CN108021076A - A kind of serial distributed module communication and control system and method - Google Patents
A kind of serial distributed module communication and control system and method Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention discloses a kind of serial distributed module communication and control system and method, serial distributed module communication and control system, including central control module and N bars serial module control string；N >=1, N are natural number；N bars serial module control string is connected with N number of communication port of central control module respectively；I-th serial module control string includes M（i）The distributed module of a series connection；I=1,2 ..., N;M（i）>=1, M（i）For natural number；Each distributed module has the ID number of unique dynamic configuration；Central control module can send control instruction to any one or more distributed modules；Any one distributed module can perform predetermined task based on the control instruction of reception.The serial distributed module communication and control system and method data transmission efficiency are high, and networking flexibility is convenient, easy to implement.
Description
Technical field
The present invention relates to a kind of serial distributed module communication and control system and method.
Background technology
Existing many distributed AC servo system terminals are generally communicated using distributed bus with MCU, and this requires each end
End is with fixed ID；In the case of unified bus, control instruction need to include the ID of all terminals and the control command of all terminals,
Data omission, transmission efficiency is low.
Specifically, current bus servos control method is servos control module band identifier ID in itself, system will not be certainly
Dynamic configuration identifier ID, steering engine control module needs write-in identifier ID in advance before assembling, and when assembling will record identifier ID
With the correspondence position relation of physical location, the rudder that when control could be according to the identifier ID of servos control module to control certain to specify
Machine；Servos control module is such as needed to change to be also required to replace the servos control module of same identification ID or update inside system
New servos control module identifier ID；Overall experience installation step is more, during servos control module damage, replaces difficult.
Therefore, it is necessary to design a kind of serial distributed module communication and control system and method.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of serial distributed module communication and control system and method,
The serial distributed module communication and control system and method data transmission efficiency are high, and networking flexibility is convenient, easy to implement.
The technical solution of invention is as follows：
A kind of serial distributed module communication and control system, including central control module and N bars serial module control string；N≥
1, N is natural number；N bars serial module control string is connected with N number of communication port of central control module respectively；
I-th serial module control string includes M（i）The distributed module of a series connection；I=1,2 ..., N; M（i）>=1, M（i）
For natural number；Each distributed module has the ID number of unique dynamic configuration；
Central control module can send control instruction to any one or more distributed modules；
Any one distributed module can perform predetermined task based on the control instruction of reception, such as start and detect, returned data, or
Start a certain operation, such as open switch.
Distributed module is steering engine module or data sensor module (such as fixed sensor assembly), a certain for performing
Field data is collected in operation.
The field data refers at least one of voltage, electric current, position, temperature, humidity.
N≥1。
Central processing unit can control string to carry out parallel data processing N bars serial module.
Any one distributed module can include the state of distributed module itself to central control module return data, data
Data or the field data detected.
Central control module automatically configures the ID number of all distributed modules；
Automatic configuration process is as follows：
（1）Issue and response ID configuration orders：
Central control module all assigns ID configuration orders to every serial module control string, and identifier is included in ID configuration orders
Id field：
The ID configuration orders that central control module is assigned to first via serial module structure, comprising identifier id field for 11,12 ...
1M（1）, the second road identifier id field is 21,22 ... 2M（2）, N roads identifier id field for N1, N2 ... NM（N）；
In i-th tunnel, first distributed module is received after ID configuration orders module identifier ID " i1 " most preceding in field
It is configured to the identifier ID of itself and continues to pass backward after the byte " i1 " for belonging to the ID in order is deleted, identifier in order
Id field become i2, i3 ... iM（i）, until last distributed module being transferred in the i-th tunnel, so as to complete the i-th tunnel
Distributed module configuration；
（2）Issue and response ID feedback commands：
Central control module need to know all ways for connecting distributed module and the distributed module quantity per road in system, then
Feedback command need to be assigned, the distributed module for respectively possessing ID number feeds back itself ID number, central control module to central control module
Count received ID number data within the predetermined time, so that it is determined that in each road distributed module quantity.In specially
Centre processing module is directed to sends querying command successively per each ID all the way, if receiving in the given time, then it represents that the ID
In the presence of otherwise representing that the ID is not present.If ID is not present, then module of the central processing module under all the way sends ID inquiries and refers to
Make to the last module.
Central processing module sends the distributed module for having completed configuration control instruction, and distributed module foundation receives
Instruction execute instruction in desired action.
The form of control instruction is：(ID number 1, specific instruction 1；ID number 2, specific instruction 2；……；ID number K, refers specifically to
Make K；), wherein K >=1, K are natural number.
A kind of serial distributed module communication and control method, comprise the following steps：
Step 1：Hardware connects:
Multiple distributed modules are formed into N number of string and by N number of string N number of communication ends with central control module respectively on hardware
Mouth is connected；N >=1, N are natural number；
Step 2：Reconfigure ID number:
Central control module configures all distributed modules；
Step 3：It is controlled based on ID number:
Central control module sends control instruction to control one or more distributed modules to one or more distributed modules
The action set in execute instruction.
Using foregoing serial distributed module communication and control system.
Specifically, a kind of multi-path serial steering engine communicates and control system and implementation method, it is described in the control system
Servos control module is connected by series system, is further divided into multi-wad join to the different input interfaces of the central control module,
Central control module can be controlled and monitor to the servos control module of the optional position in system.The control
System includes：
Central control module, for issuing an order to the servos control module in the control system（It is ID configuration orders, anti-
Feedback order, control command）, and receive the feedback data from the servos control module；
Servos control module, for according to the order from the central control module, configuring itself identifier ID, feedback
Data give back to the central control module or control steering engine operation.
Servos control block combiner all the way, the servos control of multichannel are formed by series system by multiple servos control modules
Block combiner is respectively connected to the different input interfaces of the central control module again.
Servos control module itself is without fixed identifier ID.
The central control module sends ID configuration orders, and the servos control module configures certainly according to ID configuration orders
The identifier ID of body.
Identifier ID is made of group number plus serial number；Each group number represents servos control block combiner all the way, suitable
Sequence number represents sequence of positions of each servos control module in the road servos control block combiner.
The central control module sends the feedback command of single or multiple servos control modules, comprising single in the order
Or the identifier ID of multiple servos control modules, meet identifier ID servos control module receive feedback life after feedback data to
Return central control module.
The central control module sends the feedback command of all servos control modules, which does not include servos control mould
Block identifier ID, feedback data gives back to central control module after all servos control modules receive feedback life.
The central control module sends the control command of single or multiple servos control modules, comprising single in the order
Or the identifier ID of multiple servos control modules, the servos control module for meeting identifier ID are received after control command according to order
Control steering engine operation.
The central control module sends the control command of all servos control modules, which does not include servos control mould
Block identifier ID, all steering engine servos control modules are run after receiving control command according to order control steering engine.
A kind of communication of multi-path serial steering engine and control system and implementation method, control system include central control module, N number of
Serial steering engine control module；After servos control module connects in a series arrangement, it is further divided into multichannel and is connected with central control module.
After steering engine control module connects in a series arrangement in system, the difference that multichannel is connected with central control module is further divided into
Input interface, can be divided into more strings by steering engine in system according to the convenience of assembling or special arrangement requirement, then connect respectively
Enter central control module；Avoid because steering engine series winding quantity excessively caused by data reaction speed is slow and power supply supply problem.
The central control module, each servos control modular belt identifier is come from for sending ID configuration orders, receiving
The control command of feedback data and transmission with identifier ID of ID is given to each servos control module.
The servos control module configures the identifier ID of itself according to the ID configuration orders of central control module；In
The feedback command feedback data of centre control module gives back to central control module；Receive and controlled from central control module control command
Steering engine is run.
Such as Fig. 1-2, distributed module is steering engine module；
Central control module be divided into 6 tunnels by 6 communication interfaces CN1, CN2, CN3, CN4, CN5, CN6 respectively with serial module control
Series winding processed connects,
The model PMC884 of master control IC used by central control module
6 communication interfaces are connected to PIN1, PIN2, PIN11, PIN12, PIN19, PIN20 of master control IC U1；
Steering engine module has the servos control module based on DF319, and CN7 is the input interface of servos control module, and CN8 is steering engine
Control module is output to the output interface of other servos control modules；
Beneficial effect：
The serial distributed module communication of the present invention and control system and method, its core are distributed modules in the system
（Such as steering engine）Without being pre-configured with identifier ID before assembly, distributed module can be arbitrarily adjusted（Such as steering engine）Sequentially, from
Position limits, and reduces assembling and replaces difficulty；Multiple access center can be divided into according to the convenience or specific requirement of assembling
Control module, improves communication efficiency, while can avoid powerup issue；Each distributed module（Such as steering engine）All there is feedback work(
Can, distributed module can be fed back according to the feedback command of central control module（Such as steering engine）The data at end, form closed-loop control,
Strengthen user experience.The present invention can distribute ID number automatically, and networking is convenient, easy to implement.
The control system includes central control module, N number of serial servos control string；Distributed module（Such as steering engine）With series connection
After mode connects, the different communication interface for being further divided into multichannel and central control module connects；Servos control module receives center
It is automatic that identifier ID is set after the ID configuration orders that control module is assigned, realize there there is only each servos control module in system
One identifier ID；Each servos control module is read according to itself identifier ID in the control command that central control module is sent
Corresponding data, and data of the feedback with itself identifier ID to central control module, are fed back after feedback command is received
Data include the voltage that servos control module collection arrives, electric current, position, the information such as temperature.
Steering engine control module can arbitrarily adjust servos control without being pre-configured with identifier ID before assembly in the present invention
The rigging position and order of module, reduce steering engine assembling and replace difficulty；After servos control module connects in a series arrangement, then divide
Be connected for multichannel with central control module, can multidiameter delay communication, avoid because servos control module series winding quantity excessively caused by
Data signaling rate is slow and power supply supply problem；Steering engine control module has feedback function in system, can Real-time Feedback steering engine control
The data that molding block is collected into, so that central control module monitors servos control module operating status, are protected to central control module
Hinder its safe operation.
The present invention, which solves existing bus steering engine, to be needed to give servos control module configuration identifier ID in advance before assembly, is led
Assembling trouble is caused, step multi-user experiences the problem of poor.
Brief description of the drawings
Fig. 1 be the present invention multi-path serial steering engine communication and control system in central control module line map；
Fig. 2 is servos control module circuitry figure；
Fig. 3 is the communication of multi-path serial steering engine and control system schematic diagram；
Fig. 4 is ID configuration schematic diagrams；
Fig. 5 is the communication of multi-path serial steering engine and control system example;
Fig. 6 instruction format schematic diagrames in order to control.
Embodiment
The present invention is described in further details below with reference to the drawings and specific embodiments：
Embodiment 1：As shown in figures 1 to 6, it is as shown in Figure 1 a kind of this reality invention multi-path serial steering engine communication and control system
Middle central control module circuit citing, Fig. 2 is a servos control module circuitry；U1 is central control module master control IC in Fig. 1
PMC884, central control module can be divided into 6 tunnels and is connected with servos control module in the citing, CN1, CN2, CN3, CN4,
CN5, CN6 are communication interface, as shown in the figure communication interface be connected to PIN1, PIN2 of master control IC U1, PIN11, PIN12, PIN19,
PIN20；U2 is that master control the IC DF319, CN7 of servos control module are the input interface of servos control module in Fig. 2, and CN8 is rudder
Machine control module is output to the output interface of other servos control modules；The connection method of the circuit is, per all the way in system
One of communication interface connection of the input interface and central control module of first servos control module, second of the road
Then input interface is connected servos control module with the output interface of first servos control module, the 3rd servos control module
Output interface of the input interface then with second servos control module be connected, and so on.Central control module master control IC
Control and each servos control module of monitoring are then achieveed the purpose that by each communication interface and servos control module communication.
It is illustrated in figure 3 a kind of multi-path serial steering engine communication of the present invention and control system schematic diagram, including center control
Molding block and N number of servos control module, can be divided into multiple access central control module in a manner of such as figure；
Central control module all assigns ID configuration orders to every road series connection steering engine, and identifier ID words are included in ID configuration orders
Section, control system as shown in Figure 3, system include a central control module and N number of steering engine；Central control module is to the first via
The ID configuration orders assigned of series connection steering engine comprising identifier id field are 11,12 ... 1F, the second road identifier id field are
21st, 22 ... 2F, F roads identifier id field is F1, F2 ... FF, as first servos control module of Fig. 4 first via connects
Receive after ID configuration orders steering engine identifier ID " 11 " most preceding in field be configured to itself identifier ID and will be in order
Belong to the ID byte " 11 " delete after continue to pass backward, in order identifier id field become 12,13 ... 1F, second
Identifier ID " 12 " most preceding in field is equally configured to the identification of itself by servos control module after receiving ID configuration orders
Number ID and will the byte " 12 " that the ID be belonged in order delete after continue to pass backward, relay successively, as shown in Figure 4.
Example as shown in Figure 5,9 steering engines, after central control module assigns ID configuration orders, all steering engines are accessed in system
Configure itself identifier ID；Central control module need to know all ways for connecting steering engine and the quantity per road in system, then need
Feedback command, such as first via are assigned, central control module assigns the feedback for the servos control module that identifier ID is " 11 " first
Order, identifier ID are compared after receiving the order for " 11 " servos control module with the ID of itself, compare consistent rear feedback data
Pass central control module back；Then central control module assigns the feedback for the servos control module that feedback identifying ID is " 12 "
Order, identifier ID are compared after receiving the order for " 11 " servos control module with self ID, and comparison is inconsistent, passes backward, are known
Alias ID is that the ID that " 12 " servos control module is received afterwards with itself is compared, and compares consistent rear feedback data and gives back to center control mould
Block, central control module assign the feedback command for the servos control module that feedback identifying ID is " 13 " again, and identifier ID is
" 11 " " 12 " servos control module all compares inconsistent continuation and passes backward, due to not connecing other servos control moulds behind the string
Block, central control module do not receive the data of feedback within the predetermined time, then record this and be serially connected with two servos control moulds
Block, identifier ID are respectively " 11 ", " 12 ".Other are carried out same identification maneuver per road, if the identifier ID on N roads is
N1 rudder control modules are not fed back, then it represents that what servos control module are not taken in the road.
When needing to control some servos control module actions, central control module, which need to be assigned, to be included to be controlled steering engine control
The order of molding block ID, when need to such as control the servos control module that identifier ID is " 21 " " 23 " such as Fig. 5, need to assign control life
Order, control command form such as Fig. 6, includes identifier " 21 " " 23 " and control instruction content, identifier ID is that the steering engine of " 21 " is received
Control command is passed can backward after, while comprising the control content that identifier ID is " 21 " and phase is made in meeting reading order
The action answered；Identifier ID is that the servos control module of " 22 " is received after order in similarly back kick and reading order comprising knowing
Alias ID is the control content of " 22 ", is then failure to actuate when not including the content that identifier ID is " 22 " in the order of reading；Identification
Number ID is similarly first to be passed backward after the steering engine of " 23 " receives, at the same in reading order comprising identifier ID be " 23 " control in
Hold and make corresponding action.
Claims (10)
1. a kind of serial distributed module communication and control system, it is characterised in that including central control module and the serial mould of N bars
Block control string；N >=1, N are natural number；N bars serial module control string is connected with N number of communication port of central control module respectively；
I-th serial module control string includes M（i）The distributed module of a series connection；I=1,2 ..., N; M（i）>=1, M（i）
For natural number；Each distributed module has the ID number of unique dynamic configuration；
Central control module can send control instruction to any one or more distributed modules；
Any one distributed module can perform predetermined task based on the control instruction of reception.
2. serial distributed module communication according to claim 1 and control system, it is characterised in that distributed module is
Steering engine module or data sensor module (such as fixed sensor assembly), for performing a certain operation or collection field data.
3. serial distributed module communication according to claim 2 and control system, it is characterised in that the scene letter
Breath refers at least one of voltage, electric current, position, temperature, humidity.
4. serial distributed module communication according to claim 1 and control system, it is characterised in that N >=1.
5. serial distributed module communication according to claim 4 and control system, it is characterised in that central processing unit energy
String is controlled to carry out parallel data processing N bars serial module.
6. serial distributed module communication according to claim 1 and control system, it is characterised in that any one is distributed
Module can be to central control module return data.
7. serial distributed module communication according to claim 6 and control system, it is characterised in that central control module
The ID number of all distributed modules is automatically configured；
Automatic configuration process is as follows：
Issue and response ID configuration orders：
Central control module all assigns ID configuration orders to every serial module control string, and identifier is included in ID configuration orders
Id field：
The ID configuration orders that central control module is assigned to first via serial module structure, comprising identifier id field for 11,12 ...
1M（1）, the second road identifier id field is 21,22 ... 2M（2）, N roads identifier id field for N1, N2 ... NM（N）；
In i-th tunnel, first distributed module is received after ID configuration orders module identifier ID " i1 " most preceding in field
It is configured to the identifier ID of itself and continues to pass backward after the byte " i1 " for belonging to the ID in order is deleted, identifier in order
Id field become i2, i3 ... iM（i）, until last distributed module being transferred in the i-th tunnel, so as to complete the i-th tunnel
Distributed module configuration；
Issue and response ID feedback commands：
Central control module need to know all ways for connecting distributed module and the distributed module quantity per road in system, then
Feedback command need to be assigned, the distributed module for respectively possessing ID number feeds back itself ID number, central control module to central control module
Count received ID number data within the predetermined time, so that it is determined that in each road distributed module quantity.
8. serial distributed module communication according to claim 7 and control system, it is characterised in that central control module
Control instruction is sent to the distributed module for having completed configuration, distributed module is required according to received instruct in execute instruction
Action.
9. a kind of serial distributed module communication and control method, it is characterised in that comprise the following steps：
Step 1：Hardware connects:
Multiple distributed modules are formed into N number of string and by N number of string N number of communication ends with central control module respectively on hardware
Mouth is connected；N >=1, N are natural number；
Step 2：Reconfigure ID number；
Central control module configures all distributed modules；
Step 3：It is controlled based on ID number；
Central control module sends control instruction to control one or more distributed modules to one or more distributed modules
The action set in execute instruction.
10. serial distributed module communication according to claim 9 and control method, it is characterised in that will using right
Ask the serial distributed module communication of 1-8 any one of them and control system.
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Cited By (2)
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| CN112060076A (en) * | 2020-07-22 | 2020-12-11 | 深圳市优必选科技股份有限公司 | Steering engine control method, steering engine control device, terminal and storage medium |
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| CN107505576A (en) * | 2017-08-24 | 2017-12-22 | 阿尔特汽车技术股份有限公司 | Module automatic recognition system and method in distributed system |
| CN208314494U (en) * | 2018-01-24 | 2019-01-01 | 华馨晶贸易（深圳）有限公司 | A kind of serial distributed module communication and control system |
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| CN110162340A (en) * | 2019-04-26 | 2019-08-23 | 思力科（深圳）电子科技有限公司 | ID configuration method, series circuit and the relevant device of series circuit |
| CN110162340B (en) * | 2019-04-26 | 2022-03-01 | 莫冰 | ID configuration method of series circuit, series circuit and related equipment |
| CN112060076A (en) * | 2020-07-22 | 2020-12-11 | 深圳市优必选科技股份有限公司 | Steering engine control method, steering engine control device, terminal and storage medium |
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