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Brushless motor controller CAN communication protocol design
by：Hoprio
2020-11-12
Brushless motor controller driver components including: power supply circuit, main controller, motor drive circuit, the drive system voltage signal collection circuit, CAN communication circuit and hall sensor, general installation at the end of the brushless motor, the customer CAN be selected according to their collocation brushless motor inductive and non-inductive.
in the design of drive system of the brushless motor controller software, open/closed loop control function module program design, system monitoring function module design, drive function distribution, soft start implementation principle and the realization of the code, let's tell the brushless motor controller CAN communication design of driving system, including the STM32 bxCAN overview and in EZCAN communication protocol based on PC control of the motor.
the main architecture of the controller is 72 MHZ M3 kernel STM32F103C8T6 chip, 48 pins, FLASH capacity is 64 KB, about 20 KB SRAM capacity, operating temperature for - 45℃- 85 ℃, such as use the TIMER generate PWM wave, reading current voltage signal to protect the circuit from the ADC, communications drives and superordination machine CAN use bxCAN, erase the memory, speaking, reading and writing through the CAN communication channels, and other functions.
so, brushless motor controller which a few main modules?
layer, driver layer and application layer, mainly includes the algorithm of driver layer there are five modules, the five modules respectively responsible for their work.
1, the closed-loop feedback control for motor and position loop control & ndash; — Hall test speed module;
2, temperature, voltage, external analog signal collecting, and internal potentiometer input signal collection and setting up the line and LED control & ndash; — Board level driver module;
3, some motor driven function & ndash; — Motor driver module;
4, ADC sampling, the sampling results for monitoring thread to do to drive protection & ndash; — Current acquisition module;
5, turn to PC through USB CAN equipment for real-time control and drive system speed graphical display & ndash; — The CAN communication module;
what are the typical features of brushless motor controller CAN communication?
1, the main control. Bus is idle, all units can send messages, and more than two units at the same time send message, according to the identifier ( ID, the address) Determine priorities;
2, system flexibility. When adding unit on the bus to connect other units of the hardware and software and the application layer does not need to do to change;
3, speed, distance. Maximum 1 MBPS ( Distance & lt; 40m) As far as can be up to 10 km ( Rate & lt; 5 kbps) 。
4, with functions of error detection/error notification and error recovery.
5, fault sealing function. CAN CAN determine the type of error is the bus data error ( Such as external noise, etc. ) Or persistent data error ( Such as unit internal fault, drive failure, bolt, etc. ) 。
6, connecting nodes. CAN bus CAN also CAN connect multiple units at the same time.
controller can be designed according to customer requirements, customers can provide custom size, installation, performance requirements, conditions, brushless motor controller can be put inside and outside, the hall sensor can choose inductive and non-inductive.
，
in the design of drive system of the brushless motor controller software, open/closed loop control function module program design, system monitoring function module design, drive function distribution, soft start implementation principle and the realization of the code, let's tell the brushless motor controller CAN communication design of driving system, including the STM32 bxCAN overview and in EZCAN communication protocol based on PC control of the motor.
the main architecture of the controller is 72 MHZ M3 kernel STM32F103C8T6 chip, 48 pins, FLASH capacity is 64 KB, about 20 KB SRAM capacity, operating temperature for - 45℃- 85 ℃, such as use the TIMER generate PWM wave, reading current voltage signal to protect the circuit from the ADC, communications drives and superordination machine CAN use bxCAN, erase the memory, speaking, reading and writing through the CAN communication channels, and other functions.
so, brushless motor controller which a few main modules?
layer, driver layer and application layer, mainly includes the algorithm of driver layer there are five modules, the five modules respectively responsible for their work.
1, the closed-loop feedback control for motor and position loop control & ndash; — Hall test speed module;
2, temperature, voltage, external analog signal collecting, and internal potentiometer input signal collection and setting up the line and LED control & ndash; — Board level driver module;
3, some motor driven function & ndash; — Motor driver module;
4, ADC sampling, the sampling results for monitoring thread to do to drive protection & ndash; — Current acquisition module;
5, turn to PC through USB CAN equipment for real-time control and drive system speed graphical display & ndash; — The CAN communication module;
what are the typical features of brushless motor controller CAN communication?
1, the main control. Bus is idle, all units can send messages, and more than two units at the same time send message, according to the identifier ( ID, the address) Determine priorities;
2, system flexibility. When adding unit on the bus to connect other units of the hardware and software and the application layer does not need to do to change;
3, speed, distance. Maximum 1 MBPS ( Distance & lt; 40m) As far as can be up to 10 km ( Rate & lt; 5 kbps) 。
4, with functions of error detection/error notification and error recovery.
5, fault sealing function. CAN CAN determine the type of error is the bus data error ( Such as external noise, etc. ) Or persistent data error ( Such as unit internal fault, drive failure, bolt, etc. ) 。
6, connecting nodes. CAN bus CAN also CAN connect multiple units at the same time.
controller can be designed according to customer requirements, customers can provide custom size, installation, performance requirements, conditions, brushless motor controller can be put inside and outside, the hall sensor can choose inductive and non-inductive.
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