A multi-motor cooperative control circuit board based on an iMX6ULL chip

Abstract

The embodiment discloses a multi-motor cooperative control circuit board based on an iMX6ULL chip, which can convert a UART communication interface of the iMX6ULL chip into a CAN bus communication interface through a UART-to-CAN controller, and convert an SPI communication interface of the iMX6ULL chip into a CANFD communication interface through an SPI-to-CANFD controller, so that the number of CAN communication of the iMX6ULL chip is increased, the high anti-interference property and the priority transmission characteristic of the CAN bus are deeply combined with the operation capacity of the iMX6ULL chip, and the low-cost solution of long-distance, low-delay and high-precision cooperative control of multi-motor is realized, so that the problems of weak anti-interference and poor cooperation of the existing scheme are solved. The multi-core operation, hardware acceleration and multi-protocol support capacity of the iMX6ULL chip can be fully utilized, and the high-precision synchronous control demand of multi-motor can be met.

Description

Technical Field

[0001] This utility model relates to the field of motor control technology, and in particular to a multi-channel motor collaborative control circuit board based on the iMX6ULL chip. Background Technology

[0002] With the rapid development of industrial automation and intelligent equipment, multi-motor control places higher demands on the computing power, interface compatibility, and real-time response speed of core chips. Existing multi-motor control circuit boards mostly use ordinary MCUs or dedicated motion control chips, which have the following drawbacks: First, they lack adaptability to complex control scenarios and cannot flexibly support mixed control of different types of motors (DC, stepper, servo); second, in existing dedicated circuit matching designs for high-performance embedded chips, the chip performance is not fully utilized, limiting control accuracy. For example, multi-motor control boards using STM32F4 series MCUs can achieve basic control, but when controlling more than 8 motors simultaneously, they suffer from PWM signal generation delays and data processing stutters, and do not support industrial-grade Ethernet communication, making them difficult to adapt to large-scale automation systems.

[0003] The iMX6ULL chip, a high-performance embedded processor launched by NXP, features an ARM Cortex-A7 core (with a main frequency of up to 800MHz), rich peripheral interfaces, and low power consumption. However, in the existing application of multi-motor control, its multi-core computing, hardware acceleration, and multi-protocol support capabilities have not been fully utilized, resulting in a waste of the chip's advantages and an inability to meet the high-precision synchronous control requirements of multi-motor systems. Utility Model Content

[0004] This utility model discloses a multi-channel motor collaborative control circuit board based on the iMX6ULL chip to overcome the above-mentioned technical problems.

[0005] To achieve the above objectives, the technical solution of this utility model is as follows: A multi-channel motor collaborative control circuit board based on the iMX6ULL chip, wherein the iMX6ULL chip includes two CAN controllers, one UART controller, and two SPI controllers. The output of the CAN controller is connected to a second CAN bus communication interface, including: a UART to CAN controller and an SPI to CANFD controller. The output of the UART controller is connected to the input of the UART-to-CAN controller, and the output of the UART-to-CAN controller is connected to the first CAN bus communication interface. The output of the SPI controller is connected to the input of the SPI to CANFD controller, and the output of the SPI to CANFD controller is connected to the CANFD communication interface. The second CAN bus communication interface, the first CAN bus communication interface, and the CANFD communication interface are respectively connected to motors on different paths of the iMX6ULL chip.

[0006] Furthermore, the circuit of the UART to CAN controller includes: a UART conversion chip U138, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a first capacitor C1, and a first diode array D21; The input terminals of the first resistor R1, the second resistor R2, the third resistor R3, and the fourth resistor R4 are all connected to the iMX6ULL chip, and the output terminals are connected to pins 24, 3, 4, and 5 of the UART conversion chip U138, respectively. Pins 2, 6, and 10 of the UART converter chip U138 are all grounded; Pin 1 of the UART converter chip U138 is connected to the first capacitor C1 and the 3.3V power supply terminal respectively; the other end of the first capacitor C1 is grounded. Pins 11 and 12 of the UART converter chip U138 are connected to the two ends of the fifth resistor R5, and both ends of the fifth resistor R5 are connected to the first CAN bus communication interface. Pin 1 and pin 2 of the first diode array D21 are connected to pin 11 and pin 12 of the UART conversion chip U138, respectively, and pin 3 of the first diode array D21 is grounded.

[0007] Furthermore, the circuit of the SPI to CANFD controller includes: SPI conversion chip U152, sixth resistor R6, seventh resistor R7, eighth resistor R8, ninth resistor R9, tenth resistor R10, eleventh resistor R11, twelfth resistor R12, thirteenth resistor R13, fourteenth resistor R14, fifteenth resistor R15, sixteenth resistor R16, seventeenth resistor R17, eighteenth resistor R18, second capacitor C2, third capacitor C3, fourth capacitor C4, fifth capacitor C5, sixth capacitor C6, crystal oscillator U153, CAN transceiver chip U154, and second diode array D22; Pins 1, 2, 4, 8, and 9 of the SPI converter chip U152 are all connected to the iMX6ULL chip. The two ends of the eighth resistor R8 are connected to pin 2 of the SPI converter chip U152 and the 3.3V power supply terminal, respectively; the two ends of the ninth resistor R9 are connected to pin 1 of the SPI converter chip U152 and the 3.3V power supply terminal, respectively. The two ends of the sixth resistor R6 and the seventh resistor R7 are respectively connected to pin 3 of the iMX6ULL chip and the SPI conversion chip U152. Pins 2 and 4 of crystal oscillator U153 are grounded; pin 3 of crystal oscillator U153 is connected to pin 5 of SPI converter chip U152, and pin 1 of crystal oscillator U153 is connected to pin 6 of SPI converter chip U152; the two ends of the second capacitor C2 are connected to pins 3 and 4 of crystal oscillator U153 respectively; the two ends of the third capacitor C3 are connected to pins 6 and 7 of SPI converter chip U152 respectively; pin 7 of SPI converter chip U152 is grounded. Pins 11, 10, 12, and 13 of the SPI converter chip U152 are connected to the fourteenth resistor R14, the fifteenth resistor R15, the twelfth resistor R12, and the tenth resistor R10, respectively. The other ends of the fourteenth resistor R14, the fifteenth resistor R15, the twelfth resistor R12, and the tenth resistor R10 are all connected to the iMX6ULL chip. Pin 14 of the SPI converter chip U152 is connected to the 3.3V power supply. The two ends of the eleventh resistor R11 are connected to pin 12 of the SPI converter chip U152 and the 3.3V power supply terminal, respectively. The two ends of the thirteenth resistor R13 are connected to pin 11 of the SPI converter chip U152 and the 3.3V power supply terminal, respectively. The two ends of the fourth capacitor C4 are connected to pin 14 of the SPI converter chip U152 and ground, respectively; Pins 1 and 4 of the CAN transceiver chip U154 are connected to the sixteenth resistor R16 and the seventeenth resistor R17, respectively. The other ends of the sixteenth resistor R16 and the seventeenth resistor R17 are both connected to the CANFD communication interface. Pin 2 of the CAN transceiver chip U154 is grounded. Pin 3 of the CAN transceiver chip U154 is connected to the 5V power supply. The two ends of the fifth capacitor C5 are connected to pin 3 of the CAN transceiver chip U154 and grounded, respectively. Pins 8, 6, and 7 of the CAN transceiver chip U154 are all connected to the iMX6ULL chip; the two ends of the eighteenth resistor R18 are connected to pins 6 and 7 of the CAN transceiver chip U154, respectively. Pin 5 of the CAN transceiver chip U154 is connected to the 3.3V power supply terminal; the two ends of the sixth capacitor C6 are connected to pin 5 of the CAN transceiver chip U154 and ground, respectively. Pins 1 and 2 of the second diode array D22 are connected to pins 7 and 6 of the CAN transceiver chip U154, respectively, and pin 3 of the second diode array D22 is grounded.

[0008] Furthermore, the UART conversion chip U138 uses the CSM300A protocol conversion chip.

[0009] Furthermore, the SPI conversion chip U152 uses the MCP2518FDT-E / SL controller chip; The CAN transceiver chip U154 uses the TJA1051T / 3 / 1JCAN transceiver.

[0010] Beneficial Effects: This utility model discloses a multi-motor collaborative control circuit board based on the iMX6ULL chip. It converts the iMX6ULL chip's UART communication interface into a CAN bus communication interface via a UART-to-CAN controller and its SPI communication interface into a CANFD communication interface via an SPI-to-CANFD controller. This increases the number of CAN communication channels for the iMX6ULL chip. Using the CAN bus as the core communication link and combining the advantages of the iMX6ULL chip's dual CAN controllers, it deeply integrates the high anti-interference capability and priority transmission characteristics of the CAN bus with the computing power of the iMX6ULL chip. This achieves a low-cost solution for long-distance, low-latency, and high-precision collaborative control of multiple motors, addressing the problems of weak anti-interference and poor coordination in existing solutions. It fully utilizes the iMX6ULL chip's multi-core computing, hardware acceleration, and multi-protocol support capabilities to meet the high-precision synchronous control requirements of multiple motors. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a block diagram of the overall structure of the multi-channel motor collaborative control circuit board based on the iMX6ULL chip of this utility model; Figure 2 This is a circuit diagram of the UART to CAN controller in an embodiment of this utility model; Figure 3 This is a circuit diagram of the SPI to CANFD controller in an embodiment of this utility model; Figure 4 This is a circuit diagram of the CAN controller in an embodiment of the present invention. Detailed Implementation

[0013] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0014] This embodiment introduces a multi-channel motor collaborative control circuit board based on the iMX6ULL chip. The iMX6ULL chip includes two CAN controllers, one UART controller, and two SPI controllers. The output of the CAN controller is connected to a second CAN bus communication interface. Figure 1 As shown, it includes: UART to CAN controller and SPI to CANFD controller; The output of the UART controller is connected to the input of the UART-to-CAN controller, and the output of the UART-to-CAN controller is connected to the first CAN bus communication interface; so as to convert the UART communication interface of the iMX6ULL chip into a CAN bus communication interface. The output of the SPI controller is connected to the input of the SPI to CANFD controller, and the output of the SPI to CANFD controller is connected to the CANFD communication interface; so as to convert the SPI communication interface of the iMX6ULL chip into a CANFD communication interface. The CAN bus communication interface, the first CAN bus communication interface, and the CANFD communication interface are respectively connected to different motors of the iMX6ULL chip.

[0015] In this embodiment, the types of motors connected to the first CAN bus communication interface, the second CAN bus communication interface, and the CANFD communication interface are different.

[0016] Preferably, such as Figure 2 As shown, the circuit of the UART to CAN controller includes: a UART conversion chip U138, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a first capacitor C1, and a first diode array D21; in this embodiment, the resistance values ​​of the first resistor R1, the second resistor R2, the third resistor R3, and the fourth resistor R4 are all 0. The resistance of the fifth resistor R5 is 120Ω. The capacitance of the first capacitor C1 is 100nF (i.e., 100 nanofarads). The input terminals of the first resistor R1, the second resistor R2, the third resistor R3, and the fourth resistor R4 are all connected to the iMX6ULL chip, and the output terminals are connected to pins 24, 3, 4, and 5 of the UART conversion chip U138, respectively. Pins 2, 6, and 10 of the UART converter chip U138 are all grounded; Pin 1 of the UART converter chip U138 is connected to the first capacitor C1 and the 3.3V power supply terminal respectively; the other end of the first capacitor C1 is grounded. Pins 11 and 12 of the UART converter chip U138 are connected to the two ends of the fifth resistor R5, and both ends of the fifth resistor R5 are connected to the first CAN bus communication interface. Pin 1 and pin 2 of the first diode array D21 are connected to pin 11 and pin 12 of the UART conversion chip U138, respectively, and pin 3 of the first diode array D21 is grounded.

[0017] Specifically, Figure 2 CAN3_CFG, CAN3_RST, CAN3_RX, and CAN3_TX are custom pins that connect to the iMX6ULL chip; CAN3_L and CAN3_H are custom pins that connect to the first CAN bus.

[0018] Preferably, the UART conversion chip U138 is a CSM300A protocol conversion chip. The first diode array D21 is model ESDCAN01-2BLY. In this embodiment, pins 21, 18, 19, 7, 23, 22, and 20 of the UART conversion chip U138 are not connected to other electrical components.

[0019] Preferably, such as Figure 3As shown, the circuit of the SPI to CANFD controller includes: SPI conversion chip U152, sixth resistor R6, seventh resistor R7, eighth resistor R8, ninth resistor R9, tenth resistor R10, eleventh resistor R11, twelfth resistor R12, thirteenth resistor R13, fourteenth resistor R14, fifteenth resistor R15, sixteenth resistor R16, seventeenth resistor R17, eighteenth resistor R18, second capacitor C2, third capacitor C3, fourth capacitor C4, fifth capacitor C5, sixth... The components include capacitor C6, crystal oscillator U153, CAN transceiver chip U154, and second diode array D22. In this embodiment, the capacitance values ​​of the second capacitor C2 and the third capacitor C3 are 22pF (i.e., 22 picofarads), the capacitance values ​​of the fourth capacitor C4, the fifth capacitor C5, and the sixth capacitor C6 are 100nF, and the resistance values ​​of the sixth resistor R6, the seventh resistor R7, the tenth resistor R10, the twelfth resistor R12, the fourteenth resistor R14, the fifteenth resistor R15, the sixteenth resistor R16, and the seventeenth resistor R17 are 0. The resistance of the eighth resistor R8 and the ninth resistor R9 is 10. The resistance of the eleventh resistor R11 and the thirteenth resistor R13 is 4.7kΩ. The resistance of the eighteenth resistor, R18, is 120Ω. ; Pins 1, 2, 4, 8, and 9 of the SPI converter chip U152 are all connected to the iMX6ULL chip. The two ends of the eighth resistor R8 are connected to pin 2 of the SPI converter chip U152 and the 3.3V power supply terminal, respectively; the two ends of the ninth resistor R9 are connected to pin 1 of the SPI converter chip U152 and the 3.3V power supply terminal, respectively. The two ends of the sixth resistor R6 and the seventh resistor R7 are respectively connected to pin 3 of the iMX6ULL chip and the SPI conversion chip U152. Pins 2 and 4 of crystal oscillator U153 are grounded; pin 3 of crystal oscillator U153 is connected to pin 5 of SPI converter chip U152, and pin 1 of crystal oscillator U153 is connected to pin 6 of SPI converter chip U152; the two ends of the second capacitor C2 are connected to pins 3 and 4 of crystal oscillator U153 respectively; the two ends of the third capacitor C3 are connected to pins 6 and 7 of SPI converter chip U152 respectively; pin 7 of SPI converter chip U152 is grounded. Pins 11, 10, 12, and 13 of the SPI converter chip U152 are connected to the fourteenth resistor R14, the fifteenth resistor R15, the twelfth resistor R12, and the tenth resistor R10, respectively. The other ends of the fourteenth resistor R14, the fifteenth resistor R15, the twelfth resistor R12, and the tenth resistor R10 are all connected to the iMX6ULL chip. Pin 14 of the SPI converter chip U152 is connected to the 3.3V power supply. The two ends of the eleventh resistor R11 are connected to pin 12 of the SPI converter chip U152 and the 3.3V power supply terminal, respectively. The two ends of the thirteenth resistor R13 are connected to pin 11 of the SPI converter chip U152 and the 3.3V power supply terminal, respectively. The two ends of the fourth capacitor C4 are connected to pin 14 of the SPI converter chip U152 and ground, respectively; Pins 1 and 4 of the CAN transceiver chip U154 are connected to the sixteenth resistor R16 and the seventeenth resistor R17, respectively. The other ends of the sixteenth resistor R16 and the seventeenth resistor R17 are both connected to the CANFD communication interface. Pin 2 of the CAN transceiver chip U154 is grounded. Pin 3 of the CAN transceiver chip U154 is connected to the 5V power supply. The two ends of the fifth capacitor C5 are connected to pin 3 of the CAN transceiver chip U154 and grounded, respectively. Pins 8, 6, and 7 of the CAN transceiver chip U154 are all connected to the iMX6ULL chip; the two ends of the eighteenth resistor R18 are connected to pins 6 and 7 of the CAN transceiver chip U154, respectively. Pin 5 of the CAN transceiver chip U154 is connected to the 3.3V power supply terminal; the two ends of the sixth capacitor C6 are connected to pin 5 of the CAN transceiver chip U154 and ground, respectively. Pins 1 and 2 of the second diode array D22 are connected to pins 7 and 6 of the CAN transceiver chip U154, respectively, and pin 3 of the second diode array D22 is grounded.

[0020] Specifically, Figure 3 CAN5_CLKO, SPI1_RDY, CAN5_RX, CAN5_TX, CAN5_INT, SPl1_CS, SPI1_MOSI, SPI1_MISO, SPI1_SCLK, CAN5_INT0, and CAN5_INT1 are custom pins connected to the iMX6ULL chip; CAN5_L and CAN5_H are custom pins connected to the CANFD communication interface.

[0021] Preferably, the SPI conversion chip U152 is an MCP2518FDT-E / SL controller chip; The CAN transceiver chip U154 uses the TJA1051T / 3 / 1JCAN transceiver. The second diode array D22 is model ESDCAN01-2BLY.

[0022] Specifically, the multi-motor control circuit board in this embodiment is a multi-motor collaborative control circuit board based on the iMX6ULL chip and CAN bus. The iMX6ULL chip natively integrates two CAN controllers, one UART controller, and two SPI controllers. The two CAN controllers have identical circuit structures, as shown below. Figure 4 As shown, U137 is the CAN controller natively integrated into the iMX6ULL chip, model TJA1050T / CM.118, which includes the fourth resistor R401 (0 ), fourth zero-two resistor R402 (0 ), Capacitor C307 (100nF) 307, Resistor R399 (120) , The fifth and sixth diodes are D56 (model ESDCAN01-2BLY). CAN1_TX, CAN1_RX, CAN1_RST, CAN1_H, and CAN1_L are custom pins in the CAN controller of this embodiment. In this embodiment, pin 5 of the CAN controller U137 natively integrated into the iMX6ULL chip is not connected to other components.

[0023] This embodiment can convert one UART communication channel into a CAN bus communication channel using a UART controller, and convert two SPI communication channels into two CANFD communication channels using an SPI to CANFD controller. It transforms the traditional iMX6ULL chip's SPI and UART communication interfaces into CAN bus communication interfaces, increasing the number of CAN bus communication channels from two to five, with two of these being CANFD communication channels.

[0024] Specifically, this embodiment can also convert the HDMI signal of the iMX6ULL chip into a CAN signal. The circuit used to convert the HDMI signal into a CAN signal is existing technology in the field and will not be described in detail here.

[0025] This embodiment has the following beneficial effects: 1. This embodiment uses the CAN bus as the core communication link and combines the advantages of the dual CAN controller of the iMX6ULL chip. It has strong anti-interference ability (common mode rejection ratio ≥80dB), supports long-distance transmission (maximum transmission distance ≥1km without relay), and is suitable for complex industrial environments.

[0026] 2. This embodiment adopts a distributed CAN node design, supports 24-channel motor expansion, the nodes are hot-swappable, and are automatically identified through the iMX6ULL core module, making expansion highly flexible.

[0027] 3. The CAN bus redundancy design of the circuit board in this embodiment can achieve a command transmission delay of ≤500μs and a fault switching time of ≤1ms, which greatly improves the system reliability and real-time performance.

[0028] 4. The multi-motor collaborative control in this embodiment, combined with the CAN synchronization frame mechanism, can achieve a synchronization error of ≤5ms, which is better than the Ethernet control scheme (synchronization error ≥20ms) and can meet the requirements of high-precision collaboration.

[0029] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A multi-channel motor collaborative control circuit board based on the iMX6ULL chip, wherein the iMX6ULL chip includes two CAN controllers, one UART controller, and two SPI controllers, the output of the CAN controllers being connected to a second CAN bus communication interface, characterized in that... include: UART to CAN controller, SPI to CANFD controller; The output of the UART controller is connected to the input of the UART-to-CAN controller, and the output of the UART-to-CAN controller is connected to the first CAN bus communication interface. The output of the SPI controller is connected to the input of the SPI to CANFD controller, and the output of the SPI to CANFD controller is connected to the CANFD communication interface. The second CAN bus communication interface, the first CAN bus communication interface, and the CANFD communication interface are respectively connected to motors on different paths of the iMX6ULL chip.

2. The multi-channel motor collaborative control circuit board based on the iMX6ULL chip according to claim 1, characterized in that, The circuit of the UART to CAN controller includes: UART conversion chip U138, first resistor R1, second resistor R2, third resistor R3, fourth resistor R4, fifth resistor R5, first capacitor C1, and first diode array D21; The input terminals of the first resistor R1, the second resistor R2, the third resistor R3, and the fourth resistor R4 are all connected to the iMX6ULL chip, and the output terminals are connected to pins 24, 3, 4, and 5 of the UART conversion chip U138, respectively. Pins 2, 6, and 10 of the UART converter chip U138 are all grounded; Pin 1 of the UART converter chip U138 is connected to the first capacitor C1 and the 3.3V power supply terminal respectively; the other end of the first capacitor C1 is grounded. Pins 11 and 12 of the UART converter chip U138 are connected to the two ends of the fifth resistor R5, and both ends of the fifth resistor R5 are connected to the first CAN bus communication interface. Pin 1 and pin 2 of the first diode array D21 are connected to pin 11 and pin 12 of the UART conversion chip U138, respectively, and pin 3 of the first diode array D21 is grounded.

3. The multi-channel motor collaborative control circuit board based on the iMX6ULL chip according to claim 1, characterized in that, The circuit of the SPI to CANFD controller includes: SPI conversion chip U152, sixth resistor R6, seventh resistor R7, eighth resistor R8, ninth resistor R9, tenth resistor R10, eleventh resistor R11, twelfth resistor R12, thirteenth resistor R13, fourteenth resistor R14, fifteenth resistor R15, sixteenth resistor R16, seventeenth resistor R17, eighteenth resistor R18, second capacitor C2, third capacitor C3, fourth capacitor C4, fifth capacitor C5, sixth capacitor C6, crystal oscillator U153, CAN transceiver chip U154, and second diode array D22; Pins 1, 2, 4, 8, and 9 of the SPI converter chip U152 are all connected to the iMX6ULL chip. The two ends of the eighth resistor R8 are connected to pin 2 of the SPI converter chip U152 and the 3.3V power supply terminal, respectively; the two ends of the ninth resistor R9 are connected to pin 1 of the SPI converter chip U152 and the 3.3V power supply terminal, respectively. The two ends of the sixth resistor R6 and the seventh resistor R7 are respectively connected to pin 3 of the iMX6ULL chip and the SPI conversion chip U152. Pins 2 and 4 of crystal oscillator U153 are grounded; pin 3 of crystal oscillator U153 is connected to pin 5 of SPI converter chip U152, and pin 1 of crystal oscillator U153 is connected to pin 6 of SPI converter chip U152; the two ends of the second capacitor C2 are connected to pins 3 and 4 of crystal oscillator U153 respectively; the two ends of the third capacitor C3 are connected to pins 6 and 7 of SPI converter chip U152 respectively; pin 7 of SPI converter chip U152 is grounded. Pins 11, 10, 12, and 13 of the SPI converter chip U152 are connected to the fourteenth resistor R14, the fifteenth resistor R15, the twelfth resistor R12, and the tenth resistor R10, respectively. The other ends of the fourteenth resistor R14, the fifteenth resistor R15, the twelfth resistor R12, and the tenth resistor R10 are all connected to the iMX6ULL chip. Pin 14 of the SPI converter chip U152 is connected to the 3.3V power supply. The two ends of the eleventh resistor R11 are connected to pin 12 of the SPI converter chip U152 and the 3.3V power supply terminal, respectively. The two ends of the thirteenth resistor R13 are connected to pin 11 of the SPI converter chip U152 and the 3.3V power supply terminal, respectively. The two ends of the fourth capacitor C4 are connected to pin 14 of the SPI converter chip U152 and ground, respectively; Pins 1 and 4 of the CAN transceiver chip U154 are connected to the sixteenth resistor R16 and the seventeenth resistor R17, respectively. The other ends of the sixteenth resistor R16 and the seventeenth resistor R17 are both connected to the CANFD communication interface. Pin 2 of the CAN transceiver chip U154 is grounded. Pin 3 of the CAN transceiver chip U154 is connected to the 5V power supply. The two ends of the fifth capacitor C5 are connected to pin 3 of the CAN transceiver chip U154 and grounded, respectively. Pins 8, 6, and 7 of the CAN transceiver chip U154 are all connected to the iMX6ULL chip; the two ends of the eighteenth resistor R18 are connected to pins 6 and 7 of the CAN transceiver chip U154, respectively. Pin 5 of the CAN transceiver chip U154 is connected to the 3.3V power supply terminal; the two ends of the sixth capacitor C6 are connected to pin 5 of the CAN transceiver chip U154 and ground, respectively. Pins 1 and 2 of the second diode array D22 are connected to pins 7 and 6 of the CAN transceiver chip U154, respectively, and pin 3 of the second diode array D22 is grounded.

4. A multi-channel motor collaborative control circuit board based on the iMX6ULL chip according to claim 2, characterized in that, The UART conversion chip U138 uses the CSM300A protocol conversion chip.

5. A multi-channel motor collaborative control circuit board based on the iMX6ULL chip according to claim 3, characterized in that, The SPI conversion chip U152 uses the MCP2518FDT-E / SL controller chip; The CAN transceiver chip U154 uses the TJA1051T / 3 / 1JCAN transceiver.

Images