CN201037908Y - Universal small-sized programmable controller - Google Patents

Abstract

The utility model provides a common small programmable controller, which comprises a programmable device, a PLC core, a human-computer interface module and a CAN bus, the controller is configured with four human-computer interface modules, maximum I/O point is 256, maximum A/D channel number is 24 channels, maximum D/A channel number is 12 channels, the PLC core consists of an embedded micro-proceesor ARM, an analog quantity input and output module, a digital quantity input and output module, a FLASH memory, a SDRAM memory and a FPGA reconstructing control algorithm coprocessor, and the digital I/O point is flexibly configured with a FPGA; in the process of executing program by the PLC, the ARM transmits control parameter to the FP-GA reconstructing control algorithm coprocessor, the FP-GA reconstructing control algorithm coprocessor sends control algorithm result to the ARM, the PLC can realize automatic control of controlled complex object, flexible configuration of input and output expanding module and configuration of a plurality of human-computer interface module and each module can be arranged in different electric cabinet.

Description

General Small Programmable Controller

technical field

The utility model relates to an industrial general automatic control device, in particular to a general small programmable controller (PLC) based on CAN field bus and embedded microprocessor ARM+FPGA.

Background technique

At present, a small PLC is a PLC with a switching input and output of less than 256 points. It is a general-purpose automatic control device mainly used for sequential control of industrial equipment. It usually uses a Soc chip specially designed by each company or an application single-chip microcomputer as the control core. The controlled object needs flexible configuration and selection of various input and output expansion modules. Small PLCs have powerful sequential logic control functions; Due to the bus standard, the various input and output expansion modules for its expansion must be installed on the guide rails designed by their respective companies, or must be close to the CPU module of the small PLC. The small PLC host and its expansion of various input and output expansion modules only It can be installed in an electric cabinet. If the detection points and control points of the controlled object controlled by a small PLC are scattered in the equipment, some detection points and control points are far away from the electric cabinet, which will lead to the detection of the controlled object. Points and control points to the small PLC connection wire is long; a small PLC can only be equipped with a man-machine interface module; in addition, although most small PLCs can be connected with the PLC integrated control system of their respective companies through the field bus, as a lower computer For field control devices, its input and output expansion modules can be configured with A/D and D/A modules to realize PID algorithm control, but it is difficult for small PLCs to embed more complex control algorithms into PLC programs to realize automatic control of complex control objects .

Utility model content

The purpose of this utility model is to provide a device that can realize the control of complex objects, flexibly configure input and output expansion modules, and install various functional modules in different electric cabinets, and the distance between the detection point and the control point of the controlled object is relatively long. A small general-purpose programmable controller that can conveniently realize multi-point monitoring and can be configured with multiple human-machine interface modules in order to overcome the above-mentioned deficiencies in the prior art.

In order to solve the above-mentioned technical problems, the technical solution adopted by the utility model is: a general small programmable controller composed of a CAN field bus and an embedded microprocessor ARM+FPGA including a programmable device, a PLC host, and a man-machine interface module and CAN bus;

PLC host includes embedded microprocessor ARM, analog input and output modules, digital input and output modules, FLASH memory, SDRAM memory and FPGA reconfigurable control algorithm coprocessor, embedded microprocessor ARM as the control core, and analog Input and output modules, digital input and output modules, FLASH memory, SDRAM memory and FPGA reconfigurable control algorithm coprocessor are connected, FPGA reconfigurable control algorithm coprocessor is connected with input and output I/O ports of embedded microprocessor ARM , the embedded microprocessor ARM provides control setting values, data acquisition values and control parameters to the FPGA reconfigurable control algorithm coprocessor, and obtains control output driving parameters from the FPGA reconfigurable control algorithm coprocessor; FPGA reconfigurable control algorithm coprocessor Algorithm coprocessors are equipped with a variety of control algorithms, these control algorithms are embedded as subroutine modules in the program of small programmable controllers and called as function modules; FLASH memory is used to solidify system programs, PLC instruction interpreters and solidified data Table; SDRAM memory is a flash memory, used as input and output image registers, component image registers, component registers, and stores intermediate calculation results and user programs; the PLC host is connected to the CAN bus through its CAN interface, and the CAN interface is connected by sequentially connected transceivers The embedded microprocessor ARM obtains the instruction program and monitoring command written by the user through the CAN bus, obtains the operation control parameters and control commands of the controlled object equipment from the man-machine interface module, and transmits them to the PLC host user Write the command program and control parameters, transmit the digital and analog state parameters and control drive parameters of the controlled object equipment to the man-machine interface module;

The programmable device including the host computer and the handheld programmer is connected to the CAN bus through its built-in CAN interface, so that the user instruction program written by the user on the programmable device can be downloaded to the ARM microprocessor of the PLC host, and then transferred from the CAN bus Obtain the running status of the PLC host, read the user program of the PLC host, and send control instructions to the PLC host system to realize the monitoring of general small programmable controllers;

The man-machine interface module is connected to the CAN bus through its built-in CAN interface, so as to transmit information with the embedded microprocessor ARM, so as to obtain the operation status information of the controlled object equipment, and transmit the operation control parameters of the controlled object equipment through the CAN bus and control commands, display system real-time operating parameters, parameter status curves, and display and set system operating parameters, control parameters, and control commands. The number of man-machine interface modules configured is n, 1≤n≤4;

The CAN bus is an intermediary medium for mutual transmission and data exchange between the components of the PLC host, programmable devices, and man-machine interface modules. Each module is connected to the CAN bus through its built-in CAN interface. Connected transceivers, optical barriers and CAN controllers, one end of each transceiver is connected to the CAN bus, and the other end of each CAN controller is connected to the PLC host, programmable device and man-machine interface module, so that each functional module can Installed in the same electric cabinet or in different electric cabinets or on different parts of the controlled equipment;

The digital input and output module of the PLC host is composed of FPGA expansion I/O, photoelectric isolator, 16-64 points digital input, and 16-64 points digital output; the embedded microprocessor ARM is connected to the FPGA expansion I/O, and the FPGA The extended I/O is connected to the photoelectric isolator through terminal blocks, and the photoelectric isolator is respectively connected to 16-64 points of digital input and 16-64 points of digital output; the FPGA of the FPGA extended I/O can flexibly configure the digital quantity Number of input and output points, the number of digital input points is configured in units of 16 points, which can be configured as 16 or 32 or 48 or 64; the number of digital output points is configured in units of 16 points, which can be configured as 16 or 32 or 48 or 64, the maximum configuration Up to 128 points of digital input and output.

The analog input and output module of the PLC host is composed of A/D input interface, 8-way analog amplified input, D/A chip, and 4-way analog drive output; embedded microprocessor ARM, A/D input interface, 8-way analog Quantity amplification input is connected sequentially, and 8 analog quantity amplification inputs are connected with the controlled object detection and drive circuit through terminal blocks to form a data acquisition channel; embedded microprocessor ARM, D/A chip, and 4 analog quantity drive outputs are sequentially connected , 4-way analog drive output is connected to the controlled object detection and drive circuit through terminal blocks to form a control drive output channel; the analog input and output module and the embedded microprocessor ARM form a closed-loop control circuit.

Due to the adoption of the above structure, the general small programmable controller of the utility model has the following beneficial effects:

1. Able to realize the automatic control of complex controlled objects

The utility model is a general small programmable controller composed of CAN field bus and embedded microprocessor ARM+FPGA. The small programmable controller uses the embedded microprocessor ARM as the control core and FPGA as the reconfigurable control algorithm coordination The processor, the FPGA reconfigurable control algorithm coprocessor are connected to the input and output I/O ports of the embedded microprocessor ARM, and the embedded microprocessor ARM provides control setting values and data acquisition values to the FPGA reconfigurable control algorithm coprocessor And control parameters, and obtain the control output drive parameters from the FPGA reconfigurable control algorithm coprocessor; configure advanced control algorithms in the FPGA, such as advanced PID, fuzzy control, neural network algorithms, etc., these control algorithms are used as subroutines The module is embedded in the PLC program and called as a function module; and the operation of the control algorithm of the FPGA reconfigurable control algorithm coprocessor will not occupy the execution time of the PLC program, so it can easily realize the automatic control of complex control objects.

2. Flexible configuration of input and output expansion modules, input and output expansion modules can be installed in different electrical cabinets

In the general-purpose small programmable controller of the utility model, the CAN bus is the intermediary medium for mutual transmission and data exchange between the constituent modules, and each module is connected to the CAN bus through its built-in CAN interface, and realizes data exchange through the CAN bus And communication, so that the extended input and output function modules are connected to the system through the CAN bus, and each expansion module can be installed in a different electric cabinet or near the control point and detection point of the controlled object, greatly reducing the number of connecting wires Length and quantity, and well solved the multi-point monitoring problem when the distance between the detection point and the control point of the controlled object is far away.

3. Multiple man-machine interface modules can be configured

Since each functional module in the general-purpose small-scale programmable controller of the utility model realizes data exchange and communication through the CAN bus, the man-machine interface module is connected with the system through the CAN bus, so the user can choose multiple The personal machine interface module is convenient for users to monitor the running status of the controlled object control system.

4. The system is cost-effective

The utility model takes the embedded microprocessor ARM as the control core, FPGA as the reconfigurable control algorithm coprocessor, configures the advanced control algorithm in the FPGA, applies the FPGA to configure the digital quantity input and output ports, and each functional module passes the CAN field bus Connected with the system, each module is connected to the CAN bus through its built-in CAN interface, and the CAN bus is an intermediate medium for mutual transmission and data exchange between modules, so that each functional module can be installed in the same electrical cabinet or in different electrical cabinets. It can be installed in the cabinet or on different parts of the controlled equipment, which greatly improves the flexibility of the installation position of each functional module, which makes the control function and performance of the small programmable controller enhanced, and has a high cost performance.

Below in conjunction with accompanying drawing and embodiment the technical characteristic of general small programmable controller of the present utility model is described further.

Description of drawings

Fig. 1: the system structural block diagram of the universal small programmable controller of the utility model;

Fig. 2: the hardware connection diagram of the universal small programmable controller of the utility model; in the figure:

I-host computer, II-PLC host, III-handheld programmer, IV-man-machine interface module,

V-expansion module, VI-CAN bus, IIA-analog input and output module,

IIB-digital input and output module, VIA-CAN interface,

1-embedded microprocessor ARM, 2-FLASH memory, 3-SDRAM memory,

4-A/D input interface, 5-8 channels of analog amplification input, 6-D/A chip,

7-4 analog drive output, 8, 11-terminal, 9-controlled object detection and drive circuit,

10-FPGA expansion I/O, 12-photoelectric isolator, 13-16~64 points digital input,

14-16-64 points of digital output, 15-CAN controller, 16-optical isolation, 17-CAN transceiver,

18-FPGA reconfigurable control algorithm coprocessor;

PLC-Programmable Logical Controller, programmable logic controller, referred to as programmable controller;

CAN-Controller Area Network, Controller Area Network, a field bus;

FPGA-Field Programmable Gate Array, Field Programmable Gate Array;

ARM-Advanced RISC Machines, a microprocessor;

SPI-Service Provider Interface, service provider interface, a provider that meets certain service standards

Provides an application programming interface that conforms to this standard.

Detailed ways

A general-purpose small programmable controller includes a host computer I, a PLC host computer II, a handheld programmer III, a man-machine interface module IV and a CAN bus V.

PLC host II includes embedded microprocessor ARM1, analog input and output module IIA, digital input and output module IIB, FLASH memory 2, SDRAM memory 3 and FPGA reconfigurable control algorithm coprocessor 18, embedded microprocessor ARM1 as the control The core is respectively connected with the analog input and output module IIA, the digital input and output module IIB, the FLASH memory 2, the SDRAM memory 3 and the FPGA reconfigurable control algorithm coprocessor 18, and the FPGA reconfigurable control algorithm coprocessor 18 is connected with the embedded The input and output I/O ports of the microprocessor ARM1 are connected, and the embedded microprocessor ARM1 provides control setting values, data acquisition values and control parameters to the FPGA reconfigurable control algorithm coprocessor 18, and the FPGA reconfigurable control algorithm coprocessor 18 provides Processor 18 obtains control output driving parameters; FPGA reconfigurable control algorithm coprocessor 18 is configured with various control algorithms, such as advanced PID, fuzzy control, neural network algorithm, etc., and these control algorithms are embedded into PLC as subroutine modules Called as a function module in the program, the operation of the control algorithm of the FPGA reconfigurable control algorithm coprocessor 18 does not occupy the execution time of the PLC program; the PLC host II is connected with the CAN bus VI through its CAN interface VIA, and the CAN interface VIA is controlled by the sequence Connected transceiver 17, optical barrier 16 and CAN controller 15, the embedded microprocessor ARM1 obtains the instruction program and monitoring command written by the user through the CAN bus VI, and obtains the operation control parameters of the controlled object equipment from the man-machine interface module IV and control commands, and transmit the instruction program and control parameters written by the PLC host II user, and transmit the digital and analog state parameters and control drive parameters of the controlled object equipment to the man-machine interface module IV; the bus of the embedded microprocessor ARM1 Connect with FLASH memory 2, FLASH memory 2 is used for curing system program, PLC instruction interpretation program and solidified data table; The bus line of embedded microprocessor ARM1 is connected with SDRAM memory 3, and SDRAM memory 3 is flash memory, is used as input and output image Registers, component image registers, component registers, and store intermediate calculation results and user programs;

The analog input and output module IIA of PLC mainframe II is composed of A/D input interface 4, 8-way analog amplification input 5, D/A chip 6, and 4-way analog drive output 7; embedded microprocessor ARM1, A/D Input interface 4, 8-way analog amplification input 5 are sequentially connected, 8-way analog amplification input 5 is connected with the controlled object detection and drive circuit 9 through terminal 8, thereby forming a data acquisition channel; embedded microprocessor ARM1, D/ A chip 6 and 4 analog quantity drive outputs 7 are sequentially connected, and the 4 analog quantity drive outputs 7 are connected to the controlled object detection and drive circuit 9 through the terminal 8, thereby forming a control drive output channel; the analog input and output modules IIA and The embedded microprocessor ARM1 forms a closed-loop control circuit.

The digital input and output module IIB of PLC mainframe II is composed of FPGA expansion I/O 10, photoelectric isolator 12, 16-64 digital input 13, and 16-64 digital output 14; embedded microprocessor ARM1 and FPGA expansion The I/O 10 is connected, and the FPGA expansion I/O 10 is connected to the photoelectric isolator 12 through the terminal 11, and the photoelectric isolator 12 is respectively connected to 16-64 digital input 13 and 16-64 digital output 14; FPGA expansion I/O 10 FPGA can flexibly configure digital input and output points, digital input points are configured in units of 16 points, which can be configured as 16 or 32 or 48 or 64; digital output points are configured in units of 16 points , can be configured as 16 or 32 or 48 or 64, and the maximum configuration reaches 128 points of digital input and output.

The upper computer I and the handheld programmer III are all programmable devices.

The host computer I is connected to the CAN bus VI through its built-in CAN interface, so as to download the user instruction program written by the user on the host computer I to the embedded microprocessor ARM1 of the PLC host II, and obtain the PLC host II from the CAN bus VI. running status, read the user program of PLC mainframe II, and send control instructions to the PLC mainframe II system to realize the monitoring of the small programmable controller; the upper computer I is not connected to the CAN bus VI, and does not affect the small programmable control device operation.

The Handheld Programmer III is connected to the CAN bus VI through its built-in CAN interface. The bus VI transmits the instruction program and monitoring command written by the user, and obtains the running status information of the small programmable controller from the CAN bus VI. If the handheld programmer III is not connected to the CAN bus VI, the operation of the small programmable controller will not be affected.

The human-machine interface module IV is a functional module that monitors the operating status of the entire controlled object equipment; the human-machine interface module IV is connected to the CAN bus VI through its built-in CAN interface, so as to transmit information with the embedded microprocessor ARM1 to obtain the controlled The running status information of the target equipment, and transmit the running control parameters and control commands of the controlled target equipment through the CAN bus VI, display the real-time running parameters of the system, parameter status curves, and display and set the system running parameters, control parameters, and control commands. Users can Configure multiple man-machine interface modules as required, man-machine interface module IV can be configured with n, 1≤n≤4, namely man-machine interface module IV1, man-machine interface module IV2, man-machine interface module IV3, man-machine interface module IV4, Each man-machine interface module has the same function and can be installed in the same electric cabinet or in different electric cabinets or on different parts of the controlled equipment.

CAN bus VI is the intermediary medium for mutual transmission and data exchange between PLC host II, upper computer I, handheld programmer III, and human-machine interface module IV. CAN bus VI communicates with upper computer I, handheld programmer III, and human-machine interface module IV through The built-in CAN interface connection of each module enables each functional module of the small programmable controller to be installed in the same electric cabinet or in different electric cabinets or on different parts of the controlled equipment.

Each described CAN interface is all made up of sequentially connected transceivers 17, optical compartments 16 and CAN controllers 15, one end of each transceiver 17 is connected with the CAN bus VI, and the other end of each CAN controller 15 is connected with the PLC host II respectively. , Host computer I, handheld programmer III and man-machine interface module IV are connected.

The above is one of the embodiments of the present utility model.

As a kind of transformation of the embodiment of the present utility model, the programmable device of this small-sized programmable controller also can only have host computer I or only hand-held programmer III, when only host computer I, it is not too easy for the user to revise the program on the spot Convenient, but only the handheld programmer III, although it is convenient for users to modify the program on site, but due to the functional constraints of the handheld programmer III itself, its programming speed and functions are limited.

As another transformation of the embodiment of the present utility model, the small programmable controller can also increase the number of digital input and output points and the number of analog input and output channels by adding an expansion module, and the expansion module communicates with the CAN bus VI connection, so that the module can be installed in the same electric cabinet or in different electric cabinets or on different parts of the controlled equipment to reduce the length and quantity of connecting wires. The configurable number of expansion modules is m, 1≤m≤10, that is, expansion module V1,..., expansion module Vi,..., expansion module V10; the expansion module is a functional module that expands the number of digital input and output points and the number of analog input and output channels of the small programmable controller. It can be a digital input module or a digital output expansion function module, or an analog input module or an analog output module. If it is a digital input expansion function module, the number of digital input points is configured in units of 16 points and can be configured as 16 points. Or 32 or 48 or 64 or 80 or 96 or 112 or 128; if it is a digital output expansion function module, the number of digital output points is configured in units of 16 points, which can be configured as 16 or 32 or 48 or 64 or 80 or 96 or 112 Or 128; the number of digital input and output points of the small programmable controller k=the input and output points of the digital input and output module IIB+the input and output points of the expansion module V digital quantity, the number of analog input channels of the small programmable controller h = Number of input channels of analog input and output module IIA + number of analog input modules of expansion module V, number of analog output channels of small programmable controller g = output number of analog input and output module IIA + expansion module V The number of analog output modules, among the above parameters, k≤256 points, h≤24, g≤12.

The SPI of the embedded microprocessor ARM1 of the PLC mainframe II is connected to the CAN interface VIA, and the CAN interface VIA is connected to the CAN bus VI, and the embedded microprocessor ARM1 obtains the instruction program written by the user from the upper computer I or the handheld programmer III through the CAN bus VI and monitoring commands, obtain the operation control parameters and control commands of the controlled object equipment from the man-machine interface module IV, and obtain the digital input status and analog quantity acquisition data from the expansion module V; the embedded microprocessor ARM1 goes up through the CAN bus VI Machine I or handheld programmer III transmits the command program and control parameters written by the user of PLC host II; transmits the digital and analog state parameters and control drive parameters of the controlled object equipment to the man-machine interface module IV; Transmits digital output status and analog control drive parameters.

Claims (9)

1. universal small-sized programmable controller, it is characterized in that: described small-sized programmable controller comprises programmable device, PLC main frame (II), human-computer interface module (IV) and CAN bus (VI);

Described PLC main frame (II) comprises embedded microprocessor ARM (1), analog quantity input/output module (IIA), digital quantity input/output module (IIB), FLASH storer (2), SDRAM storer (3) and FPGA Reconfigurable Control algorithm coprocessor (18), embedded microprocessor ARM (1) is as the control core, respectively with analog quantity input/output module (IIA), digital quantity input/output module (IIB), FLASH storer (2), SDRAM storer (3) is connected with FPGA Reconfigurable Control algorithm coprocessor (18), FPGA Reconfigurable Control algorithm coprocessor (18) is connected with the input and output I/O port of embedded microprocessor ARM (1), embedded microprocessor ARM (1) provides the control setting value to FPGA Reconfigurable Control algorithm coprocessor (18), data acquisition value and controlled variable, and from FPGA Reconfigurable Control algorithm coprocessor (18) acquisition control output driving parameters; Dispose the various control algorithm in the FPGA Reconfigurable Control algorithm coprocessor (18), these control algolithms are embedded into as subroutine module in the program of small-sized programmable controller to be called as functional module; FLASH storer (2) is used for the data form of cure system program, PLC command interpreter and curing; SDRAM storer (3) is a flash memory, is used as input and output image register, element image register, element register and stores results of intermediate calculations and user program; PLC main frame (II) is connected with CAN bus (VI) by its CAN interface (VIA), CAN interface (VIA) is by the transceiver that is linked in sequence (17), light is formed every (16) and CAN controller (15), and embedded microprocessor ARM (1) obtains instruction repertorie and the monitor command that the user writes by CAN bus (VI), obtain the operational parameter control and the control command of controlled device equipment from human-computer interface module (IV), and transmission PLC main frame (II) the user instruction repertorie and the controlled variable of writing, digital quantity and analog quantity state parameter and controlling and driving parameter to human-computer interface module (IV) transmission controlled device equipment operation;

Described programmable device is connected with CAN bus (VI) by its built-in CAN interface, thereby the user instruction program that the user writes on programmable device is downloaded in the ARM microprocessor (1) of PLC main frame (II), and from CAN bus (VI) obtain PLC main frame (II) running status, read the user program of PLC main frame (II), to PLC main frame (II) system sending controling instruction to realize monitoring to the general programmable controller;

Described human-computer interface module (IV) is connected with CAN bus (VI) by its built-in CAN interface, thereby transmit information mutually with embedded microprocessor ARM (1), to obtain controlled device equipment running status information, and system operational parameters, controlled variable, control command to be set by operational parameter control and control command, display system real time execution parameter, parameter state curve and the demonstration of CAN bus (VI) transmission controlled device equipment, human-computer interface module (IV) configuration quantity is n, 1≤n≤4;

Described CAN bus (VI) be between programmable device, PLC main frame (II), each ingredient of human-computer interface module (IV) mutually the transmission, swap data intermediate medium, each module is connected with CAN bus (VI) by its built-in CAN interface, makes PLC main frame (II) and human-computer interface module (IV) can be installed in the same electric cabinet or in the different electric cabinets or be installed on the different parts of controlled device.

2. universal small-sized programmable controller according to claim 1 is characterized in that: described programmable device is host computer (I), and described host computer (I) is connected with CAN bus (VI) by its built-in CAN interface.

3. universal small-sized programmable controller according to claim 1 is characterized in that: described programmable device is hand-hold programmer (III), and described hand-hold programmer (III) is connected with CAN bus (VI) by its built-in CAN interface.

4. universal small-sized programmable controller according to claim 1, it is characterized in that: described programmable device (I) is host computer (I) and hand-hold programmer (III), and host computer (I) all is connected with CAN bus (VI) by its built-in CAN interface with hand-hold programmer (III).

5. according to claim 1 or 2 or 3 or 4 described universal small-sized programmable controllers, it is characterized in that: the digital quantity input/output module (IIB) of described PLC main frame (II) is made up of FPGA expansion I/O (10), photoisolator (12), 16～64 digital quantity input (13), 16～64 digital quantity outputs (14); Embedded microprocessor ARM (1) is connected with FPGA expansion I/O (10), FPGA expansion I/O (10) is connected with photoisolator (12) by connection terminal (11), and photoisolator (12) is connected with 16～64 digital quantity input (13) and 16～64 digital quantity outputs (14) respectively; The FPGA of described FPGA expansion I/O (10) can the flexible configuration digital quantity input and output count, it be that unit disposes that the digital quantity input is counted with 16, can be configured to 16 or 32 or 48 or 64; It is that unit disposes that digital quantity output is counted with 16, can be configured to 16 or 32 or 48 or 64, and maximum configured reaches digital quantity input and output 128 points.

6. according to claim 1 or 2 or 3 or 4 described universal small-sized programmable controllers, it is characterized in that: the analog quantity input/output module (IIA) of described PLC main frame (II) is driven output (7) and is formed by A/D input interface (4), 8 tunnel analog quantitys amplification input (5), D/A chip (6), 4 tunnel analog quantitys; Embedded microprocessor ARM (1), A/D input interface (4), 8 tunnel analog quantitys are amplified input (5) and are linked in sequence, 8 tunnel analog quantitys are amplified input (5) and are connected with driving circuit (9) with the controlled device detection by connection terminal (8), thus the composition data acquisition channel; Embedded microprocessor ARM (1), D/A chip (6), 4 tunnel analog quantitys drive output (7) and are linked in sequence, 4 tunnel analog quantitys drive output (7) and are connected with driving circuit (9) with the controlled device detection by connection terminal (8), thereby constitute the controlling and driving output channel; Analog quantity input/output module (IIA) and embedded microprocessor ARM (1) form closed control circuit.

7. according to claim 1 or 2 or 3 or 4 described universal small-sized programmable controllers, it is characterized in that: described small-sized programmable controller also comprises expansion module (V), described expansion module (V) is connected with CAN bus (VI) by its built-in CAN interface, make this module can be installed in the same electric cabinet or in the different electric cabinets or be installed on the different parts of controlled device, expansion module (V) configurable number is m, 1≤m≤10; Described expansion module (V) is that the digital quantity input and output of expansion small-sized programmable controller are counted and the functional module of analog quantity input and output way, it can be digital quantity input module or digital quantity output extended function module, also can be analog quantity load module or analog output module, digital quantity input and output extended function module, it is that unit disposes that the digital quantity input is counted with 16, can be configured to 16 or 32 or 48 or 64 or 80 or 96 or 112 or 128; It is that unit disposes that digital quantity output is counted with 16, can be configured to 16 or 32 or 48 or 64 or 80 or 96 or 112 or 128; The input and output of the k=digital quantity input/output module (IIB) of counting of described small-sized programmable controller digital quantity input and output count+and the input and output of expansion module (V) digital quantity count, the analog quantity load module way of the input way+expansion module (V) of described small-sized programmable controller analog quantity input way h=analog quantity input/output module (IIA), the analog output module way of the output way+expansion module (V) of described small-sized programmable controller analog quantity output way g=analog quantity input/output module (IIA), in the above-mentioned parameter, k≤256 points, h≤24, g≤12.

8. universal small-sized programmable controller according to claim 5, it is characterized in that: described small-sized programmable controller also comprises expansion module (V), described expansion module (V) is connected with CAN bus (VI) by its built-in CAN interface, make this module can be installed in the same electric cabinet or in the different electric cabinets or be installed on the different parts of controlled device, expansion module (V) configurable number is m, 1≤m≤10; Described expansion module (V) is that the digital quantity input and output of expansion small-sized programmable controller are counted and the functional module of analog quantity input and output way, it can be digital quantity input module or digital quantity output extended function module, also can be analog quantity load module or analog output module, digital quantity input and output extended function module, it is that unit disposes that the digital quantity input is counted with 16, can be configured to 16 or 32 or 48 or 64 or 80 or 96 or 1 12 or 128; It is that unit disposes that digital quantity output is counted with 16, can be configured to 16 or 32 or 48 or 64 or 80 or 96 or 112 or 128; The input and output of the k=digital quantity input/output module (IIB) of counting of described small-sized programmable controller digital quantity input and output count+and the input and output of expansion module (V) digital quantity count, the analog quantity load module way of the input way+expansion module (V) of described small-sized programmable controller analog quantity input way h=analog quantity input/output module (IIA), the analog output module way of the output way+expansion module (V) of described small-sized programmable controller analog quantity output way g=analog quantity input/output module (IIA), in the above-mentioned parameter, k≤256 points, h≤24, g≤12.

9. universal small-sized programmable controller according to claim 6, it is characterized in that: described small-sized programmable controller also comprises expansion module (V), described expansion module (V) is connected with CAN bus (VI) by its built-in CAN interface, make this module can be installed in the same electric cabinet or in the different electric cabinets or be installed on the different parts of controlled device, expansion module (V) configurable number is m, 1≤m≤10; Described expansion module (V) is that the digital quantity input and output of expansion small-sized programmable controller are counted and the functional module of analog quantity input and output way, it can be digital quantity input module or digital quantity output extended function module, also can be analog quantity load module or analog output module, digital quantity input and output extended function module, it is that unit disposes that the digital quantity input is counted with 16, can be configured to 16 or 32 or 48 or 64 or 80 or 96 or 112 or 128; It is that unit disposes that digital quantity output is counted with 16, can be configured to 16 or 32 or 48 or 64 or 80 or 96 or 112 or 128; The input and output of the k=digital quantity input/output module (IIB) of counting of described small-sized programmable controller digital quantity input and output count+and the input and output of expansion module (V) digital quantity count, the analog quantity load module way of the input way+expansion module (V) of described small-sized programmable controller analog quantity input way h=analog quantity input/output module (IIA), the analog output module way of the output way+expansion module (V) of described small-sized programmable controller analog quantity output way g=analog quantity input/output module (IIA), in the above-mentioned parameter, k≤256 points, h≤24, g≤12.

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