected with controller, the input end of described sampling module is connected with driver, the output terminal of described sampling module is connected with the input end of controller, described sensor assembly is connected with steering wheel, described controller is connected with host computer by CAN transceiver, the control end of described controller is connected with the input end of driver, by driver drives steering wheel, work, this intelligence steering engine driver, by the duty of sampling module Real-time Collection driver itself, is uploaded to host computer, and upper function is monitored in real time to driver, utilize the controller in this device to process the status data of the status data of steering wheel and driver, alleviated the burden of host computer, improved the stability of host computer, by each intelligent steering engine driver, by CAN bus, connect, and in bus, connect host computer, all intelligent steering engine drivers obtain the steering order of host computer or master controller in bus, but when host computer or master controller break down, cannot normally issue when controlling data, according to equilibrium of forces principle, according to the status information of other steering wheels in CAN bus, adjust the state of this intelligent steering engine driver, and in real time the status information of this intelligent steering wheel is placed in bus, to realize interlock, the equipment of having realized independently judges the work that realizes safety and stability under unknown situation.
Accompanying drawing explanation
Fig. 1 is the structural representation of the intelligent steering engine driver based on CAN bus described in the utility model;
Fig. 2 is the connection diagram of a plurality of intelligent steering engine drivers;
Fig. 3 is the steering wheel helicopter body steering wheel power effect schematic diagram while breaking down that advances in embodiment;
Fig. 4 is helicopter body steering wheel power effect schematic diagram after host computer adjustment in embodiment.
Embodiment
Below in conjunction with drawings and Examples, the utility model is described further.
Be illustrated in figure 1 the structural representation of a kind of intelligent steering engine driver based on CAN bus described in the utility model, comprise CAN transceiver, controller, driver, sampling module and sensor assembly, described sampling module, sensor assembly and CAN transceiver are all connected with controller, the input end of described sampling module is connected with driver and gathers the electric current of driver, voltage and temperature, the output terminal of described sampling module is connected with the input end of controller, described sensor assembly is for gathering angle and the position of steering wheel, described controller is connected with host computer by CAN transceiver, the control end of described controller is connected with the input end of driver, by driver drives steering wheel, work.
Described sensor assembly comprises angular transducer and position transducer.
Described sampling module comprises temperature sampling chip, voltage sample chip and current sample chip.
Be provided with on the equipment of a plurality of steering wheels, adopting the described intelligent steering engine driver based on CAN bus, each steering wheel is connected with an intelligent steering engine driver respectively, and each intelligent steering engine driver is connected with host computer by CAN bus, as shown in Figure 2; Host computer is according to the duty of each steering wheel of Real-time Collection, sending controling instruction via controller is delivered to intelligent steering engine driver, according to equilibrium of forces principle, intelligent steering engine driver drives the duty of steering wheel, makes the equipment that a plurality of steering wheels are installed remain on equilibrium state; Meanwhile, controller is uploaded the operating state data of intelligent driver by CAN transceiver.
The operating state data of described intelligent driver comprises output current, output voltage and the temperature of driver;
The operating state data of described steering wheel comprises angle and the position of steering wheel.
Driver is set the state parameter of support equipment and personal security by operating personnel, state parameter includes but not limited to height, angle, length, temperature, humidity, longitude and latitude etc., and stored by each driver autonomous learning, meanwhile, controller is uploaded the operating state data of intelligent driver and the operating state data of steering wheel by CAN transceiver;
When host computer cannot send steering order, the steering wheel state that controller utilizes other controllers that CAN transceiver obtains from CAN bus to control, send steering order and adjust this steering wheel and reset, the stable state that steering wheel is set by operating personnel before entering into is guaranteed equipment and personnel's safety;
When host computer obtains the fault-signal of certain steering wheel, when intelligence steering engine driver is repeatedly attempted also cannot changing its state, host computer is adjusted the state of other non-fault steering gear systems according to the data of the sensor assembly collection of each steering wheel, by intelligent driver, drive steering wheel, make equipment enter into metastable state, guarantee the stability and security of equipment.
Illustrate: for example, in unmanned helicopter is controlled, by four straight line steering wheels, control aircraft up and down, by a straight line steering wheel, controlled the tail state of aircraft, by a rotation steering wheel, control acceleration cable, with this control engine throttle size.Supervisory controller is controlled aircraft forward-reverse and locking afterbody.Now operating personnel set the floating state of aircraft to become steady state (SS), and now each steering wheel stores state recording now get off, and comprise that the length that steering wheel height, steering wheel stretch out, the information such as angle of aircraft also store simultaneously.When aircraft cannot obtain the control information of host computer in control procedure, aircraft, by the action before stopping, returning to hovering attitude, aircraft is placed in to the steady state (SS) of setting before, maintains the height of setting.
When on depopulated helicopter, a steering wheel breaks down, other steering wheel will obtain the state of fault steering wheel by CAN bus, the length of stretching out or retracting as steering wheel, the now situation such as the angle of equipment, height.Host computer can be adjusted according to the position situation of the steering wheel of fault.Aircraft is in flight attitude forward, and now, the steering wheel of controlling forward breaks down uncontrollable, control steering wheel is forward in the situation that repeatedly attempting the failure of change state, four steering wheels of other residues will make aircraft in hovering attitude according to the state that operating personnel set before, as steering wheel is backward stretched out or is retracted, make it the state with the steering wheel balance of advancing, each steering wheel will obtain the status information of aircraft from CAN bus, adjust again, as adjust engine throttle, make aircraft in floating state.
Referring to Fig. 3, Fig. 4, suppose the steering wheel appearance control fault of advancing of flying forward for controlling helicopter in four straight line steering wheels, advance after steering wheel stretches out and cannot regain, the power effect that whole body produces because of the steering wheel that advances turns forward and body is flown forward, at this moment host computer obtains the fault-signal of the steering wheel that advances, then adjusting the steering wheel that retreats flying backward for helicopter stretches out, the opposite force effect that the power effect that generation can produce with the steering wheel that advances offsets, hovers over aerial to keep body recovery equilibrium state.Similar to above situation so, suppose to have more than one steering wheel to break down, host computer is controlled remaining steering wheel, take dynamic balance as object, makes body recovery balance and hovers over aerial.
Claims (3)
1. the intelligent steering engine driver based on CAN bus, it is characterized in that, comprise CAN transceiver, controller, driver, sampling module and sensor assembly, described sampling module, sensor assembly and CAN transceiver are all connected with controller, the input end of described sampling module is connected with driver and gathers the electric current of driver, voltage and temperature, the output terminal of described sampling module is connected with the input end of controller, described sensor assembly is for gathering angle and the position of steering wheel, described controller is connected with host computer by CAN transceiver, the control end of described controller is connected with the input end of driver, by driver drives steering wheel, work.
2. the intelligent steering engine driver based on CAN bus according to claim 1, is characterized in that, described sensor assembly comprises angular transducer and position transducer.
3. the intelligent steering engine driver based on CAN bus according to claim 2, is characterized in that, described sampling module comprises temperature sampling chip, voltage sample chip and current sample chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420080075.0U CN203745880U (en) | 2014-02-25 | 2014-02-25 | Intelligent steering engine driver based on CAN bus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420080075.0U CN203745880U (en) | 2014-02-25 | 2014-02-25 | Intelligent steering engine driver based on CAN bus |
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| Publication Number | Publication Date |
|---|---|
| CN203745880U true CN203745880U (en) | 2014-07-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420080075.0U Expired - Lifetime CN203745880U (en) | 2014-02-25 | 2014-02-25 | Intelligent steering engine driver based on CAN bus |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103823442A (en) * | 2014-02-25 | 2014-05-28 | 山河智能装备股份有限公司 | Intelligent steering engine driver based on CAN bus and control method of intelligent steering engine driver |
| CN109062113A (en) * | 2018-09-03 | 2018-12-21 | 山海特种装备股份有限公司 | A kind of aircraft air source truck electrical control gear |
| CN110963024A (en) * | 2019-12-19 | 2020-04-07 | 成都纵横自动化技术股份有限公司 | Steering engine driver, steering engine driving method and unmanned aerial vehicle |
| CN116424548A (en) * | 2023-03-30 | 2023-07-14 | 湖南山河华宇航空科技有限公司 | Electric proportional flight control system, control method and application |
-
2014
- 2014-02-25 CN CN201420080075.0U patent/CN203745880U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103823442A (en) * | 2014-02-25 | 2014-05-28 | 山河智能装备股份有限公司 | Intelligent steering engine driver based on CAN bus and control method of intelligent steering engine driver |
| CN109062113A (en) * | 2018-09-03 | 2018-12-21 | 山海特种装备股份有限公司 | A kind of aircraft air source truck electrical control gear |
| CN110963024A (en) * | 2019-12-19 | 2020-04-07 | 成都纵横自动化技术股份有限公司 | Steering engine driver, steering engine driving method and unmanned aerial vehicle |
| CN116424548A (en) * | 2023-03-30 | 2023-07-14 | 湖南山河华宇航空科技有限公司 | Electric proportional flight control system, control method and application |
| CN116424548B (en) * | 2023-03-30 | 2024-05-10 | 湖南山河华宇航空科技有限公司 | Electric proportional flight control system, control method and application |
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Granted publication date: 20140730 |
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| CX01 | Expiry of patent term |