CN110191038A - A kind of current type PWM wave network controller, method and system - Google Patents
A kind of current type PWM wave network controller, method and system Download PDFInfo
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- CN110191038A CN110191038A CN201910554902.2A CN201910554902A CN110191038A CN 110191038 A CN110191038 A CN 110191038A CN 201910554902 A CN201910554902 A CN 201910554902A CN 110191038 A CN110191038 A CN 110191038A
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- 238000004891 communication Methods 0.000 claims description 74
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
- H04L12/40013—Details regarding a bus controller
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40169—Flexible bus arrangements
- H04L12/40176—Flexible bus arrangements involving redundancy
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
- H04L41/0654—Management of faults, events, alarms or notifications using network fault recovery
- H04L41/0663—Performing the actions predefined by failover planning, e.g. switching to standby network elements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/18—Multiprotocol handlers, e.g. single devices capable of handling multiple protocols
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
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Abstract
The invention discloses a kind of current type PWM wave network controllers, method and system, the PWM wave current output circuit of telecommunication circuit and at least 2 tunnel output channels at least three kinds of agreements, the bus redundancy transmission for realizing two or more agreement improves acquisition speed, the control reliability of control system.Current type PWM wave network controller includes: signal processor circuit, the telecommunication circuit of at least three kinds of agreements and PWM wave current output circuit, and PWM wave current output circuit includes at least 2 tunnel output channels；Signal processor circuit is connect with the telecommunication circuit of at least three kinds of agreements and PWM wave current output circuit.
Description
Technical field
The present invention relates to signal control fields, more particularly to a kind of current type PWM wave network controller, method and are
System.
Background technique
It in function complexity, and runs, under the situation more than Working mechanism, value volume and range of product, such as railway engineering is mechanical
Vehicle needs a set of powerful, high reliablity control system, to control the operation and operation of railway engineering machinery.Control
System needs to export PWM wave signal and is controlled controlled component, including servo valve, proportioning valve, hydraulic pump, hydraulic motor etc..
These signal wires for being controlled component are usually connected to controller by hardwired, analog voltage or electric current are exported by controller
Signal carries out centralized control.
But since these components are distributed across each position of railway engineering motor vehicles and machines, lead to connecting cable ratio
Longer and more, the loss of signal is big on the line for analog signal, is easy to be disturbed, and causes homework precision unstable.Although at present
Also have and received by controller local area network's (Controller Area Network, CAN) buses such as bus or RS232 bus
Data, output pulse width modulate the network control unit that (Pulse WidthModulation, PWM) wave signal implements control.
But the bus transfer speed of this network control unit is lower, and be all individually be not carried out with certain bus transfer 2 kinds with
Upper bus redundancy transmission, acquisition speed, reliability therefore, it is difficult to meet under high-end, complicated scene, to control system
Requirement.
Summary of the invention
The object of the present invention is to provide a kind of current type PWM wave network controllers, method and system, have at least three kinds of associations
The PWM wave current output circuit of the telecommunication circuit of view and at least 2 tunnel output channels, realizes the bus redundancy of two or more agreement
Transmission improves acquisition speed, the control reliability of control system.
First aspect present invention provides current type PWM wave network controller, comprising:
Signal processor circuit, the telecommunication circuit of at least three kinds of agreements and PWM wave current output circuit, the output of PWM wave electric current
Circuit includes at least 2 tunnel output channels；
Signal processor circuit is connect with the telecommunication circuit of at least three kinds of agreements and PWM wave current output circuit.
Further, the telecommunication circuit of at least three kinds of agreements include CAN bus telecommunication circuit, EtherCAT telecommunication circuit and
RS-232 telecommunication circuit.
Further, CAN bus telecommunication circuit includes 2 tunnels, and EtherCAT telecommunication circuit includes 2 tunnels, RS-232 communication electricity
Road includes 1 tunnel.
Further, current type PWM wave network controller further include:
2 CAN communication interfaces, 2 EtherCAT communication interfaces and 1 RS-232 communication interface；
2 CAN communication interfaces are connect with 2 tunnel CAN bus telecommunication circuits respectively；
2 EtherCAT communication interfaces are connect with 2 road EtherCAT telecommunication circuits respectively；
RS-232 communication interface is connect with RS-232 telecommunication circuit.
Further, current type PWM wave network controller further include:
At least two PWM wave current output interface, each PWM wave current output interface connect with 1 tunnel output channel respectively
It connects.
Further, PWM wave current output circuit further include:
Sub-circuit is isolated in optical coupling；
Optical coupling isolation sub-circuit is set to each PWM wave current output interface and per between output channel all the way.
Further, current type PWM wave network controller further include:
Power circuit and power interface；
Power interface is connect with power circuit.
Second aspect of the present invention provides a kind of current type PWM wave network control system, comprising:
Communication network, the PWM wave electric current of at least three kinds of agreements export current type PWM wave network in network and claim 1-7
Controller, current type PWM wave network controller are at least one；
Current type PWM wave network controller includes the telecommunication circuit and PWM wave of signal processor circuit, at least three kinds of agreements
Current output circuit, PWM wave current output circuit include at least 2 tunnel output channels, signal processor circuit and at least three kinds of agreements
Telecommunication circuit and PWM wave current output circuit connection；
The telecommunication circuit of each agreement is connected with the communication network of corresponding agreement；
PWM wave current output circuit is connected to the network by least 2 tunnel output channels and the output of PWM wave electric current.
Further,
The communication network of at least three kinds of agreements includes CAN bus communication network, EtherCAT communication network and RS-232 communication
Network；
The telecommunication circuit of at least three kinds of agreements includes CAN bus telecommunication circuit, EtherCAT telecommunication circuit and RS-232 communication
Circuit；
More than two current type PWM wave network controllers access CAN bus communication network by the parallel connection of CAN bus telecommunication circuit
Network passes through EtherCAT telecommunication circuit series connection access EtherCAT communication network and is accessed by the parallel connection of RS-232 telecommunication circuit
RS-232 communication network.
Third aspect present invention provides a kind of current type PWM wave network control method, is applied to the control of current type PWM wave network
System processed, current type PWM wave network control system include the communication network of at least three kinds of agreements, PWM wave electric current output network and power
Benefit requires current type PWM wave network controller in 1-7, and current type PWM wave network controller is at least one, current type PWM wave
Network controller includes signal processor circuit, the telecommunication circuit of at least three kinds of agreements and PWM wave current output circuit, PWM wave electricity
Flowing output circuit includes at least 2 tunnel output channels, telecommunication circuit and the PWM wave electricity of signal processor circuit and at least three kinds of agreements
Output circuit connection is flowed,
Current type PWM wave network control method includes:
Signal processor circuit receives the number of the communication network transmission of corresponding agreement by the telecommunication circuit of at least three kinds of agreements
According to；
The duty per the PWM wave current output signal of output channel all the way is calculated according to data for signal processor circuit
Than.
Therefore current type PWM wave network controller includes the communication electricity of signal processor circuit, at least three kinds of agreements
Road and PWM wave current output circuit, PWM wave current output circuit include at least 2 tunnel output channels, signal processor circuit with extremely
The telecommunication circuit and the connection of PWM wave current output circuit of few 3 kinds of agreements.Telecommunication circuit and at least 2 tunnels at least three kinds of agreements
The PWM wave current output circuit of output channel individually receives data by the buses such as CAN bus or RS232 bus with existing
It compares, the bus redundancy transmission of two or more agreement is realized, in the telecommunication circuit or communication connected to it of wherein some agreement
When network breaks down, remains to guarantee normally receiving for data by the telecommunication circuit of other agreements, realizes network communication redundancy,
And PWM wave current signal is exported by at least 2 tunnel output channels of PWM wave current output circuit, improves control system
Acquisition speed, control reliability.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to institute in the prior art and embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structural schematic diagram of one embodiment of current type PWM wave network controller provided by the invention；
Fig. 2 is the structural schematic diagram of another embodiment of current type PWM wave network controller provided by the invention；
Fig. 3 is the structural schematic diagram of the further embodiment of current type PWM wave network controller provided by the invention；
Fig. 4 is the structural schematic diagram of one embodiment of current type PWM wave network control system provided by the invention；
Fig. 5 is the flow diagram of one embodiment of current type PWM wave network control method provided by the invention.
Specific embodiment
Core of the invention is to provide a kind of current type PWM wave network controller, method and system, has at least three kinds of associations
The PWM wave current output circuit of the telecommunication circuit of view and at least 2 tunnel output channels, realizes the bus redundancy of two or more agreement
Transmission improves acquisition speed, the control reliability of control system.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Referring to Fig. 1, the embodiment of the present invention provides a kind of current type PWM wave network controller, comprising:
Signal processor circuit 101, the telecommunication circuit 102 of at least three kinds of agreements and PWM wave current output circuit 103, PWM
Wave current output circuit 103 includes at least 2 tunnel output channels 104；
The telecommunication circuit 102 and PWM wave current output circuit 103 of signal processor circuit 101 and at least three kinds of agreements connect
It connects.
In the embodiment of the present invention, signal processor circuit 101, the telecommunication circuit 102 of at least three kinds of agreements and PWM wave electric current
Output circuit 103, PWM wave current output circuit 103 include at least 2 tunnel output channels 104.It should be noted that leading in Fig. 1
Letter circuit 1, telecommunication circuit 2, telecommunication circuit 3 ..., telecommunication circuit N show telecommunication circuit with 3 kinds or 3 kinds or more
The telecommunication circuit of agreement, same agreement can be one or more, and specific quantity is without limitation.It is exported in Fig. 1 logical
Road 1, output channel 2 ..., output channel N show the output channel of PWM wave current output circuit 103 have 2 tunnels or 2 tunnels with
On, specific quantity is without limitation.Wherein, the telecommunication circuit 102 and PWM wave of signal processor circuit 101 and at least three kinds of agreements
Current output circuit 103 connects.Since in existing PWM wave control mode, PWM controller is merely able to by individually a kind of logical
The bus transfer of agreement is believed to receive data, then not can guarantee normally receiving for data when communication network breaks down, and originally
In inventive embodiments, the bus redundancy transmission of two or more agreement is realized, is connected in the telecommunication circuit of wherein some agreement or with it
When the communication network connect breaks down, remains to guarantee normally receiving for data by the telecommunication circuit of other agreements, realize network
Communication redundancy, and PWM wave current signal is exported by at least 2 tunnel output channels of PWM wave current output circuit, avoid mould
The loss of signal is big in quasi- signals transmission, is easy the shortcomings that being disturbed, thus improve the acquisition speed of control system,
Control reliability.
Optionally, embodiment as shown in connection with fig. 1, is specifically described telecommunication circuit, referring to Fig. 2, of the invention
Embodiment provides a kind of current type PWM wave network controller, comprising:
The telecommunication circuit of at least three kinds of agreements includes CAN bus telecommunication circuit 201, EtherCAT telecommunication circuit 202 and RS-
232 telecommunication circuits 203；
CAN bus telecommunication circuit 201 includes 2 tunnels, and EtherCAT telecommunication circuit 202 includes 2 tunnels, RS-232 telecommunication circuit
203 include 1 tunnel；
2 CAN communication interfaces, 204,2 EtherCAT communication interfaces 205 and 1 RS-232 communication interface 206；
2 CAN communication interfaces 204 are connect with 2 tunnel CAN bus telecommunication circuits 201 respectively；
2 EtherCAT communication interfaces 202 are connect with 2 road EtherCAT telecommunication circuits 205 respectively；
RS-232 communication interface 206 is connect with RS-232 telecommunication circuit 206；
At least two PWM wave current output interface 207, each PWM wave current output interface 207 are logical with the output of 1 tunnel respectively
Road 104 connects.
In the embodiment of the present invention, the communication network according to existing agreement mainly includes CAN, EtherCAT and RS-232；
Wherein, CAN belongs to bus type serial communication network, due to using many new technologies and unique design philosophy,
Compared with similar products, CAN bus has the advantages that reliable, real-time and flexible in terms of data communication, for make to design it is transparent and
It executes flexible, it then follows ISO/OSI master pattern, CAN bus structure include logic link control (Logical Link
Control, LLC) sublayer and media access control (MediaAccess Control, MAC) sublayer, LLC sublayer is data transmitting
Offer service is requested with teledata, the function control frame structure of media access control sublayer executes arbitration, error checking, error calibration and event
Barrier defines, and therefore, CAN bus telecommunication circuit 201 includes 2 tunnels；
EtherCAT (Ethernet auto-control technology) is an open architecture, the fieldbus based on Ethernet
System, EtherCAT use the Ethernet physical layer of full duplex, and therefore, EtherCAT telecommunication circuit 202 has 2 tunnels；
RS-232 is prepared different by Electronic Industries Association (Electronic Industries Association, EIA)
Transmission standard interface is walked, 1 road RS-232 telecommunication circuit 203 is passed through；
For 2 tunnel CAN bus telecommunication circuit, 201,2 road EtherCAT telecommunication circuit, 202,1 road RS-232 telecommunication circuit
203, need to be arranged corresponding interface, to realize that data are transmitted, therefore, current type PWM wave network controller further includes 2
204,2 EtherCAT communication interfaces 205 of CAN communication interface and 1 RS-232 communication interface 206；Wherein, 2 CAN communications connect
Mouth 204 is connect with 2 tunnel CAN bus telecommunication circuits 201 respectively；2 EtherCAT communication interfaces 202 respectively with 2 road EtherCAT
Telecommunication circuit 205 connects；RS-232 communication interface 206 is connect with RS-232 telecommunication circuit 206；
At least two PWM wave current output interface 207, each PWM wave current output interface 207 are logical with the output of 1 tunnel respectively
Road 104 connects, and as shown in Figure 2, a PWM wave current output interface 207 needs a corresponding output channel 104, in order that
Allow an output channel 104 that can individually export a PWM wave current signal, to avoid the phase between PWM wave current signal
Mutually interference.It should be noted that in specific implementation, output channel 104 and PWM wave current output interface 207 are traditionally arranged to be 8
A, in addition to this, output channel 104 and PWM wave current output interface 207 may be arranged as other quantity, not limit specifically
It is fixed.
Optionally, the embodiment in conjunction with shown in figure 2 above, PWM wave current output circuit further include:
Sub-circuit is isolated in optical coupling；
Optical coupling isolation sub-circuit is set to each PWM wave current output interface and per between output channel all the way.
In the embodiment of the present invention, in order to guarantee the quality of PWM wave current output signal, need through optical coupling insulator electricity
The PWM wave current output signal of different output channels is isolated on road, and optical coupling isolation sub-circuit specifically can be optical coupling
Device；In addition to this, the voltage range that PWM wave current output circuit also needs to control PWM wave current output signal is greater than 0V and small
In being equal to 5V, the precision of the curent change of PWM wave current output signal is not more than 1%, the resolution ratio of PWM wave current output signal
It is 0.1%；The frequency of PWM wave current output signal is more than or equal to 3KHz and is less than or equal to 5KHz.It should be noted that above
Numerical value is not that uniquely, in the specific implementation, can also be set as other values.
Optionally, embodiment as shown in connection with fig. 2, as shown in figure 3, current type PWM wave network controller further include:
Power circuit 301 and power interface 302；
Power interface 302 is connect with power circuit 301.
In the embodiment of the present invention, power circuit 301 is specifically DC/DC (DC/DC) formula power circuit, is current mode
Circuit in PWM wave network controller is powered.
Referring to Fig. 4, the embodiment of the present invention provides a kind of current type PWM wave network control system, comprising:
Electric current of the communication network, PWM wave electric current output network and Fig. 1 of at least three kinds of agreements into embodiment shown in Fig. 3
Type PWM wave network controller, current type PWM wave network controller are at least one；
Current type PWM wave network controller includes the telecommunication circuit and PWM wave of signal processor circuit, at least three kinds of agreements
Current output circuit, PWM wave current output circuit include at least 2 tunnel output channels, signal processor circuit and at least three kinds of agreements
Telecommunication circuit and PWM wave current output circuit connection；
The telecommunication circuit of each agreement is connected with the communication network of corresponding agreement；
PWM wave current output circuit is connected to the network by least 2 tunnel output channels and the output of PWM wave electric current.
In the embodiment of the present invention, the communication network of at least three kinds of agreements includes CAN bus communication network, EtherCAT communication
Network and RS-232 communication network, the telecommunication circuit of at least three kinds of agreements include CAN bus telecommunication circuit, EtherCAT communication electricity
Road and RS-232 telecommunication circuit, more than two current type PWM wave network controllers are accessed by the parallel connection of CAN bus telecommunication circuit
CAN bus communication network passes through EtherCAT telecommunication circuit series connection access EtherCAT communication network and is communicated by RS-232
Circuit in parallel accesses RS-232 communication network.
Referring to Fig. 5, the embodiment of the present invention provides a kind of current type PWM wave network control method, comprising:
501, signal processor circuit receives the communication network transmission of corresponding agreement by the telecommunication circuit of at least three kinds of agreements
Data；
502, signal processor circuit is calculated according to data per the PWM wave current output signal of output channel all the way
Duty ratio.
In the embodiment of the present invention, current type PWM wave network control system as shown in connection with fig. 4, current type PWM wave network control
Device processed can receive data simultaneously by CAN bus, EtherCAT, RS-232 bus, in the letter of current type PWM wave network controller
The operation that control algolithm is carried out in number processor circuit, obtains the duty ratio of the PWM wave current output signal of each output channel, from
And controlled component is accurately controlled.Since in existing PWM wave control mode, PWM controller is merely able to by independent
A kind of bus transfer of communication protocol receives data, then not can guarantee normally connecing for data when communication network breaks down
It receives, and in the embodiment of the present invention, the bus redundancy transmission of two or more agreement is realized, in the telecommunication circuit of wherein some agreement
Or communication network connected to it remains to guarantee normally receiving for data by the telecommunication circuit of other agreements when breaking down,
It realizes network communication redundancy, and exports PWM wave current signal by at least 2 tunnel output channels of PWM wave current output circuit,
Avoid during analog signal transmission that the loss of signal is big, is easy the shortcomings that being disturbed, to improve the data of control system
Acquire speed, control reliability.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
It include so that the process, method, article or equipment for including a series of elements not only includes those elements, but also to wrap
Include other elements that are not explicitly listed, or further include for this process, method, article or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of current type PWM wave network controller characterized by comprising
Signal processor circuit, the telecommunication circuit of at least three kinds of agreements and PWM wave current output circuit, the PWM wave electric current output
Circuit includes at least 2 tunnel output channels；
The signal processor circuit is connect with the telecommunication circuit of at least three kinds of agreements and the PWM wave current output circuit.
2. current type PWM wave network controller according to claim 1, which is characterized in that
The telecommunication circuit of at least three kinds of agreements includes CAN bus telecommunication circuit, EtherCAT telecommunication circuit and RS-232 communication
Circuit.
3. current type PWM wave network controller according to claim 2, which is characterized in that
The CAN bus telecommunication circuit includes 2 tunnels, and the EtherCAT telecommunication circuit includes 2 tunnels, the RS-232 telecommunication circuit
Including 1 tunnel.
4. current type PWM wave network controller according to claim 3, which is characterized in that the current type PWM wave network
Controller further include:
2 CAN communication interfaces, 2 EtherCAT communication interfaces and 1 RS-232 communication interface；
2 CAN communication interfaces are connect with CAN bus telecommunication circuit described in 2 tunnels respectively；
2 EtherCAT communication interfaces are connect with EtherCAT telecommunication circuit described in 2 tunnels respectively；
The RS-232 communication interface is connect with the RS-232 telecommunication circuit.
5. current type PWM wave network controller according to claim 1, which is characterized in that the current type PWM wave network
Controller further include:
At least two PWM wave current output interface, each PWM wave current output interface are connect with 1 tunnel output channel respectively.
6. current type PWM wave network controller according to claim 5, which is characterized in that the PWM wave electric current output electricity
Road further include:
Sub-circuit is isolated in optical coupling；
The optical coupling isolation sub-circuit is set to each PWM wave current output interface and per between output channel all the way.
7. current type PWM wave network controller according to claim 1 to 6, which is characterized in that the electric current
Type PWM wave network controller further include:
Power circuit and power interface；
The power interface is connect with the power circuit.
8. a kind of current type PWM wave network control system characterized by comprising
Communication network, the PWM wave electric current of at least three kinds of agreements export current type PWM wave network described in network and claim 1-7
Controller, the current type PWM wave network controller are at least one；
The current type PWM wave network controller includes the telecommunication circuit and PWM wave of signal processor circuit, at least three kinds of agreements
Current output circuit, the PWM wave current output circuit include at least 2 tunnel output channels, the signal processor circuit and institute
State the telecommunication circuit and PWM wave current output circuit connection of at least three kinds of agreements；
The telecommunication circuit of each agreement is connected with the communication network of corresponding agreement；
The PWM wave current output circuit passes through at least 2 tunnel output channels and PWM wave electric current output is connected to the network.
9. current type PWM wave network control system according to claim 8, which is characterized in that
The communication network of at least three kinds of agreements includes CAN bus communication network, EtherCAT communication network and RS-232 communication
Network；
The telecommunication circuit of at least three kinds of agreements includes CAN bus telecommunication circuit, EtherCAT telecommunication circuit and RS-232 communication
Circuit；
More than two current type PWM wave network controllers are total by the CAN bus telecommunication circuit parallel connection access CAN
Line communication network accesses the EtherCAT communication network by EtherCAT telecommunication circuit series connection and passes through RS-232
Telecommunication circuit parallel connection accesses the RS-232 communication network.
10. a kind of current type PWM wave network control method, which is characterized in that it is applied to current type PWM wave network control system,
The current type PWM wave network control system includes the communication network of at least three kinds of agreements, PWM wave electric current output network and right
It is required that the controller of current type PWM wave network described in 1-7, the current type PWM wave network controller is at least one, the electricity
Flow pattern PWM wave network controller includes signal processor circuit, the telecommunication circuit of at least three kinds of agreements and PWM wave electric current output electricity
Road, the PWM wave current output circuit include at least 2 tunnel output channels, the signal processor circuit and at least three kinds of associations
The telecommunication circuit of view and PWM wave current output circuit connection,
The current type PWM wave network control method includes:
The signal processor circuit receives the communication network transmission of corresponding agreement by the telecommunication circuit of at least three kinds of agreements
Data；
The signal processor circuit is calculated according to the data per the PWM wave current output signal of output channel all the way
Duty ratio.
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