216 results about "CANopen" patented technology

The invention discloses vehicle-mounted fault diagnosis system and method for a hybrid electric vehicle based on CANopen, belonging to the field of vehicle fault diagnosis. The vehicle-mounted fault diagnosis system for the hybrid electric vehicle based on CANopen comprises a fault diagnosis interface, an information acquisition module, a storage module, a liquid crystal display module, an audio alarm module, a touch screen and keyboard module, a main control module and a power source module. When a fault occurs, the diagnosis system as a CANopen master station utilizes an emergency message to trigger a SDO (Service Data Object) to read the fault diagnosis information of an object dictionary item corresponding to the fault, analyzes the fault information and stores the fault information in a fault information management unit; meanwhile, the fault information is displayed in a fault diagnosis interface. The invention completes the real-time acquisition and display of the fault information and vehicle real-time data and the effective management of the fault information.

The invention described herein provides a system and method for distributing and applying a configuration file from a master device (102) to a slave device (104) in a distributed control system (100). According to aspects of the invention, a configuration file is saved at a master device (102) and distributed to the slave device (104) via the data payload of a fieldbus protocol, such as the CANopen protocol. Aspects of the present invention may be used to further configure an I / O island or sub-network (108) that is attached to the slave device (104). Further aspects of the present invention may be used to repair or replace failed devices in a distributed control system (100).

The invention provides a communication system based on a CAN (Controller Area Network). The system comprises a master station and a plurality of slave stations in a CAN network. The master and slave stations respectively consist of equipment nodes. The master station comprises a monitoring unit, a management unit, a configuration unit and a first data unit. The slave station comprises a command responding unit, a second data unit and a configuration responding unit. The invention further provides a corresponding communication method. According to the system and the method, real-time reliable data transmission can be realized in small and medium-sized industrial automatic applications, and meanwhile, the defect of difficulty in development caused by large and all inclusive regulation in existing CANopen protocol is abandoned. The system and the method are conveniently realized on small and medium size equipment.

The invention relates to a method for realizing a CANopen slave station, which is characterized in that: a hardware platform realized by the slave station is a PowerPC-based processor; a multi-thread system is constructed on an eCos operating system and comprises a CANopen state machine thread, a timer thread and message reading interruption; the state machine thread is used for managing CANopen basic tasks such as switching the state of the slave station, receiving CAN message, receiving and transmitting CAN messages, PDO messages and SDO messages, processing the PDO, SDO, NMT and synchronous messages and the like; and an earliest deadline first (EDF) dynamic scheduling algorithm is introduced into the synchronous PDO messages for transmitting real-time data so as to ensure the requirement of low-priority messages on instantaneity and improve the communication characteristic of a bus. The eCos embedded real-time operating system is applied to the design of the slave station, so the instantaneity and concurrent processing capacity are high; the dynamic scheduling algorithm is introduced into the design of the synchronous PDO messages in the CANopen slave station, so the requirement of the low-priority messages on instantaneity is ensured; and an object dictionary meets the flexible configuration of a network, and objects in the object dictionary are changed according to the dynamic change of a master station.

The invention relates to a CANOPEN-protocol-based embedded software upgrading method. The method is applied to a system formed by an upper computer and a lower computer which are in network connection through a CAN bus. The method comprises the following steps: connecting the upper computer and the lower computer, and confirming the effectiveness of the programming address after the successful connection; adopting a block transmission mechanism in an SDO protocol when the effectiveness is ensured; sending the block data in a subpackage way until all data of the application program are sent; afterwards, skipping to the application program area of a storer to implement the application program to complete the program upgrading. Compared with the prior art, the method has the advantages of strong anti-interference ability, high transmission rate, wide application range, convenience in follow-up development, and the like.

The invention discloses a motion controller of a four-leg robot with a CANOpen (Control Area Network Open) bus structure. The motion controller comprises an operation table, a main controller, a vision system, a gesture measurement system, a leg sub-controller, a head sub-controller, a leg driver, a head driver, a leg joint motor, a head joint motor, a leg position sensor, a head position sensor and a foot force sensor, wherein the leg sub-controller comprises a right front sub-controller, a left rear sub-controller, a left front sub-controller and a right rear sub-controller. By using the main controller to process the gesture information and the vision information, the motion gait and the motion path of the robot are programmed at real time; at the same time, a motion command is transmitted to the leg sub-controller and the head sub-controller; the leg sub-controller and the head sub-controller achieve the real-time control and the accurate control of a bottom-layer motor by the feedback information of a sensor, so that the self-adapting walk of the four-leg robot is achieved under a complicate environment.

The invention relates to a vehicular digital instrument system with monitoring, parameter-setting and alarm functions. The vehicular digital instrument system is communicated with a vehicle control system according to the CANopen (Control Area Network open) protocol and comprises a microcontroller, a debugging interface, an SPIFlash (Serial Peripheral Interface Flash) storage module, a CAN bus module, a power supply module, a liquid crystal display module, an LED (Light Emitting Diode), a buzzer and / or a button. The instrument system program realizes friendly display by adopting various methods, so that the instrument system provided by the invention has the functions of system monitoring, system parameter setting, fault alarm and the like, and the vehicular digital instrument system is concretely used as a vehicular instrument system of an industrial vehicle such as an electric vehicle.

A method for realizing CANopen master station belongs to the field bus field. The present invention is characterized in that: the realization of a master station is based on an MC9S12DP512 hardware platform; a multithread system comprising scheduling machine thread, message writing thread and message reading interrupt is constructed on a UC / OS-II operating system. A scheduling machine is used to manage CAN message receiving, CAN message sending, PDO message distribution, SDO message distribution, NMT message distribution, synchronous message generation, PDO processing, SDO processing, NMT processing and other basic CANopen tasks. In addition, an object dictionary as the kernel of a CANopen protocol is constructed in a hash table mode. The mode of constructing the object dictionary meets the requirements that the master station needs to have the characteristics of fast searching, adding and deleting objects to the object dictionary. The present invention has the advantage of applying task scheduling in the design of the master station to ensure the high real-time performance, concurrent processing capability and dynamic flexibility of the master station. The realized object dictionary can meet the flexible expansion capability of networks, and objects can be dynamically added to the object dictionary.

The invention relates to a CANopen (Controller Area Network open)-based distributed type modularized mechanical arm system, belonging to the technical field of electromechanical intelligent control. The CANopen-based distributed type modularized mechanical arm system comprises a master control module, a bus interface module, a motor drive module, a sensor module, a communication bus, a monitoringmodule and a mechanical arm. The CANopen-based distributed type modularized mechanical arm system has a simplified structure; meanwhile, the stability, the real-time performance and the anti-interference are further improved; the sensors can be expanded and added conveniently according to actual different tasks so that various tasks, such as the action of taking up a cup on a table, in daily lifecan be completed; and therefore the expandability is achieved, and the basis is provided for service robots to enter families in future.

The invention discloses an implementation method of integration of various industrial buses on a driver, wherein a communication model of the driver is divided into a physical layer, a protocol layer, an interface layer and a drive application layer. The physical layer comprises a network hardware interface and a CAN hardware interface; the protocol layer comprises a Powerlink protocol stack, an EtherCAT protocol stack and a Cia301 protocol stack of CANOpen; the interface layer comprises a function interface, an object set and an object dictionary; and the drive application layer is used for implementing functions of a Cia402 protocol. The implementation method can simultaneously integrate functions of a Powerlink bus, an EtherCAT bus and a CANOpen bus on the driver, has higher transmission rate and supports synchronization of multiple drivers.

The invention discloses a small-sized electric control gasoline engine touching-type HMI calibration method based on a CAN bus. Calibration system development content comprises an upper host calibration software and a lower host ECU calibration module. A controller local area network (CAN) bus technology is applied on a small-sized gasoline engine electric control system software and hardware platform to achieve communication. The upper host calibration software carries out development with a touching-type man-machine interaction device (HMI) as a carrier. A lower host ECU main chip selects Freescale MC9S12P128. The HMI edition calibration software employs a Kinco company configuration editing software for design, a CANopen custom calibration protocol is applied, and the calibration method has functions of real-time monitoring of operation parameters, fault diagnosis communication, on-line calibration, data storage and the like. CAN communication is the basis of achieving the calibration protocol, redistribution of memory resources is the premise of achieving MAP erasing, and Flash erasing is a main method of achieving a calibration function.

The invention discloses a control system for a CAN(controller area network)open network. In the control system for the CANopen network, the customization of node number and node communication data quantity in the CANopen network is realized through a CANopen configuration management module, a CANopen bus management module and a CANopen node management module, the node number and the communication capacity of each node in the CANopen network can be flexibly configured, the flexibility of CANopen network management is greatly improved under finite COB-ID(communication object identity) resources, and the data transmission capacity of a single node is optimized.

The invention discloses a design method for a PAC controller based on intelligent control algorithms. On the basis of a conventional PAC controller, the invention can improve the control accuracy and control response, and meet higher control requirements by using intelligent control algorithms such as an improved PID control algorithm, a variable universe fuzzy PID control algorithm, a PID control algorithm based on a neural network. In an aspect of network communication, the Ethernet, CAN bus and other means of communication are added on the basis of conventional serial ports 232 and 485, and Modbus-RTU, Modbus-TCP, CANopen, custom protocols and so forth are used for achieving network interconnection. An integral windup prevention algorithm, an algorithm for differentiation of control variables, a differential forward algorithm and the like are added on the basis of a conventional PID, the PID effect can be significantly improved, the response speed is increased, and the control overshoot is reduced.

In a method, a computer-readable medium encoded with programming instructions, and a system for the administration of error messages of electronic, medical technology peripheral apparatuses (100) that are in communication via a CANopen interface, a device configuration file is extended by a message object. The message object can be configured in advance. At run time the message object is then imported and used in the processing or in the administration of a detected error message. The detected error message is parameterized (and thus specifically processed) using the detected message object.

The invention relates to a scattered-type wind power plant reactive power optimization control method capable of reducing fan losses and a system, and belongs to the technical field of wind power plant grid-connected operation reactive voltage control. The system comprises a processor, a storage module, an input and output module, a control area network (CAN)open gateway, a detection module and a router. The processor carries out control algorithm and calls the storage module and the input and output module. The input and output module is communicated with the detection module through the CANopen gateway and is communicated with a supervisory control and data acquisition (SCADA) of each fan through the route. Based on the principle that reactive power losses of all wind turbine generators are smallest, the system allocates reactive power output of each wind turbine generator, on the premise that voltage of a control point is stable, power generation efficiency of the system is improved, the fact that reactive power which each wind turbine generator outputs or absorbs is within a permissible range of the corresponding wind turbine generator is guaranteed, and safe operation of the system is guaranteed.

The invention discloses a method and apparatus for sending a data frame of a nonstandard Canopen slave node so as to solve the problems that in the prior art, the slave node developed based on a Canopen protocol is time-consuming and labor-consuming and is complex to realize. The method comprises: filling an identifier bit of a data frame arbitration field in slave node equipment with a function code and a communication object identifier of a process data object PDO in a Canopen network and filling the data field with data to be sent, and thus a first data frame is obtained; verifying the data to be sent and generating verification results; and adding the verification results to the first data frame and thus a second data frame is obtained; and sending the second data frame to master node equipment in the Canopen network. The communication function of the Canopen network slave node only supporting a Can 2.0 equipment with the Canopen network master node is realized, thereby reducing the period of developing the slave node based on the Canopen protocol and reducing the complexity degree of operation.

Provided is a fault protection method for a wind turbine generator variable pitch system without an independent controller. Three-shaft blades of the wind turbine generator variable pitch system are respectively controlled by independent servo drives. The three-shaft servo drives are communicated with a wind turbine generator main control system by means of a CANopen network to realize a data exchange. The three-shaft blade servo drivers collect a piece of information of each shaft to determine the operating status of a device. When the status of the device is abnormal, the fault is triggeredand the fault flag bit is uploaded to the main control system. The wind turbine generator main control system sends an emergency feathering command so as to control each blade to execute the emergencyfeathering.

The invention discloses a CANopen field bus input / output device with a short-circuit protection and self-diagnosis function, which comprises a CANopen interface unit and an input / output short-circuit protection and self-diagnosis unit, wherein the CANopen interface unit is used for carrying out data communication with a CANopen field bus, carrying out field data communication with the input / output short-circuit protection and self-diagnosis unit and acquiring input interface state diagnosis data and output interface state diagnosis data; and the input / output short-circuit protection and self-diagnosis unit is used for carrying out the data communication with peripheral equipment, and cutting off power to provide short-circuit protection and transmitting the input interface state diagnosis data and / or the output interface state diagnosis data to the CANopen interface unit when an input interface circuit and / or an output interface circuit are / is short-circuited. The CANopen I / O device of the invention has the short-circuit protection and self-diagnosis function, and can cut off the power and provide self-diagnosis information when the interface power is short-circuited and then return to work automatically after the short-circuit fault is removed.

The invention discloses a megawatt wind power generation master control system, which comprises a master control unit, an upper monitoring system, a pitch control system and a variable frequency system, wherein the master control unit consists of a tower-bottom control cabinet and a cabin control cabinet; the tower-bottom control cabinet is provided with a master control central processing unit (CPU) module, a remote input output (IO) extended optical fiber master module, a CANOpen communication master module, an RS232 expansion module, a tower-bottom universal IO module, a first multimode optical fiber port four-electrical port industrial switch, a single-mode photoelectric converter, a first pigtail box, an in-situ upper computer and multimode optical fibers; and the master control unit is connected with the upper monitoring system through the single-mode photoelectric converter, connected with the variable frequency system through the CANOpen communication master module and connected with the pitch control system through an RS485 module. In the megawatt wind power generation master control system, the characteristics of a wind machine are taken as bases, and when the wind machine runs at an optimal tip-speed ratio lambda, a fan unit captures maximum energy to maintain the stable output power of a generator.

The invention discloses a gateway and method for carrying out data conversion on the basis of a CANopen protocol and an Ethernet protocol. The gateway comprises a first controller and a second controller, wherein the first controller is connected with a first Ethernet interface; the second controller is connected with a second Ethernet interface; the first controller and the second controller share one power supply and a plurality of CAN interfaces; the first controller and the second controller are connected by a bus network and a hard wire; and the second controller is used for synchronouslyreceiving data in the process that the first controller carries out forwarding on the received data according to a conversion rule between the CANopen protocol and the Ethernet protocol, and replacing the work of the first controller and notifying that the first controller is in a monitoring state when monitoring that the first controller is abnormal. Therefore, in a mode of adopting the controller redundancy in the gateway, hardware cost is reduced, a space occupied by equipment is saved, the integration degree is high, and the gateway and the method are convenient to manage,

The invention relates to a processing method for speed feedforward and torque feedforward in a CANopen servo system, which comprises the steps that a trajectory planner receives a target control command and calculates the type of position instruction curves, the position of an acceleration turning point and the position of a deceleration turning point; the trajectory planner judges whether servo control is started or not; if not, a speed feedforward curve, a torque feedforward curve and the position instruction curves are all zero; if so, a position accumulated value planned up to the previous servo control period is compared with the acceleration turning point position, the deceleration turning point position and a target position, acceleration planning, deceleration planning, constant speed planning or non-execution planning is executed according to a comparison result so as to acquire a speed feedforward value and a torque feedforward value of the current servo control period; a position increment value of the current servo control period and a position accumulated value planned up to the current servo control period are calculated; a plurality of position increment values form a position increment instruction curve, a plurality of position accumulated values form a position accumulated value instruction curve, a plurality of speed feedforward values form a speed feedforward curve, and a plurality of torque feedforward values form a torque feedforward curve.

The invention relates to a method for transmitting data between a first automation appliance, such as a user PC or a central controller, and at least one second automation appliance, such as a field device, via a CANopen bus using a service data object as an SDO service, wherein an SDO client implemented in the first automation appliance is used to send a download or upload request to an SDO server implemented in the at least one second automation appliance, wherein the data are encapsulated in a CANopen frame by an application implemented in the first automation appliance or the at least one second automation appliance wherein the CANopen frame with the encapsulated data is transmitted or sent by means of an SDO service into or out of a data tunnel object defined in an object directory of the SDO server, and wherein the encapsulated data are decapsulated by the application implemented in the first or the at least one second automation appliance. In order to simplify the configuration and / or parameterization of automation appliances with a MODBUS server using a CANopen bus, provision is made for the method to be used to configure and / or parameterize the second automation appliance having at least one MODBUS server using the CANopen bus, for the data to be produced as configuration and / or parameterization data in the form of a MODBUS frame and to be encapsulated in the CANopen frame, and for the CANopen frame to be loaded into the data tunnel object of the SDO server of the at least one second automation appliance by means of an SDO download and decapsulated.

The invention discloses a method for dispatching a rail traffic vehicle grade network based on CANopen (Controller Area Networkopen). A dispatching method is designed for easily realizing the protocol open and development of a rail traffic vehicle grade network. The method comprises the following steps of: (a) confirming a rail traffic vehicle grade network cycle parameter; (b) confirming a data identifier; (c) establishing a network dispatching table according to the network cycle parameter and the data identifier; (d) deciding whether corresponding cycle data is transmitted or not after all nodes of the network receive a network synchronous frame signal; and transmitting accidental data at random during data change. The method achieves the aims of balanced network load, reasonable configuration, high reliability, good network performance optimization, strong instantaneity and large data volume, provides an open, reliable and easily developed network platform for a rail traffic vehicle grade equipment producer and easily realizes the interconnection of rail traffic vehicle grade equipment on the vehicle grade network.

The invention discloses a configurable remote input / output (IO) controller host, which comprises a power supply module, a main chip, an input circuit, an output circuit, an expansion module connecting circuit, an indicator light, a control area network (CAN) Open field bus interface and a Modbus series communication interface and is characterized by being made according to the following steps of:initiating the CANOpen interface after the configurable remote IO controller host is powered on; reading configuration of a Modbus by a controller and completing initialization; refreshing local I / O data; refreshing expansion module I / O data; judging whether the Modbus of a universal asynchronous receiver / transmitter (UART) port is in a main station mode; acquiring I / O data in a connected remote Modbus slave station if the Modbus is in the main station mode, buffering, packaging buffer data and forwarding the buffer data to a CANOpen network; and providing support for access of a remote Modbus main station to the I / O data of the local I / O controller host if the Modbus is in a slave station mode. The configurable remote IO controller host has the advantages that a configurable remote IO host which supports a communication function between the CANOpen and the Modbus fied bus slave station and simultaneously supports a protocol converter function of data transfer between the Modbus and the CANOpen is realized.

The invention relates to a wind-driven generator set variable-pitch system power grid fluctuation protection method. The method includes the following steps that: a wind power generation control system reads power grid AB line and BC line voltage which is detected by a converter and sends the voltage to a variable-pitch system through CANopen; the variable-pitch system receives the power grid AB line and BC line voltage sent by the wind power generation control system and judges the state of a power grid according to a set line voltage fault threshold value and fault delay time; when the power grid AB line and BC line voltage sent by the converter fails or communication between the variable-pitch system and the wind power generation control system is interrupted, the variable-pitch system detects bus-bar voltage through a driver and calculates energy switched onto a braking resistor in a period when a braking chopper is switched in, and the variable-pitch system indirectly judges the state of the power grid according to the set fault threshold value and fault delay time; if the variable-pitch system detects that the power grid is in abnormal state, a main power source contactor is switched off, so that the variable-pitch system can be disconnected from the power grid, and a backup power source executes emergency propeller feathering; and after the propeller feathering is completed, the variable-pitch system continues to detect the state of the power grid, after the power grid recovers normal power supply, the system operates normally.

In a method for controlling peripheral apparatuses, as well as a correspondingly fashioned peripheral apparatus and an apparatus that is fashioned for use with peripheral apparatuses, as well as in a system, an object registry of a known CANopen interface is augmented by at least one license object through which the peripheral apparatus is controlled and in which control data for controlling the peripheral apparatus are stored and / or administered. A mechanism for access to a license object is provided.

A CANOpen network including a bus master and an I / O module are disclosed. Each are communicatively coupled to a common bus. The I / O module is subject to a state change. The bus master collects state information from the I / O module by sending a state signal from the I / O module to the bus master in response to a state change of the I / O module, sending a trigger signal from the bus master to the I / O module, and sending a state signal from the I / O module to the bus master in response to the trigger signal.

The invention described herein provides a system and method for distributing and applying a configuration file from a master device (102) to a slave device (104) in a distributed control system (100). According to aspects of the invention, a configuration file is saved at a master device (102) and distributed to the slave device (104) via the data payload of a fieldbus protocol, such as the CANopen protocol. Aspects of the present invention may be used to further configure an I / O island or sub-network (108) that is attached to the slave device (104). Further aspects of the present invention may be used to repair or replace failed devices in a distributed control system (100).

The invention provides a method and a device for debugging a variable-pitch system of a wind generating set. The device comprises a host computer, a main station device and a variable-pitch device, wherein the host computer is connected with the main station device through the Ethernet; the main station device is connected with the variable-pitch device through a CANopen bus; a user reads information of the variable-pitch system through the human-machine interface of the host computer and performs corresponding operation on the variable-pitch system; the program of the main station device is used for processing the state information of the variable-pitch system and the control command of the host computer; and the variable-pitch system is used for transmitting all state information to the main station device and receiving the control command transmitted by the main station device to perform actions such as pitch variation. The method and the device have the beneficial effects that due to the adoption of the technical scheme, the debugging device is small in size, and is easy and convenience to operate; the host computer is connected with the main station device through the Ethernet, so that safety and reliability are realized; and data are exchanged with variable-pitch device accurately and timely through a PDO (PHP Data Object) and an SDO (Service Data Object) of CANopen bus communication.

The invention discloses a CAN bus-based garbage truck control system which comprises a cab CAN controller, a touch screen, a valve block CAN controller, CAN buses from 1 to 3, a button operation box, a rear operation disk, an induction switch module, a pressure sensor and a hydraulic electromagnetic valve module, wherein the cab CAN controller and the valve block CAN controller carry out CAN communication through the first CAN bus; the cab CAN controller and an engine ECU of a garbage truck carry out CAN communication through the second CAN bus; the cab CAN controller and the touch screen carry out CAN communication through the third CAN bus; the first CAN bus and the third CAN bus communicate with each other based on the CANOpen protocol; and the second CAN bus communicates based on the J1939 protocol. The CAN bus-based garbage truck control system simplifies the wiring harnesses of the whole truck, improves the reliability, the safety and the maintainability of an electrical line of the whole truck, realizes data sharing of the whole vehicle, is flexible for configuration, small in size and high in protection property and has a relatively large practical value.