CN101458528B - On-line fault detection system based on CAN bus - Google Patents
On-line fault detection system based on CAN bus Download PDFInfo
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Abstract
The invention relates to an on-line fault detecting system based on CAN bus which includes a host computer human-computer interface part, a lower computer intelligent module part and CAN bus part; the host computer connects with bus through a CAN adapter, the lower computer connects with CAN bus through a CAN driver; a motor controller in a serve control part connects with the lower computer through a normal I/O port and D/A output module; various signal collecting part is divided into two signals for collecting, wherein, three-route simulation signal connects with A/D module of the lower computer through a sensor, one-route digital signal connects with a timer module directly through a grating encoder; the CAN bus part connects the whole system and answers for data transmitting work. Thesystem has advantages of simplifying hardware structure design, improving resisting disturbance ability, ensuring real-time and reliability of system detecting and reducing cost.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to a fault real-time monitoring system device of a large-scale motor set, in particular to an online fault detection system based on a CAN bus.
[ background of the invention ]
With the continuous development of modern enterprises, the application of large-scale units becomes very wide, which brings inconvenience to real-time fault detection to a certain extent, and how to perform real-time online monitoring on the running state of a motor, record fault sources and implement fault alarm and related motor control so as to better perform effective detection on each member of the unit becomes the focus of attention of people at present. In the 80 s of the 20 th century, the advent of a new control system, the field bus control system (FCS), brought a solution to the problem, so we realized fault detection for large units by means of the field bus concept. Compared with the traditional control system, the field bus control system is a fully distributed, fully digital and fully open control system. The intelligent device is used as a connecting link of the intelligent device, the intelligent device hung on a bus is used as a node to be connected into a network system, an automatic system is further formed, the comprehensive automatic function of integration of basic control, parameter modification, monitoring, display, optimization and management and control is realized, and the intelligent device has wide application prospect. At present, the field buses are numerous, and the influence is about more than 40, wherein CAN buses, FF buses, Profibus buses, DeviceNET, ControlNET, P-NET and the like are more applied. Each field bus has its own advantages and major application areas. Meanwhile, the standard types of the field bus are more, and the application of the field bus is restricted to a certain extent.
The CAN bus was originally a communication protocol developed by Bosch in germany to solve the data exchange between the numerous control and test instruments in modern automobiles, whose field of application has now been extended to the fields of process control, machine building, robotics and building automation, and was the earliest international standard in the field bus. In the field of engineering control, the CAN bus CAN be used as a communication bus of a field device level, and has higher reliability and cost performance compared with other buses. Any node on the CAN network CAN be used as a main node to actively exchange data with other nodes, so that the design is flexible, and the performance of the system CAN be greatly improved. The information frames of the CAN network nodes CAN be divided into priority levels, which provides convenience for users with real-time requirements, and meanwhile, the physical layer and the link layer of the CAN adopt unique design, so that the CAN network nodes have good performance in the aspects of anti-interference, error detection capability and the like. In addition, from the realization perspective, the CAN has simple structure, the devices are easy to purchase, the price of each node is lower, the development technology is easy to master, and the existing singlechip development tool CAN be fully utilized.
In an industrial measurement and Control Field, a large number of sensors, actuators and electronic Control units are generally Distributed widely, have high real-time requirements, and combine the characteristics of a CAN bus, so that the System adopts a Field bus type Distributed Control System (FDCS) structure, and each dispersed and isolated industrial device is connected and monitored by a CAN bus network. The system adopts a topological structure network, uses twisted-pair lines as transmission media, connects an upper computer to a CAN bus through a CAN bus PC adapter card, and connects each lower computer node to the CAN bus through a CAN driver under the control of a single chip with a CAN controller. In a broad sense, the upper computer also belongs to an intelligent node on the CAN bus, so that an industrial field network with a plurality of hosts is formed, all nodes on the CAN bus are in equal status, and data transmission CAN be carried out according to the ID number of the message, thereby avoiding the paralysis of the whole system caused by the fault of the host or a certain sub-machine.
[ summary of the invention ]
The invention aims to overcome the defects of the prior art and provides an online fault detection system based on a CAN bus.
The purpose of the invention is realized by the following technical scheme:
an online fault detection system based on a CAN bus comprises an upper computer human-computer interface, a lower computer intelligent module and the CAN bus; the upper computer is connected with the CAN bus through the CAN adapter card; the intelligent module of the lower computer is connected with a CAN bus through a CAN driver and is characterized in that the intelligent module of the lower computer comprises an interface part, a motor control part, a voltage, current, rotating speed, torque, vibration, temperature and other parts, various signals and various signal acquisition parts; wherein,
interface part including keyboard module and LCD liquid crystal module, the keyboard module scans the keyboard via the keyboard module chip and stores the key value in its key value register, and the lower computer chip via I2The C bus reads a key value register on a chip of the keyboard module to complete the keyboard function, and the LCD liquid crystal module is connected to a lower chip in a data and control bus mode;
the motor control part comprises a 12-bit DA conversion module, a control signal output end and a servo driver, wherein a control signal is divided into a digital signal control and an analog signal control, the digital control signal is generated by a common I/O port, and the control of the forward rotation, the reverse rotation, the starting state and the stopping state of the motor is indirectly realized through the high and low level of the control end; the analog control signal is generated by a 12-bit DA conversion module of the lower computer chip, and the control of the rotating speed of the motor is realized by adjusting the magnitude of the analog signal;
the signal acquisition part comprises a 12-bit AD conversion module and a photoelectric encoder acquisition module, wherein three paths of analog signals are divided into motor voltage, output torque and temperature, are acquired by corresponding sensors, are amplified by an AD620 and are input into the AD conversion module in a differential mode, and signals of the photoelectric encoder are acquired by a timer module carried by a lower computer chip;
the CAN bus comprises a twisted pair, a PC adapter card and a CAN driver, wherein the twisted pair is used as a transmission medium of signals, the PC adapter card mainly realizes a data receiving and transmitting function, and the adapter card forwards data transmitted by the intelligent data acquisition module to an upper computer and forwards commands and set data sent by the upper computer to each intelligent node on the CAN; the monitoring management function is used for finishing the monitoring and management work of each intelligent node connected to the CAN bus; the CAN bus part connects the whole system and is responsible for data transmission.
Compared with the prior art, the invention has the following positive effects:
(1) the control object of the invention is a large-scale unit, the field environment is special, various electromagnetic interference signals have great influence on motor control and data acquisition, thus influencing the analysis of motor faults, and making new requirements on interference problems, feedback control and the like;
(2) the hardware design cost of the invention is relatively low, the MCU selects Cygnal C8051F040 chip, and the MCU integrates real 12-bit and 100ksps ADC modules, two 12-bit DAC modules, a controller local area network (CAN2.0B) controller, other digital peripherals and functional components, and is a fully integrated mixed signal system-level chip (SoC), thereby simplifying the hardware structure design, improving the anti-interference capability, ensuring the real-time performance and the reliability of the detection system and reducing the cost;
(3) the invention adopts 2 human-computer interfaces, and can set various parameters respectively on the upper computer and the lower computer, so that the upper computer and the lower computer have certain independence;
(4) the invention adopts a topological structure network, the upper computer and the lower computer belong to the intelligent nodes on the CAN bus, thus forming an industrial field network with a plurality of hosts, each node on the CAN bus is in an equal status, and data transmission CAN be carried out according to the ID number of the message, thereby avoiding the paralysis of the whole system caused by the fault of the host or a certain submachine;
(5) the invention adopts a closed-loop control structure, the upper computer analyzes and compares the acquired data, and then sends the result to the lower computer, thereby realizing the real-time rewriting of the set parameters.
[ description of the drawings ]
FIG. 1 is a diagram of the system hardware architecture of the present invention;
FIG. 2 is a diagram of the lower-level computer intelligence module of the present invention.
[ detailed description ] embodiments
The following provides a specific embodiment of the on-line fault detection system based on the CAN bus.
Referring to fig. 1 and 2, an online fault detection system based on a CAN bus includes an upper computer human-computer interface, a lower computer intelligent module and the CAN bus; the upper computer is connected with the CAN bus through the CAN adapter card; the lower computer intelligent module is connected with a CAN bus through a CAN driver and comprises an interface part, a motor control part, a voltage, current, rotating speed, torque, vibration, temperature and other parts, various signals and various signal acquisition parts; wherein,
interface part including keyboard module and LCD liquid crystal module, the keyboard module scans the keyboard via the keyboard module chip and stores the key value in its key value register, and the lower computer chip via I2The C bus reads a key value register on a chip of the keyboard module to complete the keyboard function, and the LCD liquid crystal module is connected to a lower chip in a data and control bus mode;
the motor control part comprises a 12-bit DA conversion module, a control signal output end and a servo driver, wherein a control signal is divided into a digital signal control and an analog signal control, the digital control signal is generated by a common I/O port, and the control of the forward rotation, the reverse rotation, the starting state and the stopping state of the motor is indirectly realized through the high and low level of the control end; the analog control signal is generated by a 12-bit DA conversion module of the lower computer chip, and the control of the rotating speed of the motor is realized by adjusting the magnitude of the analog signal;
the signal acquisition part comprises a 12-bit AD conversion module and a photoelectric encoder acquisition module, wherein three paths of analog signals are divided into motor voltage, output torque and temperature, are acquired by corresponding sensors, are amplified by an AD620 and then are input into the AD conversion module in a differential mode, and signals of the photoelectric encoder are acquired by a timer module carried by a lower computer chip.
The upper computer consists of a PC and a CAN adapter card connected to a PCI slot of the PC; PIC-5110 single-channel intelligent CAN adapter card of Guangzhou Yongyuan electronics company Limited is selected, and is provided with a standard PCI interface, so that a PC (personal computer) is conveniently connected to a CAN bus, and data communication of a CAN2.0B protocol is realized; the interface card is provided with the photoelectric isolation module, so that the PC is prevented from being damaged by ground circulation, and the use reliability of the system in a severe environment is enhanced. The PCI-5110 intelligent interface card is provided with a driver program capable of working under Win98/Me and Win2000/XP, uses a general CAN interface library, has simple and friendly development environment, and CAN support development environments such as VC + +, C + + builder, Delphi, VB and the like;
the upper computer structure is shown in figure 1, the main controller is a PC and is externally connected with a printer, and the PC is connected with an engineering control center through a network.
The structure of the lower computer is shown in figure 2, which comprises a minimum system part, a human-computer interface part (a keyboard and a liquid crystal display), an externally-expanded EPROM part, a reset module part, a motor control part, a signal acquisition part and an interface part of a CAN bus. The minimum system comprises a central processing unit C8051F040, three independent power supply output modules and an external oscillation starting circuit. Wherein,
the power module is introduced by 220v alternating current, three independent power supplies are converted by the transformer, the three power supplies are respectively rectified and filtered and then are stabilized into required voltage, and finally the three power supplies are supplied to the ground finally, so that the purpose of separating digital power supply and analog power supply is realized, the stability of the system is improved, meanwhile, the interference of the power supplies on A/D and D/A conversion is reduced, the conversion precision is improved, and the result proves that the effect is good;
the CAN driver selects and uses TJA1050 of Philips company to connect with the bus, TJA1050 is a high-speed CAN bus driver produced by Philips company, the device provides an interface between a CAN controller and a physical bus, and realizes the differential transmitting and receiving functions of the CAN bus and good electromagnetic radiation resistance and short circuit resistance, in order to improve the anti-interference capability of a CAN node, a photocoupler 6N137 is added between a CAN transmitting and receiving pin CANTX, a CAN NRX and a CAN transceiver;
the LCD liquid crystal module is controlled by an analog port mode, a P1.0-P1.5 analog control bus of C8051F040 is used, a P2 port is used as an I/O data bus and is respectively connected with a control port and a data port of the LCD, the LCD liquid crystal module is a 240X 128 liquid crystal with a built-in T6963C controller type, and a driving control system of the LCD liquid crystal module with the built-in T6963C controller type consists of an LCD controller T6963C and peripheral circuits thereof, a row driver group, a column driver group and an LCD driving bias circuit; the T6963C is characterized in that it has a unique hardware initial value setting function, the parameters needed by the display drive, such as duty ratio coefficient, the number of bytes/lines of the drive transmission and the font selection of the character, all have pin level settings, so the initialization of T6963C is basically set when powered on, and the software operation can be focused on the design of the display picture;
the keyboard module is selected from ZLG7290, the ZLG7290 can sample 64 keys or a sensor can detect the continuous striking frequency of each key, ZLG7290 is adopted for key scanning, the scanning result is transmitted to the single chip microcomputer (only 3 pins) through an I2C bus, so that the port can be saved, and the reliability of acquisition is ensured; ZLG7290 the basic functions are as follows: keyboard debouncing processing, double-key interlocking processing, continuous key-clicking processing and function key processing; the keyboard debounce processing refers to that repeated change of level states possibly occurs when keys are pressed and released, namely keyboard shaking causes a keyboard command error if the keyboard shaking is not processed, so that debounce processing is carried out to read a stable keyboard state; the double-key interlocking process means that ZLG7290 has high-priority key priority when more than two keys are pressed simultaneously (S1 > S2 > … > S64, and S2 is sampled when S2 and S18 are pressed simultaneously); the continuous click key processing means that a continuous click number counter (repeatCnt) can distinguish single click (certain functions do not allow continuous click such as switching) or continuous click; judging the continuous hitting times, and detecting the time to prevent the misoperation of certain functions; the function key processing means that the function key can realize that more than 2 keys are pressed down simultaneously to expand the number of the keys or realize special functions such as typical application of 'Shift, Ctrl and Alt' keys on a PC;
the data acquisition part comprises three paths of analog signals (motor voltage, output torque and temperature) which are amplified by an AD620 through interfaces of corresponding sensors and then input into an AD module signal in a differential mode, and the photoelectric encoder signal is acquired by a timer module carried by a lower computer chip; the system adopts a 12-bit A/D converter arranged in the C8051F040, so that a hardware circuit is simplified, and software programming is facilitated, an ADC0 subsystem of the C8051F040 comprises a 9-channel programmable analog multiplexer (AMUX0), a programmable gain amplifier (PGA0) and a successive approximation register type ADC with 100ksps and 12-bit resolution, and a tracking and holding circuit and a programmable window detector are integrated in the ADC; one path of digital quantity input in the design is used for monitoring the rotating speed of the motor, digital signals are collected by the grating encoder, the grating encoder is connected with a motor spindle, 1000 pulses are sent by the grating encoder every time the motor rotates for one circle, pulse signals are input to a P0.0 pin of a C8051F040 through a J4 interface, the pin is also a pulse input end of a timer T0, T0 is set as a working mode of a counter to record the pulse number input from the P0.0, T1 is set as a working mode of the timer, the pulse number recorded in T0 is read regularly, and therefore the pulse number/(1000 multiplied by the timing time) is the rotating speed of the motor spindle. The system adopts a 1000p/r photoelectric encoder, and the precision of the system can meet the precision requirement of the system; the encoder is powered by 9v, and is provided with three paths of pulse signals of A, B and Z for output, so that positive and negative displacement counting can be realized;
a motor control output part including an analog output, a switching value output and a relay output,
the analog output is output by a 12DA module of a lower computer chip, the rotating speed of the motor is controlled and adjusted, the switching value is output by corresponding different I/O ports, and the starting, stopping and positive and negative rotation of the motor are controlled; the output of the relay is controlled by P4.4, a control signal is output by a pin P4.4 and is input into the relay through a photoelectric coupler to control the on-off of the motor, and the motor can be controlled by a mode that an upper computer sends a control signal to a lower computer or can be directly controlled by a CPU of the lower computer;
the alarm device comprises 4 paths of alarm LED tubes controlled by P4.0-P4.3, and when the exceeding of the standard occurs in the 4 paths of monitoring signals, the on-off of the corresponding LED is controlled to send out fault warning.
The software part of the system comprises upper computer software and lower computer software, wherein the upper computer software is compiled by CV + +, an interface between the CAN network card and the monitoring software is mainly realized by a driving program (a Lib library and a DLL library), and the upper computer performs real-time measurement, analysis, node management, alarm, database data management, report output, graphic display and the like on the values of the nodes.
(1) Node management
And inquiring the node state parameters of each lower computer, and feeding back the control parameters after analysis and processing.
(2) Measurement function
The system mainly collects data of various parameters (vibration, temperature and the like) of the motor in the whole system, records the date and time of measurement, can display the measurement result of each measurement in a classified manner, can print and output various measurement data reports through a printer, and automatically stores the measurement data into a database for retrieval.
(3) Analysis function and alarm
And (4) completing analysis and comparison of the measurement results, and indicating the limit value, the average value and the like of parameters such as vibration, temperature and the like of the motor in each node. Displaying the measured data in an image mode; trend analysis can be performed according to historical data; according to the analysis result, the alarm on the upper computer and the remote motor field alarm can be realized, and meanwhile, the remote control of the motor can be realized at any time.
(4) Data management and graphical display
The monitoring software applies database management software SQL Server to manage data in the system, and uses a popular SQL engine in the future to search and position data, so that the advantages of small specific storage space and high searching speed are realized; all the measurement results and analysis results in the system can be displayed graphically
(5) Report output
The system software provides powerful report editing and output functions, and can call out various data in the database to flexibly edit in the report.
And the lower computer software is developed by C language with better portability, functional programs are compiled in a development environment Keil and compiled, and the functional programs are programmed into a chip by the UEC-5 through a JTAG port, so that the required functions of the lower computer intelligent module are realized.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the concept of the present invention, and these modifications and decorations should also be regarded as being within the protection scope of the present invention.
Claims (3)
1. An online fault detection system based on a CAN bus comprises an upper computer human-computer interface, a lower computer intelligent module and the CAN bus; the upper computer is connected with the CAN bus through a CAN adapter card and consists of a PC and the CAN adapter card connected with a PCI slot of the PC; the intelligent module of the lower computer is connected with a CAN bus through a CAN driver and is characterized in that the intelligent module of the lower computer comprises an interface part, a motor control part, various signals of voltage, current, rotating speed, torque, vibration, temperature and the like and various signal acquisition parts; wherein,
interface (I)The keyboard module scans the keyboard through the chip of the keyboard module and stores key values in the key value register of the keyboard module, and the lower computer chip passes through I2The C bus reads a key value register on a chip of the keyboard module to complete the keyboard function, and the LCD liquid crystal module is connected to a lower chip in a data and control bus mode;
the motor control part comprises a 12-bit DA conversion module, a control signal output end and a servo driver, wherein the control signal is divided into a digital control signal and an analog control signal, the digital control signal is generated by a common I/O port, and the control of the forward rotation, the reverse rotation, the starting state and the stopping state of the motor is indirectly realized through the high and low level of the control end; the analog control signal is generated by a 12-bit DA conversion module of the lower computer chip, and the control of the rotating speed of the motor is realized by adjusting the magnitude of the analog signal;
the signal acquisition part comprises a 12-bit AD conversion module and a photoelectric encoder acquisition module, wherein three paths of analog signals are divided into motor voltage, output torque and temperature, are acquired by corresponding sensors, are amplified by an AD620 and then are input into the AD conversion module in a differential mode, and signals of the photoelectric encoder are acquired by a timer module carried by a lower computer chip.
2. The on-line CAN bus based fault detection system of claim 1, wherein the upper computer human machine interface comprises a PC, a printer and a human machine interface developed by VC + +, and the upper computer is connected to the CAN bus via a CAN adapter card.
3. The on-line CAN bus based fault detection system of claim 1, wherein the CAN bus comprises a twisted pair cable, a PC adapter card and a CAN driver.
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| CN101783759B (en) * | 2010-01-19 | 2012-02-01 | 浙江吉利汽车研究院有限公司 | Bus error recovery processing method |
| CN102213958A (en) * | 2010-04-12 | 2011-10-12 | 上海天浔智能科技有限公司 | Digital servo controller and corresponding servo control system |
| CN101865705B (en) * | 2010-06-03 | 2013-03-27 | 长春奥普光电技术股份有限公司 | Automatic fault diagnosis device of encoder and diagnosis solving method thereof |
| CN101937232B (en) * | 2010-09-07 | 2012-05-23 | 北京航空航天大学 | Embedded real-time emulation and fault simulation system based on multiple data buses |
| CN102681507A (en) * | 2012-05-03 | 2012-09-19 | 杭州凯尔达电焊机有限公司 | Evaluation method and device for examining operation condition of welders |
| CN103389723B (en) * | 2012-05-11 | 2015-09-09 | 北汽福田汽车股份有限公司 | The fault detection system of electric machine controller and method |
| CN102853863A (en) * | 2012-09-29 | 2013-01-02 | 埃泰克汽车电子(芜湖)有限公司 | Checkout equipment of motormeter |
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| CN103713629B (en) * | 2013-12-31 | 2017-05-03 | 深圳市汇川技术股份有限公司 | Fault positioning method, device and system of motor controller |
| CN105471479B (en) * | 2015-11-12 | 2018-03-27 | 杭州电子科技大学 | A kind of CAN Bluetooth data transmission devices for industry spot |
| CN106053054A (en) * | 2016-05-24 | 2016-10-26 | 哈尔滨工程大学 | Gear box characteristic parameter real-time on-line detection device |
| CN106125600A (en) * | 2016-06-29 | 2016-11-16 | 贵州航天天马机电科技有限公司 | The quickly fixed high leveling of a kind of transmitting station and empty lower limb automatic detection and control system |
| CN106527391B (en) * | 2016-10-18 | 2018-11-16 | 中国航空工业集团公司洛阳电光设备研究所 | Rotating mechanism control system self-sensing method in a kind of airborne photoelectric detecting devices |
| CN108162801A (en) * | 2017-12-29 | 2018-06-15 | 常州市武起常乐电机有限公司 | The control method of small-sized pure electric automobile electric machine controller |
| CN108267691A (en) * | 2018-01-04 | 2018-07-10 | 广东容祺智能科技有限公司 | A kind of on-line detecting system of unmanned plane brushless motor |
| CN116243634B (en) * | 2023-01-31 | 2024-07-05 | 齐鲁工业大学(山东省科学院) | Fieldbus driving circuit suitable for under strong interference environment |
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Assignee: Zhejiang Wanda Steering Gear Co., Ltd. Assignor: East China University of Science and Technology Contract record no.: 2012330000339 Denomination of invention: On-line fault detection system based on CAN bus Granted publication date: 20110119 License type: Exclusive License Open date: 20090617 Record date: 20120601 |
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