Motor communication control system based on Modbus-RTU protocol
By introducing monitoring access registers and processing units into the Modbus-RTU protocol motor control system, the marked data of preset rules is used to determine communication abnormalities and perform emergency risk avoidance operations, the safety hazards in communication failures are solved and the system is improved Anti-interference performance.
Patent Information
- Application Number
- CN202420622502.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-28
- Publication Date
- 2024-12-20
- Estimated Expiration
- 2034-03-28
AI Technical Summary
The existing Modbus-RTU protocol motor control system lacks disconnect detection and processing mechanisms when serial communication failures, which makes it difficult for the slave to make emergency avoidance actions when communication failures, posing a safety hazard.
By introducing monitoring access registers and processing units into the slave, the host generates mark data with changes in preset rules, the slave monitors mark data changes to judge communication connection abnormalities, and generates a driving signal to perform emergency risk avoidance operations to ensure that in the event of communication failure Can promptly remove the motor movement state.
It improves the anti-interference performance of the system, ensures that hazards can be avoided in time when communication failures are made, avoids the motor's continuous execution of wrong commands, and reduces safety hazards.
Smart Images
Figure CN222215765U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of motor control, and in particular to a motor communication control system based on the Modbus-RTU protocol. Background Art
[0002] At present, in the field of motor control, the form of host and slave is usually used for control, in which the motor belongs to the slave, which receives and executes the operation instructions such as whether to rotate, rotation speed, etc. sent by the host communication. The host and the slave usually use the standard communication protocol Modbus_RTU based on serial transmission on the 485 hardware link for communication. This communication method only allows one host and multiple slaves with different address numbers. The host sends control instructions to the corresponding slave through the address number of the slave. The slave parses and processes the control instructions according to its own address number and returns a feedback signal. The host then confirms whether the slave is executed based on the feedback signal.
[0003] However, the serial communication between the above-mentioned host and slave is easily subject to external interference, such as accidental disconnection of the communication cable, and the Modbus_RTU protocol processing does not have a disconnection detection and processing mechanism. Therefore, when the serial communication fails, it is difficult for the motor at the slave to make an emergency avoidance action and it will still execute the previous action, thus posing a safety hazard. Utility Model Content
[0004] In order to ensure that in a motor control system using the Modbus-RTU protocol, the motor as a slave can automatically and timely perform emergency avoidance actions when a communication failure occurs, the present application provides a motor communication control system based on the Modbus-RTU protocol.
[0005] The present application provides a motor communication control system based on the Modbus-RTU protocol, which adopts the following technical solutions:
[0006] A motor communication control system based on the Modbus-RTU protocol, the motor communication control system comprising a host and a slave, the slave comprising a monitoring access register, a processing unit and an execution unit;
[0007] The host and the slave establish a communication connection based on the Modbus-RTU protocol to transmit the tag data that changes according to a preset rule to the monitoring access register for storage, the processing unit is electrically connected to the monitoring access register to generate a first drive signal or a second drive signal according to monitoring the tag data, and the execution unit is electrically connected to the processing unit to perform a first normal operation according to the first drive signal or a second alarm operation according to the second drive signal, and the second alarm operation includes releasing the motor motion state.
[0008] By adopting the above technical solution, the host generates tag data whose content changes at all times according to a preset rule, and then transmits the tag data to the monitoring access register of the slave. The slave directly monitors whether the tag data has changed to indirectly determine whether the communication connection between the host and the slave is abnormal. If it is abnormal, the tag data content in the monitoring access register will not change. If it is normal, the tag data content in the monitoring access register will change. After the slave determines that the communication connection between itself and the host is abnormal through the processing unit, it directly generates a second drive signal to perform a second alarm operation to achieve emergency avoidance of the slave. After the slave determines that the communication connection between itself and the host is normal through the processing unit, it generates a first drive signal to perform the first normal operation corresponding to other instructions sent by the host at the same time.
[0009] Optionally, the marking data is data generated at a first preset time interval and conforms to a basic rule, the first drive signal is generated when the processing unit checks that the marking data in the monitoring access register conforms to the basic rule at a second preset time interval, and the second drive signal is generated when the processing unit checks that the marking data in the monitoring access register does not conform to the basic rule at a second preset time interval.
[0010] By adopting the above technical solution, the tag data changes at a first preset time interval. The processing unit directly determines whether the change of the tag data corresponds to the host based on whether the change of the tag data in the monitoring access register conforms to the basic rules. When there is a communication anomaly between the host and the slave and the data flow is chaotic, it can also be screened out to improve the overall anti-interference performance of the system.
[0011] Optionally, the host includes a signal generating unit and a signal sending unit, and the slave also includes a signal receiving unit and a timing unit; the input end of the signal sending unit is electrically connected to the output end of the signal generating unit, the output end of the signal sending unit is communicatively connected to the input end of the signal receiving unit, and the output end of the signal receiving unit is electrically connected to the input end of the monitoring access register, wherein the signal sending unit forwards the tag data to the signal receiving unit to store it in the monitoring access register;
[0012] The processing unit has a first input terminal, a second input terminal and a third output terminal. The first input terminal is electrically connected to the output terminal of the timing unit to receive a prompt signal generated by the timing unit according to a second preset time interval. The second input terminal is electrically connected to the output terminal of the monitoring access register to access the tag data in the monitoring access register according to the prompt signal. The third output terminal is electrically connected to the execution unit to generate a first drive signal when the tag data conforms to the basic rule, and to generate a second drive signal when the tag data does not conform to the basic rule.
[0013] Optionally, the second preset time interval is greater than or equal to the first preset time interval.
[0014] By adopting the above technical solution, the second preset time interval is greater than or equal to the first preset time interval, ensuring that the marked data undergoes a data change during each second preset time interval.
[0015] Optionally, the basic rule is increasing or decreasing.
[0016] By adopting the above technical solution, the increasing or decreasing data ensures that the two marking data in adjacent first preset time intervals are different, thereby enhancing the accuracy of the processing unit in judging whether the marking data has changed, and the increasing or decreasing mechanism can also be used to push out the amount of delay in the data transmission process.
[0017] Optionally, the host also includes a timeout judgment setting unit, and the slave also includes a disconnection timeout register; the input end of the disconnection timeout register is communicatively connected to the output end of the timeout judgment setting unit to store the second preset time interval generated by the timeout judgment setting unit, and the input end of the timing unit is electrically connected to the output end of the disconnection timeout register to generate the prompt signal according to the second preset time interval.
[0018] By adopting the above technical solution, the host sets the second preset time interval in the disconnection timeout register of the slave through the timeout judgment setting unit, and the timing unit generates a prompt signal according to the second preset time interval in the disconnection timeout register to prompt the processing unit to judge the tag data in the monitoring access register to generate the first drive signal or the second drive signal. In this case, the host belonging to the Modbus-RTU protocol communication system can uniformly set the second preset time interval for all slaves, reducing the workload of the staff to configure the second drive signals of all slaves separately, and improving work efficiency.
[0019] Optionally, the signal sending unit and the signal receiving unit are both 485 communication interfaces.
[0020] Optionally, the execution unit includes a normal drive subunit and a normal feedback subunit, the normal drive subunit is electrically connected to the motor to control the motor to respond to a work instruction from the host according to the first drive signal, and the normal feedback subunit is communicatively connected to the host to feed a response signal to the host according to the first drive signal.
[0021] By adopting the above technical solution, when the normal driving subunit receives the first driving signal, it controls the motor to execute the working instruction sent by the host, that is, normally executes the start, stop, speed change, position change, etc. corresponding to the working instruction. At the same time, the normal feedback subunit feeds a response signal to the host so that the host knows that the slave at the current address is operating normally.
[0022] Optionally, the execution unit includes an emergency pause subunit and an alarm subunit, the emergency pause subunit is electrically connected to the motor to emergency control the motor to stop working according to the second drive signal, and the alarm subunit is electrically connected to the processing unit to alarm according to the second drive signal.
[0023] By adopting the above technical solution, the emergency stop subunit controls the motor to release the motion state when receiving the second drive signal, and the motor stops working. At the same time, the alarm subunit issues an alarm to realize the alarm, so as to remind the staff of the current slave failure.
[0024] In summary, the present application includes at least one of the following beneficial technical effects:
[0025] 1. The host generates tag data whose content changes at all times according to a preset rule, and then transmits the tag data to the monitoring access register of the slave. The slave directly monitors whether the tag data has changed to indirectly determine whether there is an abnormality in the communication connection between the host and the slave. If the judgment result is abnormal, the second alarm operation is performed to urgently release the motor's motion state to prevent the motor from continuing to execute the previous instruction.
[0026] 2. The tag data changes at a first preset time interval. The processing unit directly monitors whether the change of the tag data in the access register conforms to the basic rule to determine whether the change of the tag data corresponds to the host, thereby improving the overall anti-interference performance of the system. BRIEF DESCRIPTION OF THE DRAWINGS
[0027] Figure 1 It is a structural schematic diagram of a motor communication control system based on the Modbus-RTU protocol provided by the utility model;
[0028] Figure 2 yes Figure 1 Schematic diagram of the working process of the master and slave.
[0029] Description of reference numerals:
[0030] 100. Motor communication control system; 11. Host; 111. Signal generating unit; 112. Signal sending unit; 113. Timeout judgment setting unit; 12. Slave; 121. Signal receiving unit; 122. Monitor access register; 123. Timing unit; 124. Processing unit; 125. Execution unit; 126. Disconnection timeout register; 127. Motor; 1251. Normal drive subunit; 1252. Normal feedback subunit; 1253. Emergency pause subunit; 1254. Alarm subunit. DETAILED DESCRIPTION
[0031] The present application is further described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.
[0032] In the following description, for the purpose of explanation, many specific details are set forth in order to provide a thorough understanding of the utility model concept. As part of this specification, some of the drawings of the present disclosure represent structures and devices in the form of block diagrams to avoid making the disclosed principles complicated and difficult to understand. For the sake of clarity, not all features of the actual implementation are necessarily described.
[0033] Unless expressly limited, the terms "a", "an" and "the" are not intended to refer to a singular entity, but include a general class of which a specific example may be used for illustration. Thus, the use of the terms "a" or "an" may mean any number of at least one, including "one", "one or more", "at least one" and "one or more than one". The term "or" means any of the alternatives and any combination of the alternatives, including all alternatives, unless the alternatives are expressly indicated to be mutually exclusive.
[0034] The present application embodiment discloses a motor communication control system based on the Modbus-RTU protocol, referring to Figure 1The motor communication control system 100 includes a host 11 and a slave 12, wherein the slave 12 includes a monitoring access register 122, a processing unit 124, an execution unit 125 and a motor 127; the host 11 and the slave 12 establish a communication connection based on the Modbus-RTU protocol to transmit the tag data that changes according to a preset rule to the monitoring access register 122 for storage, the processing unit 124 is electrically connected to the monitoring access register 122 to generate a first drive signal or a second drive signal according to the monitoring tag data, and the execution unit 125 is electrically connected to the processing unit 124 to perform a first normal operation according to the first drive signal or a second alarm operation according to the second drive signal, and the second alarm operation includes releasing the motion state of the motor 127. Among them, the value of the tag data in "the tag data changes according to a preset rule" only requires that there is a numerical difference between the current tag data and the previous tag data.
[0035] During operation, the host 11 generates tag data whose content changes at all times according to a preset rule, and then transmits the tag data to the monitoring access register 122 of the slave 12. The slave 12 directly monitors whether the tag data has changed to indirectly determine whether there is an abnormality in the communication connection between the host 11 and the slave 12. If it is abnormal, the tag data content in the monitoring access register 122 will not change. If it is normal, the tag data content in the monitoring access register 122 will change. After the slave 12 determines that the communication connection between itself and the host 11 is abnormal through the processing unit 124, the slave 12 directly generates a second drive signal to perform a second alarm operation to achieve emergency avoidance of the slave 12. After the slave 12 determines that the communication connection between itself and the host 11 is normal through the processing unit 124, it generates a first drive signal to execute the first normal operation corresponding to other instructions sent by the host 11 at the same time. Preferably, reference Figure 2 , the signal sending unit 112 and the signal receiving unit 121 are both 485 communication interfaces.
[0036] In some examples, the marking data is data generated at a first preset time interval and conforms to the basic rule, the first driving signal is generated when the processing unit 124 checks at a second preset time interval that the marking data in the monitoring access register 122 conforms to the basic rule, and the second driving signal is generated when the processing unit 124 checks at a second preset time interval that the marking data in the monitoring access register 122 does not conform to the basic rule. Preferably, the second preset time interval is greater than or equal to the first preset time interval.
[0037] Therefore, the tag data changes at the first preset time interval, and the processing unit 124 directly determines whether the change of the tag data corresponds to the host 11 based on whether the change of the tag data in the monitoring access register 122 conforms to the basic law. When there is a communication anomaly between the host 11 and the slave 12, and the data flow is chaotic, it can also be screened out to improve the overall anti-interference performance of the system. In addition, the second preset time interval is greater than or equal to the first preset time interval, ensuring that the tag data has undergone a data change during each second preset time interval.
[0038] For details, refer to Figure 1 The host 11 includes a signal generating unit 111 and a signal sending unit 112, and the slave 12 also includes a signal receiving unit 121, a monitoring access register 122, a processing unit 124, an execution unit 125, and a timing unit 123. The input end of the signal sending unit 112 is electrically connected to the output end of the signal generating unit 111, the output end of the signal sending unit 112 is communicatively connected to the input end of the signal receiving unit 121, and the output end of the signal receiving unit 121 is electrically connected to the input end of the monitoring access register 122, wherein the signal sending unit 112 forwards the tag data to the signal receiving unit 121 to store in the monitoring access register 122.
[0039] The processing unit 124 has a first input terminal, a second input terminal and a third output terminal. The first input terminal is electrically connected to the output terminal of the timing unit 123 to receive a prompt signal generated by the timing unit 123 according to a second preset time interval. The second input terminal is electrically connected to the output terminal of the monitoring access register 122 to access the tag data in the monitoring access register 122 according to the prompt signal. The third output terminal is electrically connected to the execution unit 125 to generate a first drive signal when the tag data conforms to the basic rule, and to generate a second drive signal when the tag data does not conform to the basic rule.
[0040] Specifically, the marking data generated at the first preset time interval and conforming to the basic rule is usually set as follows:
[0041] 1. The marker data is set to take values in order from a sequence whose adjacent data are inconsistent and whose first digit is inconsistent. For example, in the sequence {1357865}, the marker data is taken in order from the first digit to the last digit of the sequence. When the value taken is the last digit, the next value is the first digit of the sequence.
[0042] (2) The setting of the marker data follows a preset function to obtain values, and adjacent values of the preset function are different. The preferred preset function is a positive correlation function or a negative correlation function. Furthermore, if the basic rule corresponding to the preset function is increasing or decreasing, then the corresponding marker data is increasing data or decreasing data; the increasing or decreasing data ensures that the two marker data in the adjacent first preset time interval are different, which enhances the accuracy of the processing unit in determining whether the marker data has changed, and the increasing or decreasing mechanism can also be used to push out the amount of delay in the data transmission process.
[0043] In some examples, the host 11 also includes a timeout judgment setting unit 113, and the slave 12 also includes a disconnection timeout register 126; the input end of the disconnection timeout register 126 is communicatively connected to the output end of the timeout judgment setting unit 113 to store the second preset time interval generated by the timeout judgment setting unit 113, and the input end of the timing unit 123 is electrically connected to the output end of the disconnection timeout register 126 to generate a prompt signal according to the second preset time interval.
[0044] The host 11 sets the second preset time interval in the disconnection timeout register 126 of the slave 12 through the timeout judgment setting unit 113, and the timing unit 123 generates a prompt signal according to the second preset time interval in the disconnection timeout register 126 to prompt the processing unit 124 to judge the tag data in the monitoring access register 122 to generate the first drive signal or the second drive signal. The host 11 belonging to the Modbus-RTU protocol communication system can uniformly set the second preset time interval for all slaves 12, reduce the workload of the staff to configure the second drive signals of all slaves 12 separately, and improve work efficiency.
[0045] In some examples, the execution unit 125 includes a normal driving subunit 1251, a normal feedback subunit 1252, an emergency stop subunit 1253, and an alarm subunit 1254. The normal driving subunit 1251 is electrically connected to the motor 127 to control the motor 127 to respond to the work instruction from the host 11 according to the first driving signal, and the normal feedback subunit 1252 is communicatively connected to the host 11 to feed a response signal to the host 11 according to the first driving signal. The emergency stop subunit 1253 is electrically connected to the motor 127 to urgently control the motor 127 to stop working according to the second driving signal, and the alarm subunit 1254 is electrically connected to the processing unit 124 to alarm according to the second driving signal.
[0046] When the normal driving subunit 1251 receives the first driving signal, it controls the motor 127 to execute the working instruction sent by the host 11, that is, to normally execute the start, stop, speed change, position change, etc. corresponding to the working instruction. At the same time, the normal feedback subunit 1252 feeds a response signal to the host 11 so that the host 11 knows that the slave 12 at the current address is operating normally. When the emergency pause subunit 1253 receives the second driving signal, it controls the motor 127 to release the motion state, and the motor 127 stops working. At the same time, the alarm subunit 1254 issues an alarm to realize an alarm to remind the staff that the current slave 12 is faulty.
[0047] by Figure 2 Take the following as an example to introduce the working process of the motor communication control system based on the Modbus-RTU protocol in this case:
[0048] S1, the host 11 sets the second preset time interval as 1.2s in advance through the timeout determination setting unit 113, and stores the second preset time interval 1.2s in the disconnection timeout register 126 of all slaves 12 corresponding to the host 11;
[0049] S2, during the formal operation, the signal generating unit 111 of the host 11 is set to generate an incremental mark data every first preset time interval 1s, and transmit the mark data and the work instruction to the slave 12 of the target address through the signal sending unit 112;
[0050] S3, the signal receiving unit 121 of the slave 12 receives the marking data and the working instruction, stores the marking data in the monitoring access register 122, and transmits the working instruction to the execution unit 125;
[0051] S4, the timing unit 123 of the slave 12 reads the second preset time interval 1.2s in the disconnection timeout register 126, then generates a prompt signal every 1.2s, and transmits the prompt signal to the processing unit 124;
[0052] S5, the processing unit 124 of the slave 12 reads all the tag data from the monitoring access register 122 according to the prompt signal, generates a first drive signal when the latest tag data meets the preset rule, and generates a second drive signal when the latest tag data does not meet the preset rule;
[0053] S6, the execution unit 125 of the slave controls the motor 127 to execute the work instruction from the host 11 according to the first drive signal, and feeds a response signal to the host 11, controls the motor 127 to release the motion state according to the second drive signal, and issues a fault alarm.
[0054] Among them, work instructions include starting, stopping, speed change, position change, etc., and fault alarms include flashing warning lights, sounding buzzers, sending information to supervisors, etc.
[0055] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.
Claims
1. A motor communication control system based on Modbus-RTU protocol, characterized in that: The motor communication control system comprises a host and a slave, wherein the slave comprises a monitoring access register, a processing unit, an execution unit and the motor; The host and the slave establish a communication connection based on the Modbus-RTU protocol to transmit the tag data that changes according to a preset rule to the monitoring access register for storage, the processing unit is electrically connected to the monitoring access register to generate a first drive signal or a second drive signal according to monitoring the tag data, and the execution unit is electrically connected to the processing unit to perform a first normal operation according to the first drive signal or a second alarm operation according to the second drive signal, and the second alarm operation includes releasing the motor motion state.
2. The motor communication control system based on Modbus-RTU protocol according to claim 1, characterized in that: The marking data is data generated at a first preset time interval and conforms to a basic rule, the first driving signal is generated when the processing unit checks at a second preset time interval that the marking data in the monitoring access register conforms to the basic rule, and the second driving signal is generated when the processing unit checks at a second preset time interval that the marking data in the monitoring access register conforms to the basic rule.
3. The motor communication control system based on Modbus-RTU protocol according to claim 2, characterized in that: The host includes a signal generating unit and a signal sending unit, and the slave also includes a signal receiving unit and a timing unit; the input end of the signal sending unit is electrically connected to the output end of the signal generating unit, the output end of the signal sending unit is communicatively connected to the input end of the signal receiving unit, and the output end of the signal receiving unit is electrically connected to the input end of the monitoring access register, wherein the signal sending unit forwards the tag data to the signal receiving unit to store it in the monitoring access register; The processing unit has a first input terminal, a second input terminal and a third output terminal. The first input terminal is electrically connected to the output terminal of the timing unit to receive a prompt signal generated by the timing unit according to a second preset time interval. The second input terminal is electrically connected to the output terminal of the monitoring access register to access the tag data in the monitoring access register according to the prompt signal. The third output terminal is electrically connected to the execution unit to generate a first drive signal when the tag data conforms to the basic rule, and to generate a second drive signal when the tag data does not conform to the basic rule.
4. The motor communication control system based on Modbus-RTU protocol according to claim 2, characterized in that: The second preset time interval is greater than or equal to the first preset time interval.
5. The motor communication control system based on Modbus-RTU protocol according to claim 2, characterized in that: The basic rule is increasing or decreasing.
6. The motor communication control system based on Modbus-RTU protocol according to claim 3, characterized in that: The host also includes a timeout judgment setting unit, and the slave also includes a disconnection timeout register; the input end of the disconnection timeout register is communicatively connected to the output end of the timeout judgment setting unit to store the second preset time interval generated by the timeout judgment setting unit, and the input end of the timing unit is electrically connected to the output end of the disconnection timeout register to generate the prompt signal according to the second preset time interval.
7. The motor communication control system based on Modbus-RTU protocol according to claim 3, characterized in that: The signal sending unit and the signal receiving unit are both 485 communication interfaces.
8. The motor communication control system based on Modbus-RTU protocol according to claim 3, characterized in that: The execution unit includes a normal drive subunit and a normal feedback subunit. The normal drive subunit is electrically connected to the motor to control the motor to respond to a work instruction from the host according to the first drive signal. The normal feedback subunit is communicatively connected to the host to feed a response signal to the host according to the first drive signal.
9. The motor communication control system based on Modbus-RTU protocol according to claim 3, characterized in that: The execution unit includes an emergency stop subunit and an alarm subunit. The emergency stop subunit is electrically connected to the motor to urgently control the motor to stop working according to the second drive signal. The alarm subunit is electrically connected to the processing unit to alarm according to the second drive signal.