WO2023165075A1 - Mechanical limitation-based automatic slave controller addressing method - Google Patents

Abstract

A mechanical limitation-based automatic slave controller addressing method, comprising: receiving an addressing instruction sent by a master controller; controlling motors to respectively rotate anticlockwise to a first mechanical limitation position and rotate clockwise to a second mechanical limitation position, and obtaining an included angle α between the first mechanical limitation position and the second mechanical limitation position; determining, according to a pre-stored angle range and node address correspondence table, an angle range matching the included angle α, and using a node address corresponding to the angle range matching the included angle α as a possessed address; and if no angle range matching the included angle α is found, determining that addressing fails. The present invention is low in cost, high in reliability, easy to implement, and high in addressing efficiency.

Description

Automatic Addressing Method of Slave Controller Based on Mechanical Limit technical field

The invention relates to the bus technology, in particular to the addressing method of the slave controller.

Background technique

In the same LIN/CAN network of a car, there are often multiple slave controllers with identical hardware, because they have different addresses, so they can receive different commands and perform different functions in the bus.

There are two main ways to address multiple slave controllers in the market:

1. Pre-addressing method

The supplier addresses the controller before leaving the factory, and gives the controller a different "identity" when it leaves the factory, which is equivalent to the controller itself having a different address;

2. Automatic addressing

After the controller is loaded, the master controller of the bus sends an automatic addressing command to make the slave controllers obtain different addresses.

The general method in the industry is that different controllers have different wiring, and the controller automatically addresses by identifying the different wiring methods.

The following takes a commercialized LIN bus automatic addressing method as an example to illustrate the automatic addressing method.

FIG. 1 shows a schematic diagram of an existing LIN bus automatic addressing system. For the LIN bus, the connection of each slave controller is actually connected in series, the input interface LIN in is connected to the previous node, and the output interface LIN out is connected to the next node. From inside the controller, the internal switch can be turned on or off through software settings (usually it is turned on by default).

Figure 2 shows a schematic diagram of the internal circuit structure of the input interface LIN in (the internal circuit structure of the output interface LIN out is the same as that of the input interface LIN in) for supporting automatic addressing from the controller. As shown in Figure 2, the process of automatic addressing of a single node includes the following seven steps. The whole process is carried out in the Break data field of the LIN bus master controller. In this field, the master controller will pull the level of the LIN bus Low.

Step 1. All nodes with automatic addressing function turn off the internal current sources I1, I2 and pull-up resistor R. At this time, only nodes without automatic addressing function still have output current;

Step 2. All nodes with automatic addressing function detect the current on the sampling resistor Shunt as the initial value, called Ishunt_1;

Step 3. Turn on the internal switch K1 for all nodes that have automatic programming function and no address, and keep the internal current source and pull-up resistors closed for other nodes. These nodes with automatic addressing function and no address are called candidate nodes;

Step 4. The candidate node obtains the current of the sampling resistor Shunt by detecting the voltage value VI of the output terminal of the operational amplifier U1, which is called Ishunt_2. If the difference between Ishunt_2 and Ishunt_1 detected by some nodes is less than a specific value, it means that these nodes may is the farthest unaddressed node, these nodes are selected, called pre-selected nodes;

Step 5, all unselected nodes close the switch K1, the pre-selected nodes keep the switch K1 open and open the switch K2;

Step 6. The pre-selected node detects the current on the sampling resistor Shunt again, which is called Ishunt_3. If the difference between Ishunt_3 and Ishunt_1 is less than a specific value Idiff, it means that this is the last unaddressed node, and the node will send the last address Save it to realize automatic addressing;

Step 7. All nodes with automatic addressing function turn off the internal current sources I1 and I2, turn on the internal pull-up resistor R, and the bus returns to the normal communication state.

The principle of automatic addressing of the commercialized CAN bus is similar to the principle of automatic addressing of the above-mentioned LIN bus.

The method of adopting the serial connection mode of the existing LIN bus automatic addressing system to realize the automatic addressing of the slave controller has the following two obvious disadvantages:

1. The total connection endpoint of the LIN bus is increased, which increases the cost of the connector;

2. The series mode reduces the reliability of the product. If a certain connection endpoint is disconnected, all subsequent nodes will not work properly.

Although the commercial CAN bus automatic addressing method adopts a dedicated addressing connection, which avoids the second shortcoming above, it increases more wiring harness costs.

Contents of the invention

The technical problem to be solved by the present invention is to provide a slave controller addressing method with low cost, high reliability, easy implementation and high addressing efficiency.

In the embodiment of the present invention, a slave controller based on mechanical limit automatic addressing method, the slave controller communicates with the master controller through the bus, and is electrically connected with the motor, and the slave controller based on mechanical limit automatically addresses The method includes the following steps: receiving an addressing instruction sent by the main controller; controlling the motor to rotate counterclockwise to the first mechanical limit position and clockwise to the second mechanical limit position, and obtain the first mechanical limit position and the second mechanical limit position. The angle α between the limit positions; determine the angle range matching the angle α according to the pre-stored angle range and the node address correspondence table, and use the node address corresponding to the angle range matching the angle α as itself address; if no angle range matching the included angle α is found, addressing confirmation fails.

An automatic addressing method for a slave controller based on a mechanical limit in an embodiment of the present invention is applied to a master controller and multiple slave controllers connected through a bus communication, and multiple slave controllers are in one-to-one correspondence with multiple The motors are electrically connected, and the automatic addressing method of the slave controllers includes the following steps: each slave controller receives an automatic addressing instruction broadcast by the master controller; each slave controller controls the corresponding motor to rotate counterclockwise to the first mechanical limit position and rotate clockwise to the second mechanical limit position, and obtain the angle α between the first mechanical limit position and the second mechanical limit position; each slave controller determines and The angle range that matches the angle α, and the node address corresponding to the angle range that matches the angle α is used as its own address; if no angle range that matches the angle α is found, addressing fails to be confirmed; Wherein, the first mechanical limit position and the second mechanical limit position of the plurality of motors are set so that the included angle α between the first mechanical limit position and the second mechanical limit position obtained from the controller They are respectively in different angle ranges, and in the angle range and node address correspondence table, different angle ranges correspond to different node addresses.

The advantages of the automatic addressing method of the slave controller based on the mechanical limit according to the embodiment of the present invention include:

1. In the embodiment of the present invention, mechanical limit is used to set the motor rotation angle range of the slave controller, and the addressing information is transmitted to the slave controller through the specific motor rotation angle range, so as to realize the automatic addressing of the slave controller. This method does not need to be changed The wiring method of the bus (for the LIN bus, there is no need to connect multiple slave controllers in series), and there is no need to increase the dedicated addressing connection and other hardware costs. It has low cost, high reliability, easy implementation, and addressing efficiency. high advantage;

2. The embodiment of the present invention utilizes the broadcasting function of the bus and uses different mechanical limit angle ranges to represent different slave controller node addresses, thereby realizing simultaneous automatic addressing of multiple slave controllers and improving the efficiency of automatic addressing.

Figure overview

The present invention will be further described below in conjunction with accompanying drawing.

FIG. 1 shows a schematic diagram of an existing LIN bus automatic addressing system.

Fig. 2 shows a schematic diagram of the internal circuit structure of the input interface LIN in of the slave controller shown in Fig. 1 .

Fig. 3 shows a schematic flow chart of a method for automatic addressing of a slave controller based on a mechanical limit according to an embodiment of the present invention.

Fig. 4 shows a schematic diagram of a LIN bus automatic addressing system adopting the automatic addressing method of the slave controller according to the embodiment of the present invention.

Fig. 5 shows a schematic diagram of the working process of a specific embodiment of the automatic addressing method of the slave controller according to the present invention.

Fig. 6 shows a schematic diagram of the state when the swing arms of the three mechanical limit tooling rotate to the predetermined first limit position according to a specific embodiment of the present invention.

Fig. 7 shows a schematic diagram of the state when the swing arms of the three mechanical limit tooling rotate to the predetermined second limit position according to a specific embodiment of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION

See Figure 3. According to an automatic addressing method of a slave controller based on mechanical limit according to an embodiment of the present invention, the slave controller communicates with the master controller through a bus and is electrically connected with the motor. The electrical connection mentioned here includes direct Current drive connection and communication connection, the automatic addressing method of the slave controller based on the mechanical limit includes the following steps:

Receive addressing instructions sent by the master controller;

Control the motor to rotate counterclockwise to the first mechanical limit position and clockwise to the second mechanical limit position to obtain the angle α between the first mechanical limit position and the second mechanical limit position; the rotation sequence is not limited, You can first turn clockwise and then counterclockwise, or you can first turn counterclockwise and then clockwise;

Determine the angle range matching the angle α according to the pre-stored angle range and node address correspondence table, and use the node address corresponding to the angle range matching the angle α as its own address; If α matches the angular range, addressing failure is confirmed.

In this embodiment, the above-mentioned motor is directly or indirectly connected to an execution workpiece, the execution workpiece has a moving part, and the movement part has a predetermined first limit position and a predetermined second limit position in the execution workpiece; when When the motor rotates counterclockwise to drive the moving parts to move to the first limit position, the motor is in the first mechanical limit position; when the motor rotates clockwise to drive the moving parts to move to the second limit position, the motor is in the second mechanical limit position .

In this embodiment, the control motor rotates counterclockwise to the first mechanical limit position and clockwise to the second mechanical limit position to obtain the distance between the first mechanical limit position and the second mechanical limit position. The included angle α specifically includes:

Control the motor to rotate counterclockwise to the first mechanical limit position, and record the current motor rotor angle A;

Control the motor to rotate clockwise to the second mechanical limit position, and record the current motor rotor angle B;

The angle α between the first mechanical limit position and the second mechanical limit position is obtained through calculation, α=|A-B|.

Ways to detect the rotor angle of the motor include detection by the rotor position sensor, detection based on the back electromotive force of the motor coil, etc., and the present application does not limit this. The above-mentioned rotor position sensor is, for example, an encoder, a Hall sensor, and the like.

The foregoing bus can be a LIN bus, a CAN bus or an RS485 bus, etc.

Fig. 4 shows a schematic diagram of a LIN bus automatic addressing system adopting the automatic addressing method of the slave controller according to the embodiment of the present invention. It can be seen from the figure that all bus nodes are connected to the LIN bus, which is also a conventional LIN bus connection method. This connection method can ensure that any poor connection of any slave controller will not affect the relationship between the master controller and other controllers. communication from the controller.

The working process of the automatic addressing of the LIN bus automatic addressing system shown in Figure 4 is shown in Figure 5, specifically as follows:

Use mechanical limit to set the motion range of each slave controller motor, and use different mechanical limit angle ranges to represent different slave controller node addresses; for n slave controllers, the first mechanical limit of n motors The first mechanical limit position and the second mechanical limit position should be set so that the included angles α between the first mechanical limit position and the second mechanical limit position obtained from the controller are respectively in different angle ranges. In the pre-stored angle range and node address correspondence table, different angle ranges correspond to different node addresses;

Each slave controller receives the automatic addressing instruction broadcast by the master controller;

Each slave controller controls the corresponding motor to rotate counterclockwise until it encounters the mechanical limit and cannot continue to rotate (that is, reaches the first mechanical limit position), and records the current motor rotor angle A;

Each slave controller controls the corresponding motor to rotate clockwise until it encounters the mechanical limit and cannot continue to rotate (that is, reaches the second mechanical limit position), and records the current motor rotor angle B;

Each slave controller calculates the angle α between the above two mechanical limits: α=|A-B|;

Each slave controller determines the angle range that matches the angle α according to the pre-stored angle range and node address correspondence table (the angle ranges a, b, c, x are shown in Figure 5), and will correspond to the angle α The node address corresponding to the matched angle range is used as its own address; if no angle range matching the included angle α is found, the addressing confirmation fails.

In a specific embodiment, the number of slave controllers connected through LIN bus communication is three, and each slave controller is a controller of an actuator with a motor, and the motor of each slave controller is connected with A mechanical limit tooling connection. FIG. 6 shows a schematic diagram of three mechanical limit toolings 11 , 12 and 13 respectively connected to motors of three slave controllers in this embodiment. Wherein, each mechanical limit tooling includes a tooling housing 1a and a swing arm 1b, one end of the swinging arm 1b is rotatably arranged on the tooling housing 1a, and is connected with the output shaft of the corresponding motor. Each tool housing 1 a is provided with a first limiting portion 101 and a second limiting portion 102 , and the first limiting portion 101 and the second limiting portion 102 may be pins, for example. When the motor drives the swing arm to rotate counterclockwise to the first stop 101 (equivalent to the swing arm 1b reaching the first mechanical stop), as shown in Figure 6, the corresponding motor is at the first mechanical limit position. When the motor drives the swing arm to rotate clockwise to reach the second limit portion 102 (equivalent to the swing arm 1b reaching the second mechanical dead point), as shown in FIG. 7 , the motor is at the second mechanical limit position. The included angles between the first limit part and the second limit part of the above three mechanical limit tooling 11, 12 and 13 are different from each other, and the first limit part and the second limit part of the mechanical limit tool 11 The included angle between them is 340°, the angle between the first limiting portion and the second limiting portion of the mechanical limiting tooling 12 is 310°, the first limiting portion and the second limiting portion of the mechanical limiting tooling 13 The angle between the parts is 280°.

When the three slave controllers receive the automatic addressing instruction broadcast by the master controller, they respectively control the corresponding motors to run counterclockwise to the first mechanical limit position shown in Figure 5, at this time the swing arm 1b is moved by the first limiter 101 blocks, and each slave controller records the current motor rotor angle A; then, the three slave controllers control the corresponding motors to run clockwise to the second mechanical limit position shown in Figure 6, at this time the swing arm 1b is moved by the second The limit part 102 is blocked, and each slave controller records the current motor rotor angle B.

Each slave controller calculates the angle α between the above two mechanical limit positions: α=|A-B|, and then determines the angle range matching the included angle α according to the pre-stored angle range and node address correspondence table:

The angle α calculated by the controller of the control tool 11 is equal to 340° (the angle α refers to the angle range of the motor rotation), and if it is within the predetermined angle range of 335° to 345°, then the node address of itself is set to be 335° to 345°. 001 corresponding to 345°;

The slave controller of the control tool 12 calculates that the angle α is equal to 310°, which is within the predetermined angle range of 305° to 315°, and then sets its own node address to 002 corresponding to 305° to 315°;

The slave controller of the control tool 13 calculates that the angle α is equal to 280°, which is within the predetermined angle range of 275°-285°, and then sets its own node address to 003 corresponding to 275°-285°.

After setting the address, automatic addressing ends.

In the preceding embodiments, the electric motor is integrated in the actuator. When addressing, the motor is indirectly connected to the tooling through the actuator. In some embodiments, it is also possible to connect the motor directly to the tooling.

In the aforementioned embodiments, the mechanical limit is in the form of external tooling, through the automatic rotation of the motor and the automatic addressing of the tooling to limit the rotation of the motor. Compared with manual addressing, the addressing speed of a single motor from the controller is improved, and the required production time In addition, multiple motors can be addressed from the controller at the same time through multiple tooling, which further reduces the working time of workers in the addressing process, speeds up the production rhythm, reduces production costs, and can prevent errors caused by manual operation of the motor rotation angle. Error (i.e. exact addressing).

In another embodiment, a plurality of motors are integrated with a plurality of different on-vehicle components respectively, the on-vehicle components have mechanical stops to limit their strokes, and the strokes of the multiple different on-vehicle components are different. The on-vehicle components may be one or more of valves, pumps, air intake grills, automatic fuel caps/charging caps and other on-vehicle components containing motors. A plurality of different vehicle-mounted components form corresponding mechanical limits by their own structures or their application environments (that is, the predetermined first limit position and the predetermined second limit position are formed by the vehicle-mounted components themselves or the installation environment of the vehicle-mounted components), For example, three motors are integrated with three different valves. Due to the different structures and installation environments of different valves, three different mechanical limits are formed by the structures or installation environments of the three different valves. The angles (strokes) that can be rotated after being installed on the three different valves are different, thus, the mechanical limit with a specific angle is provided by the on-board components, and the slave control of the motor that needs to be addressed can be controlled through the above method steps The device realizes automatic addressing. Due to the reduction of the steps of using tooling, the mechanical limit is directly provided by the on-board components, which can further reduce the working time of the addressing process, speed up the production rhythm, reduce the production cost, and further avoid errors caused by manual operation errors.

The embodiment of the present invention defines the relationship between the mechanical limit angle range and the node addresses of different slave controllers. The slave controller can automatically detect the limit angle range during the automatic addressing process, and check the table to determine its own address. Since each slave controller has its own specific limit angle range, the automatic addressing method of this embodiment can address multiple slave controllers at one time, and the movement and addressing process do not interfere with each other.

Industrial Applicability

According to the embodiment of the present invention, the automatic addressing method of the slave controller based on the mechanical limit does not need to change the wiring mode of the bus, nor does it need to increase the special addressing connection and other hardware costs, and has the advantages of low cost, high reliability, and easy implementation , The advantages of high addressing efficiency.

Claims (11)

An automatic addressing method for a slave controller based on a mechanical limit, the slave controller communicates with a master controller through a bus, and is electrically connected to a motor, characterized in that the slave controller based on a mechanical limit The automatic addressing method includes the following steps: Receive addressing instructions sent by the master controller; Control the motor to rotate counterclockwise to the first mechanical limit position and clockwise to the second mechanical limit position, and obtain the angle α between the first mechanical limit position and the second mechanical limit position; Determine the angle range matching the angle α according to the pre-stored angle range and node address correspondence table, and use the node address corresponding to the angle range matching the angle α as its own address; If α matches the angular range, addressing failure is confirmed. The automatic addressing method from the controller according to claim 1, wherein the motor is directly or indirectly connected to an execution workpiece, the execution workpiece has a moving part, and the movement part has a A predetermined first limit position and a predetermined second limit position; when the motor rotates counterclockwise to drive the moving part to move to the first limit position, the motor is in the first mechanical limit position position, when the motor rotates clockwise to drive the moving part to move to the second limit position, the motor is in the second mechanical limit position. The automatic addressing method from the controller according to claim 1, wherein the motor is connected to a mechanical limit tool; wherein, the mechanical limit tool includes a tool housing and a swing arm, and the swing arm One end is rotatably arranged on the tooling housing, and is connected with the output shaft of the motor; the tooling housing is provided with a first limiter and a second limiter, when the motor drives the swing arm to rotate counterclockwise to When abutting against the first limiting portion, the motor is at the first mechanical limiting position; when the motor drives the swing arm to rotate clockwise to abut against the second limiting portion, the motor is at the The second mechanical limit position. The automatic addressing method of the slave controller according to claim 1, wherein the control motor rotates counterclockwise to the first mechanical limit position and clockwise to the second mechanical limit position, and obtains the first mechanical The included angle α between the limit position and the second mechanical limit position specifically includes: Control the motor to rotate counterclockwise to the first mechanical limit position, and record the current motor rotor angle A; Control the motor to rotate clockwise to the second mechanical limit position, and record the current motor rotor angle B; The angle α between the first mechanical limit position and the second mechanical limit position is obtained by calculation, α=|A-B|. The automatic addressing method of the slave controller according to claim 2, wherein the execution workpiece is an on-board component, and the predetermined first limit position and the predetermined second limit position are determined by the The in-vehicle component itself or the installation environment of the in-vehicle component is formed. The automatic addressing method for the slave controller according to claim 1, wherein the slave controller is integrated with the motor. An automatic addressing method for slave controllers based on mechanical limits, applied to a master controller and multiple slave controllers connected through bus communication, and multiple slave controllers are electrically connected to multiple motors in one-to-one correspondence , it is characterized in that, described automatic addressing method from controller comprises the following steps: Each of the slave controllers receives an automatic addressing instruction broadcast by the master controller; Each of the slave controllers controls the corresponding motors to rotate counterclockwise to the first mechanical limit position and clockwise to the second mechanical limit position, and obtain the distance between the first mechanical limit position and the second mechanical limit position angle α; Each of the slave controllers determines the angle range matching the angle α according to the pre-stored angle range and node address correspondence table, and uses the node address corresponding to the angle range matching the angle α as its own address; If no angle range matching the included angle α can be found, addressing confirmation fails; Wherein, the first mechanical limit position and the second mechanical limit position of the plurality of motors are set so that the included angle α between the first mechanical limit position and the second mechanical limit position obtained from the controller They are respectively in different angle ranges, and in the angle range and node address correspondence table, different angle ranges correspond to different node addresses. The automatic addressing method from the controller according to claim 7, wherein each of the motors is directly or indirectly connected to an execution workpiece, and the execution workpiece has moving parts, and the moving parts are in the execution workpiece It has a predetermined first limit position and a predetermined second limit position; when the motor rotates counterclockwise to drive the moving part to move to the first limit position, the motor is at the first mechanical limit position When the motor rotates clockwise to drive the moving part to move to the second limit position, the motor is in the second mechanical limit position. The automatic addressing method of the slave controller according to claim 7, wherein each said slave controller controls the corresponding motor to rotate counterclockwise to the first mechanical limit position and clockwise to the second mechanical limit position . Obtaining the angle α between the first mechanical limit position and the second mechanical limit position specifically includes: Control the motor to rotate counterclockwise to the first mechanical limit position, and record the current motor rotor angle A; Control the motor to rotate clockwise to the second mechanical limit position, and record the current motor rotor angle B; The angle α between the first mechanical limit position and the second mechanical limit position is obtained by calculation, α=|A-B|. The automatic addressing method of the slave controller according to claim 8, wherein the execution workpiece is a tool, and the predetermined first limit position and the predetermined second limit position are controlled by the tool form. The automatic addressing method of the slave controller according to claim 8, wherein the execution workpiece is an on-board component, and the predetermined first limit position and the predetermined second limit position are determined by the The in-vehicle component itself or the installation environment of the in-vehicle component is formed.

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