CN217656567U - Multi-motor control system based on CAN bus - Google Patents
Multi-motor control system based on CAN bus Download PDFInfo
- Publication number
- CN217656567U CN217656567U CN202220852241.9U CN202220852241U CN217656567U CN 217656567 U CN217656567 U CN 217656567U CN 202220852241 U CN202220852241 U CN 202220852241U CN 217656567 U CN217656567 U CN 217656567U
- Authority
- CN
- China
- Prior art keywords
- module
- control module
- motor drive
- motor
- drive control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The utility model discloses a many motor control system based on CAN bus, including MCU main control module, CAN control module, DC/DC voltage reduction module, LDO voltage reduction module, CAN transceiver module, step motor drive control module and BLDC motor drive control module; the utility model discloses use MCU host system as the core, combine CAN control module, DCDC voltage reduction module, LDO voltage reduction module, CAN transceiver module, step motor drives accuse module and BLDC motor and drives many motor control system that accuse module constitutes based on the CAN bus jointly, the shortcoming that just is difficult to maintain consuming time for the system of traditional serial control motor, this system CAN be under host system's control, realize the motor module parallel operation simultaneously of multiple difference, and have the characteristics of easy maintenance and easy extension, practical application and spreading value have.
Description
Technical Field
The utility model relates to a motor control system technical field especially relates to a many motor control system based on CAN bus.
Background
The motor is an electromagnetic device for realizing electric energy conversion or transmission according to an electromagnetic induction law, is a main motive power produced by the nation, consumes 65-70% of the total electricity generation in the nation every year, can be divided into a direct current motor and an alternating current motor according to the type of a working power supply, and needs a corresponding motor control system to control any motor.
In the motor control system of traditional design, all motors are by a STM32F103ZET6 control chip serial control, and this kind of structure leads to must wait to last motor after moving assigned position or speed, just CAN continue to control next motor until a round of control finishes to lead to the waste time long, and the coupling nature between every module of system is stronger, and it is hard to lead to the investigation to waste time if the system goes wrong, consequently, the utility model provides a many motor control system based on CAN bus is used for solving the problem that exists among the prior art.
SUMMERY OF THE UTILITY MODEL
To the above problem, an object of the utility model is to provide a many motor control system based on CAN bus, solve traditional motor control system and consume time long and the problem of troubleshooting is wasted time and energy.
In order to realize the utility model discloses a purpose, the utility model discloses a following technical scheme realizes: the utility model provides a many motor control system based on CAN bus, includes MCU host system, CAN control module, DC/DC voltage reduction module, LDO voltage reduction module, CAN transceiver module, step motor drive control module and BLDC motor drive control module, the inside integration of MCU host system has CAN control module, DC/DC voltage reduction module and LDO voltage reduction module all are connected with MCU host system and step down for MCU host system connects the working circuit, place step motor drive control module and BLDC motor drive control module in the CAN transceiver module, step motor drive control module and BLDC motor drive control module all are equipped with the multiunit, MCU host system and step motor drive control module and BLDC motor drive control module pass through CAN bus connection, MCU host system sends control command to CAN transceiver module through CAN control module, CAN transceiver module will receive control command transmit on the CAN bus, step motor drive control module and BLDC motor drive control module accept control command through step motor bus, step motor drive control module and BLDC motor drive control module all possess corresponding ID to the matching in CAN bus control module and the corresponding control module of step motor drive control module and BLDC motor control module and make corresponding control command and BLDC motor drive control module and step motor control module and BLDC motor control module including the corresponding control module.
The further improvement lies in that: the MCU main control module adopts STM32F103ZET6 chip to contain STM32F103ZET6 minimum system, MCU main control module draws CAN _ RX and CAN _ TX of CAN control module and is connected with CAN transceiver module, STM32F103ZET6 minimum system contains power supply, resets, clock, boot start mode selection and serial ports download circuit.
The further improvement lies in that: the DC/DC buck module adopts a switch type buck converter chip TPS5430 to realize large-voltage-difference voltage stabilization from 24V to 5V of the MCU main control module, and the LDO buck module adopts a linear voltage stabilization chip AMS1117-3.3 chip to realize small-voltage-difference voltage stabilization from 5V to 3.3V of the MCU main control module.
The further improvement lies in that: the CAN control module encodes the control instruction into binary data according to a protocol, the CAN transceiver module converts the binary data into CAN bus physical level, and the CAN transceiver module adopts a TAJ1050 chip.
The further improvement is that: the stepping motor drive control module comprises a stepping motor controller, a stepping motor driver and a magnetic encoder, wherein the stepping motor controller adopts ESP32-PICO-D4 AS a control chip, the stepping motor driver adopts a double-H bridge circuit to drive, a TB67H450FNG chip is adopted by an H bridge, and an AS5600 chip is adopted by the magnetic encoder.
The further improvement lies in that: the BLDC motor driving and controlling module comprises a BLDC motor controller, a BLDC motor driver and a magnetic encoder, the BLDC motor controller adopts ESP32-PICO-D4 as a main control chip, the BLDC motor driver adopts three half-bridge circuits, each half-bridge circuit consists of two N-channel MOSFETs, the MOSFETs are driven by a grid driving chip DRV8305, and the BLDC encoder adopts a Hall sensor.
The utility model has the advantages that: the utility model discloses use MCU host system as the core, combine CAN control module, DC/DC voltage reduction module, LDO voltage reduction module, CAN transceiver module, step motor drives control module and BLDC motor and drives control module and constitute many motor control system based on the CAN bus jointly, the shortcoming that just is difficult to maintain consuming time for traditional serial control motor's system, this system CAN be under host system's control, realize the motor module parallel operation simultaneously of multiple difference, and have the characteristics of easy maintenance and easy extension, practical application and spreading value have.
Drawings
FIG. 1 is a schematic diagram of the overall system framework of the present invention;
FIG. 2 is a schematic diagram of the 24V to 5V step-down circuit of the present invention;
FIG. 3 is a schematic diagram of the voltage step-down circuit for converting 5V to 3.3V according to the present invention;
fig. 4 is a schematic circuit diagram of the TAJ1050 chip of the present invention;
fig. 5 is a schematic circuit diagram of a dual H-bridge circuit of the present invention;
fig. 6 is a schematic circuit diagram of the magnetic encoder of the present invention;
fig. 7 is a hall amplifier circuit diagram of the present invention.
Detailed Description
In order to deepen the understanding of the present invention, the following embodiments will be combined to make the present invention do further details, and the present embodiment is only used for explaining the present invention, and does not constitute the limitation of the protection scope of the present invention.
According to the embodiments shown in fig. 1, 2, 3, 4, 5, 6 and 7, the present embodiment provides a CAN-bus-based multi-motor control system, which comprises an MCU main control module, a CAN control module, a DC/DC buck module, an LDO buck module, a CAN transceiver module, a stepping motor drive control module and a BLDC motor drive control module, wherein the MCU main control module is internally integrated with the CAN control module, the DC/DC buck module and the LDO buck module are both connected with the MCU main control module and connected with a working circuit for the MCU main control module to perform buck, the CAN transceiver module is internally installed in the stepping motor drive control module and the BLDC motor drive control module, the stepping motor drive control module and the BLDC motor drive control module are provided with a plurality of sets, the MCU main control module, the stepping motor drive control module and the BLDC motor drive control module are connected through a CAN bus, the MCU main control module issues control commands to the CAN transceiver module through the CAN control module, the CAN transceiver module transmits the received control commands to the CAN bus, the stepping motor drive control module and the BLDC motor drive control module receive control commands through the CAN bus, and making a corresponding response after matching the specified ID in the control command, the control modes of the stepping motor driving and controlling module and the BLDC motor driving and controlling module comprise speed control and position control, the control modes of the stepping motor driving and controlling module and the BLDC motor driving and controlling module and command parameters under the corresponding control modes are configured by a CAN bus, use MCU host system as the core, combine CAN control module, DC/DC voltage reduction module, LDO voltage reduction module, CAN transceiver module, step motor drive control module and BLDC motor drive control module to constitute many motor control system based on the CAN bus jointly, for the shortcoming that traditional serial control motor's system is consuming time and is difficult to maintain.
The MCU master control module adopts an STM32F103ZET6 chip, and has the advantages of high performance, low power consumption, high integration level and various peripherals, and comprises an STM32F103ZET6 minimum system, the MCU master control module draws out CAN _ RX and CAN _ TX of the CAN control module and is connected with the CAN transceiving module, the STM32F103ZET6 minimum system comprises a power supply, a reset circuit, a clock, a Boot start mode selection circuit and a serial port download circuit, the communication of the CAN transceiving module and the MCU master control module is realized by the drawing-out of the CAN _ RX and the CAN _ TX, and the hardware design does not need to be changed due to the addition of nodes of the CAN bus, thereby improving the system expansibility.
The system has the power supply voltage of 24V, the system needs two voltages of 5V and 3.3V, the DC/DC buck module adopts a switch type buck converter chip TPS5430 to realize the large voltage difference voltage stabilization of the MCU main control module from 24V to 5V, the circuit schematic diagram is shown in figure 2, the switch type buck converter chip TPS5430 is used for providing the peak value output current of 4A, the highest conversion efficiency reaches 95%, a high-quality power supply CAN be provided for the CAN transceiver module and the subsequent MCU main control module, the LDO buck module adopts a linear voltage stabilization chip AMS1117-3.3 chip to realize the small voltage difference voltage stabilization of the MCU main control module from 5V to 3.3V, and the circuit schematic diagram is shown in figure 3 and has the advantage of simple circuit structure.
The CAN control module encodes the control command into binary data according to a protocol, the CAN transceiver module converts the binary data into CAN bus physical level, the CAN transceiver module adopts a TAJ1050 chip, and has the characteristics of high transmission rate, electromagnetic interference resistance and short circuit protection, and the circuit schematic diagram of the TAJ1050 chip is shown in FIG. 4.
The step motor driving and controlling module comprises a step motor controller, a step motor driver and a magnetic encoder, wherein the step motor controller adopts ESP32-PICO-D4 AS a control chip and has the characteristics of stable performance, high integration and ultralow power consumption, the step motor controller comprises a minimum system of ESP32 and a CAN transceiving module, the minimum system of ESP32 comprises a power supply circuit, a reset circuit, a Boot selection circuit and a serial port downloading circuit, the ESP32-PICO-D4 chip controls an I/O port to generate PWM (pulse-width modulation) wave to control the step motor driver according to an algorithm, the step motor driver adopts a double H bridge circuit to drive, an H bridge adopts a TB67H 450G chip, a double H bridge circuit diagram is shown in figure 5 and has the functions of multiple working modes, high voltage and high current driving and multiple error detection, the magnetic encoder adopts an AS5600 chip and has the characteristics of no contact, no rotation angle limitation and 12-bit high resolution, and a circuit schematic diagram of the magnetic encoder is shown in figure 6.
The BLDC motor drive control module comprises a BLDC motor controller, a BLDC motor driver and a magnetic encoder, the BLDC motor controller adopts ESP32-PICO-D4 as a main control chip, and has the characteristics of stable performance, high integration and ultralow power consumption, the BLDC motor driver adopts three half-bridge circuits, each half-bridge circuit consists of two N-channel MOSFETs, the withstand voltage value of each MOSFET is 30V, the maximum current is 50A, the electric charge quantity Qg required by the on-grid is only 23nC, the switching loss is small, the MOSFETs are driven by a grid driving chip DRV8305, the BLDC motor drive control module has the characteristics of 4.4V-45V working voltage range, 1.25A/1A peak value grid driver current and PWM input with the highest frequency of 200kHz, the BLDC encoder adopts Hall sensors which are distributed at intervals of 120 degrees, and generate different Hall voltages according to different coil magnetic fields, an operational amplifier samples and amplifies the three Hall voltages, the BLDC motor control module calculates the position of each Hall rotor according to the amplified Hall voltage, the CAN current of the three Hall sensors is fed back to a BLDC motor control module, and the half-bridge current is calculated according to a BLDC motor control diagram 7 shown in the Hall diagram.
In order to facilitate the MCU main control module to uniformly control the initialization of each motor module and avoid the abnormal operation of the system caused by the failed initialization of the motor modules, the system initialization process is designed as follows:
firstly, after the MCU main control module and each motor module are powered on, the running of a program is started, after the MCU main control module enters an initialization program, a restart instruction is issued through a CAN bus, each motor module is restarted after receiving the restart instruction, after the motor modules are restarted successfully, restart success information is sent to the MCU main control module through the CAN bus, the MCU main control module enters a state of receiving a ready-to-run instruction after receiving the successful restart of all the modules, then each motor module enters the ready-to-run state, a ready-to-run instruction is sent to the MCU main control module through the CAN bus and enters the ready-to-run state, after the MCU main control module receives the ready-to-run instruction of all the motor modules, the system running instruction is issued through the CAN bus, and all the motor modules enter the system running state after receiving the system running instruction.
According to the requirement of system architecture design, a communication protocol based on CAN bus standard data frame is designed, the characteristics that the CAN bus standard frame contains an arbitration section and a data section are utilized, the ID information of Zhong Caiduan is utilized to represent the priority of the transmitted data and the unique ID information for identifying each different module, wherein the 8 th byte of the data frame data section is used for representing command information, and the information of each bit is shown in the following table 1:
TABLE 1 Command information Table
As can be taken from table 1 above, bytes 5 to 7 of the data field represent the rotational speed of the motor when the motor is in the position mode. The motor mode is ignored when in the speed mode.
The rotation speed calculation formula: (Unit rad/min)
Speed ((((7 th bit < < 8) | 6 th bit) < < 8) | 5 th bit)/100
In the position mode, the 1 st to 4 th bytes of the data segment are the positions to which the motor rotates.
Position calculation (unit degree):
position = ((((4 th bit < < 8) | 3 rd bit) < < 8) | 2 nd bit) < < 8) | 1 st bit)/100
In the speed mode, bytes 1 to 4 of the data segment are the speed at which the motor rotates.
Velocity calculation (unit rad/min):
speed = ((((4 th bit < < 8) | 3 rd bit) < < 8) | 2 nd bit) < < 8) | 1 st bit)/100.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. A multi-motor control system based on a CAN bus is characterized in that: including MCU host system, CAN control module, DC/DC voltage reduction module, LDO voltage reduction module, CAN transceiver module, step motor drive control module and BLDC motor drive control module, the inside integration of MCU host system has CAN control module, DC/DC voltage reduction module and LDO voltage reduction module all are connected with MCU host system and step down for MCU host system connects working circuit, place step motor drive control module and BLDC motor drive control module in the CAN transceiver module, step motor drive control module and BLDC motor drive control module all are equipped with the multiunit, MCU host system and step motor drive control module and BLDC motor drive control module pass through CAN bus connection, step motor drive control module and BLDC motor drive control module's control mode includes speed control and position control, step motor drive control module and BLDC motor drive control module's control mode and the instruction parameter under the corresponding control mode are configured by the CAN bus.
2. The CAN-bus based multi-motor control system according to claim 1, wherein: the MCU main control module adopts STM32F103ZET6 chip to contain STM32F103ZET6 minimum system, MCU main control module draws CAN _ RX and CAN _ TX of CAN control module and is connected with CAN transceiver module, STM32F103ZET6 minimum system contains power supply, resets, clock, boot start mode selection and serial ports download circuit.
3. The CAN-bus based multi-motor control system according to claim 1, wherein: the DC/DC buck module adopts a switch type buck converter chip TPS5430 to realize large-voltage-difference voltage stabilization from 24V to 5V of the MCU main control module, and the LDO buck module adopts a linear voltage stabilization chip AMS1117-3.3 chip to realize small-voltage-difference voltage stabilization from 5V to 3.3V of the MCU main control module.
4. The CAN-bus based multi-motor control system according to claim 1, wherein: the CAN transceiver module adopts a TAJ1050 chip.
5. The CAN-bus-based multi-motor control system according to claim 1, wherein: the stepping motor drive control module comprises a stepping motor controller, a stepping motor driver and a magnetic encoder, wherein the stepping motor controller adopts ESP32-PICO-D4 AS a control chip, the stepping motor driver adopts a double-H bridge circuit to drive, a TB67H450FNG chip is adopted by an H bridge, and an AS5600 chip is adopted by the magnetic encoder.
6. The CAN-bus based multi-motor control system according to claim 1, wherein: the BLDC motor drive control module comprises a BLDC motor controller, a BLDC motor driver and a magnetic encoder, the BLDC motor controller adopts ESP32-PICO-D4 as a main control chip, the BLDC motor driver adopts three half-bridge circuits, each half-bridge circuit consists of two N-channel MOSFETs, the MOSFETs adopt a gate drive chip DRV8305 to drive, and the BLDC encoder adopts a Hall sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220852241.9U CN217656567U (en) | 2022-04-14 | 2022-04-14 | Multi-motor control system based on CAN bus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220852241.9U CN217656567U (en) | 2022-04-14 | 2022-04-14 | Multi-motor control system based on CAN bus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217656567U true CN217656567U (en) | 2022-10-25 |
Family
ID=83662972
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220852241.9U Active CN217656567U (en) | 2022-04-14 | 2022-04-14 | Multi-motor control system based on CAN bus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217656567U (en) |
-
2022
- 2022-04-14 CN CN202220852241.9U patent/CN217656567U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201509176U (en) | Brushless motor control system and brushless motor | |
| CN101340166B (en) | Communication method for electronic commutation motor controller | |
| CN102777367A (en) | Automobile electronic water pump controller with multiple interfaces | |
| CN203574577U (en) | Brushless direct current motor control system and brushless direct current fan-coil unit | |
| CN206878730U (en) | motor driver | |
| US8650348B2 (en) | Daughter circuit board of an electronically commutated motor for communicating a motor controller with a control system of a user terminal | |
| CN217656567U (en) | Multi-motor control system based on CAN bus | |
| CN204613716U (en) | A kind of interface module of multi-motor driving centralized control system | |
| CN108288929A (en) | The air-conditioner control system in its hotel of the conversion circuit plate and application of BLDC motors | |
| CN202168025U (en) | Electron speed regulator of double-station multi-mode direct current brushless motor | |
| CN107193225A (en) | A kind of industrial equipment intelligence control system | |
| CN209545476U (en) | A kind of DC brushless motor interface signal converts sub- wiring board and motor | |
| CN201557076U (en) | Energy-saving stepping motor driver | |
| CN215072218U (en) | Motor drive module and automatic walking equipment | |
| CN203027182U (en) | Controller of direct-current servo motors | |
| CN107300245B (en) | Air conditioner controller and communication isolation method | |
| CN104410335A (en) | Control circuit and control method of intelligent small-power motor controller | |
| CN212063869U (en) | FOC driving system of direct-current brushless motor | |
| CN214014131U (en) | Hall sensor-free direct-current brushless motor sine wave driving device | |
| CN103023427A (en) | Driver and variable-frequency motor integrated driving system | |
| CN210518029U (en) | Microminiature brushless DC motor integrates driver | |
| CN220137326U (en) | STM 32-based switched reluctance motor speed regulation experiment system | |
| CN215729377U (en) | 4 way motor drive circuit based on STM8S003 series singlechip | |
| CN213937783U (en) | Permanent magnet synchronous motor control system adopting sensorless double-ring starting technology | |
| CN218633462U (en) | Charging system using matrix converter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |