CAN real-time measurement and control platform for loader electric drive system

Abstract

The utility model provides a CAN real-time measurement and control platform used for a loader electric drive system, which is composed of an inverted pendulum test platform, an angle encoder, a servo motor, a drive swing rod, a motion control card, a CAN bus module, a motor driver and a PC machine, the CAN bus module comprises two CAN nodes, the two CAN nodes are connected in series, the PC machine is in bidirectional connection with the motion control card, and the motor driver is connected with the motion control card. The input end of the motion control card is connected with the output end of the second CAN node through a PCI interface, the motion control card is in bidirectional connection with the motor driver, the motor driver is in bidirectional connection with the servo motor, the servo motor is in bidirectional connection with the inverted pendulum test platform, and the output end of the inverted pendulum test platform and the output end of the driving swing rod are connected with the input end of the angle encoder. And the angle encoder is bidirectionally connected with the first CAN node. According to the utility model, a scientific basis is provided for CAN network control and application of the loader electric drive system, and the loader electric drive system has significant use value and social and economic benefits.

Description

Technical Field

[0001] This utility model belongs to the field of control and testing technology of electric drive system for engineering machinery, specifically relating to a CAN real-time measurement and control platform for electric drive system of loader. Background Technology

[0002] Loaders, as important construction machinery widely used in construction projects, traditionally rely on hydraulic transmission for their drive systems. While this method offers some adaptability, it suffers from low transmission efficiency, significant energy loss, and severe environmental pollution. With global energy shortages and increasing environmental awareness, electric drive technology is gradually becoming a crucial development direction for loader drive systems. Among electric-driven loaders, wheel-side electric drive systems have attracted considerable attention due to their compact structure, high transmission efficiency, and flexible control. By mounting the motor directly near the wheel, wheel-side electric drive systems eliminate traditional mechanical transmission components such as clutches, gearboxes, drive shafts, and differentials, thus simplifying the transmission system and improving its reliability and efficiency.

[0003] In network control systems, dynamic units coordinate their operation through network communication. Compared to traditional control systems, network systems enable information resource sharing, remote operation, and offer advantages such as time savings, ease of operation, simple installation and maintenance, and low cost. As a special type of network control system, the vehicle-mounted bus network system solves the problems associated with point-to-point wiring in automobiles, and further standardizes and normalizes vehicle wiring, reducing costs and enhancing stability. To ensure the network control system provides stable operation, reliability, and real-time performance on the loader, a CAN bus-based vehicle-mounted network control platform was designed and applied to the loader's electric drive system.

[0004] Currently, there are few solutions related to CAN network control systems for loader electric drive systems. Patent CN119434362A provides a loader loading and unloading cooperative energy adaptive control method based on operation stage identification. It identifies the current operation stage by collecting the loader's overall vehicle status signals from sensors and controllers, and automatically matches the corresponding operation mode, controlling the boom and bucket to autonomously complete the corresponding actions. However, it still uses a hydraulic drive system to control the boom and bucket, and does not focus on electric drive technology. Patent CN116009507A provides a VCU (Vehicle Control Unit) control method for electric loaders. It receives the power-on signal from the electric loader through the vehicle controller and collects the electric loader's safety signals, performing fault detection based on the safety signals. However, it does not conduct various reliability and real-time tests on the application of the CAN bus to this electric loader. Summary of the Invention

[0005] This invention aims to address the lack of a dedicated CAN network control and real-time performance testing platform for loader electric drive systems in the existing technology. It provides a CAN real-time measurement and control platform for loader electric drive systems. This platform can accurately simulate the actual working conditions of the loader and comprehensively evaluate the real-time performance and stability of the CAN network to ensure the reliable operation of the loader electric drive system.

[0006] This utility model proposes a CAN real-time measurement and control platform for a loader's electric drive system, comprising an inverted pendulum test platform, an angle encoder, a servo motor, a drive pendulum, a motion control card, a CAN bus module, a motor driver, and a PC. The CAN bus module includes two CAN nodes, with the first and second CAN nodes connected in series. The PC is bidirectionally connected to the motion control card. The input terminal of the motion control card is connected to the output terminal of the second CAN node via a PCI interface. The motion control card is bidirectionally connected to the motor driver, the motor driver is bidirectionally connected to the servo motor, the servo motor is bidirectionally connected to the inverted pendulum test platform, and the output terminals of the inverted pendulum test platform and the drive pendulum are respectively connected to the input terminals of the angle encoder. The angle encoder is bidirectionally connected to the first CAN node.

[0007] In this invention, the inverted pendulum test platform is equipped with a guide rail, the trolley is placed on the guide rail, and the trolley can move back and forth on the guide rail. One end of the driving pendulum rod is inserted into the trolley.

[0008] In this invention, the angle encoder is placed on an inverted pendulum test platform.

[0009] In this invention, a servo motor is connected to the trolley. The servo motor can convert electrical energy into mechanical energy, drive the trolley to move along the track, and thus drive the pendulum to swing.

[0010] In this invention, the motion control card exchanges data with the PC via the PCI interface using information from the CAN bus, and simultaneously transmits the PC's drive commands to the motor driver, thus serving as a bridge connecting the PC and the motor driver.

[0011] In this invention, the output terminal of the angle encoder is connected to the input terminal of the oscilloscope, and the input terminal of the oscilloscope is connected to the output terminal of the second CAN node.

[0012] In this invention, the PC outputs control commands to the motor driver via a motion control card.

[0013] In this invention, the angle encoder measures the angle of the drive lever relative to the vertical direction in real time. By converting the mechanical angle of the drive lever into an electrical signal, the angle encoder provides the control system with precise position information of the drive lever.

[0014] In this invention, the CAN bus module contains two CAN nodes. One CAN node receives the angle feedback signal from the angle encoder and sends the signal as bits to the CAN bus. The other CAN node receives the signal from the bus and transmits it to the motion control card. The CAN bus module is a sensor with CAN communication capabilities; it encodes and sends the angle encoder signal to the CAN bus, and can also receive and decode it.

[0015] The beneficial effects of this utility model are as follows:

[0016] 1. Improved testing accuracy: This invention can effectively simulate the actual working conditions of a loader, comprehensively evaluate the real-time performance and stability of the CAN network, and provide reliable data support for the development and optimization of the CAN network control system of the loader's electric drive system.

[0017] 2. Enhance system reliability: By testing the fault tolerance of the CAN network and the reliability of the system in the inverted pendulum experiment, which has higher real-time requirements than that of the loader, it helps to improve the stable operation of the loader's electric drive system under complex working conditions, while expanding the applicability of working conditions, and providing a solid foundation for the design and application of CAN network control for the loader's electric drive system.

[0018] 3. Optimize system design: Real-time performance test results provide a basis for optimizing the design of the loader's electric drive system, which helps to optimize the loader's structure, improve communication efficiency, and reduce system costs.

[0019] In summary, this invention not only verifies the reliability of CAN network control in loader electric drive systems, but also demonstrates the real-time performance of CAN network control systems in loader applications. Furthermore, it provides a scientific basis for the CAN network control and application of loader electric drive systems, demonstrating significant practical value and socio-economic benefits. Attached Figure Description

[0020] Figure 1 This is a diagram of the network control system for an inverted pendulum.

[0021] The numbers in the diagram are as follows: 1 is the inverted pendulum test platform, 2 is the angle encoder, 3 is the PC, 4 is the motion control card, 5 is the CAN bus module, 6 is the motor driver, 7 is the servo motor, 8 is the drive pendulum rod, and 9 is the oscilloscope. Detailed Implementation

[0022] The present invention will be further described below with reference to the embodiments and accompanying drawings.

[0023] Example 1: A CAN real-time measurement and control platform for a loader electric drive system includes: an inverted pendulum test platform 1, a servo motor 7, a drive pendulum 8, a motion control card 4, a CAN bus module 5 (containing two CAN nodes), an angle encoder 2, a PC 3, and an oscilloscope 9. The PC 3 is connected to the motor driver 6 through the motion control card 4, thereby controlling the movement of the servo motor 7. The servo motor 7 drives the trolley to move on the inverted pendulum test platform 1 and drives the drive pendulum 8 to swing. The angle information is then fed back through the angle encoder 2, and the oscilloscope 9 captures and measures the sampling signal. This information is then transmitted to the motion control card 4 through the CAN bus module 5 (including two CAN nodes) to form a closed-loop control system.

[0024] The working process of this utility model is as follows: Figure 1 As shown, an inverted pendulum test platform 1, including a linear guide rail, a moving trolley, a drive pendulum rod 8, and an angle encoder 2, was first constructed and connected to a CAN bus module 5 to transmit angle signals. Subsequently, different transmission rates of the CAN bus module 5 were set, and the transmission delay of the angle signals was captured using an oscilloscope 9. Finally, the swing behavior and system response were recorded to evaluate the real-time performance and stability of the CAN bus module 5.

[0025] 1. Experimental preparation: Install the inverted pendulum test platform 1 on the experimental table, ensuring that the guide rail is horizontal and the trolley and drive pendulum rod 8 can move freely.

[0026] 2. Experimental Installation: Connect the CAN bus module to the inverted pendulum system to ensure that the angle encoder signal can be transmitted through the CAN bus. At the same time, connect the motion control card to the PC to ensure that the PC can control the motor driver.

[0027] 3. Parameter Settings: Set the initial parameters of the inverted pendulum system, including the mass of the trolley, the mass of the pendulum rod, the coefficient of friction, the length of the pendulum rod, and the moment of inertia; set the transmission rate of the CAN bus and test the performance at four rates: 125 kb / s, 250 kb / s, 500 kb / s, and 1000 kb / s; set the sampling period of the angle encoder to 0.005 seconds.

[0028] 4. Data measurement of the CAN network control test platform for the loader's electric drive system:

[0029] (1) Angle signal sampling: Start the inverted pendulum test platform and make the drive pendulum swing near the vertical direction. The angle encoder collects the angle signal of the pendulum in real time.

[0030] (2) Signal transmission: The angle signal is transmitted to the motion control card through the CAN bus module, and the motion control card transmits the signal to the PC. (3) Data recording: The angle signal and the signal after transmission through the CAN bus are captured using an oscilloscope, and the time delay between the two signals is recorded.

[0031] (4) System response: The PC outputs control commands through the motion control card based on the received angle signal, drives the motor to adjust the position of the trolley, and keeps the swing arm near the vertical direction.

[0032] Data sampling and analysis:

[0033] (1) Delay measurement: The delay of the angle signal before and after transmission on the CAN bus is measured by oscilloscope, and the maximum delay under different transmission rates is calculated.

[0034] (2) Stability assessment: Observe the swing of the inverted pendulum at different transmission rates and record the stability and response energy of the system.

[0035] (3) Simulation comparison: The simulation model of the inverted pendulum system was built using Matlab / Simulink. The system performance under different transmission rates was simulated, and the simulation results were compared with the experimental results.

Claims

1. A CAN real-time monitoring and control platform for an electric drive system of a loader, comprising an inverted pendulum test platform, an angle encoder, a servo motor, a driven swing rod, a motion control card, a CAN bus module, a motor driver and a PC, characterized in that: The CAN bus module comprises two CAN nodes, a first CAN node and a second CAN node connected in series, a PC connected with a motion control card in a bidirectional mode, an input end of the motion control card connected with an output end of the second CAN node through a PCI interface, the motion control card connected with a motor driver in a bidirectional mode, the motor driver connected with a servo motor in a bidirectional mode, the servo motor connected with an inverted pendulum test platform in a bidirectional mode, the inverted pendulum test platform and an output end of a driving swing rod connected with input ends of angle encoders respectively, and the angle encoders connected with the first CAN node in a bidirectional mode.

2. The CAN real-time measurement and control platform for the electric drive system of a loader according to claim 1, characterized in that: The inverted pendulum test platform is provided with a guide rail, a trolley is placed on the guide rail, and the trolley can move back and forth on the guide rail, and one end of the driving swing rod is inserted into the trolley.

3. The CAN real-time measurement and control platform for the electric drive system of a loader according to claim 1, characterized in that: The angle encoders are placed on the inverted pendulum test platform.

4. The CAN real-time measurement and control platform for the electric drive system of a loader according to claim 1, characterized in that: The servo motor is connected with the trolley, the servo motor can convert electric energy into mechanical energy to drive the trolley to move along the track, thereby driving the driving swing rod to swing.

5. The CAN real-time measurement and control platform for the electric drive system of a loader according to claim 1, characterized in that: An output end of the angle encoders is connected with an input end of an oscilloscope, and the input end of the oscilloscope is connected with an output end of the second CAN node.

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