CN109901628B - E-ACT bit control and speed measurement system and method based on SENT protocol - Google Patents
E-ACT bit control and speed measurement system and method based on SENT protocol Download PDFInfo
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- CN109901628B CN109901628B CN201711283045.4A CN201711283045A CN109901628B CN 109901628 B CN109901628 B CN 109901628B CN 201711283045 A CN201711283045 A CN 201711283045A CN 109901628 B CN109901628 B CN 109901628B
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Abstract
The invention relates to a fixed point position control and speed measurement system and method based on SENT protocol E-ACT. The system comprises: the device comprises an acquisition operation unit, an external power supply unit, a pulse reversing unit, an upper computer control display unit and an electric ACT sensor. The method comprises the following steps: when the positioning control is started, the acquisition and operation unit receives a positioning control instruction of the upper computer control display unit, and adjusts a PWM pulse control signal to the pulse reversing unit so as to control the electric ACT sensor to move to a specified position. When the speed test is started, the acquisition and operation unit acquires and analyzes the position information of the electric ACT sensor in real time and calculates the average speed of the electric ACT sensor. The invention not only has the function of analyzing the SENT protocol, but also has the functions of measuring and calculating the ACT movement speed and accurately controlling the ACT position, the control response speed is fast, and the control of any position is completed within 1S. The time base for measuring and calculating the speed is up to ns level, and the precision is high.
Description
Technical Field
The invention relates to the field of SENT protocol analysis and product application, in particular to a SENT protocol E-ACT bit control and speed measurement system and method.
Background
At present, sensors output by a send (Single Edge Nibble Transmission protocol) protocol are used on many parts in an automobile, the Transmission mode is simple, convenient and quick, the cost is low, and the sensor is widely applied abroad. Many automobile production manufacturers in China also adopt the sensor, but most of the sensors are imported, and few acquisition processing units specially aiming at the SENT protocol sensor are in China. For the situation, after successfully inventing a data sampling and analyzing system of a SENT protocol frame data analyzing converter, the company further develops a new precise position control function and a new speed measuring function, and forms the product.
Disclosure of Invention
Other similar products cannot be inquired at home. The SENT analysis system of the prior invention only has the function of analyzing data points and can not completely meet the requirements of customers. On this basis, two functions are added and the product is formed. One is the precise position control function: the system of the invention can drive the E-ACT (ELECTRIC ACTUATOR) to move to any specified position with high speed and high precision, thereby achieving the main requirements of general application. Another function is a speed measurement function: some clients need to obtain the average speed of the electric ACT from one position to another position as a measurement index, and the method can accurately calculate the average speed by collecting the SENT analytic position and nanosecond timing.
The technical scheme adopted by the invention for realizing the purpose is as follows: E-ACT bit control and speed measurement system and method based on SENT protocol.
E-ACT bit control and speed measurement system based on SENT protocol comprises:
the input end of the acquisition operation unit is connected with the electric ACT sensor to acquire SENT protocol data signals, the output end of the acquisition operation unit is connected with the pulse commutation unit and used for outputting PWM pulse control signals, and the acquisition operation unit is also connected with the upper computer control display unit and used for downloading test parameters and uploading test result data;
the external power supply unit is connected to the pulse commutation unit and used for supplying power;
the input end of the pulse reversing unit is connected with the acquisition and operation unit and the external power supply unit, and the output end of the pulse reversing unit is connected with the electric ACT sensor and is used for receiving a pulse control signal and an external power supply and outputting a driving signal to the electric ACT sensor;
and the upper computer control display unit is connected to the acquisition operation unit and used for downloading the test parameters and uploading the test result data.
The electric ACT sensor is arranged at the periphery of the system and is an electric actuating mechanism of the turbocharger.
The acquisition and operation unit comprises an FPGA chip and a ferroelectric chip, an optical coupler chip and a communication chip which are connected with the FPGA chip; the ferroelectric chip is used for storing, the optical coupling chip is used for driving and outputting PWM pulse control signals, and the communication chip is used for serial RS-232 communication.
The external power supply unit is a 12V linear/switching power supply, and the selection of the voltage source depends on the maximum driving voltage of the electric ACT sensor.
The pulse commutation unit is an electronic commutation load relay for the direct current motor, is used for chopping an external power supply voltage into a driving signal with corresponding frequency according to a received PWM pulse control signal output by the acquisition and operation unit, and is used for driving the electric ACT sensor.
The upper computer control display unit is an industrial personal computer or a PLC or a touch screen and is connected with the acquisition operation unit through RS-232.
A bit control and speed measurement method based on SENT protocol E-ACT comprises the following steps:
when the positioning control is started, the upper computer controls the display unit to output a positioning control instruction through the serial port, and downloads the target position parameter and the acceptable deviation parameter to the acquisition and operation unit; the acquisition and operation unit outputs a PWM pulse control signal to the pulse reversing unit so as to control the electric ACT sensor to move to a specified position; the acquisition and operation unit informs the upper computer to control the display unit to adjust in place through a serial port RS 232;
when the speed test is started, the upper computer controls the display unit to output a speed test instruction through the serial port, and downloads the starting position and the ending position during the speed measurement to the acquisition and operation unit; the acquisition and operation unit acquires and analyzes the position information of the electric ACT sensor in real time and calculates the average speed of the electric ACT sensor; the acquisition and operation unit informs the upper computer of completing the speed test of the control display unit through the serial port RS-232 and gives an average speed value.
The collection arithmetic unit outputs PWM pulse control signals to the pulse reversing unit so as to control the electric ACT sensor to move to a specified position, and the collection arithmetic unit comprises:
the acquisition and operation unit acquires and analyzes the position information of the electric ACT sensor in real time, the FPGA chip calculates the position information and a positioning target position value to obtain a deviation value, and controls the period and the duty ratio of the variable PWM pulse control of the optocoupler chip to be output to the pulse reversing unit according to the deviation value and the PID parameter, and the deviation is adjusted within an acceptable deviation range in real time;
the pulse commutation unit chops the external power supply voltage into a driving signal with corresponding frequency according to the received PWM pulse control signal and outputs the driving signal to the electric ACT sensor so as to control the accurate positioning of the electric ACT sensor.
The acquisition and operation unit acquires and analyzes the position information of the electric ACT sensor in real time and calculates the average speed of the electric ACT sensor, and the acquisition and operation unit comprises the following steps:
when the acquisition and operation unit detects that the position of the electric ACT sensor reaches the starting position, a counter of an FPGA chip of the acquisition and operation unit records acquisition starting time and starts counting, and when the acquisition and operation unit detects that the position of the electric ACT sensor reaches the ending position, an internal counter records acquisition stopping time and stops counting; and the FPGA chip of the acquisition and operation unit calculates the average speed of the electric ACT sensor according to the counting number and the position difference.
When the acquisition operation unit detects that the position of the electric ACT is in the area segments of the starting position and the ending position, determining the starting acquisition time and the ending time; and taking out the effective position and time data of CRC check from the acquired data, fitting the effective position and time data to the whole detection area section, and calculating the average speed.
The invention has the following advantages and beneficial effects:
1. the invention not only has the function of analyzing the SENT protocol, but also has the functions of measuring and calculating the ACT movement speed and accurately controlling the ACT position, and fills the domestic blank.
2. The invention integrates the analysis function and the control function in the operation acquisition unit, so the control response speed is fast, and the control of any position is completed within 1S.
3. The time base for measuring and calculating the speed of the invention reaches ns level and has high precision.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is a flow chart of the fine position control of the present invention;
FIG. 3 is a flow chart of velocity estimation according to the present invention;
in the figure, 1 is an acquisition operation unit, 2 is an external power supply unit, 3 is a pulse commutation unit, 4 is an upper computer control display unit, and 5 is an electric ACT sensor.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in FIG. 1, the E-ACT bit control and speed measurement system and method based on the SENT protocol includes: the device comprises a collecting and operating unit 1, an external power supply unit 2, a pulse reversing unit 3, an upper computer control display unit 4 and an electric ACT sensor 5. The input end of the acquisition and operation unit 1 is connected with a SENT protocol data signal of the electric ACT sensor 5, and the output end is connected with the pulse commutation unit 3 and the upper computer control display unit 4. And an external power supply unit 2 connected to the pulse commutation unit 3. And the input end of the pulse reversing unit 3 is connected with the acquisition and operation unit 1, the external power supply unit 2 and the output end of the pulse reversing unit is connected to the electric ACT sensor 5. And the upper computer control display unit 4 is connected to the acquisition and operation unit 1. And the electric ACT sensor 5 is arranged on the periphery of the system, the input end of the electric ACT sensor is connected to the pulse reversing unit 3, and the output end of the electric ACT sensor is connected to the acquisition and operation unit 1.
The acquisition and operation unit 1 adopts a development board independently developed by new pine on hardware, takes an FPGA chip of the CYCLONE iii series of ALTER as a control core, a ferroelectric chip capable of storing parameters is arranged on the board, a high-speed optical coupling chip is used for driving and outputting PWM chip numbers, and a communication chip with MAXIM is used for serial RS-232 communication. The acquisition and operation unit 1 comprises the following functions: (1) the sensor is connected with the electric ACT sensor 5 and used for collecting and analyzing SENT position signals; (2) a PWM control signal can be output to the pulse commutation unit 3 so as to control the action of the electric ACT sensor 5; (3) a closed-loop PID control function, which adjusts PWM signals to enable the electric ACT sensor 5 to accurately move to a specified position; (4) a speed calculation function for calculating an average speed of the electric ACT sensor 5 during travel between specified positions; (5) the communication function can be realized by the communication between the RS232 and the upper computer control display unit 4, and the test parameters and the test data can be uploaded and downloaded.
The external power supply unit 2, specifically a 12V linear/switching power supply, is connected to the pulse commutation unit 3. The choice of voltage source depends mainly on the maximum driving voltage of the electric ACT sensor 5.
The pulse commutation unit 3 is an electronic commutation load relay for a dc motor, which is used to receive the PWM control signal output by the acquisition and operation unit 1, chop the external power supply voltage into a signal with a corresponding frequency, and output the signal, and is used to drive the electric ACT sensor 5.
The upper computer controls the display unit 4, specifically an industrial personal computer or a PLC or a touch screen. Is connected with the acquisition arithmetic unit 1 through RS-232 and is used for downloading parameters to the acquisition arithmetic unit 1 or uploading test results and the like.
The electric ACT sensor 5, specifically, the peripheral product for control and measurement to which the system of the present invention is applied, is not a part of the inside of the system of the present invention, and is, for example, an electric actuator of a turbocharger in a certain car factory.
Fig. 2 is a flow chart of the fine position control function of the present invention. Firstly, the upper computer controls the display unit 4 to download target position parameters, acceptable deviation parameters and the like to the acquisition and operation unit 1, and then the positioning control is started through the serial port. The acquisition and operation unit 1 acquires and analyzes the position information of the electric ACT sensor 5 in real time, obtains a deviation value with a positioning target position value, and when the deviation is greater than an acceptable deviation, the acquisition and operation unit 1 changes the period and the duty ratio of PWM control pulses output to the pulse commutation unit 3 according to the deviation value and PID parameters, so that the moving direction, the moving speed and the moving feed amount of the electric ACT sensor 5 are changed. When the actual deviation value of the position of the electric ACT sensor 5 is smaller than the acceptable deviation value, the position is adjusted in place, and the PWM output pulse is stopped. The acquisition and operation unit 1 informs the upper computer to control the display unit 4 to adjust in place through the serial port RS-232. Through practical verification, the position control of the invention is accurate, the response speed is fast, and the adjustment of any position is less than 1S.
FIG. 3 is a flow chart of the velocity estimation function of the present invention. Firstly, the upper computer controls the display unit 4 to download the starting position and the ending position during the speed measurement to the acquisition and operation unit 1, and then the speed test is started through the serial port. The acquisition and operation unit 1 acquires and analyzes the position information of the electric ACT sensor 5 in real time, and when the position information is larger than or equal to the starting position, an internal counter starts counting, and the counter takes a nanosecond as a time base. And when the position information is larger than or equal to the end position, the internal counter stops counting. The acquisition arithmetic unit 1 calculates an average speed from the counted number and the position difference. The acquisition and operation unit 1 informs the upper computer to control the display unit 4 to complete the test through the serial port RS232 and gives an average speed value. In the testing process, because the SENT information transmission may contain external noise interference to cause the CRC to be over-checked, and the selection time of the starting position and the ending position point may be inaccurate, the invention adopts a curve fitting method in the testing speed process, and uses the interference-free CRC check passing point to fit the whole testing process.
Claims (7)
1. E-ACT bit control and speed measurement system based on SENT protocol, characterized by comprising:
the input end of the acquisition operation unit (1) is connected with the electric ACT sensor (5) to acquire SENT protocol data signals, the output end of the acquisition operation unit is connected with the pulse commutation unit (3) and used for outputting PWM pulse control signals, and the acquisition operation unit is also connected with the upper computer control display unit (4) and used for downloading test parameters and uploading test result data;
an external power supply unit (2) connected to the pulse commutation unit (3) for providing power;
the input end of the pulse reversing unit (3) is connected with the acquisition and operation unit (1) and the external power supply unit (2), and the output end of the pulse reversing unit is connected with the electric ACT sensor (5) and is used for receiving a pulse control signal and an external power supply and outputting a driving signal to the electric ACT sensor (5);
the upper computer controls the display unit (4), is connected to the acquisition arithmetic unit (1), is used for downloading the test parameter and uploading the test result data;
the pulse commutation unit (3) is an electronic commutation load relay for the direct current motor, is used for chopping an external power supply voltage into a driving signal with corresponding frequency according to a received PWM pulse control signal output by the acquisition and operation unit (1) and outputting the driving signal, and is used for driving the electric ACT sensor (5).
2. The SENT protocol-based E-ACT bit control and speed measurement system of claim 1, wherein: the electric ACT sensor (5) is a peripheral device of the system and is an electric actuating mechanism of the turbocharger.
3. The SENT protocol-based E-ACT bit control and speed measurement system of claim 1, wherein: the acquisition and operation unit (1) comprises an FPGA chip, and a ferroelectric chip, an optical coupler chip and a communication chip which are connected with the FPGA chip; the ferroelectric chip is used for storing, the optical coupling chip is used for driving and outputting PWM pulse control signals, and the communication chip is used for serial RS-232 communication.
4. The SENT protocol-based E-ACT bit control and speed measurement system of claim 1, wherein: the external power supply unit (2) is a 12V linear/switching power supply, and the selection of the voltage source depends on the maximum driving voltage of the electric ACT sensor (5).
5. A SENT protocol E-ACT based bit control and speed measurement system according to any of claims 1-4, characterized by: the upper computer control display unit (4) is an industrial personal computer or a PLC or a touch screen and is connected with the acquisition operation unit (1) through RS-232.
6. E-ACT bit control and speed measurement method based on SENT protocol is characterized in that: the method comprises the following steps:
when the positioning control is started, the upper computer controls the display unit (4) to output a positioning control instruction through the serial port, and downloads a target position parameter and an acceptable deviation parameter to the acquisition and operation unit (1); the acquisition and operation unit (1) outputs PWM pulse control signals to the pulse reversing unit (3) so as to control the electric ACT sensor (5) to move to a specified position; the acquisition and operation unit (1) informs an upper computer to control the display unit (4) to adjust in place through a serial port RS 232;
when the speed test is started, the upper computer controls the display unit (4) to output a speed test instruction through the serial port, and downloads the starting position and the ending position during the speed measurement to the acquisition and operation unit (1); the acquisition and operation unit (1) acquires and analyzes the position information of the electric ACT sensor (5) in real time and calculates the average speed of the electric ACT sensor (5); the acquisition and operation unit (1) informs the upper computer through a serial port RS-232 to control the display unit (4) to complete speed test and gives an average speed value;
the collection arithmetic unit (1) outputs PWM pulse control signals to the pulse reversing unit (3) so as to control the electric ACT sensor (5) to move to a specified position, and the collection arithmetic unit comprises the following components:
the acquisition and operation unit (1) acquires and analyzes the position information of the electric ACT sensor (5) in real time, the FPGA chip calculates the position information and a positioning target position value to obtain a deviation value, and controls the period and the duty ratio of the variable PWM pulse control of the optocoupler chip to be output to the pulse commutation unit (3) according to the deviation value and the PID parameter, and the deviation is adjusted within an acceptable deviation range in real time;
the pulse commutation unit (3) chops the external power supply voltage into a driving signal with corresponding frequency according to the received PWM pulse control signal and outputs the driving signal to the electric ACT sensor (5) so as to control the accurate positioning of the electric ACT sensor;
the acquisition and operation unit (1) acquires and analyzes the position information of the electric ACT sensor (5) in real time, and calculates the average speed of the electric ACT sensor (5), and comprises the following steps:
when the acquisition and operation unit (1) detects that the position of the electric ACT sensor (5) reaches the starting position, a counter of an FPGA chip of the acquisition and operation unit (1) records acquisition starting time and starts counting, and when the position of the electric ACT sensor (5) reaches the ending position, an internal counter records acquisition stopping time and stops counting; and the FPGA chip of the acquisition and operation unit (1) calculates the average speed of the electric ACT sensor (5) according to the counting number and the position difference.
7. The SENT protocol-based E-ACT bit control and speed measurement method of claim 6, wherein: when the acquisition arithmetic unit (1) detects that the position of the electric ACT is in the area segments of the starting position and the ending position, determining the starting acquisition time and the ending time; and taking out the effective position and time data of CRC check from the acquired data, fitting the effective position and time data to the whole detection area section, and calculating the average speed.
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| CN113659886A (en) * | 2021-08-13 | 2021-11-16 | 苏州市苏润机械科技有限公司 | Motor driver |
| CN114040035A (en) * | 2021-11-02 | 2022-02-11 | 深圳驰越科技有限公司 | SENT analyzer |
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