A multi-servo motor control system and method using CAN bus communication

Abstract

The present invention relates to the field of control technology, and in particular to a multi-servo motor control system and method using CAN bus communication, which is used to solve the problem that the existing multi-servo motor control system based on CAN bus communication cannot monitor and analyze the multiple groups of servo motors at the same time through various factors, cannot timely discover abnormal servo motors, and timely shut down and repair them; the multi-servo motor control system is connected with an upper motor control platform and multiple lower servo motors through CAN bus technology, completes high-speed communication with the motor control platform and intelligent control of the servo motors, realizes rapid communication and data interaction between multiple servo motors, and also obtains the operating parameters of each servo motor and obtains the abnormality coefficient according to the operating parameters, thereby realizing precise control and coordinated movement of multiple servo motors, and improving the control accuracy and response speed of the system.

Description

Technical Field

[0001] The present invention relates to the field of control technology, and in particular to a multi-servo motor control system and method using CAN bus communication. Background Art

[0002] A servo motor is an engine that controls the operation of mechanical components in a servo system. It is an indirect speed-changing device that assists the motor. As a serial communication bus that effectively supports step-by-step control, the CAN bus has the advantages of long communication distance, simple structure, and support for multiple working modes. In addition, the CAN standard only defines the physical layer and data link line, but does not regulate the application layer. Users can flexibly design the control layer protocol according to the needs of motor control. The CAN bus uses a short frame structure, and each frame of information has CRC check and other error detection measures. The data error rate is extremely low, and it has high communication reliability.

[0003] The patent with application number CN201810322260.9 discloses a control system for multiple servo motors based on CAN bus communication, which relates to the control field of servo motors. In order to solve the problem that the existing control of servo motors is limited to the motion control of the motors themselves and ignores the feedback information, resulting in the inability to find accumulated errors and affecting the operating accuracy of the equipment, the operation panel is used to input the control signal of the servo motor and send the control signal to the main control module; the main control module is used to receive the control signal and the data information on the CAN bus, which is the parameter information of each group of servo motors feedback, and is used to judge the operating status of the group of servo motors according to the data information, and send the operating status to the liquid crystal display module, and is also used to control the servo motor according to the control signal; the liquid crystal display module is used to display the operating status of each group of servo motors, but there are still the following shortcomings: it is impossible to monitor and analyze multiple groups of servo motors at the same time through multiple factors, it is impossible to timely find abnormal servo motors, and shut them down and repair them in time, and maintaining fault operation for a long time is easy to cause greater economic losses. Summary of the invention

[0004] In order to overcome the above technical problems, the purpose of the present invention is to provide a multi-servo motor control system and method using CAN bus communication: multiple servo motors are connected for communication by using CAN bus communication technology through a CAN bus communication module, a motor control instruction is generated after the communication connection is successfully completed, the servo motor control terminal is controlled to start after the motor control instruction is received through the motor control platform, the user inputs the general control instruction through the servo motor control terminal, and a data acquisition instruction is generated at the same time, and the operating parameters of the acquisition object are acquired after the data acquisition instruction is received through the data acquisition module, wherein the operating parameters include control time value, speed difference value and temperature difference value, an abnormal coefficient is obtained according to the operating parameters through the parameter analysis module, the acquisition object is classified into abnormal object and normal object according to the abnormal coefficient through the motor control platform, an abnormal alarm bell is sounded through the abnormal alarm module, and the abnormal object is sent to the servo motor control terminal for display, which solves the problem that the existing multi-group servo motor control system based on CAN bus communication cannot monitor and analyze multiple groups of servo motors at the same time through multiple factors, cannot timely discover the abnormal servo motor, and timely shut down and repair it, and maintains fault operation for a long time, which is easy to cause greater economic losses.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] A multi-servo motor control system using CAN bus communication, comprising:

[0007] The CAN bus communication module is used to connect multiple servo motors by using the CAN bus communication technology. After the communication connection is successful, the motor control command is generated and sent to the motor control platform. It is also used to obtain the single control command according to the master control command after receiving the master control command, and send the single control command to the servo motor to control the operation of the servo motor.

[0008] The motor control platform is used to control the servo motor control terminal to start after receiving the motor control command. The user inputs the master control command through the servo motor control terminal and sends the master control command to the CAN bus communication module. At the same time, a data acquisition command is generated and sent to the data acquisition module. It is also used to classify the acquisition object i into an abnormal object and a normal object according to the abnormal coefficient YC i;

[0009] The data acquisition module is used to obtain the operating parameters of the acquisition object i after receiving the data acquisition instruction, and send the operating parameters to the parameter analysis module; wherein the operating parameters include the control time value KS, the speed difference value SC and the temperature difference value WC;

[0010] A parameter analysis module is used to obtain an abnormal coefficient YCi according to the operating parameters and send the abnormal coefficient YCi to the motor control platform;

[0011] The abnormal alarm module is used to sound the abnormal alarm bell and send the abnormal object to the servo motor control terminal for display.

[0012] As a further solution of the present invention: the specific process of the data acquisition module acquiring the operating parameters is as follows:

[0013] After receiving the data acquisition instruction, all servo motors are marked as acquisition objects i in sequence, i=1, ..., n, and n is a natural number;

[0014] Get the time when the acquisition object i receives the single control command and the time when the servo motor starts to run, obtain the time difference between the two, and mark it as the control time value KS;

[0015] Obtain the preset speed corresponding to the single control instruction and the average speed of the acquisition object i during operation, obtain the speed difference between the two, and mark it as the speed difference value SC;

[0016] Obtain the operating temperature of all collection objects i in the operating state, and mark them as operating temperature value YW, obtain the average value of all operating temperature values ​​YW, and mark it as average temperature value JW, obtain the difference between the operating temperature value YW and the average temperature value JW, and mark it as temperature difference value WC;

[0017] The control time value KS, speed difference value SC and temperature difference value WC are sent to the parameter analysis module.

[0018] As a further solution of the present invention: the specific process of the parameter analysis module obtaining the abnormal coefficient YCi is as follows:

[0019] Substitute the control time value KS, speed difference value SC and temperature difference value WC into the formula The abnormal coefficient YCi is obtained, where π is a mathematical constant, c1, c2 and c3 are preset weight coefficients of the control time value KS, the speed difference value SC and the temperature difference value WC, respectively, and c1+c2+c3=1, 1>c3>c2>c1>0, c1=0.28, c2=0.35, c3=0.37;

[0020] The abnormal coefficient YC i is sent to the motor control platform.

[0021] As a further solution of the present invention: the specific process of the motor control platform classifying the acquisition object i into abnormal objects and normal objects is as follows:

[0022] Compare the abnormal coefficient YC i with the preset abnormal threshold YCy:

[0023] If the abnormal coefficient YC i≥ the abnormal threshold YCy, the collection object i corresponding to the abnormal coefficient YCi is marked as an abnormal object, and the abnormal object is sent to the abnormal alarm module. At the same time, a general control instruction is generated according to the abnormal object and the shutdown instruction, and the general control instruction is sent to the CAN bus communication module;

[0024] If the abnormal coefficient YCi is less than the abnormal threshold YCy, the acquisition object i corresponding to the abnormal coefficient YCi is marked as a normal object.

[0025] As a further solution of the present invention: a multi-servo motor control method using CAN bus communication comprises the following steps:

[0026] Step S1: The CAN bus communication module uses the CAN bus communication technology to connect multiple servo motors for communication, and marks the servo motors for communication connection as the first servo motor, the second servo motor, ..., the N-1th servo motor and the Nth servo motor in sequence, and generates a motor control instruction when the communication connection is successful, and sends the motor control instruction to the motor control platform;

[0027] Step S2: After receiving the motor control instruction, the motor control platform controls the servo motor control terminal to start. The user inputs the master control instruction through the servo motor control terminal, and sends the master control instruction to the CAN bus communication module. At the same time, a data acquisition instruction is generated, and the data acquisition instruction is sent to the data acquisition module; wherein the master control instruction includes a target instruction and a single control instruction, the target instruction corresponds to a servo motor respectively, and the single control instruction includes a start instruction, a speed adjustment instruction, and a shutdown instruction;

[0028] Step S3: After receiving the master control instruction, the CAN bus communication module obtains the single control instruction according to the master control instruction, and sends the single control instruction to the corresponding servo motor according to the target instruction. After receiving the single control instruction, the servo motor controls the servo motor to run according to the single control instruction;

[0029] Step S4: after receiving the data acquisition instruction, the data acquisition module marks all the servo motors as acquisition objects i in sequence, where i=1, ..., n, and n is a natural number;

[0030] Step S5: The data acquisition module acquires the time when the acquisition object i receives the single control instruction and the time when the servo motor starts to run, obtains the time difference between the two, and marks it as the control time value KS;

[0031] Step S6: The data acquisition module acquires the preset speed corresponding to the single control instruction and the average speed of the acquisition object i during operation, obtains the speed difference between the two, and marks it as the speed difference value SC;

[0032] Step S7: the data acquisition module acquires the operating temperature of all the collection objects i in the operating state, and marks it as the operating temperature value YW, acquires the average value of all the operating temperature values ​​YW, and marks it as the average temperature value JW, acquires the difference between the operating temperature value YW and the average temperature value JW, and marks it as the temperature difference value WC;

[0033] Step S8: The data acquisition module sends the control time value KS, the speed difference value SC and the temperature difference value WC to the parameter analysis module;

[0034] Step S9: The parameter analysis module substitutes the control time value KS, the speed difference value SC and the temperature difference value WC into the formula The abnormal coefficient YCi is obtained, where π is a mathematical constant, c1, c2 and c3 are preset weight coefficients of the control time value KS, the speed difference value SC and the temperature difference value WC, respectively, and c1+c2+c3=1, 1>c3>c2>c1>0, c1=0.28, c2=0.35, c3=0.37;

[0035] Step S10: the parameter analysis module sends the abnormal coefficient YC i to the motor control platform;

[0036] Step S11: the motor control platform compares the abnormal coefficient YCi with the preset abnormal threshold value YCy: if the abnormal coefficient YCi≥the abnormal threshold value YCy, the collection object i corresponding to the abnormal coefficient YCi is marked as an abnormal object, and the abnormal object is sent to the abnormal alarm module, and a general control instruction is generated according to the abnormal object and the shutdown instruction, and the general control instruction is sent to the CAN bus communication module; if the abnormal coefficient YCi<the abnormal threshold value YCy, the collection object i corresponding to the abnormal coefficient YCi is marked as a normal object;

[0037] Step S12: The abnormal alarm module sounds an abnormal alarm bell and sends the abnormal object to the servo motor control terminal for display.

[0038] Beneficial effects of the present invention:

[0039] The present invention discloses a multi-servo motor control system and method using CAN bus communication. A CAN bus communication module uses CAN bus communication technology to connect multiple servo motors for communication. A motor control instruction is generated after the communication connection is successfully completed. After the motor control instruction is received by the motor control platform, the servo motor control terminal is controlled to start. The user inputs a general control instruction through the servo motor control terminal and generates a data acquisition instruction at the same time. After the data acquisition instruction is received by the data acquisition module, the operating parameters of the acquisition object are acquired, wherein the operating parameters include a control time value, a speed difference value, and a temperature difference value. The parameter analysis module obtains an abnormality coefficient according to the operating parameters. The motor control platform classifies the acquisition object into an abnormal object and a normal object according to the abnormality coefficient. The abnormal alarm module sounds an abnormal alarm bell, and sends the abnormal object to the servo motor control module. The terminal is displayed; the multi-servo motor control system is connected to the upper motor control platform and the lower multiple servo motors through the CAN bus technology, completing high-speed communication with the motor control platform and intelligent control of the servo motor, and realizing fast communication and data interaction between multiple servo motors. It also obtains the operating parameters of each servo motor and obtains the abnormality coefficient based on the operating parameters. The abnormality coefficient is used to measure the degree of abnormality of the servo motor, and the larger the abnormality coefficient, the higher the degree of abnormality of the servo motor, and the servo motor fails. Therefore, it is necessary to shut down the faulty servo motor separately and promptly for maintenance, avoiding greater economic losses caused by maintaining the faulty operation, and does not affect the operation of other servo motors, thereby realizing precise control and coordinated movement of multiple servo motors and improving the control accuracy and response speed of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The present invention will be further described below in conjunction with the accompanying drawings.

[0041] Figure 1 The invention discloses a principle block diagram of a multi-servo motor control system using CAN bus communication. DETAILED DESCRIPTION

[0042] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] Embodiment 1:

[0044] See also Figure 1As shown, this embodiment is a multi-servo motor control system using CAN bus communication, including the following modules: CAN bus communication module, motor control platform, data acquisition module, parameter analysis module and abnormal alarm module;

[0045] The CAN bus communication module is used to connect multiple servo motors by using CAN bus communication technology, generate motor control instructions when the communication connection is successful, and send the motor control instructions to the motor control platform; it is also used to obtain single control instructions according to the master control instructions after receiving the master control instructions, and send the single control instructions to the servo motor to control the operation of the servo motor;

[0046] The motor control platform is used to control the servo motor control terminal to start after receiving the motor control instruction. The user inputs the master control instruction through the servo motor control terminal and sends the master control instruction to the CAN bus communication module. At the same time, a data acquisition instruction is generated and sent to the data acquisition module. It is also used to classify the acquisition object i into an abnormal object and a normal object according to the abnormal coefficient YCi;

[0047] The data acquisition module is used to acquire the operating parameters of the acquisition object i after receiving the data acquisition instruction, and send the operating parameters to the parameter analysis module; wherein the operating parameters include the control time value KS, the speed difference value SC and the temperature difference value WC;

[0048] Wherein, the parameter analysis module is used to obtain the abnormal coefficient YCi according to the operating parameters, and send the abnormal coefficient YCi to the motor control platform;

[0049] The abnormal alarm module is used to sound an abnormal alarm bell and send the abnormal object to the servo motor control terminal for display.

[0050] Embodiment 2:

[0051] See also Figure 1 As shown, this embodiment is a multi-servo motor control method using CAN bus communication, comprising the following steps:

[0052] Step S1: The CAN bus communication module uses the CAN bus communication technology to connect multiple servo motors for communication, and marks the servo motors for communication connection as the first servo motor, the second servo motor, ..., the N-1th servo motor and the Nth servo motor in sequence, and generates a motor control instruction when the communication connection is successful, and sends the motor control instruction to the motor control platform;

[0053] Step S2: After receiving the motor control instruction, the motor control platform controls the servo motor control terminal to start. The user inputs the master control instruction through the servo motor control terminal, and sends the master control instruction to the CAN bus communication module. At the same time, a data acquisition instruction is generated, and the data acquisition instruction is sent to the data acquisition module; wherein the master control instruction includes a target instruction and a single control instruction, the target instruction corresponds to a servo motor respectively, and the single control instruction includes a start instruction, a speed adjustment instruction, and a shutdown instruction;

[0054] Step S3: After receiving the master control instruction, the CAN bus communication module obtains the single control instruction according to the master control instruction, and sends the single control instruction to the corresponding servo motor according to the target instruction. After receiving the single control instruction, the servo motor controls the servo motor to run according to the single control instruction;

[0055] Step S4: after receiving the data acquisition instruction, the data acquisition module marks all the servo motors as acquisition objects i in sequence, where i=1, ..., n, and n is a natural number;

[0056] Step S5: The data acquisition module acquires the time when the acquisition object i receives the single control instruction and the time when the servo motor starts to run, obtains the time difference between the two, and marks it as the control time value KS;

[0057] Step S6: The data acquisition module acquires the preset speed corresponding to the single control instruction and the average speed of the acquisition object i during operation, obtains the speed difference between the two, and marks it as the speed difference value SC;

[0058] Step S7: the data acquisition module acquires the operating temperature of all the collection objects i in the operating state, and marks it as the operating temperature value YW, acquires the average value of all the operating temperature values ​​YW, and marks it as the average temperature value JW, acquires the difference between the operating temperature value YW and the average temperature value JW, and marks it as the temperature difference value WC;

[0059] Step S8: The data acquisition module sends the control time value KS, the speed difference value SC and the temperature difference value WC to the parameter analysis module;

[0060] Step S9: The parameter analysis module substitutes the control time value KS, the speed difference value SC and the temperature difference value WC into the formula The abnormal coefficient YCi is obtained, where π is a mathematical constant, c1, c2 and c3 are preset weight coefficients of the control time value KS, the speed difference value SC and the temperature difference value WC, respectively, and c1+c2+c3=1, 1>c3>c2>c1>0, c1=0.28, c2=0.35, c3=0.37;

[0061] Step S10: the parameter analysis module sends the abnormal coefficient YC i to the motor control platform;

[0062] Step S11: the motor control platform compares the abnormal coefficient YCi with the preset abnormal threshold value YCy: if the abnormal coefficient YCi≥the abnormal threshold value YCy, the collection object i corresponding to the abnormal coefficient YCi is marked as an abnormal object, and the abnormal object is sent to the abnormal alarm module, and a general control instruction is generated according to the abnormal object and the shutdown instruction, and the general control instruction is sent to the CAN bus communication module; if the abnormal coefficient YCi<the abnormal threshold value YCy, the collection object i corresponding to the abnormal coefficient YCi is marked as a normal object;

[0063] Step S12: The abnormal alarm module sounds an abnormal alarm bell and sends the abnormal object to the servo motor control terminal for display.

[0064] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0065] The above contents are merely examples and explanations of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the invention or exceed the scope defined by the claims, they shall all fall within the protection scope of the present invention.

Claims

1. A multi-servo motor control system using CAN bus communication, characterized in that: include: The CAN bus communication module is used to connect multiple servo motors by using the CAN bus communication technology. After the communication connection is successful, the motor control command is generated and sent to the motor control platform. It is also used to obtain the single control command according to the master control command after receiving the master control command, and send the single control command to the servo motor to control the operation of the servo motor. The motor control platform is used to control the servo motor control terminal to start after receiving the motor control command. The user inputs the master control command through the servo motor control terminal and sends the master control command to the CAN bus communication module. At the same time, a data acquisition command is generated and sent to the data acquisition module. It is also used to classify the collected objects into abnormal objects and normal objects according to the abnormal coefficient; The data acquisition module is used to obtain the operating parameters of the acquisition object after receiving the data acquisition instruction, and send the operating parameters to the parameter analysis module; wherein the operating parameters include the control time value, the speed difference value and the temperature difference value; the specific process of the data acquisition module obtaining the operating parameters is as follows: After receiving the data acquisition instruction, all servo motors are marked as acquisition objects in sequence; Get the time when the acquisition object receives the single control command and the time when the servo motor starts to run, obtain the time difference between the two, and mark it as the control time value; Obtain the preset speed corresponding to the single control instruction and the average speed of the acquisition object during operation, obtain the speed difference between the two, and mark it as the speed difference value; Obtain the operating temperature of all collection objects in the operating state and mark them as operating temperature values, obtain the average value of all operating temperature values ​​and mark it as average temperature value, obtain the difference between the operating temperature value and the average temperature value and mark it as temperature difference value; Send the control time value, speed difference value and temperature difference value to the parameter analysis module; A parameter analysis module, used for obtaining abnormal coefficients according to operating parameters and sending the abnormal coefficients to the motor control platform; The abnormal alarm module is used to sound the abnormal alarm bell and send the abnormal object to the servo motor control terminal for display.

2. A multi-servo motor control system using CAN bus communication according to claim 1, characterized in that: The specific process of obtaining the abnormal coefficient by the parameter analysis module is as follows: The control time value, speed difference value and temperature difference value are analyzed to obtain the abnormal coefficient; Send the abnormal coefficients to the motor control platform.

3. A multi-servo motor control system using CAN bus communication according to claim 1, characterized in that: The specific process of the motor control platform classifying the collected objects into abnormal objects and normal objects is as follows: Compare the anomaly coefficient with the preset anomaly threshold: If the abnormal coefficient is greater than or equal to the abnormal threshold, the collection object corresponding to the abnormal coefficient is marked as an abnormal object, and the abnormal object is sent to the abnormal alarm module. At the same time, a general control instruction is generated according to the abnormal object and the shutdown instruction, and the general control instruction is sent to the bus communication module; If the abnormal coefficient is less than the abnormal threshold, the collection object corresponding to the abnormal coefficient is marked as a normal object.

4. A multi-servo motor control method using CAN bus communication, characterized in that: The following steps are involved: Step S1: The CAN bus communication module uses the CAN bus communication technology to connect multiple servo motors for communication, and marks the servo motors for communication connection as the first servo motor, the second servo motor, ..., the N-1th servo motor and the Nth servo motor in sequence, and generates a motor control instruction when the communication connection is successful, and sends the motor control instruction to the motor control platform; Step S2: After receiving the motor control instruction, the motor control platform controls the servo motor control terminal to start. The user inputs the master control instruction through the servo motor control terminal, and sends the master control instruction to the CAN bus communication module. At the same time, a data acquisition instruction is generated, and the data acquisition instruction is sent to the data acquisition module; wherein the master control instruction includes a target instruction and a single control instruction, the target instruction corresponds to a servo motor respectively, and the single control instruction includes a start instruction, a speed adjustment instruction, and a shutdown instruction; Step S3: After receiving the master control instruction, the CAN bus communication module obtains the single control instruction according to the master control instruction, and sends the single control instruction to the corresponding servo motor according to the target instruction. After receiving the single control instruction, the servo motor controls the servo motor to run according to the single control instruction; Step S4: after receiving the data acquisition instruction, the data acquisition module marks all servo motors as acquisition objects in sequence; Step S5: The data acquisition module acquires the time when the acquisition object receives the single control instruction and the time when the servo motor starts to run, obtains the time difference between the two, and marks it as the control time value; Step S6: The data acquisition module acquires the preset speed corresponding to the single control instruction and the average speed of the acquisition object during operation, obtains the speed difference between the two, and marks it as the speed difference value; Step S7: the data acquisition module acquires the operating temperature of all the collection objects in the operating state and marks it as the operating temperature value, acquires the average value of all the operating temperature values ​​and marks it as the average temperature value, acquires the difference between the operating temperature value and the average temperature value and marks it as the temperature difference value; Step S8: The data acquisition module sends the control time value, speed difference value and temperature difference value to the parameter analysis module; Step S9: the parameter analysis module analyzes the control time value, speed difference value and temperature difference value to obtain an abnormal coefficient; Step S10: the parameter analysis module sends the abnormal coefficient to the motor control platform; Step S11: the motor control platform compares the abnormal coefficient with the preset abnormal threshold: if the abnormal coefficient is greater than or equal to the abnormal threshold, the collection object corresponding to the abnormal coefficient is marked as an abnormal object, and the abnormal object is sent to the abnormal alarm module, and a general control instruction is generated according to the abnormal object and the shutdown instruction, and the general control instruction is sent to the bus communication module; if the abnormal coefficient is less than the abnormal threshold, the collection object corresponding to the abnormal coefficient is marked as a normal object; Step S12: The abnormal alarm module sounds an abnormal alarm bell and sends the abnormal object to the servo motor control terminal for display.

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