Large-stroke travelling crane driving and motion control system

Abstract

A large-stroke travelling crane driving and motion control system comprises a first power supply conversion module and a plurality of slave control devices, the first power supply conversion module is connected with a B phase line, a C phase line and an E ground line in a three-phase power supply, a second power supply conversion module is connected with an A phase line, an N zero line and the E ground line, a communication master station controller is connected with the first power supply conversion module, and the slave control devices are connected with the communication master station controller. The master controller and the screen are respectively connected with the second power supply conversion module, the master controller is connected with the screen and the communication master station controller, the slave control device comprises a communication slave station controller, a slave controller and a driver which are connected in sequence, the plurality of communication slave station controllers are connected with the communication master station controller through a bus L1 and a bus L2, and the slave controller is connected with the communication master station controller through a bus L2. The slave controller and the driver are connected with the A phase line, the N zero line and the E ground line. According to the design, a three-phase five-wire wiring mode is adopted, and power is supplied to the communication master station controller through the first power supply conversion module, so that electrical isolation of communication and power supply is realized, and signal output is stable and reliable.

Description

Technical Field

[0001] The utility model relates to the technical field of crane control, in particular to a long-stroke crane drive and motion control system. Background Art

[0002] A crane, also known as a crane, overhead crane or overhead crane, is a type of crane. A crane is mainly used to move above a factory building or factory area to lift and transport heavy objects. As a lifting and handling machine widely used in various places, a crane has the characteristics of strong mobility and flexible application. Its main application areas include: (1) Industrial manufacturing: On industrial production lines, cranes are often used to move heavy objects or machines to different locations to meet production needs. At the same time, it can also be used as a tool for indoor cargo transportation, transporting goods to shelves in warehouses or to vehicles for shipment. (2) Construction: On construction sites, cranes are an essential tool, and they are often used to transport large amounts of construction materials and equipment. (3) Petrochemical: In the petrochemical industry, cranes are used for lifting and transporting heavy objects.

[0003] The crane's motion mechanism is driven by the operator sending commands to the control system via a control console (such as buttons and switches). The control system compares the feedback information with the expected value. If there is a deviation, the control signal is adjusted to reduce the deviation and ensure that the crane operates according to the set requirements. Because the control system requires long-distance power supply and communication and the electromagnetic interference at the work site is high, the power supply and communication of the control system often suffer from instability and other problems. This long-distance communication application can be achieved through wireless communication and wired communication. Using wireless communication increases the complexity of hardware design, and traditional wireless communication methods are affected by distance and interference, resulting in unreliable information transmission. Therefore, wired communication is often used in this scenario. However, the busbar communication method in wired communication uses a physical connection, which causes signal attenuation and unstable signal transmission. Summary of the Invention

[0004] The purpose of the utility model is to overcome the defects and problems of unstable signal transmission of the control system in the prior art, and to provide a large-stroke driving and motion control system with higher stability.

[0005] To achieve the above objectives, the technical solution of the present invention is: a large-stroke driving and motion control system, comprising a first power conversion module, a second power conversion module, a communication master station controller, a master controller, a screen and multiple slave control devices, wherein the first power conversion module is connected to the B phase line, the C phase line and the E ground line of the three-phase power supply, the second power conversion module is connected to the A phase line, the N neutral line and the E ground line of the three-phase power supply, the communication master station controller is connected to the first power conversion module, the master controller and the screen are respectively connected to the second power conversion module, the master controller is connected to the screen and the communication master station controller, the slave control device comprises a communication slave station controller, a slave controller and a driver connected in sequence, a plurality of the communication slave station controllers are connected to the communication master station controller via a bus L1 line and a bus L2 line, and the slave controller and the driver are all connected to the A phase line, the N neutral line and the E ground line of the three-phase power supply;

[0006] The first power conversion module is used to convert the 380V AC voltage into a 48V DC voltage;

[0007] The second power conversion module is used to convert 220V AC voltage into 24V DC voltage.

[0008] A 48V-12V conversion circuit, a 12V-5V conversion circuit, and a 5V-3.3V conversion circuit are also included between the first power conversion module and the communication master station controller;

[0009] The 48V-12V conversion circuit includes a third power conversion module, a first diode, a second diode, a first capacitor, a fourth capacitor, and an inductor. The anode of the first diode is connected to the power output terminal V+ of the first power conversion module, the cathode of the first diode is connected to one end of the fourth capacitor, and the other end of the fourth capacitor is grounded. The input end of the third power conversion module is connected to the cathode of the first diode, and the output end of the third power conversion module is connected to the inductor to output a 12V DC power supply. The GND end of the third power conversion module is grounded, the cathode of the second diode is connected to the output end of the third power conversion module, the anode of the second diode is grounded, one end of the first capacitor is connected to the other end of the inductor, and the other end of the first capacitor is grounded. The input end of the communication master station controller is connected to the 12V DC power supply.

[0010] The 12V-5V conversion circuit includes a fourth power conversion module and a fifth capacitor, wherein an input end of the fourth power conversion module is connected to the other end of the inductor, an output end of the fourth power conversion module outputs a 5V DC power supply, a GND end of the fourth power conversion module is grounded, one end of the fifth capacitor is connected to the output end of the fourth power conversion module, and the other end of the fifth capacitor is grounded;

[0011] The 5V-3.3V conversion circuit includes a fifth power conversion module, a sixth capacitor, and a seventh capacitor. The input end of the fifth power conversion module is connected to the output end of the fourth power conversion module, the output end of the fifth power conversion module outputs a 3.3V DC power supply, the GND end of the fifth power conversion module is grounded, one end of the sixth capacitor is connected to the output end of the fifth power conversion module, the other end of the sixth capacitor is grounded, and the seventh capacitor is connected in parallel with the sixth capacitor.

[0012] The output end of the fifth power conversion module is connected to the anode of the fourth light emitting diode through a thirteenth resistor, and the cathode of the fourth light emitting diode is grounded.

[0013] The communication master station controller includes a carrier communication master station chip, a first MOS tube, a second MOS tube, a third transistor, a fourth transistor, and a third diode. The VCC terminal of the carrier communication master station chip is connected to the V DC power supply, the GND terminal of the carrier communication master station chip is grounded, the BL pin of the carrier communication master station chip is connected to the base terminal of the fourth transistor, the collector terminal of the fourth transistor is grounded, the emitter terminal of the fourth transistor is connected to the base terminal of the third transistor through a ninth resistor, the collector terminal of the third transistor is connected to the BL pin of the carrier communication master station chip, the emitter terminal of the fourth transistor is connected to the L+ terminal of the carrier communication master station chip through a tenth resistor, the cathode of the third diode is connected to the L+ terminal of the carrier communication master station chip, and the anode of the third diode is connected to the The emitter end of the third transistor is connected to the L+ end of the carrier communication master station chip, and the emitter end of the third transistor is respectively connected to the drain d of the first MOS tube and the drain d of the second MOS tube, the source s of the first MOS tube is connected to the power output terminal V+ of the first power conversion module, the gate g of the first MOS tube is connected to the BH pin of the carrier communication master station chip through a first connecting resistor, the source s of the second MOS tube is connected to the power output terminal V+ of the first power conversion module, and the gate g of the second MOS tube is connected to the BH pin of the carrier communication master station chip through a second connecting resistor, the RX pin of the carrier communication master station chip is connected to the main controller, and the TX pin of the carrier communication master station chip is connected to the bus L1 line and the bus L2 line.

[0014] The L+ terminal of the carrier communication master station chip is connected to the anode of the fifth light emitting diode through the fourteenth resistor, and the cathode of the fifth light emitting diode is grounded.

[0015] The BRK terminal of the carrier communication master station chip is connected to the base terminal of the fifth transistor through an eleventh resistor, the emitter terminal of the fifth transistor is connected to a 3.3V DC power supply, the collector terminal of the fifth transistor is connected to the anode of the sixth light-emitting diode through a twelfth resistor, and the cathode of the sixth light-emitting diode is grounded;

[0016] The URX terminal of the carrier communication master station chip is connected to the base terminal of the sixth transistor through a fifteenth resistor, the emitter terminal of the sixth transistor is connected to a 3.3V DC power supply, the collector terminal of the sixth transistor is connected to the anode of the seventh light-emitting diode through a sixteenth resistor, and the cathode of the seventh light-emitting diode is grounded;

[0017] The UTX end of the carrier communication master station chip is connected to the base end of the seventh transistor through the seventeenth resistor, the emitter end of the seventh transistor is connected to the 3.3V DC power supply, the collector end of the seventh transistor is connected to the anode of the eighth light-emitting diode through the eighteenth resistor, and the cathode of the eighth light-emitting diode is grounded.

[0018] One end of the bus L1 line 14 is connected to a fuse and then connected in series with a fifth diode. The cathode of the fifth diode is connected to one end of the bus L2 line. A rectifier bridge is connected in parallel at both ends of the fifth diode. One end of the rectifier bridge is grounded, and the other end is connected to a first branch, a second branch, and a third branch. The first branch is connected to the communication slave station controller after passing through a first resistor, and the input end of the communication slave station controller is grounded after passing through a second resistor. The second branch is connected to the collector end of the first transistor, and the base end of the first transistor is connected to the communication slave station controller through a third resistor. The emitter end of the first transistor is grounded after passing through a fourth resistor. The third branch is connected to the anode of the third diode. The cathode of the third diode outputs the power supply V+, and the power supply V+ is connected to the third capacitor and then grounded.

[0019] The communication slave station controller includes a carrier communication slave station chip, the VCC terminal of the carrier communication slave station chip is connected to the power supply V+, the PI pin of the carrier communication slave station chip is connected to the first resistor, the PO pin of the carrier communication slave station chip is connected to the third resistor, the GND terminal of the carrier communication slave station chip is grounded, and the TX and RX pins of the carrier communication slave station chip are respectively connected to the slave controller.

[0020] The power supply V+ is connected to a fourth branch and a fifth branch, the fourth branch is connected to the cathode of the fourth diode through a fifth resistor, the anode of the fourth diode is grounded, and a second capacitor is connected in parallel at both ends of the fourth diode. The fifth branch is connected to the collector of the second transistor, the base of the second transistor is connected to the cathode of the fourth diode, the emitter of the second transistor is connected to the input end of the voltage-stabilized power supply module, the emitter of the second transistor is connected to the eighth capacitor and then grounded, the output end of the voltage-stabilized power supply module is connected to the VCC end of the carrier communication slave station chip, the output end of the voltage-stabilized power supply module is connected to the ninth capacitor and then grounded, and the GND end of the voltage-stabilized power supply module is grounded.

[0021] The VCC terminal of the carrier communication slave station chip is connected to the anode of the third light emitting diode through the eighth resistor, and the cathode of the third light emitting diode is connected to the URX terminal of the carrier communication slave station chip;

[0022] The VCC terminal of the carrier communication slave station chip is connected to the anode of the second light emitting diode through the seventh resistor, and the cathode of the second light emitting diode is connected to the UTX terminal of the carrier communication slave station chip;

[0023] The VCC terminal of the carrier communication slave station chip is connected to the anode of the first light emitting diode through a sixth resistor, and the cathode of the first light emitting diode is grounded.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] 1. The utility model adopts a three-phase five-wire wiring method in a long-stroke driving and motion control system. In the electrical design of the entire control system, an isolated and independent first power conversion module is provided to power the communication master station controller, thereby achieving electrical isolation between communication and power supply. At the same time, when an unexpected fault occurs in the on-board power supply line, the control system can still achieve normal communication. The command to control the movement of the driving position can be input through the screen. The screen sends the control command to the main controller. After receiving the control command, the main controller performs various calculations to obtain control information for each slave station. The main controller sends this information to the communication master station controller, which then sends the control command for each slave station to buses L1 and L2. The communication slave station controller sends the received control signal to the slave controller. The slave controller sends pulses of a certain frequency and number to the driver. The driver controls the rotation speed and rotation angle of the motor based on the frequency and number of pulses. Compared with the existing technology, the signal anti-interference ability can be enhanced. Therefore, the signal transmission stability and reliability of the utility model are high.

[0026] 2. In a long-travel vehicle drive and motion control system, the present invention utilizes a power conversion module to power the communication master station controller. A fourth light-emitting diode (LED) is connected to detect whether the power supply to the carrier communication master station chip is functioning properly. A connecting resistor acts as a current limiter to prevent excessive gate current in the first and second MOS transistors. The third and fourth transistors operate in their amplification region, with the collector current Ic controlled by the base current Ib, thereby achieving a regular, proportional change between the bus current and I(BL). The fifth LED can be used to determine whether the carrier communication master station chip is functioning properly. Consequently, the present invention offers high reliability and stable operation.

[0027] 3. In the utility model, a long-travel driving and motion control system, the third LED can be used to determine whether the bus is operating normally. When the seventh LED flashes once, it indicates that the master station is sending data to the slave station, and when the sixth LED flashes once, it indicates that the master station has received the data sent by the slave station. The fifth diode can also serve as a surge protector to prevent excessive bus voltage from damaging the carrier slave circuit. By providing a rectifier bridge, the connection between the bus and the slave station is a non-polarity connection, which reduces the difficulty of on-site wiring. The first LED can be used to determine whether the slave station is operating normally. When the second LED flashes once, it indicates that the slave station is sending data to the master station, and when the third LED flashes once, it indicates that the slave station has received the data sent by the master station. Therefore, the utility model has high reliability and high safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 The utility model is a structural diagram of a large-stroke driving and motion control system.

[0029] Figure 2 This is a circuit diagram of a 48V-12V conversion circuit, a 12V-5V conversion circuit, and a 5V-3.3V conversion circuit in the utility model.

[0030] Figure 3 This is a circuit diagram of the fourth light emitting diode in the present utility model.

[0031] Figure 4 It is a structural diagram of the carrier communication master station chip in the utility model.

[0032] Figure 5 It is a circuit diagram of the carrier communication master station chip in the utility model.

[0033] Figure 6 This is a circuit diagram of the fifth light emitting diode in the present utility model.

[0034] Figure 7This is a circuit diagram of the sixth light emitting diode, the seventh light emitting diode, and the eighth light emitting diode in the utility model.

[0035] Figure 8 This is a circuit diagram of bus line L1 and bus line L2.

[0036] Figure 9 It is a structural diagram of the carrier communication slave station chip in the utility model.

[0037] Figure 10 It is a circuit diagram of the carrier communication slave station chip in the utility model.

[0038] Figure 11 This is a circuit diagram of the first light emitting diode, the second light emitting diode, and the third light emitting diode in the utility model.

[0039] In the figure: a first power conversion module 1, a second power conversion module 2, a third power conversion module 3, a fourth power conversion module 4, a fifth power conversion module 5, a communication master station controller 6, a carrier communication master station chip 601, a main controller 7, a screen 8, a communication slave station controller 9, a carrier communication slave station chip 91, a slave controller 10, a driver 11, a motor 12, an encoder 13, a bus L1 line 14, a bus L2 line 15, a first diode 16, a second diode 17, a third diode 18, a fourth diode 19, a fifth diode 20, a first capacitor 21, a second capacitor 22, a third capacitor 23, a fourth capacitor 24, a fifth capacitor 25, a sixth capacitor 26, a seventh capacitor 27, an eighth capacitor 28, a ninth capacitor 29, an inductor 30, a first transistor 31, a second transistor 32, a third transistor 33, a fourth transistor 34, a fifth transistor 35, a sixth transistor 36, a seventh transistor 37, a first transistor 38, a second transistor 39, a second transistor 40, a third transistor 41, a fourth transistor 42, a fifth transistor 43, a sixth transistor 44, a seventh transistor 45, a sixth transistor 46, a seventh transistor 47, a first transistor 48, a second transistor 49, a first transistor 50, a second transistor 51 A first light-emitting diode 38, a second light-emitting diode 39, a third light-emitting diode 40, a fourth light-emitting diode 41, a fifth light-emitting diode 42, a sixth light-emitting diode 43, a seventh light-emitting diode 44, an eighth light-emitting diode 45, a first branch 46, a second branch 47, a third branch 48, a fourth branch 49, a fifth branch 50, a first resistor 51, a second resistor 52, a third resistor 53, a fourth resistor 54, a fifth resistor 55, a sixth resistor 56, a seventh resistor 57, an eighth resistor 58, a ninth resistor 59, a tenth resistor 60, an eleventh resistor 61, a twelfth resistor 62, a thirteenth resistor 63, a fourteenth resistor 64, a fifteenth resistor 65, a sixteenth resistor 66, a seventeenth resistor 67, an eighteenth resistor 68, a first connecting resistor 69, a second connecting resistor 70, a voltage-stabilized power supply module 71, a rectifier bridge 72, a fuse 73, an inductor 74, a first MOS transistor 75, and a second MOS transistor 76. DETAILED DESCRIPTION

[0040] The present invention will be further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0041] Example 1:

[0042] See also Figure 1 A large-stroke driving and motion control system includes a first power conversion module 1, a second power conversion module 2, a communication master station controller 6, a master controller 7, a screen 8, and multiple slave control devices. The first power conversion module 1 is connected to the B phase line, C phase line, and E ground line of the three-phase power supply, and the second power conversion module 2 is connected to the A phase line, N neutral line, and E ground line of the three-phase power supply. The communication master station controller 6 is connected to the first power conversion module 1, and the master controller 7 and the screen 8 are respectively connected to the second power conversion module 2. The master controller 7 is connected to the screen 8 and the communication master station controller 6. The slave control device includes a communication slave station controller 9, a slave controller 10, and a driver 11 connected in sequence. Multiple communication slave station controllers 9 are connected to the communication master station controller 6 via a bus L1 line 14 and a bus L2 line 15. The slave controllers 10 and the drivers 11 are all connected to the A phase line, N neutral line, and E ground line of the three-phase power supply.

[0043] The first power conversion module 1 is used to convert the 380V AC voltage into a 48V DC voltage;

[0044] The second power conversion module 2 is used to convert 220V AC voltage into 24V DC voltage.

[0045] In this embodiment, commands for controlling vehicle movement can be input via screen 8. Screen 8 transmits these commands to master controller 7. Upon receiving these commands, master controller 7 performs various calculations to obtain control information for each slave station. This information is then transmitted to communication master controller 6, which then transmits the control commands for each slave station onto bus lines L1 14 and L2 15. Communication slave controller 9 transmits the received control signal to slave controller 10. Slave controller 10 determines whether the ID information in the control command matches its own ID. If so, it executes the command and sends pulses of a certain frequency and number to driver 11. Driver 11 controls the rotational speed and angle of motor 12 based on the frequency and number of pulses.

[0046] Each driver 11 can obtain the speed and angle of rotation of the corresponding motor 12 shaft through the incremental encoder 13, and also send it to the slave controller 10 in the form of ABZ pulse signal. The slave controller 10 will obtain the speed and position information of the motor 12. When the slave controller 10 receives the instruction of the master controller 7 to read the speed or position information, it sends feedback information of the speed and position to the communication slave station controller 9. The communication slave station controller 9 sends a signal to the bus L1 line 14 and L2 line 15. After receiving the feedback signal from the slave station on the bus, the communication master station controller 6 sends it to the master controller 7. The master controller 7 determines the slave corresponding to the ID number in the information and sends the status information of each motor 12 to the screen 8 for display.

[0047] The screen 8 is connected to the main controller 7 via Ethernet communication, the main controller 7 is connected to the communication master station controller 6 via a serial port, the communication master station controller 6 is connected to each communication slave station controller 9 via bus L1 line 14 and L2 line 15, the communication slave station controller 9 is connected to the slave controller 10 via a serial port, the slave controller 10 is connected to the driver 11 via a pulse mode, the driver 11 gives the motor 12 UVW three-phase voltage signals, and the motor 12 with incremental encoder 13 feeds back ABZ pulse signals to the driver 11.

[0048] Example 2:

[0049] The basic content is the same as Example 1, except that:

[0050] See also Figure 2 and Figure 3 , a 48V-12V conversion circuit, a 12V-5V conversion circuit, and a 5V-3.3V conversion circuit are also included between the first power conversion module 1 and the communication master station controller 6;

[0051] The 48V-12V conversion circuit includes a third power conversion module 3, a first diode 16, a second diode 17, a first capacitor 21, a fourth capacitor 24, and an inductor 30. The anode of the first diode 16 is connected to the power output terminal V+ of the first power conversion module 1, the cathode of the first diode 16 is connected to one end of the fourth capacitor 24, and the other end of the fourth capacitor 24 is grounded. The input end of the third power conversion module 3 is connected to the cathode of the first diode 16, and the output end of the third power conversion module 3 is connected to the inductor 30 to output a 12V DC power supply. The GND end of the third power conversion module 3 is grounded, the cathode of the second diode 17 is connected to the output end of the third power conversion module 3, the anode of the second diode 17 is grounded, one end of the first capacitor 21 is connected to the other end of the inductor 30, and the other end of the first capacitor 21 is grounded. The input end of the communication master station controller 6 is connected to the 12V DC power supply;

[0052] The 12V-5V conversion circuit includes a fourth power conversion module 4 and a fifth capacitor 25. The input end of the fourth power conversion module 4 is connected to the other end of the inductor 30, the output end of the fourth power conversion module 4 outputs a 5V DC power supply, the GND end of the fourth power conversion module 4 is grounded, one end of the fifth capacitor 25 is connected to the output end of the fourth power conversion module 4, and the other end of the fifth capacitor 25 is grounded;

[0053] The 5V-3.3V conversion circuit includes a fifth power conversion module 5, a sixth capacitor 26, and a seventh capacitor 27. The input end of the fifth power conversion module 5 is connected to the output end of the fourth power conversion module 4, and the output end of the fifth power conversion module 5 outputs a 3.3V DC power supply. The GND end of the fifth power conversion module 5 is grounded. One end of the sixth capacitor 26 is connected to the output end of the fifth power conversion module 5, and the other end of the sixth capacitor 26 is grounded. The seventh capacitor 27 is connected in parallel with the sixth capacitor 26. The output end of the fifth power conversion module 5 is connected to the anode of the fourth light-emitting diode 41 through the thirteenth resistor 63, and the cathode of the fourth light-emitting diode 41 is grounded.

[0054] In this embodiment, a 12V power supply can power the DC carrier chip, a 5V power supply can power the RS485 or RS232 transceiver chip, and a TTL level signal can be converted into a 485 or 232 signal for transmission. 3.3V is the level standard for TTL signals. When the V+ power supply is normal and the 3.3V terminal voltage is stable, the fourth light-emitting diode 41 is constantly lit. This part can be used to detect whether the power supply of the carrier master station chip is normal.

[0055] Example 3:

[0056] The basic content is the same as Example 1, except that:

[0057] See also Figures 4 to 7The communication master station controller 6 includes a carrier communication master station chip 601, a first MOS transistor 75, a second MOS transistor 76, a third transistor 33, a fourth transistor 34, and a third diode 18. The VCC terminal of the carrier communication master station chip 601 is connected to a 12V DC power supply, the GND terminal of the carrier communication master station chip 601 is grounded, the BL pin of the carrier communication master station chip 601 is connected to the base terminal of the fourth transistor 34, the collector terminal of the fourth transistor 34 is grounded, and the emitter terminal of the fourth transistor 34 is connected to the collector terminal of the fourth transistor 34. The emitter end is connected to the base end of the third transistor 33 through the ninth resistor 59, the collector end of the third transistor 33 is connected to the BL pin of the carrier communication master station chip 601, the emitter end of the fourth transistor 34 is connected to the L+ end of the carrier communication master station chip 601 through the tenth resistor 60, the cathode of the third diode 18 is connected to the L+ end of the carrier communication master station chip 601, the anode of the third diode 18 is grounded, and the emitter end of the third transistor 33 is connected to the L+ end of the carrier communication master station chip 601. The L+ terminal of the station chip 601 is connected, the emitter terminal of the third transistor 33 is connected to the drain d of the first MOS tube 75 and the drain d of the second MOS tube 76 respectively, the source s of the first MOS tube 75 is connected to the power output terminal V+ of the first power conversion module 1, the gate g of the first MOS tube 75 is connected to the BH pin of the carrier communication master station chip 601 through the first connection resistor 69, the source s of the second MOS tube 76 is connected to the power output terminal V+ of the first power conversion module 1 The gate g of the second MOS transistor 76 is connected to the BH pin of the carrier communication master station chip 601 through the second connection resistor 70, the RX pin of the carrier communication master station chip 601 is connected to the main controller 7, and the TX pin of the carrier communication master station chip 601 is connected to the bus L1 line 14 and the bus L2 line 15; the L+ end of the carrier communication master station chip 601 is connected to the anode of the fifth light-emitting diode 42 through the fourteenth resistor 64, and the cathode of the fifth light-emitting diode 42 is grounded;

[0058] The BRK terminal of the carrier communication master station chip 601 is connected to the base terminal of the fifth transistor 35 through the eleventh resistor 61, the emitter terminal of the fifth transistor 35 is connected to the 3.3V DC power supply, the collector terminal of the fifth transistor 35 is connected to the anode of the sixth light-emitting diode 43 through the twelfth resistor 62, and the cathode of the sixth light-emitting diode 43 is grounded;

[0059] The URX terminal of the carrier communication master station chip 601 is connected to the base terminal of the sixth transistor 36 through the fifteenth resistor 65, the emitter terminal of the sixth transistor 36 is connected to the 3.3V DC power supply, the collector terminal of the sixth transistor 36 is connected to the anode of the seventh light-emitting diode 44 through the sixteenth resistor 66, and the cathode of the seventh light-emitting diode 44 is grounded;

[0060] The UTX end of the carrier communication master station chip 601 is connected to the base end of the seventh transistor 37 through the seventeenth resistor 67, the emitter end of the seventh transistor 37 is connected to a 3.3V DC power supply, the collector end of the seventh transistor 37 is connected to the anode of the eighth light-emitting diode 45 through the eighteenth resistor 68, and the cathode of the eighth light-emitting diode 45 is grounded.

[0061] In this embodiment, the first connection resistor 69 and the second connection resistor 70 function as current limiters to prevent excessive gate currents in the first MOS transistor 75 and the second MOS transistor 76. When the voltage difference between the source g voltage V+ and the gate s voltage V(BH) of the first MOS transistor 75 and the second MOS transistor 76 is greater than the gate turn-on voltage, the drain d of the MOS transistor is conductively connected to the gate s, and V+ is conductively connected to L+. The voltage change of BH can then drive the MOSFET to change the voltage on the bus L+.

[0062] The third transistor 33 and the fourth transistor 34 operate in the amplification region. The current of the collector electrode Ic is controlled by the base electrode current Ib, thereby achieving a regular change in proportion between the bus current and I(BL). The third diode 18 can suppress the voltage on the bus from exceeding 48V.

[0063] When the master controller 7 sends a signal to the communication master station controller 6, the RX pin of the carrier communication master station chip 601 will receive a TTL level signal, and the voltage of pin BH will change, resulting in a regularly changing voltage signal on the bus L+. When the current on the bus L+ changes, the current of pin BL changes, and pin TX will send a TTL level signal, and the master controller 7 will receive the information sent by the slave station. When the carrier communication master station chip 601 is working normally, the L+ terminal is high, and the fifth light-emitting diode 42 is always on.

[0064] The carrier communication master station chip 601 receives information from the main controller 7, transmits a voltage signal to the bus L+, and can receive a current signal on the bus L+, thereby sending information to the main controller 7; its transmission status can be divided into four situations, namely: bus idle, the master station sends data to the slave station, the master station receives data sent from the slave station and bus failure. When the bus is normal, the BRK end is high and the sixth light-emitting diode 43 lights up. When the bus fails, the BRK end is low and the sixth light-emitting diode 43 does not light up; when the master station sends data to the slave station, UTX is high and the eighth light-emitting diode 45 will flash; when the master station receives data sent from the slave station, URX is high and the seventh light-emitting diode 44 will flash.

[0065] Example 4:

[0066] The basic content is the same as Example 1, except that:

[0067] See also Figures 8 to 11 One end of the bus L1 line 14 is connected to a fuse 73 and then connected in series with a fifth diode 20. The cathode of the fifth diode 20 is connected to one end of the bus L2 line 15. A rectifier bridge 72 is connected in parallel at both ends of the fifth diode 20. One end of the rectifier bridge 72 is grounded, and the other end is connected to a first branch 46, a second branch 47, and a third branch 48. The first branch 46 is connected to the communication slave station controller 9 through a first resistor 51. The input end of the communication slave station controller 9 is grounded through a second resistor 52. The second branch 47 is connected to the collector end of the first transistor 31. The base end of the first transistor 31 is connected to the communication slave station controller 9 through a third resistor 53. The emitter end of the first transistor 31 is grounded through a fourth resistor 54. The third branch 48 is connected to the anode of the third diode 18. The cathode of the third diode 18 outputs the power supply V+. The power supply V+ is connected to the third capacitor 23 and then grounded.

[0068] The communication slave station controller 9 includes a carrier communication slave station chip 91, the VCC terminal of the carrier communication slave station chip 91 is connected to the power supply V+, the PI pin of the carrier communication slave station chip 91 is connected to the first resistor 51, the PO pin of the carrier communication slave station chip 91 is connected to the third resistor 53, the GND terminal of the carrier communication slave station chip 91 is grounded, and the TX and RX pins of the carrier communication slave station chip 91 are respectively connected to the slave controller 10;

[0069] The power supply V+ is connected to a fourth branch 49 and a fifth branch 50, the fourth branch 49 is connected to the cathode of the fourth diode 19 through a fifth resistor 55, the anode of the fourth diode 19 is grounded, and a second capacitor 22 is connected in parallel at both ends of the fourth diode 19, the fifth branch 50 is connected to the collector of the second triode 32, the base of the second triode 32 is connected to the cathode of the fourth diode 19, the emitter of the second triode 32 is connected to the input end of the voltage-stabilized power supply module 70, the emitter of the second triode 32 is connected to the eighth capacitor 28 and then grounded, the output end of the voltage-stabilized power supply module 70 is connected to the VCC end of the carrier communication slave station chip 91, the output end of the voltage-stabilized power supply module 70 is connected to the ninth capacitor 29 and then grounded, and the GND end of the voltage-stabilized power supply module 70 is grounded;

[0070] The VCC terminal of the carrier communication slave station chip 91 is connected to the anode of the third light-emitting diode 40 through the eighth resistor 58, and the cathode of the third light-emitting diode 40 is connected to the URX terminal of the carrier communication slave station chip 91;

[0071] The VCC terminal of the carrier communication slave station chip 91 is connected to the anode of the second light emitting diode 39 through the seventh resistor 57, and the cathode of the second light emitting diode 39 is connected to the UTX terminal of the carrier communication slave station chip 91;

[0072] The VCC terminal of the carrier communication slave station chip 91 is connected to the anode of the first light emitting diode 38 through the sixth resistor 56, and the cathode of the first light emitting diode 38 is grounded.

[0073] In this embodiment, when the carrier communication master station chip 601 sends information to the slave station, regular voltage changes are formed on the bus L1 line 14 and the L2 line 15. Due to the voltage division of the first resistor 51 and the second resistor 52, the voltage of the PI pin also changes with the same regularity but with different fluctuation amplitudes. After the carrier communication slave station chip 91 demodulates the signal, the TX pin sends a TTL level serial port signal to the slave controller 10. When information is transmitted back from the controller 10 to the master station, the controller 10 sends a TTL level signal to the RX pin of the carrier communication slave station chip 91. After analysis, the carrier communication slave station chip 91 sends it out in the form of a current signal from the PO pin. The first transistor 31 works in the amplification area. When the current of the PO pin changes, the current on the bus will change with the same regularity but different amplitudes. The carrier communication slave station chip 91 can receive information on the bus and send a signal to the bus when the controller 10 replies to the master station. There are three working states, namely, idle state, slave station sending data to the master station, and slave station receiving data sent from the master station. When the slave station works normally, VCC is always high and the first light-emitting diode 38 is always on; when the slave station sends data to the master station, UTX is low and the second light-emitting diode 39 flashes; when the slave station receives data sent from the master station, URX is low and the third light-emitting diode 40 flashes.

Claims

1. A long-travel crane drive and motion control system, characterized by: The invention comprises a first power conversion module (1), a second power conversion module (2), a communication master station controller (6), a main controller (7), a screen (8) and a plurality of slave control devices, wherein the first power conversion module (1) is connected to the B phase line, the C phase line and the E ground line of the three-phase power supply, the second power conversion module (2) is connected to the A phase line, the N neutral line and the E ground line of the three-phase power supply, the communication master station controller (6) is connected to the first power conversion module (1), the main controller (7) and the screen (8) are respectively connected to the second power conversion module (2) and the A phase line, the N neutral line and the E ground line of the three-phase power supply, Two power conversion modules (2) are connected, the main controller (7) is connected to the screen (8) and the communication master station controller (6), the slave control device includes a communication slave station controller (9), a slave controller (10), and a driver (11) connected in sequence, a plurality of the communication slave station controllers (9) are connected to the communication master station controller (6) via a bus L1 line (14) and a bus L2 line (15), and the slave controllers (10) and the driver (11) are all connected to the A phase line, the N neutral line, and the E ground line of the three-phase power supply; The first power conversion module (1) is used to convert a 380V AC voltage into a 48V DC voltage; The second power conversion module (2) is used to convert 220V AC voltage into 24V DC voltage.

2. The long-travel driving and motion control system according to claim 1, characterized in that: A 48V-12V conversion circuit, a 12V-5V conversion circuit, and a 5V-3.3V conversion circuit are further provided between the first power conversion module (1) and the communication master station controller (6); The 48V-12V conversion circuit comprises a third power conversion module (3), a first diode (16), a second diode (17), a first capacitor (21), a fourth capacitor (24), and an inductor (30), wherein the anode of the first diode (16) is connected to the power output terminal V+ of the first power conversion module (1), the cathode of the first diode (16) is connected to one end of the fourth capacitor (24), the other end of the fourth capacitor (24) is grounded, and the input end of the third power conversion module (3) is connected to the cathode of the first diode (16). The cathode of the second diode (17) is connected to the inductor (30), the output end of the third power conversion module (3) is connected to the inductor (30) and outputs a 12V DC power supply, the GND end of the third power conversion module (3) is grounded, the cathode of the second diode (17) is connected to the output end of the third power conversion module (3), the anode of the second diode (17) is grounded, one end of the first capacitor (21) is connected to the other end of the inductor (30), the other end of the first capacitor (21) is grounded, and the input end of the communication master station controller (6) is connected to the 12V DC power supply; The 12V-5V conversion circuit comprises a fourth power conversion module (4) and a fifth capacitor (25), wherein the input end of the fourth power conversion module (4) is connected to the other end of the inductor (30), the output end of the fourth power conversion module (4) outputs a 5V DC power supply, the GND end of the fourth power conversion module (4) is grounded, one end of the fifth capacitor (25) is connected to the output end of the fourth power conversion module (4), and the other end of the fifth capacitor (25) is grounded; The 5V-3.3V conversion circuit comprises a fifth power conversion module (5), a sixth capacitor (26), and a seventh capacitor (27); the input end of the fifth power conversion module (5) is connected to the output end of the fourth power conversion module (4); the output end of the fifth power conversion module (5) outputs a 3.3V DC power supply; the GND end of the fifth power conversion module (5) is grounded; one end of the sixth capacitor (26) is connected to the output end of the fifth power conversion module (5); the other end of the sixth capacitor (26) is grounded; and the seventh capacitor (27) is connected in parallel with the sixth capacitor (26).

3. The long-travel driving and motion control system according to claim 2, characterized in that: The output end of the fifth power conversion module (5) is connected to the anode of the fourth light-emitting diode (41) via a thirteenth resistor (63), and the cathode of the fourth light-emitting diode (41) is grounded.

4. The long-travel driving and motion control system according to claim 2, characterized in that: The communication master station controller (6) comprises a carrier communication master station chip (601), a first MOS transistor (75), a second MOS transistor (76), a third transistor (33), a fourth transistor (34), and a third diode (18); the VCC terminal of the carrier communication master station chip (601) is connected to a 12V DC power supply; the GND terminal of the carrier communication master station chip (601) is grounded; the BL pin of the carrier communication master station chip (601) is connected to the base terminal of the fourth transistor (34); the collector of the fourth transistor (34) is connected to the collector of the carrier communication master station chip (601). The electrode end is grounded, the emitter end of the fourth transistor (34) is connected to the base end of the third transistor (33) through a ninth resistor (59), the collector end of the third transistor (33) is connected to the BL pin of the carrier communication master station chip (601), the emitter end of the fourth transistor (34) is connected to the L+ end of the carrier communication master station chip (601) through a tenth resistor (60), the cathode of the third diode (18) is connected to the L+ end of the carrier communication master station chip (601), and the third diode (18) is connected to the L+ end of the carrier communication master station chip (601). The anode of the transistor (18) is grounded, the emitter terminal of the third transistor (33) is connected to the L+ terminal of the carrier communication master station chip (601), the emitter terminal of the third transistor (33) is respectively connected to the drain d of the first MOS transistor (75) and the drain d of the second MOS transistor (76), the source s of the first MOS transistor (75) is connected to the power output terminal V+ of the first power conversion module (1), and the gate g of the first MOS transistor (75) is connected to the carrier communication master station chip (601) through a first connection resistor (69). The first power conversion module (1) is connected to the BH pin of the carrier communication master station chip (601), the source electrode s of the second MOS tube (76) is connected to the power output terminal V+ of the first power conversion module (1), the gate electrode g of the second MOS tube (76) is connected to the BH pin of the carrier communication master station chip (601) through a second connection resistor (70), the RX pin of the carrier communication master station chip (601) is connected to the main controller (7), and the TX pin of the carrier communication master station chip (601) is connected to the bus L1 line (14) and the bus L2 line (15).

5. The long-travel driving and motion control system according to claim 4, characterized in that: The L+ terminal of the carrier communication master station chip (601) is connected to the anode of the fifth light-emitting diode (42) via a fourteenth resistor (64), and the cathode of the fifth light-emitting diode (42) is grounded.

6. The long-travel driving and motion control system according to claim 4, characterized in that: The BRK terminal of the carrier communication master station chip (601) is connected to the base terminal of the fifth transistor (35) through the eleventh resistor (61), the emitter terminal of the fifth transistor (35) is connected to a 3.3V DC power supply, the collector terminal of the fifth transistor (35) is connected to the anode of the sixth light-emitting diode (43) through the twelfth resistor (62), and the cathode of the sixth light-emitting diode (43) is grounded; The URX terminal of the carrier communication master station chip (601) is connected to the base terminal of the sixth transistor (36) through the fifteenth resistor (65), the emitter terminal of the sixth transistor (36) is connected to a 3.3V DC power supply, the collector terminal of the sixth transistor (36) is connected to the anode of the seventh light-emitting diode (44) through the sixteenth resistor (66), and the cathode of the seventh light-emitting diode (44) is grounded; The UTX terminal of the carrier communication master station chip (601) is connected to the base terminal of the seventh triode (37) through the seventeenth resistor (67), the emitter terminal of the seventh triode (37) is connected to a 3.3V DC power supply, the collector terminal of the seventh triode (37) is connected to the anode of the eighth light-emitting diode (45) through the eighteenth resistor (68), and the cathode of the eighth light-emitting diode (45) is grounded.

7. The long-travel driving and motion control system according to claim 1, characterized in that: One end of the bus L1 line (14) is connected to a fuse (73) and then connected in series with a fifth diode (20). The cathode of the fifth diode (20) is connected to one end of the bus L2 line (15). A rectifier bridge (72) is connected in parallel to both ends of the fifth diode (20). One end of the rectifier bridge (72) is grounded, and the other end is connected to a first branch (46), a second branch (47), and a third branch (48). The first branch (46) is connected to the communication slave station controller (9) after passing through a first resistor (51). The communication slave station controller The input end of the device (9) is grounded after passing through a second resistor (52), the second branch (47) is connected to the collector end of the first triode (31), the base end of the first triode (31) is connected to the communication slave station controller (9) through a third resistor (53), the emitter end of the first triode (31) is grounded after passing through a fourth resistor (54), the third branch (48) is connected to the anode of the third diode (18), the cathode of the third diode (18) outputs the power supply V+, and the power supply V+ is connected to the third capacitor (23) and then grounded.

8. The long-travel driving and motion control system according to claim 7, characterized in that: The communication slave station controller (9) comprises a carrier communication slave station chip (91), a VCC terminal of the carrier communication slave station chip (91) is connected to the power supply V+, a PI pin of the carrier communication slave station chip (91) is connected to the first resistor (51), a PO pin of the carrier communication slave station chip (91) is connected to the third resistor (53), a GND terminal of the carrier communication slave station chip (91) is grounded, and TX and RX pins of the carrier communication slave station chip (91) are respectively connected to the slave controller (10).

9. The long-travel driving and motion control system according to claim 8, characterized in that: The power supply V+ is connected to a fourth branch (49) and a fifth branch (50), the fourth branch (49) is connected to the cathode of the fourth diode (19) through a fifth resistor (55), the anode of the fourth diode (19) is grounded, and the two ends of the fourth diode (19) are connected in parallel with a second capacitor (22), the fifth branch (50) is connected to the collector of the second triode (32), the base of the second triode (32) is connected to the cathode of the fourth diode (19), the emitter of the second triode (32) is connected to the input end of the voltage-stabilized power supply module (70), the emitter of the second triode (32) is connected to the eighth capacitor (28) and then to the ground, the output end of the voltage-stabilized power supply module (70) is connected to the VCC end of the carrier communication slave station chip (91), the output end of the voltage-stabilized power supply module (70) is connected to the ninth capacitor (29) and then to the ground, and the GND end of the voltage-stabilized power supply module (70) is grounded.

10. The long-travel driving and motion control system according to claim 8, characterized in that: The VCC terminal of the carrier communication slave station chip (91) is connected to the anode of the third light emitting diode (40) through the eighth resistor (58), and the cathode of the third light emitting diode (40) is connected to the URX terminal of the carrier communication slave station chip (91); The VCC terminal of the carrier communication slave station chip (91) is connected to the anode of the second light emitting diode (39) through the seventh resistor (57), and the cathode of the second light emitting diode (39) is connected to the UTX terminal of the carrier communication slave station chip (91); The VCC terminal of the carrier communication slave station chip (91) is connected to the anode of the first light emitting diode (38) through a sixth resistor (56), and the cathode of the first light emitting diode (38) is grounded.

Images