Multi-intelligent stand-alone servo control system based on dual redundant CAN bus communication

Abstract

The invention relates to a multi-intelligent stand-alone servo control system based on dual redundant CAN bus communication. A main servo control drive receives the instruction of a host computer, so as to carry out corresponding operation. The instruction received by the host computer is redundantly sent to a servo control drive through a first CAN bus and a second CAN bus, wherein the first CAN bus and the second CAN bus are peer to each other. An instruction operation result and measurement parameters are fed back to the host computer, wherein the instruction operation result and the measurement parameters are sent by the main servo control drive in the system and an auxiliary servo control drive. Without increasing additional data transmission, bus error self-diagnosis and bus state self-diagnosis are carried out on the dual redundant CAN buses are in real time. When communication bus abnormities are found through self-diagnosis, corresponding self-recovery measures are taken for self-recovery. The system is used for the communication of different intelligent stand-alones of a rocket flight control servo system, realizes highly reliable communication with relatively low cost, has the functions of self-diagnosis and self-recovery, and ensures the high reliability of a rocket and other flight control systems.

Description

technical field [0001] The present invention relates to a multi-intelligent stand-alone servo control system based on dual-redundant CAN bus communication, in particular to a multi-intelligent stand-alone servo control system based on dual-redundant CAN bus communication, which is used for the communication of multi-intelligence stand-alone inside the servo control system , which belongs to the field of servo system control. Background technique [0002] To complete complex motion control in a large-scale servo system, multiple intelligent stand-alone machines need to coordinate their work, while the higher-level system requires a unique node and interface for the servo system, which corresponds to a bus site of a host computer 1553B. In this context, it is necessary to design a highly reliable redundant communication network inside the servo system to solve the distributed control requirements. [0003] CAN (Controller Area Network) bus is a serial multi-master controller ...

AI Technical Summary

Problems solved by technology

[0004] (1) There is only one bus for communication, and there is a single-point link. Once a software communication failure occurs and cannot be recovered, communication failure will occur, which will affect system reliability.

[0005] (2), does not have self-diagnosis and self-recovery functions, that is, when two communication nodes fail to communicate, there is no remedial measure, resulting in system failure

[0006] (3) Since the CAN bus itself is a serial bus, and there is only one way, all data frames communicated with each other are transmitted sequentially through the bus, which is restricted by the transmission speed of the hardware, and the corresponding delay of the command is relatively large, which restricts the system to Command Response Performance

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