CN111752197A - Steering engine supporting multi-signal input and control system and control method thereof - Google Patents
Steering engine supporting multi-signal input and control system and control method thereof Download PDFInfo
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- CN111752197A CN111752197A CN202010610975.1A CN202010610975A CN111752197A CN 111752197 A CN111752197 A CN 111752197A CN 202010610975 A CN202010610975 A CN 202010610975A CN 111752197 A CN111752197 A CN 111752197A
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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
- G05B19/0423—Input/output
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/21—Pc I-O input output
- G05B2219/21014—Interface, module with relays
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Abstract
The invention provides a steering engine supporting multi-signal input, a control system and a control method thereof. The steering engine is convenient to build a series, parallel or composite control system by simultaneously being compatible with two control modes of serial port control and PWM control through an input interface, and when a signal pin of the input interface receives a level signal, the steering engine MCU judges the type of the signal so as to switch the control type of the steering engine MCU.
Description
Technical Field
The invention relates to the technical field of robot application, in particular to a steering engine supporting multi-signal input and a control system and a control method thereof.
Background
The steering engine is a position or angle servo driver, has the characteristics of small size, light weight, large torque and high precision, and is widely applied to robot joints and remote control models. The system is divided into an analog steering engine and a digital steering engine according to different signal processing, wherein the analog steering engine detects PWM (pulse width modulation) waves through pure hardware to control rotation, and the digital steering engine is controlled through software programming through a built-in MCU (micro control unit). The digital steering engine can continuously work only by sending control data once. However, the existing problems are that the analog steering engine or the digital steering engine of the PWM needs to occupy a large number of physical interfaces, each steering engine is connected to an independent interface of the controller, and wiring is complex and troublesome.
Disclosure of Invention
In order to solve the technical problem, the steering engine supporting multi-signal input and the control system and the control method thereof are provided, and the steering engine supports both PWM control and serial port signal control.
A steering engine supporting multi-signal input comprises an MCU, a first resistor and an input interface, wherein a PWM (pulse-width modulation) capturing pin of the MCU is connected with one end of the first resistor, and a serial port TX pin of the MCU and the other end of the first resistor are connected with a signal pin of the input interface.
Preferably, the invention further comprises a second resistor, the serial port TX pin and the other end of the first resistor are respectively connected to one end of the second resistor, and the other end of the second resistor is connected to the signal pin of the input interface.
Preferably, the input interface further comprises a power input terminal, and the power input terminal comprises a ground pin and a positive pin.
Preferably, the MCU further includes a serial RX pin, and the input interface further includes a receive pin, and the serial RX pin is connected to the receive pin.
The invention further provides a control system of the steering engine, which comprises a main controller and at least two steering engines, wherein the steering engines are sequentially connected in series to form a series steering engine set, the main controller comprises a main MCU, and a single-bus serial port stitch of the main MCU is connected with the series steering engine set.
Preferably, the main controller further comprises a third resistor and a fourth resistor, the PWM pin of the main MCU is connected with one end of the third resistor, the other end of the third resistor and the single-bus serial port pin are connected with one end of the fourth resistor, and the other end of the fourth resistor is connected with the input interface of the steering engine through the serial port output end of the main controller.
The invention also provides another control system of the steering engine, which comprises a main controller and at least two steering engines, wherein the main controller comprises a main MCU, and the steering engines are respectively connected with different PWM pins of the main MCU.
Preferably, the steering engines comprise input interfaces and output interfaces, the steering engines are sequentially connected in series through the input interfaces and the output interfaces to form a series steering engine set, and a single-bus serial port stitch of the main MCU is connected with the series steering engine set.
The invention also provides a control method for supporting the multi-signal input steering engine, which comprises the following steps: the main controller sends a level signal to the steering engine; the steering engine sends a level signal to an MCU of the steering engine through an input interface; the MCU detects the input signal and judges the type of the level signal; and the MCU is switched to serial port control or PWM control according to the signal type.
Preferably, the method for determining the type of the level signal includes: and detecting the low level of the level signal through the MCU, and judging the type of the level signal according to the information of the low level.
Compared with the prior art, the invention has the beneficial effects that:
1. the steering engine is compatible with two control modes of serial port control and PWM control through an input interface, so that the steering engine is convenient to construct a serial, parallel or composite control system; 2. when a signal pin of the input interface receives a level signal, the steering engine MCU judges the type of the signal so as to switch the control type of the steering engine MCU.
Drawings
FIG. 1 is a logic block diagram of the present invention;
FIG. 2 is a logic block diagram of embodiment 1;
FIG. 3 is a logic block diagram of embodiment 2;
FIG. 4 is a logic block diagram of embodiment 3;
FIG. 5 is a logic block diagram of embodiment 4;
FIG. 6 is a flow chart of a control method for a steering engine supporting multiple signal inputs.
In the drawings, the reference numbers: 1-steering engine, 11-MCU, 12-PWM capture pin, 13-serial port TX pin, 14-first resistor, 15-second resistor, 18-receiving pin, 19-signal pin, 2-main controller, 21-main MCU, 22-PWM pin, 23-single bus serial port pin, 24-fourth resistor, 25-third resistor, 26-serial port output end and 3-serial port RX pin.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
A steering engine supporting multi-signal input is shown in fig. 1 and comprises an MCU11, a first resistor 14 and an input interface, a PWM capture pin 12 of the MCU11 is connected with one end of the first resistor 14, and a serial port TX pin 13 of the MCU11 and the other end of the first resistor 14 are connected with a signal pin of the input interface.
The serial port TX pin 13 is used for serial port communication, the PWM capture pin 12 is used for receiving PWM signals, when a signal pin of an input interface receives a level signal, the level signal can be sent to the MCU11 through the serial port TX pin 13, the level signal can also be sent to the MCU11 through the first resistor 14 and the PWM capture pin 12, the first resistor 14 is used for impedance matching of the PWM signals, the serial port TX pin 13 and the PWM capture pin 12 respectively send the level signal to the MCU11, the MCU11 judges the type of the level signal according to a low level signal in the level signal, wherein pulse level signals controlled by the PWM are fluctuated, low level time is long, the level signal controlled by a serial port is stable, the low level time is short, the PWM capture pin 12 or the serial port pin 13 is selected for communication, the other pin is closed, and the steering engine 1 is compatible with two control modes of the serial port signal and the PWM through one input interface at the same time, so that the steering, Parallel or compound control systems.
The input interface can also comprise a power input end, the power input end comprises a grounding pin and an anode pin, the signal pin 19 is used for transmitting control signals or data, and the power input end is used for providing driving voltage for the steering engine 1 and providing working voltage for the MCU 11. In the serial port communication, steering wheel 1 can send and receive signals through a signal pin, and input interface is equipped with 3 pins promptly.
The first resistor 14 may be a non-inductive resistor to prevent oscillation during signal transmission. In one embodiment, the first resistance is a 1000 ohm chip resistance.
Example 1
The input interface is further provided with a receiving pin 18, as shown in fig. 2, the MCU11 further includes a serial port RX pin 3, the serial port TX pin 13 is connected to the signal pin 19, the serial port RX pin 3 is connected to the receiving pin 18, the PWM capture pin 12 is connected to one end of the first resistor 14, and the other end of the first resistor 14 is connected to the signal pin 19. Under serial communication, a serial TX pin 13 sends a signal through a signal pin 19, and a serial RX pin 3 receives the signal through a receiving pin 18; under PWM control, the serial TX pin 13 and the serial RX pin 3 are turned off, and a PWM signal is transmitted to the MCU11 through the first resistor 14 and the PWM capture pin 12. The first resistor 14 is used for impedance matching of the PWM signal.
A low-resistance resistor can be respectively connected between the signal pin 19 and the serial port TX pin, and between the receiving pin and the RX pin for protecting the MCU.
Example 2
The invention further comprises a second resistor 15, as shown in fig. 3, the PWM capture pin 12 of the MCU11 is connected to one end of the first resistor 14, the serial port TX pin 13 of the MCU11 and the other end of the first resistor 14 are connected to one end of the second resistor 15, and the other end of the second resistor 15 is connected to the signal pin 19 of the input interface.
The second resistor 15 is used for impedance matching of serial port control signals and can also be used for protecting the MCU. The second resistor 15 may be a low resistance resistor, and in one embodiment, a resistor having a resistance of 100 ohms is used.
Example 3
The series control system adopting the steering engines comprises a main controller 2 and two or more steering engines 1, wherein the steering engines 1 are sequentially connected in series to form a series steering engine set, the main controller 2 comprises a main MCU21, and a single-bus serial port stitch 23 of the main MCU21 is connected with the series steering engine set.
The steering engine 1 can be provided with an input interface and an output interface, and a plurality of steering engines are connected in series through the access interface and the output interface. Wherein, the output interface is connected with the input interface.
In the specific embodiment, the main controller is provided with a serial port output end 26, the single-bus serial port pin 23 is connected with a signal pin of the serial port output end 26, and the serial port output end 26 is connected with a free input interface of the series rudder unit to form a serial port communication control system. The main controller 2 controls the plurality of steering engines 1 through the serial port output end 26, resources are saved, and when one steering engine fails, control of a downstream steering engine can be affected.
Example 4
Different from embodiment 3, the main controller 2 further includes a third resistor 25 and a fourth resistor 24, as shown in fig. 5, the PWM pin 22 of the main MCU21 is connected to one end of the third resistor 25, the other end of the third resistor 25 is connected to one end of the fourth resistor 24 through the single-bus serial pin 23, and the other end of the fourth resistor 24 is connected to the input interface of the steering engine through the serial output port 26 of the main controller. The third resistor 25 is used for impedance matching of the PWM signal, the fourth resistor 24 is used for impedance matching of the serial port control signal and protection of the single-bus serial port pin 23, and the other end of the fourth resistor 24 serves as a signal output end, so that the serial port output end 26 is compatible with the PWM control signal and the serial port control signal.
Example 5
The utility model provides a parallel control system that steering wheel is constituteed, as shown in figure 4, includes main control unit 2 and two or a plurality of steering wheel 1, and main control unit 2 includes main MCU21, and main MCU21 is equipped with a plurality of PWM stitches 22, and steering wheel 1 is connected with different PWM stitches 22 respectively.
The main MCU21 controls different steering engines to work through different PWM pins. The main MCU21 is independently controlled for each steering engine, and one of the steering engines fails, so that the work of other steering engines is not affected, but a plurality of PWM control interfaces are needed, and more resources are occupied.
A plurality of steering engines 1 are sequentially connected in series to form a series steering engine set, and a single-bus serial port pin 23 of a main MCU21 is connected with the series steering engine set. The main MCU21 is connected with the series steering engine set in a serial port control mode, different steering engines are respectively controlled in a PWM control mode, and a control system is established in a composite mode. The construction mode of the control system can be selected according to the characteristics of the installation part of the steering engine. The steering engine provided by the invention is compatible with two modes of PWM control and serial port control, and is convenient for networking.
The invention also provides a control method of the steering engine supporting multi-signal input, as shown in fig. 6, the method comprises the following steps:
step 101: the main controller sends a level signal to the steering engine.
Step 102: and the steering engine sends the level signal to the MCU of the steering engine through the input interface. After receiving the level signal, the signal terminal of the input interface may send the level signal to the serial port TX pin, or send the level signal to the PWM capture pin through the first resistor.
Step 103: the MCU detects an input level signal and judges the type of the level signal.
Step 104: and the MCU is switched to serial port control or PWM control according to the type of the level signal.
In step 103, the method for determining the type of the level signal includes: and detecting the low level of the level signal through the MCU, and judging the type of the control signal according to the information of the low level. The pulse level signal controlled by PWM has long low level time, the level signal controlled by the serial port is stable, the low level time is short, and the type of the level signal can be judged through the low level time.
In a specific embodiment, when the low level time is detected to be short, the level signal is judged to be a serial port control signal; and the PWM capture pin is closed through the MCU, and the serial port TX pin is used for communication. And when the low level is detected for a long time, judging that the level signal is a PWM control signal, closing a serial port TX pin through the MCU, and carrying out communication through a PWM capture pin.
In one embodiment, steering engine 1 uses an MCU model STM32F030F4P 6. The high level voltage of the PWM signal is 5V, and the signal voltage of the serial port communication is 3.3V, so the first resistor 14 can also prevent the PWM signal from affecting the serial port TX pin, the input interface or the output interface adopts a TTL serial port connection mode, and the serial port control adopts an asynchronous serial communication protocol.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. The steering engine supporting multi-signal input is characterized by comprising an MCU, a first resistor and an input interface, wherein a PWM (pulse-width modulation) capture pin of the MCU is connected with one end of the first resistor, and a serial port TX pin of the MCU and the other end of the first resistor are connected with a signal pin of the input interface.
2. The steering engine supporting multiple signal inputs according to claim 1, further comprising a second resistor, wherein the serial port TX pin and the other end of the first resistor are connected to one end of the second resistor, respectively, and the other end of the second resistor is connected to the signal pin of the input interface.
3. The steering engine supporting multiple signal inputs of claim 1, wherein the input interface further comprises a power input, and the power input comprises a ground pin and a positive pin.
4. The steering engine supporting multiple signal inputs according to claim 1, wherein the MCU further comprises a serial RX pin, the input interface further comprises a receiving pin, and the serial RX pin is connected to the receiving pin.
5. A control system adopting the steering engine as claimed in any one of claims 1 to 3, which is characterized by comprising a main controller and at least two steering engines, wherein the steering engines are sequentially connected in series to form a series steering engine set,
the main controller comprises a main MCU, and a single bus serial port stitch of the main MCU is connected with the series steering engine set.
6. The control system of claim 5, wherein the main controller further comprises a third resistor and a fourth resistor, a PWM pin of the main MCU is connected with one end of the third resistor, the other end of the third resistor and the single-bus serial port pin are connected with one end of the fourth resistor, and the other end of the fourth resistor is connected with the input interface of the steering engine through a serial port output end of the main controller.
7. A control system using the steering engine of any one of claims 1 to 3, comprising a main controller and at least two steering engines,
the main controller comprises a main MCU, and the steering engine is respectively connected with different PWM pins of the main controller.
8. The control system of claim 7, wherein the steering engines comprise input interfaces and output interfaces, a plurality of steering engines are sequentially connected in series through the input interfaces and the output interfaces to form a series steering engine set, and a single-bus serial port pin of the main MCU is connected with the series steering engine set.
9. A method for controlling the steering engine according to claims 1 to 4, wherein the method comprises:
the main controller sends a level signal to the steering engine;
the steering engine sends a level signal to an MCU of the steering engine through an input interface;
the MCU detects an input level signal and judges the type of the level signal;
and the MCU is switched to serial port control or PWM control according to the type of the level signal.
10. The control method according to claim 9, wherein the method of judging the type of the level signal comprises:
and detecting the low level of the level signal through the MCU, and judging the type of the level signal according to the information of the low level.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010610975.1A CN111752197A (en) | 2020-06-29 | 2020-06-29 | Steering engine supporting multi-signal input and control system and control method thereof |
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| CN202010610975.1A CN111752197A (en) | 2020-06-29 | 2020-06-29 | Steering engine supporting multi-signal input and control system and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113157617A (en) * | 2021-05-08 | 2021-07-23 | 上海钧嵌传感技术有限公司 | Device and method for multiplexing PWM (pulse-Width modulation) communication and UART (universal asynchronous receiver/transmitter) communication of vehicle controller |
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| KR20000004948A (en) * | 1996-03-27 | 2000-01-25 | 글로버 이.알렉산더 | Smart interface technology |
| CN202053255U (en) * | 2011-03-28 | 2011-11-30 | 南京敦超机电科技有限公司 | Control system with man-machine interface for manipulator with multiple steering engines |
| CN107160399A (en) * | 2017-06-23 | 2017-09-15 | 安徽师范大学 | A kind of interactive anthropomorphic robot of controlled in wireless steering wheel |
| CN107219794A (en) * | 2017-06-13 | 2017-09-29 | 长沙灵动航空科技有限公司 | A kind of long endurance unmanned aircraft oil-electricity system voltage hand control method for automatically switching and control device |
| CN108549280A (en) * | 2018-04-03 | 2018-09-18 | 芜湖懒人智能科技有限公司 | A kind of digital rudder controller control method for supporting multi signal to input |
| CN212781719U (en) * | 2020-06-29 | 2021-03-23 | 杭州众灵科技有限公司 | Steering engine supporting multi-signal input and control system thereof |
-
2020
- 2020-06-29 CN CN202010610975.1A patent/CN111752197A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20000004948A (en) * | 1996-03-27 | 2000-01-25 | 글로버 이.알렉산더 | Smart interface technology |
| CN202053255U (en) * | 2011-03-28 | 2011-11-30 | 南京敦超机电科技有限公司 | Control system with man-machine interface for manipulator with multiple steering engines |
| CN107219794A (en) * | 2017-06-13 | 2017-09-29 | 长沙灵动航空科技有限公司 | A kind of long endurance unmanned aircraft oil-electricity system voltage hand control method for automatically switching and control device |
| CN107160399A (en) * | 2017-06-23 | 2017-09-15 | 安徽师范大学 | A kind of interactive anthropomorphic robot of controlled in wireless steering wheel |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113157617A (en) * | 2021-05-08 | 2021-07-23 | 上海钧嵌传感技术有限公司 | Device and method for multiplexing PWM (pulse-Width modulation) communication and UART (universal asynchronous receiver/transmitter) communication of vehicle controller |
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