214 results about "CANopen" patented technology

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 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.

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 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.

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.

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 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.

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.