CN104133414A - Individual-soldier rotary table servo control system based on CAN bus - Google Patents
Individual-soldier rotary table servo control system based on CAN bus Download PDFInfo
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- CN104133414A CN104133414A CN201410364569.6A CN201410364569A CN104133414A CN 104133414 A CN104133414 A CN 104133414A CN 201410364569 A CN201410364569 A CN 201410364569A CN 104133414 A CN104133414 A CN 104133414A
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Abstract
The invention discloses an individual-soldier rotary table servo control system based on a CAN bus. The individual-soldier rotary table servo control system based on the CAN bus comprises a 24V storage battery (1), a PLC (2), an orientation driver (3), an orientation servo motor (4), an orientation speed reducer (5), an orientation load (6), an orientation encoder (7), a pitching driver (8), a pitching servo motor (9), a pitching speed reducer (10), a pitching load (11), a pitching encoder (12), a movement instruction input device (13), a CAN2.0B protocol bus (14), a CANopen protocol bus (15), an orientation driving cable (16), a pitching driving cable (17), a power supply cable (18), an orientation feedback cable (19) and a pitching feedback cable (20). The PLC (2) sends an angle instruction to the orientation driver (3) and the pitching driver (8), and then the orientation servo motor (4) and the pitching servo motor (9) are driven to rotate. The system has the advantages of being small in size, light in weight, fast in response, high in in-place precision, low in noise and the like.
Description
Technical field
The present invention relates to a kind of individual soldier's table servo control system, particularly a kind of individual soldier's table servo control system based on CAN bus.
Background technology
At present, the servo-drive system that is applied to turntable is mainly made up of controller, AC converter, AC servo motor, reductor and scrambler.Wherein, AC converter and AC servo motor volume and quality are larger, need Alternating Current Power Supply, be mainly used in the turntable that quality is large, volume is large, load is large, turntable is fixed on stabilizing base while use, is not easy to carry and carry, be unsuitable in the wild or the operating mode of AC-less power under use.
The existence of the problems referred to above, makes individual soldier's table servo control system be faced with stern challenge to miniaturization, lightness, high precision development.Therefore, reduce volume and the quality of servo-control system, improve turn, tracking and positioning precision just become individual soldier's table servo control field problem in the urgent need to address.
Summary of the invention
The object of the invention is to provide a kind of individual soldier's table servo control system based on CAN bus, solves the problem that traditional turntable volume is large, quality large, be not easy to carry.
A kind of individual soldier's table servo control system based on CAN bus, comprise: PLC controller, azimuth driver, bearing servo motor, orientation reductor, azimuth encoder, pitching driver, pitching servomotor, pitching reducer and pitching scrambler, also comprise: 24V accumulator, orientation load, pitching load, movement instruction input equipment, CAN2.0B protocol bus, CANopen protocol bus, orientation driving cable, pitching driving cable, service cable, orientation feedback cable and pitching feedback cable.Bearing servo motor and orientation reductor are connected by screw, the output shaft of bearing servo motor is connected by flat key with the input shaft of orientation reductor, the output shaft of orientation reductor is connected by flat key with orientation load, and the output shaft of azimuth encoder is connected by flat key with orientation load and with orientation load synchronous rotary.Pitching servomotor and pitching reducer are connected by screw, the output shaft of pitching servomotor is connected by flat key with the input shaft of pitching reducer, the output shaft of pitching reducer is connected by flat key with pitching load, and the output shaft of pitching scrambler is connected by flat key with pitching load and with pitching load synchronous rotary.24V accumulator, PLC controller, azimuth driver and pitching driver are all placed on turntable and by screw and fix.24V accumulator is connected by service cable with PLC controller, azimuth driver, pitching driver, azimuth encoder, pitching scrambler and movement instruction input equipment respectively, PLC controller is connected by CAN2.0B agreement cable with azimuth driver, pitching driver and movement instruction input equipment respectively, PLC controller is connected by CANopen agreement cable with azimuth encoder and pitching scrambler respectively, and azimuth driver is connected by orientation driving cable and orientation feedback cable with bearing servo motor; Pitching driver is connected by pitching driving cable and pitching feedback cable with pitching servomotor.
Open 24V storage battery source switch, give PLC controller, azimuth driver, pitching driver, azimuth encoder, pitching scrambler for 24V direct current.After powering on, azimuth encoder and pitching scrambler start according to CANopen frame format with
f 1frequency send the orientation angles of current turntable and luffing angle on CANopen protocol bus; PLC controller sends initialization command on CAN2.0B protocol bus according to CAN2.0B frame format, and azimuth driver and pitching driver carry out initialization after receiving initialization command; Whether first PLC controller reads orientation angles and the luffing angle in CANopen protocol bus, then detect and have movement instruction to arrive, and in the time that movement instruction input equipment sends to movement instruction in CAN2.0B protocol bus, PLC controller reads in movement instruction.PLC controller is by poor to movement instruction and current orientation angles, luffing angle, obtain site error instruction, input instruction using this site error instruction as position PI Control loop, through PI computing, the instruction of PLC controller output speed is on CAN2.0B protocol bus, after azimuth driver and pitching driver receive speed command respectively by orientation driving cable and pitching driving cable output voltage signal to bearing servo motor and pitching servomotor, thereby drive bearing servo motor and the motion of pitching servomotor; In motion process, azimuth driver and pitching driver read respectively the speed feedback information of bearing servo motor and pitching servomotor by orientation feedback cable and pitching feedback cable, input using the difference of feedback rotating speed and instruction rotating speed as azimuth driver and pitching internal drive speed PI Control loop, carries out speed PI adjusting.
The present invention has compact conformation, quality is light, and power density is high to be easy to carry, easy-operating advantage.There is stronger communication anti-interference, be beneficial to turntable and use in complicated electromagnetic environment.By PI closed-loop control realized turntable turn speed fast, follow the tracks of that degree of stability is high, the high requirement of in-placing precision.
Brief description of the drawings
A kind of individual soldier's table servo control system based on CAN bus of Fig. 1.
1.24V accumulator 2.PLC controller 3. azimuth driver 4. bearing servo motor 5. orientation reductor 6. orientation load 7. azimuth encoder 8. pitching driver 9. pitching servomotor 10. pitching reducer 11. pitching load 12. pitching scrambler 13. movement instruction input equipment 14.CAN2.0B protocol bus 15.CANopen protocol bus 16. orientation driving cable 17. pitching driving cable 18. service cable 19. orientation feedback cable 20. pitching feedback cable.
Embodiment
A kind of individual soldier's table servo control system based on CAN bus, comprise: PLC controller 2, azimuth driver 3, bearing servo motor 4, orientation reductor 5, azimuth encoder 7, pitching driver 8, pitching servomotor 9, pitching reducer 10, pitching scrambler 12, also comprise: 24V accumulator 1, orientation load 6, pitching load 11, movement instruction input equipment 13, CAN2.0B protocol bus 14, CANopen protocol bus 15, orientation driving cable 16, pitching driving cable 17, service cable 18, orientation feedback cable 19, pitching feedback cable 20.Bearing servo motor 4 is connected by screw with orientation reductor 5, bearing servo motor 4 output shafts are connected by flat key with orientation reductor 5 input shafts, reductor 5 output shafts in orientation are connected by flat key with orientation load 6, and azimuth encoder 7 output shafts are connected with orientation load 6 by flat key and with orientation load 6 synchronous rotaries.Pitching servomotor 9 is connected by screw with pitching reducer 10, pitching servomotor 9 output shafts are connected by flat key with pitching reducer 10 input shafts, pitching reducer 10 output shafts are connected by flat key with pitching load 11, and pitching scrambler 12 output shafts are connected with pitching load 11 by flat key and with pitching load 11 synchronous rotaries.24V accumulator 1, PLC controller 2, azimuth driver 3, pitching driver 8 are placed on turntable and by screw and fix.24V accumulator 1 is connected by service cable 18 with PLC controller 2, azimuth driver 3, pitching driver 8, azimuth encoder 7, pitching scrambler 12 and movement instruction input equipment 13 respectively, and PLC controller 2, azimuth driver 3, pitching driver 8 and movement instruction input equipment 13 connect by CAN2.0B agreement cable 14; PLC controller 2 is connected by CANopen agreement cable 15 with azimuth encoder 7, pitching scrambler 12 respectively, azimuth driver 3 is connected with orientation feedback cable 19 by orientation driving cable 16 with bearing servo motor 4, and pitching driver 8 is connected with pitching feedback cable 20 by pitching driving cable 17 with pitching servomotor 9.
The implementation step of the individual soldier's table servo control system based on CAN bus is as follows: open 24V accumulator 1 power switch, give PLC controller 2, azimuth driver 3, pitching driver 8, azimuth encoder 7, pitching scrambler 12 for 24V direct current.After powering on, azimuth encoder 7 and pitching scrambler 12 start according to CANopen frame format with
f 1frequency send the orientation angles of current turntable and luffing angle on CANopen protocol bus 15; PLC controller 2 sends initialization command on CAN2.0B protocol bus 14 according to CAN2.0B frame format, and azimuth driver 3 and pitching driver 8 carry out initialization after receiving initialization command; First PLC controller 2 reads orientation angles and the luffing angle in CANopen protocol bus 15, then detect and whether have movement instruction to arrive, in the time that movement instruction input equipment 13 sends to movement instruction in CAN2.0B protocol bus 14, PLC controller 2 reads in movement instruction.PLC controller 2 is by poor to movement instruction and current orientation angles, luffing angle, obtain site error instruction, input instruction using this site error instruction as position PI Control loop, through PI computing, the 2 output speed instructions of PLC controller are on CAN2.0B protocol bus 14, after azimuth driver 3 and pitching driver 8 receive speed command respectively by orientation driving cable 16 and pitching driving cable 17 output voltage signals to bearing servo motor 4 and pitching servomotor 9, thereby drive bearing servo motor 4 and pitching servomotor 9 to move; In motion process, azimuth driver 3 and pitching driver 8 read respectively the speed feedback information of bearing servo motor 4 and pitching servomotor 9 by orientation feedback cable 19 and pitching feedback cable 20, input using the difference of feedback rotating speed and instruction rotating speed as azimuth driver 3 and pitching driver 8 internal speed PI Control loops, carries out speed PI adjusting.
Claims (1)
1. the individual soldier's table servo control system based on CAN bus, comprise: PLC controller (2), azimuth driver (3), bearing servo motor (4), orientation reductor (5), azimuth encoder (7), pitching driver (8), pitching servomotor (9), pitching reducer (10) and pitching scrambler (12), characterized by further comprising: 24V accumulator (1), orientation load (6), pitching load (11), movement instruction input equipment (13), CAN2.0B protocol bus (14), CANopen protocol bus (15), orientation driving cable (16), pitching driving cable (17), service cable (18), orientation feedback cable (19) and pitching feedback cable (20), bearing servo motor (4) is connected by screw with orientation reductor (5), the output shaft of bearing servo motor (4) is connected by flat key with the input shaft of orientation reductor (5), the output shaft of orientation reductor (5) is connected by flat key with orientation load (6), and the output shaft of azimuth encoder (7) is connected by flat key with orientation load (6) and with orientation load (6) synchronous rotary, pitching servomotor (9) is connected by screw with pitching reducer (10), the output shaft of pitching servomotor (9) is connected by flat key with the input shaft of pitching reducer (10), the output shaft of pitching reducer (10) is connected by flat key with pitching load (11), and the output shaft of pitching scrambler (12) is connected by flat key with pitching load (11) and with pitching load (11) synchronous rotary, 24V accumulator (1), PLC controller (2), azimuth driver (3) and pitching driver (8) are all placed on turntable and by screw and fix, 24V accumulator (1) respectively with PLC controller (2), azimuth driver (3), pitching driver (8), azimuth encoder (7), pitching scrambler (12) and movement instruction input equipment (13) connect by service cable (18), PLC controller (2) respectively with azimuth driver (3), pitching driver (8) and movement instruction input equipment (13) connect by CAN2.0B agreement cable, PLC controller (2) is connected by CANopen agreement cable with azimuth encoder (7) and pitching scrambler (12) respectively, azimuth driver (3) is connected by orientation driving cable (16) and orientation feedback cable (19) with bearing servo motor (4), pitching driver (8) is connected by pitching driving cable (17) and pitching feedback cable (20) with pitching servomotor (9),
Open 24V accumulator (1) power switch, give PLC controller (2), azimuth driver (3), pitching driver (8), azimuth encoder (7), pitching scrambler (12) for 24V direct current, after powering on, azimuth encoder (7) and pitching scrambler (12) start according to CANopen frame format with
f 1frequency send the orientation angles of current turntable and luffing angle on CANopen protocol bus (15), it is upper to CAN2.0B protocol bus (14) that PLC controller (2) sends initialization command according to CAN2.0B frame format, after azimuth driver (3) and pitching driver (8) receive initialization command, carries out initialization, PLC controller (2) first reads orientation angles and the luffing angle in CANopen protocol bus (15), then detect and whether have movement instruction to arrive, in the time that movement instruction input equipment (13) sends to movement instruction in CAN2.0B protocol bus (14), PLC controller (2) reads in movement instruction, PLC controller (2) is by movement instruction and current orientation angles, luffing angle is poor, obtain site error instruction, input instruction using this site error instruction as position PI Control loop, through PI computing, PLC controller (2) output speed instruction is on CAN2.0B protocol bus (14), after azimuth driver (3) and pitching driver (8) receive speed command respectively by orientation driving cable (16) and pitching driving cable (17) output voltage signal to bearing servo motor (4) and pitching servomotor (9), thereby drive bearing servo motor (4) and pitching servomotor (9) motion, in motion process, azimuth driver (3) and pitching driver (8) read respectively the speed feedback information of bearing servo motor (4) and pitching servomotor (9) by orientation feedback cable (19) and pitching feedback cable (20), input using the difference of feedback rotating speed and instruction rotating speed as azimuth driver (3) and pitching driver (8) internal speed PI Control loop, carries out speed PI adjusting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410364569.6A CN104133414A (en) | 2014-07-29 | 2014-07-29 | Individual-soldier rotary table servo control system based on CAN bus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410364569.6A CN104133414A (en) | 2014-07-29 | 2014-07-29 | Individual-soldier rotary table servo control system based on CAN bus |
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| CN104133414A true CN104133414A (en) | 2014-11-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410364569.6A Pending CN104133414A (en) | 2014-07-29 | 2014-07-29 | Individual-soldier rotary table servo control system based on CAN bus |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108332707A (en) * | 2017-12-28 | 2018-07-27 | 中国船舶重工集团公司第七0研究所 | A kind of smart electronics receiver |
| CN109502485A (en) * | 2018-12-27 | 2019-03-22 | 三海洋重工有限公司 | Suspender drive dynamic control device and electric lifting tool |
| CN113173500A (en) * | 2021-03-31 | 2021-07-27 | 江苏无线电厂有限公司 | Lifting lodging mechanism and control method thereof |
| CN109502485B (en) * | 2018-12-27 | 2024-07-05 | 三一海洋重工有限公司 | Lifting appliance driving control device and electric lifting appliance |
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| US20070256861A1 (en) * | 2006-05-05 | 2007-11-08 | Hulick Kent E | Bit face orientation control in drilling operations |
| CN202580513U (en) * | 2012-04-13 | 2012-12-05 | 河北威赛特科技有限公司 | Microminiature two-dimensional control turntable |
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2014
- 2014-07-29 CN CN201410364569.6A patent/CN104133414A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070256861A1 (en) * | 2006-05-05 | 2007-11-08 | Hulick Kent E | Bit face orientation control in drilling operations |
| CN202580513U (en) * | 2012-04-13 | 2012-12-05 | 河北威赛特科技有限公司 | Microminiature two-dimensional control turntable |
Non-Patent Citations (3)
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| 王鹏: "《"动中通"天线稳定平台伺服控制***的研究与开发》", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108332707A (en) * | 2017-12-28 | 2018-07-27 | 中国船舶重工集团公司第七0研究所 | A kind of smart electronics receiver |
| CN109502485A (en) * | 2018-12-27 | 2019-03-22 | 三海洋重工有限公司 | Suspender drive dynamic control device and electric lifting tool |
| CN109502485B (en) * | 2018-12-27 | 2024-07-05 | 三一海洋重工有限公司 | Lifting appliance driving control device and electric lifting appliance |
| CN113173500A (en) * | 2021-03-31 | 2021-07-27 | 江苏无线电厂有限公司 | Lifting lodging mechanism and control method thereof |
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Application publication date: 20141105 |