基于CANopen协议的摊铺机控制系统研究
摘要
基于CAN(Controller Area Network)总线的控制系统已经广泛应用在现代工程机械中,是当工业控制领域的研究热点。CAN总线通信为通信网络提供了物理层和数据链路层的规范,但是由于摊铺机控制系统对网络管理,应用协议,安全管理的要求,应用于不同控制设备的CAN总线网络之间的流畅通信就成为难点。CANopen是基于CAN串行通讯的应用层协议,CANopen协议假定硬件设备的收发器和控制器完全遵循ISO1198标准,规范覆盖了应用层和通讯协议子集、程序设备的构造、推荐的电缆和接头形式、SI单位和前缀解释等,保证了不同厂家CAN控制器在通讯联接和具体控制开发软件的一致性,给系统的使用和维护带来极大方便。本文设计的摊铺机控制系统的通讯采用CAN总线,由CANopen协议来实现CAN总线应用层通信,这种设计能大大提高系统的通用性。论文介绍了根据控制系统的要求,以F040微处理器为核心,采用模块化的设计思路,设计主控板以及外围电路。为了实现真正的面向对象的开放式结构,应用可编程逻辑器件的电路完成各种逻辑控制和实现其相关的组合电路,使主控单元可以根据控制对象或者应用对象的不同,对系统进行在线设置和重构。在分析CAN通信的基础上,对CAN总线的网络参考模型、物理层、数据链路层,报文的帧类型等问题进行了详细分析。论述了对象字典、服务数据对象协议、过程数据对象协议、网络管理对象协议等CANopen协议的关键部分,这些协议是在F040上实现CANopen协议的基础。通过分析,认为基于F040的CAN通信程序涉及众多寄存器的使用,要正确设置命令掩码寄存器、消息控制寄存器、仲裁寄存器。在设计中,系统中开启了串口接收的中断及CAN总线接口的中断,让通讯作为前台行为,以便及时响应上位机的指令,其它数据处理过程等均工作在后台,进行循环执行。考虑到摊铺机工作现场环境条件的复杂程度,系统在设计中就全面考虑了电磁兼容性和采取了可靠的保护措施。系统电源电路部分增加了抗干扰保护,PCB布线严格遵循电磁兼容性能优化的设计原则,软件上对干扰进行多种抗于扰处理。按照国家标准对控制器进行的电磁兼容性试验的检测结果表明,系统能通过最严酷的脉冲群和雷击浪涌测试。本文设计的CANopen协议作应用层的摊铺机控制系统,简化了线路连接,大大减少了继电器等可靠性不高的电气元件的数量,保持了控制系统的数字化、模块化,实现了控制系统对不同厂家摊铺机的兼容性,为提高摊铺机的智能化水平进行了有益的探索。
The control system based on CANBUS is popularizing in modern engineering field, which is a hot point in the filed control area.CAN buss provide physical layer and data link layer specification for the communication network. However, due to need of network management, application protocols and security management requirements for the paver control system, CAN bus network communication applied to different control equipment becomes difficult.CANopen is a application layer based on the CAN serial communication system,which has become hot point in the research.It assumes that the hardware device transceiver and controller are in full compliance with ISO1198 standards.It covers the application layer specification and communication protocol subset and equipment structure of the procedures and recommended cables and connectors and SI units and prefixes interpretation, etc,which ensures the communication link and the consistency of the specific control of software development from different CAN controllers manufacturers,bringing great convenience to the system maintenance.This paver control system uses CAN bus communication,and CANopen protocol to achieve the application layer communication,which greatly increase the system's versatility.According to the requirements of the system,the system takes F040 as the microprocessor core,using modular design concept,designing control board and the external circuit.In order to achieve a true object-oriented open architecture, programmable logic devices are applied to complete a variety of combinations and logic control circuit, which can make main control unit system do settings and reconstruction on-line, according to the objects of different applications and control.In the analysis based on the CAN communication, CAN bus network reference model, physical layer, link layer frame packet types and other issues are analyzed in detail.The key part of the CANopen protocol, such as Object dictionary, Service Data Object Protocol, process data object protocol and network management protocols are studied, which are the basis of the implementation of the CANopen protocol in F040.F040's CAN communication process involves the use of many registers, such as command mask register, message control registers and arbitration register,which should be set correctly.In the design, the system opens the serial port receive interrupt and CAN bus interface interrupt, so that communication acts as a front for a timely response to host computer commands, and other data processing Dengjun work in the background for loop.Considering the paver complexity of the working environmental conditions, full consideration of electromagnetic compatibility and reliability of the protection measures are taken in the design. System power circuit interference protection is taken in the design. the PCB layout optimized EMC design principles are strictly followed, and multiple anti-interference methods are taken in the software.The controller is tested in accordance with national standards of EMC and the results show that the system passes through the most rigorous EFT and lightning surge test.This design uses the CANopen protocol as the application layer for paver control system, changing the control mode, simplifying connections, reducing the number of the low reliability electrical components greatly.The design maintain the digital and modular control system, and realizes the system compatibility for different paver company, which do useful exploration to improve the intelligence level of the paver.
The control system based on CANBUS is popularizing in modern engineering field, which is a hot point in the filed control area.CAN buss provide physical layer and data link layer specification for the communication network. However, due to need of network management, application protocols and security management requirements for the paver control system, CAN bus network communication applied to different control equipment becomes difficult.CANopen is a application layer based on the CAN serial communication system,which has become hot point in the research.It assumes that the hardware device transceiver and controller are in full compliance with ISO1198 standards.It covers the application layer specification and communication protocol subset and equipment structure of the procedures and recommended cables and connectors and SI units and prefixes interpretation, etc,which ensures the communication link and the consistency of the specific control of software development from different CAN controllers manufacturers,bringing great convenience to the system maintenance.This paver control system uses CAN bus communication,and CANopen protocol to achieve the application layer communication,which greatly increase the system's versatility.According to the requirements of the system,the system takes F040 as the microprocessor core,using modular design concept,designing control board and the external circuit.In order to achieve a true object-oriented open architecture, programmable logic devices are applied to complete a variety of combinations and logic control circuit, which can make main control unit system do settings and reconstruction on-line, according to the objects of different applications and control.In the analysis based on the CAN communication, CAN bus network reference model, physical layer, link layer frame packet types and other issues are analyzed in detail.The key part of the CANopen protocol, such as Object dictionary, Service Data Object Protocol, process data object protocol and network management protocols are studied, which are the basis of the implementation of the CANopen protocol in F040.F040's CAN communication process involves the use of many registers, such as command mask register, message control registers and arbitration register,which should be set correctly.In the design, the system opens the serial port receive interrupt and CAN bus interface interrupt, so that communication acts as a front for a timely response to host computer commands, and other data processing Dengjun work in the background for loop.Considering the paver complexity of the working environmental conditions, full consideration of electromagnetic compatibility and reliability of the protection measures are taken in the design. System power circuit interference protection is taken in the design. the PCB layout optimized EMC design principles are strictly followed, and multiple anti-interference methods are taken in the software.The controller is tested in accordance with national standards of EMC and the results show that the system passes through the most rigorous EFT and lightning surge test.This design uses the CANopen protocol as the application layer for paver control system, changing the control mode, simplifying connections, reducing the number of the low reliability electrical components greatly.The design maintain the digital and modular control system, and realizes the system compatibility for different paver company, which do useful exploration to improve the intelligence level of the paver.
引文
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[2]焦生杰,周贤彪.沥青混凝土摊铺机国内外发展与研究现状[J].建筑机械,2003,(3)：17-20
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[4]朱文天.沥青混合料摊铺机技术及发展[J].交通世界,2005,(12)：50-51
[5]戚建,陈正祥,刘国良.总线技术在LTU90A摊铺机控制系统中的应用[J].工程机械,2003,(5)：5-7
[6]张浩,张一凡,高素梅.摊铺机控制系统技术发展浅析[J].工程机械,2005,(5)：35-38
[7]蔡海霄.非接触智能化摊铺机新宠[J].交通世界,2006,(9)：40-43
[8]孙树文,杨建武,张惠惠等.基于CANopen协议的分布式控制系统I/O从站设计[J].计算机测量与控制,2007,15(12)：1705-1707
[9]童长飞.C8O51F系列单片机开发与C语言编程[M].北京：北京航空航天大学出版社,2005.105-110
[10]郭强等.液晶显示应用手册[M].北京：电子工业出版社,2002.220-236
[11]冯建华,赵亮.单片机应用系统设计与产品开发[M].北京：人民邮电出版社,2004.305-360
[12]雷伏容,张小林,崔浩.51单片机常用模块设计查询手册[M].北京：清华大学出版社,2010.225-260
[13]于月森,倪红军,王璞.自动摊铺机通信模块的设计[J].电子设计应用,2003,35(12)：43-45
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[15]吴继华,王诚Altera FPGA/CPLD设计(基础篇)[M].北京：人民邮电出版社,2005.208-250
[16]Steve Kilts. Advanced FPGA Design:Architecture, Implementation, and Optimization[M]. USA:Homa & Sekey Books,2007.245-260
[17]邬宽明.CAN总线原理和应用系统设计[M].北京：北京航空航天大学出版社,1996.180-204
[18]Renjun.Li, Chu.Liu, Feng.Luo. A design for automotive CAN bus monitoring system[C]. IEEE Vehicle Power and Propulsion Conference, Harbin, P.R.China,2008:1-5
[19]Ping Ran, Baoqiang Wang, Wei Wang. The design of communication convertor based on CAN bus [C]. Industrial Technology on IEEE International Conference, Chengdu, P.R. China,2008:1-5
[20]史久根,张培仁,陈真勇.CAN现场总线系统设计技术[M].北京：国防工业出版社,2004.190-200
[21]Moraes. F, Amory.A, Calazans.N. Using the CAN protocol and reconfigurable computing technology for Web-based smart house automation[C].14th Symposium on Integrated Circuits and Systems Design, Pirenopolis,2002:38-43
[22]李澄,赵辉.CANopen协议及在电动机控制系统的应用[J].微电机,2009,42(4)：24-26
[23]Jong Man Jeon, Dae Won Kim, Hong Seok Kim, et al. An analysis of network-based control system using CAN (controller area network) protocol [C]. IEEE International Conference on Robotics and Automation, South Korea,2003,4(10):3577-3581
[24]Travis. A, Collier. M. A software interface for an industrial control network using the CAN protocol [C]. IEEE AFRICON 4th, Stellenbosch,1996, (2):1081-1082
[25]潘琢金,施国君.C8051FXXX高带SOC单片机原理及应用[M].北京：北京航空航天大学出版社,2002.222-225
[26]Cena.G, Valenzano.A. A protocol for automatic node discovery in CANopen networks [C]. IEEE Transactions on Industrial Electronics, Turin, Italy,2003,50(2):419-430
[27]朱怡,张崇军.应用于车载雷达系统的CAN总线智能节电设计[J].弹箭与制导学报,2009,29(4)：241-244
[28]Farsi.M, Ratcliff.K, Barbosa M. An introduction to CANopen [J]. Computing & Control Engineering Journal,1999,10(4):161-168
[29]Cena.G, Valenzano.A. Efficient polling of devices in CANopen networks[C]. IEEE Conference on Emerging Technologies and Factory Automation, Italy,2003,(1):123-130
[30]宋明权,周纯杰,杨樊等.基于C8051F040的CAN通讯的开发与应用[J].计算机技术与自动化,2005,24(1)：42-45
[31]K.M. Zuberi, K.G. Shin. Scheduling Messages on Controller Area Network for Real-Time CIM Applications[J]. IEEE Trans. Robotics and Automation,1997,13(2):310-314
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