Control system and method based on EtherCAT communication and double-shaft driving control device

A control system and controller technology, applied in the control system, motor speed or torque control, program control manipulator, etc., can solve the problems of complex internal structure of the steering wheel, unfavorable testing and error checking, complex communication control programs, etc. , to achieve synchronous real-time control, high bandwidth utilization, and strong anti-interference ability

Pending Publication Date: 2022-06-24
山东新松工业软件研究院股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For the upper controller of the mobile robot, it is necessary to send commands to the upper computer through two control buses to the traction and steering control systems respectively, which makes the internal structure of the steering wheel complicated and chaotic, which is not conducive to testing and troubleshooting because of its many peripheral circuits and cables. , complex wiring leads to low reliability
At the same time, it also makes the communication control program of the upper computer complicated, at least two communication cycles are required, and instructions are sent to the two separately, the real-time performance decreases, and the communication delay increases

Method used

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  • Control system and method based on EtherCAT communication and double-shaft driving control device
  • Control system and method based on EtherCAT communication and double-shaft driving control device
  • Control system and method based on EtherCAT communication and double-shaft driving control device

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Embodiment 1

[0039] According to an embodiment of the present invention, a control system based on EtherCAT communication is provided, see figure 1 and figure 2 , including: master station and slave station, data communication between master station and slave station through EtherCAT bus, data includes control instructions;

[0040] The master station includes an upper controller, and the upper controller is used to send control commands to the slave stations, and the control commands include speed commands and angular position commands;

[0041] The slave station includes a dual-axis servo driver and a servo motor, and the servo motor includes a steering motor and a traction motor. The dual-axis servo driver receives control commands and controls the traction motor and steering motor to rotate according to the control commands;

[0042] The dual-axis servo driver is also used to collect the speed and angular position of the steering motor and traction motor, and feed back the speed and ...

Embodiment 2

[0053] According to another embodiment of the present invention, a control method based on EtherCAT communication is provided, see image 3 and Figure 4 , including the following steps:

[0054] S101: The upper-level controller outputs control commands to the dual-axis servo driver through the EthertCAT bus, and the control commands include speed commands and angular position commands;

[0055] S102: The dual-axis servo driver controls the rotation of the traction motor and the steering motor according to the control command;

[0056] S103: The double-axis servo driver collects the rotational speed and angular position of the traction motor and the steering motor;

[0057] S104: Feedback the collected speed and angular position of the traction motor and the steering motor to the upper-level controller through the EthertCAT bus.

[0058] In this embodiment, based on EtherCAT, the present invention realizes data communication between the upper-layer controller and the dual-a...

Embodiment 3

[0069] According to another embodiment of the present invention, a dual-axis drive control device is provided, see Figure 5 , including: including: biaxial servo driver 1, steering gear 2, bearing seat 3, steering motor 4 and traction motor 5 distributed in sequence; biaxial servo driver 1 respectively controls the rotation of traction motor 5 and steering motor 4 at the same time; traction motor An incremental encoder for feeding back the rotational speed and angular position of the traction motor 5 is installed on 5 , and an absolute encoder for feeding back the rotational speed and angular position of the steering motor 4 is installed on the steering motor 4 .

[0070] In this embodiment, the driving device in this design includes a traction motor 5 and a steering motor 4; the traction motor 5 adopts an incremental encoder as a feedback device for position and speed, and is installed at the tail of the motor; the steering motor 4 adopts an absolute encoder. As a position f...

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Abstract

The invention relates to the field of robot control, in particular to a control system and method based on EtherCAT communication and a double-shaft driving control device, and the system comprises a master station and a slave station which are in data communication through an EtherCAT bus; the master station comprises an upper-layer controller, the upper-layer controller is used for outputting control instructions to the slave station, and the control instructions comprise a speed instruction and an angle position instruction; the slave station comprises a double-shaft servo driver with an EtherCAT network interface and a servo motor, the servo motor comprises a steering motor and a traction motor, and the double-shaft servo driver receives the control instruction and controls the traction motor and the steering motor to operate; the double-shaft servo driver is further used for collecting the speed and angle positions of the steering motor and the traction motor and feeding the speed and angle positions back to the upper-layer controller through the EtherCAT bus. Control instructions can be sent to the traction motor and the steering motor at the same time, the communication delay time is shortened, and the dynamic response capacity and the data transmission capacity of the whole control system are improved.

Description

technical field [0001] The invention relates to the field of robot control, in particular, to a control system, method and dual-axis drive control device based on EtherCAT communication. Background technique [0002] In smart factories and smart logistics, mobile robots are an important part of them. It can easily replace manual repetitive handling work, not only saves labor costs, but also has strong setup flexibility, does not occupy a fixed floor area, and can make reasonable use of channels, etc. Space utilization is the top priority of future manufacturing research and has a very broad application prospect. [0003] The mobile robot consists of three major parts: drive system, laser guidance (magnetic guidance) system and control system. Among them, the drive system accounts for the largest proportion of the cost. The steering wheel is used as the driving and steering execution component of the mobile robot; in the existing steering wheel drive structure, it is divide...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P5/00B25J9/16
CPCH02P5/00B25J9/161B25J9/1628
Inventor 栾显晔刘洋赵晨宛月王冬雷马壮
Owner 山东新松工业软件研究院股份有限公司
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