Aiming at the weaknesses of LON bus, combining the coexistence of fieldbus and DCS (Distribu ted Control Systems) in control networks, the authors introduce a hierarchical hybrid control network design based on LON an...Aiming at the weaknesses of LON bus, combining the coexistence of fieldbus and DCS (Distribu ted Control Systems) in control networks, the authors introduce a hierarchical hybrid control network design based on LON and master slave RS 422/485 protocol. This design adopts LON as the trunk, master slave RS 422/485 control networks are connected to LON as special subnets by dedicated gateways. It is an implementation method for isomerous control network integration. Data management is ranked according to real time requirements for different network data. The core components, such as control network nodes, router and gateway, are detailed in the paper. The design utilizes both communication advantage of LonWorks technology and the more powerful control ability of universal MCUs or PLCs, thus it greatly increases system response speed and performance cost ratio.展开更多
针对人形机器人领域中传统转换模块系统资源占用率高、控制频率慢以及控制电机数量少的问题,文中提出了一种将EtherCAT(Ethernet Control Automation Technology)协议转换为CAN(Controller Area Network)总线协议的设计方案。采用Ether...针对人形机器人领域中传统转换模块系统资源占用率高、控制频率慢以及控制电机数量少的问题,文中提出了一种将EtherCAT(Ethernet Control Automation Technology)协议转换为CAN(Controller Area Network)总线协议的设计方案。采用EtherCAT工业实时以太网作为现场网络,构建ARM(Advanced RISC Machines)处理器结合AX58100芯片作为EtherCAT从站硬件平台。针对模块中实时周期的控制任务,设计了基于SOEM(Simple Open EtherCAT Master)的主站。分析和研究了不同主站平台对转换模块的通信延时影响,主站向AX58100发出数据报文,经AX58100传输至STM32F405,通过内部逻辑判断并进行转换输出,从而实现设备控制。实验结果验证了EtherCAT转CAN模块的可行性和有效性,传输速率可以达到3328000 bit·s^(-1),实时抖动时间达到微秒级,系统资源占用率减小到9.6%左右,连接设备数量与单协议无异,满足现有项目的实际需求。展开更多
文摘Aiming at the weaknesses of LON bus, combining the coexistence of fieldbus and DCS (Distribu ted Control Systems) in control networks, the authors introduce a hierarchical hybrid control network design based on LON and master slave RS 422/485 protocol. This design adopts LON as the trunk, master slave RS 422/485 control networks are connected to LON as special subnets by dedicated gateways. It is an implementation method for isomerous control network integration. Data management is ranked according to real time requirements for different network data. The core components, such as control network nodes, router and gateway, are detailed in the paper. The design utilizes both communication advantage of LonWorks technology and the more powerful control ability of universal MCUs or PLCs, thus it greatly increases system response speed and performance cost ratio.
文摘针对人形机器人领域中传统转换模块系统资源占用率高、控制频率慢以及控制电机数量少的问题,文中提出了一种将EtherCAT(Ethernet Control Automation Technology)协议转换为CAN(Controller Area Network)总线协议的设计方案。采用EtherCAT工业实时以太网作为现场网络,构建ARM(Advanced RISC Machines)处理器结合AX58100芯片作为EtherCAT从站硬件平台。针对模块中实时周期的控制任务,设计了基于SOEM(Simple Open EtherCAT Master)的主站。分析和研究了不同主站平台对转换模块的通信延时影响,主站向AX58100发出数据报文,经AX58100传输至STM32F405,通过内部逻辑判断并进行转换输出,从而实现设备控制。实验结果验证了EtherCAT转CAN模块的可行性和有效性,传输速率可以达到3328000 bit·s^(-1),实时抖动时间达到微秒级,系统资源占用率减小到9.6%左右,连接设备数量与单协议无异,满足现有项目的实际需求。
