Software design of the hottest patrol controller s

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Software design of patrol controller system

in order to improve the reliability of the whole patrol controller system, the soft system of the controller adopts periodic scanning control mode, as shown in Figure 4. After the controller is started, the initialization of the whole system is carried out first, and then the communication control program of the patrol controller is run. In this stage, in addition to transmitting the operation information of the patrol controller through the upper computer of CAN bus m, It also receives the control information sent by the upper computer through the CAN bus. After the end of communication, the patrol controller will output the corresponding control information and drive the corresponding peripheral output interface through corresponding arithmetic and logic operations according to the received control information and the input u state of the peripheral controller. It can be seen from the figure that the patrol controller will enter the cyclic operation state after being powered on for an initial operation, and the program will repeatedly perform communication operations, operation operations, and result generation operations. In a working cycle, the time share of communication and result generation operation is very small. In most of the time, the controller performs operation control according to the control information in the program. In this period, the controller has no contact with the outside world. After testing, the 1 cycle scanning process of the patrol controller is no more than 20 milliseconds, which means that the controller will have an output delay of about 20 milliseconds, Such output delay can meet the control object on the battery patrol controller, but the cyclic scanning control method can avoid a large part of the input of interference signals, thus greatly improving the anti-interference ability of the whole patrol controller

as shown in Figure 5, the software flow chart of the CAN bus communication module in the patrol controller system, through which the patrol controller receives the control information sent by the upper computer and stores it in the background so that the control system can analyze and process the received information. After receiving the data, the patrol controller sends various control states and information of the controller to the upper computer through the CAN bus, and finally clears the sending flag and exits the communication module

after communication, the controller will analyze the received data. The control information sent by the upper computer is mainly composed of three parts. As shown in Table L, the first byte information is used to indicate the address of the lower computer that can receive the command, which can match with the different materials tested, from L to L27. If the byte is 0, it means that the command is broadcast information, and all patrol controllers must receive and give priority to the execution of subsequent control commands. The second word, section 7, is used to indicate the nature of the control command, which is often recycled once. Including the restart of the controller, the input and output status of the switching value, Guo Piyi's team showed through the on-site data collection and comparative analysis of the system that the grid electronic tensile testing machine is the acquisition of the ratio of the grid aluminum base lead alloy composite anode plate and the traditional lead base alloy anode plate through the sensor to test the tensile force, and the acquisition of analog quantity acquisition data,. The setting of other control states of the positioning machine

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