基于SAEJ1939协议的汽车CAN总线控制系统的设计与测试
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摘要
随着汽车电子技术的发展,汽车作为一种融合了当代多种高新技术的交通工具,需要采用越来越多的电子控制系统,这些复杂的系统控制需要检测及交换大量数据,传统的点对点控制方式不但布线复杂、昂贵,而且可靠性差、重量大、维护成本高,已经无法满足现代汽车的通信要求。为了解决上面这些问题,德国BOSCH公司的CAN总线控制应运而生,且目前得到了广泛应用。
为了应对当前某些整车厂对车载CAN总线控制系统应用的需求,以及解决由于没有一个开放的CAN应用层协议,使不同配套厂的设备之间不能互操作的问题,论文以基于SAE J1939协议的汽车CAN总线控制系统设计与测试作为研究课题,制定了基于SAE J1939协议的CAN应用层协议并设计开发了CAN总线控制模块。
结合项目组已有的技术基础,论文首先研究了CAN总线协议特点和实现该技术的要求,并研究分析了CAN总线的应用层协议规范SAE J1939。在此基础上,根据某整车厂需求,分别从网络拓扑结构的总体设计、模块的信号定义、信息发送周期选择、报文优先级分配以及节点地址定义等几个方面设计制定了一套具有良好扩展性的汽车CAN应用层协议。此外,课题还完成了CAN总线控制模块的全部硬件设计,通过软件开发实现了所制定的CAN应用层协议以及各控制模块的功能。
为了验证CAN总线系统设计方案和所制定的CAN应用层协议的可行性,以及测试网络性能,课题对CAN总线控制模块和CAN网络系统进行CAN模块的一致性测试,CAN控制模块通信功能测试,以及应用CAN总线开发工具CANoe进行的CAN总线仿真实验和整个系统平台测试。通过研究这些实验和测试的结果,验证了CAN总线控制系统的实时性、可靠性和稳定性,证明了课题设计方案可行性。
此外,课题的研究也为实现具有自主知识产权的汽车CAN总线控制技术的产品化积累了经验,课题也因此具备继续研究开发的意义和良好的经济的前景。
With the development of automotive technology, vehicles syncretized with varieties of modern high technology need to be equipped with more electric control units. The complex system control needs detecting and exchanging vast data. It is not only complex laying and high cost, but also poor reliability, high weight and expensive maintenance, so the tradition control mode can’t satisfy the request of modern vehicle communication. To deal with the problems, CAN bus was designed by BOSCH Corp, and is widely used recently.
To meet the urgent needs of domestic car manufacturers, to realize the interoperability of different accessory manufacturers, The thesis designed and tested the CAN bus control system based on SAE J1939 protocol.The CAN application layer protocol based on SAE J1939 is designed and CAN bus control module is developed.
Based on the existing technology, the thesis researched and analyzed the CAN bus protocol characteristics, its technical requirements and SAE J1939 Protocol. Then a set of CAN application layer protocol was designed in accordance with certain manufacturer’s requests, including the network topology, the module signals, messages transmit period and the node address. In addition, the hardware and software of CAN bus control module was designed and CAN application layer protocol was realized here.
In order to verify the feasibility of the plan and CAN application layer protocol, test the network performance, the conformance test of CAN module, transceiver performance test, network simulation and system test with CANoe were carried out. Through the analysis of the test results, the reliability and Real-time performance of the CAN bus was verified, and the feasibility of the design was proved.
Furthermore, experience is accumulated for the later industrialization of vehicle CAN bus control techology which has independent intellectual property rights. In a word,the thesis is worth of being researched and has favorable economic outlook.
为了应对当前某些整车厂对车载CAN总线控制系统应用的需求,以及解决由于没有一个开放的CAN应用层协议,使不同配套厂的设备之间不能互操作的问题,论文以基于SAE J1939协议的汽车CAN总线控制系统设计与测试作为研究课题,制定了基于SAE J1939协议的CAN应用层协议并设计开发了CAN总线控制模块。
结合项目组已有的技术基础,论文首先研究了CAN总线协议特点和实现该技术的要求,并研究分析了CAN总线的应用层协议规范SAE J1939。在此基础上,根据某整车厂需求,分别从网络拓扑结构的总体设计、模块的信号定义、信息发送周期选择、报文优先级分配以及节点地址定义等几个方面设计制定了一套具有良好扩展性的汽车CAN应用层协议。此外,课题还完成了CAN总线控制模块的全部硬件设计,通过软件开发实现了所制定的CAN应用层协议以及各控制模块的功能。
为了验证CAN总线系统设计方案和所制定的CAN应用层协议的可行性,以及测试网络性能,课题对CAN总线控制模块和CAN网络系统进行CAN模块的一致性测试,CAN控制模块通信功能测试,以及应用CAN总线开发工具CANoe进行的CAN总线仿真实验和整个系统平台测试。通过研究这些实验和测试的结果,验证了CAN总线控制系统的实时性、可靠性和稳定性,证明了课题设计方案可行性。
此外,课题的研究也为实现具有自主知识产权的汽车CAN总线控制技术的产品化积累了经验,课题也因此具备继续研究开发的意义和良好的经济的前景。
With the development of automotive technology, vehicles syncretized with varieties of modern high technology need to be equipped with more electric control units. The complex system control needs detecting and exchanging vast data. It is not only complex laying and high cost, but also poor reliability, high weight and expensive maintenance, so the tradition control mode can’t satisfy the request of modern vehicle communication. To deal with the problems, CAN bus was designed by BOSCH Corp, and is widely used recently.
To meet the urgent needs of domestic car manufacturers, to realize the interoperability of different accessory manufacturers, The thesis designed and tested the CAN bus control system based on SAE J1939 protocol.The CAN application layer protocol based on SAE J1939 is designed and CAN bus control module is developed.
Based on the existing technology, the thesis researched and analyzed the CAN bus protocol characteristics, its technical requirements and SAE J1939 Protocol. Then a set of CAN application layer protocol was designed in accordance with certain manufacturer’s requests, including the network topology, the module signals, messages transmit period and the node address. In addition, the hardware and software of CAN bus control module was designed and CAN application layer protocol was realized here.
In order to verify the feasibility of the plan and CAN application layer protocol, test the network performance, the conformance test of CAN module, transceiver performance test, network simulation and system test with CANoe were carried out. Through the analysis of the test results, the reliability and Real-time performance of the CAN bus was verified, and the feasibility of the design was proved.
Furthermore, experience is accumulated for the later industrialization of vehicle CAN bus control techology which has independent intellectual property rights. In a word,the thesis is worth of being researched and has favorable economic outlook.
引文
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[8]Class B Data Communication Network Messages:Detailed Header Formats and Physical Address Assignments. SAE Vehicle Network for Multiplexing and Data Communications Standards Committee. SAE J2178/1.1992:44～67
[9]Class B Data Communication Network Messages: Data Parameter Definitions. SAE Vehicle Network for Multiplexing and Data Communications Standards Committee. SAE J2178/2. 1993:11～18
[10]Class B Data Communication Network Messages: Frame IDs for Single Byte Forms of Headers. SAE Vehicle Network for Multiplexing and Data Communications Standards Committee. SAE J2178/3. 1993: 3～17
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[13]MOST Cooperation.MOST High Protocol Specification Rev2.1.2001.1～8
[14]BMW AG. Byteflight specification Rev.0.5, 1999: 6～9
[15]Konrad Etschberger. Controller Area Network. 2000:12～15
[16]Vector Brouchur Jan 2003.北京九州恒润科技有限公司.2003.1:1～12
[17]Mentor Graphics公司中文网站. www.mentorg.com.cn
[18]恒润公司网站. www.hirain.com/ae
[19]刘新亮,张建武,陈兆能.汽车控制器局域网络技术及应用.汽车工程. 1998.20(2):101～107
[20]王练,刘坚.控制器局域网络在大众汽车中的应用.汽车电器.2000(2):7～10
[21]葛林,周文华,徐航.CAN通信网络在汽车中的应用研究.汽车技术. 2000(11):1～4
[22]秦贵和,葛安林等.汽车网络技术.汽车工程. 2003.25(2):151～155
[23]王桂荣,钱剑敏.CAN总线和基于CAN总线的高层协议.计算机测量与控制. 2003.11(5):391～394
[24]邬宽明著. CAN总线原理与应用系统设计.北京航空航天大学出版社. 1996.10. 2～35
[25]饶运涛,邹继军,郑勇芸著.现场总线CAN原理与应用技术.北京航空航天大学出版社. 2003.6:8～53
[26]谢希仁著.计算机网络(第4版).电子工业出版社.2003年6月. 18～32
[27]Tindell K W,Hansson H,Wellings A J. Analyzing real-time communication:Controller Area Network (CAN) [A].Real-Time Systems Symposium[C]. 1994:259～263
[28]International Standardization Organization. Road Vehicles- Interchange of Digital Information-Controller Area Network (CAN) for High-Speed Communication. IS011898. 1993
[29]方晓柯,孙盛骇,王建辉等.DeviceNet现场总线的实时性分析及改进.信息与控制.2004.33(1):36～40
[30]郝学伟,徐立鸿.网络化控制系统的网络性能及稳定性分析.控制工程. 2002. 9(5):21～23
[31]H.Boterenbrood, NIKHEF. CANopen high-level protocol for CAN-bus. Amsterdam. 2000.3.20. Version 3.0
[32]基于CAN的较高层协议和子协议. Pro.Dr.-Ing.K. Etschberger.
[33]CiA Draft Standard Proposal 401. Version1.4. 1996.12.1
[34]Electronic Data Sheet Specification for CANopen. Version1.1. 2001.06.29
[37]M.Farsi, K.Ratcliff, Manuel Barbosa. An introduction to CANopen. Computer & Control Engineering Journal. August 1999:161～168
[36]CANopen Communication Profile for Industry System Based on CAL. CiA Draft Standard 301. October 1996
[37]Mohammad Farsi, Karl Ratcliff. An introduction to CANopen and CANopen Communication Issues. The Institution of Electrical Engineers. Print and published by The IEE. Savoy Place, LondonWC2R 0BL,UK. 1997
[38]Karl Ratcliff. CANopen Implementation Issues. The Institution of Electrical Engineers. Print by The IEE, Savoy Place, LondonWC2R 0BL,UK. 1997
[39]Steve Biegacki. The application of DeviceNet in process control. ISA Transactions. 1996.35(2):169～176
[40]武长坤,截瑜兴.DeviceNet现场总线及其应用.低压电器.2004(7):31～33
[41]蔡忠勇,高函. DeviceNet现场总线讲座第一讲现场总线发展概况与DeviceNet进入中国.低压电器. 2002.(2): 59～61
[42]阳宪惠.工业数据通信与控制网络.清华大学出版社. 2003.6.1:390～446, 113～117
[43]吴乃优,敖银辉,高向东,黄松杰. DeviceNet网络的通信原理.电气传动. 2000(6):51～53
[44]Biegacki S and VanGompel D. The Application of DeviceNet in Process Control. ISA Transaction. 1996.35(2):169～176
[45]佟为明,陈向阳等. DeviceNet现场总线技术.微处理机. 2002(1):1～3,7
[46]CAN kingdom官方网. www cankingdom.org/over.htm
[47]SAE Standard. SAE J1939, Recommended Practice for Control and Communications Network. USA,SAE. Issued 2000-04, Revised 2003-08
[48]SAE Standard. SAEJ1939-01, Recommended Practice for Control and Communications Network for On-Highway Equipment. USA,SAE. 2000-09
[49]SAE Standard. SAE J1939-11, Physical Layer, 250K bits/s, Twisted Shielded Pair. USA,SAE. Issued 1994-12,Revised 1999-10
[50]SAE Standard. SAE J1939-21, Data Link Layer. USA,SAE. Issued 1994-07, Revised 2001-04
[51]SAE Standard. SAE J1939-31, (R) Network Layer. USA,SAE. Issued 1994-12, Revised 1997-12
[52]SAE Standard. SAE J1939-71, (R)Vehicle Application Layer—J1939-71. USA,SAE. Issued 1994-08, Revised 2002-08
[53]SAE Standard. SAE J1939-73, Vehicle Application Layer—Diagnostics. Issued. 1996
[54]SAE Standard. SAE J1939-75, Application Layer—Generator Sets and Industrial. USA,SAE. Issued 2002-12
[55]SAE Standard. SAE J1939-81, Network Management. USA,SAE. Issued 1997-07, Revised 2003-05
[56]程军,崔继波,苟凯英.车辆控制系统CAN总线通信的实施方法.汽车工程. 2001年(23卷)第5期. 300～305
[57]SAE Standard. Recommended Practice for a Serial Control and Communications Vehicle Network J1939. USA,SAE. Issued 2000-04
[58]MC9S12DG128 Single-chip 16-bit microcontroller with CAN controller datasheet. V02.15. Freescale Semiconductor, Inc. 2005-10
[59]杨国田,白焰著.摩托罗拉68HC12系列微控制器原理、应用与开发技术.中国电力出版社. 2003.9. 12～68
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[65]王华平. [学位论文]基于低速CAN总线的电动车车门控制系统的研制.天津工业大学. 2004年12月. 32～34
[66]恒润科技.汽车网络的优点及其解决方案.今日电子. 2004年第7期. 72
[67]Vector Informatik GmbH. CANoe User Guide. Eberdingen: Satzteam Fotosatz & Neue Medien Gmbh. 2003
[68]ISO16845-2004.Road Vehicles-Controller Area Network(CAN)-Conformance test plan.2004. 52～57 [B1]MC9S12XDP512 Data Sheet. Rec.2.17. Freescale Semiconductor. July 2007. 50
[2]X-by-Wire Team. X-By-Wire:Safety Related Fault Tolerant Systems In Vehicle. V2.0.0. 1998
[3]CAN in Automotion. Controller Area Network (CAN):A serial bus system not just for vehicles. www.can-cia.org
[4]Gbariel Leen,Alan Dunne. Digital Networks in the Automotive Vehicle. IEEE Computing & Control Engineering Journal. 1999.10:177～183
[5]李爽,孙克怡.汽车网络的分类及发展趋向.单片机与嵌入式系统应用.2006.2. 5～8
[6]Class A Multiplexing Architecture Strategies. SAE Vehicle Network for Multiplexing and Data Communications Standards Committee. SAE J2057/4, 1993: 10～25
[7]CLASS A APPLICATION. SAE Vehicle Network for Multiplexing and Data Communications Standards Committee. SAE J2057/1, 1997: 32～58
[8]Class B Data Communication Network Messages:Detailed Header Formats and Physical Address Assignments. SAE Vehicle Network for Multiplexing and Data Communications Standards Committee. SAE J2178/1.1992:44～67
[9]Class B Data Communication Network Messages: Data Parameter Definitions. SAE Vehicle Network for Multiplexing and Data Communications Standards Committee. SAE J2178/2. 1993:11～18
[10]Class B Data Communication Network Messages: Frame IDs for Single Byte Forms of Headers. SAE Vehicle Network for Multiplexing and Data Communications Standards Committee. SAE J2178/3. 1993: 3～17
[11]Class B Data Communication Network Messages: Message Definitions for Three Byte Headers. SAE Vehicle Network for Multiplexing and Data Communications Standards Committee. SAE J2178/4. 1995: 23～57
[12]Class C application requirement considerations. SAE Vehicle Network for Multiplexing and Data Communications Standards Committee. SAE J2056/1. 1993: 61～82
[13]MOST Cooperation.MOST High Protocol Specification Rev2.1.2001.1～8
[14]BMW AG. Byteflight specification Rev.0.5, 1999: 6～9
[15]Konrad Etschberger. Controller Area Network. 2000:12～15
[16]Vector Brouchur Jan 2003.北京九州恒润科技有限公司.2003.1:1～12
[17]Mentor Graphics公司中文网站. www.mentorg.com.cn
[18]恒润公司网站. www.hirain.com/ae
[19]刘新亮,张建武,陈兆能.汽车控制器局域网络技术及应用.汽车工程. 1998.20(2):101～107
[20]王练,刘坚.控制器局域网络在大众汽车中的应用.汽车电器.2000(2):7～10
[21]葛林,周文华,徐航.CAN通信网络在汽车中的应用研究.汽车技术. 2000(11):1～4
[22]秦贵和,葛安林等.汽车网络技术.汽车工程. 2003.25(2):151～155
[23]王桂荣,钱剑敏.CAN总线和基于CAN总线的高层协议.计算机测量与控制. 2003.11(5):391～394
[24]邬宽明著. CAN总线原理与应用系统设计.北京航空航天大学出版社. 1996.10. 2～35
[25]饶运涛,邹继军,郑勇芸著.现场总线CAN原理与应用技术.北京航空航天大学出版社. 2003.6:8～53
[26]谢希仁著.计算机网络(第4版).电子工业出版社.2003年6月. 18～32
[27]Tindell K W,Hansson H,Wellings A J. Analyzing real-time communication:Controller Area Network (CAN) [A].Real-Time Systems Symposium[C]. 1994:259～263
[28]International Standardization Organization. Road Vehicles- Interchange of Digital Information-Controller Area Network (CAN) for High-Speed Communication. IS011898. 1993
[29]方晓柯,孙盛骇,王建辉等.DeviceNet现场总线的实时性分析及改进.信息与控制.2004.33(1):36～40
[30]郝学伟,徐立鸿.网络化控制系统的网络性能及稳定性分析.控制工程. 2002. 9(5):21～23
[31]H.Boterenbrood, NIKHEF. CANopen high-level protocol for CAN-bus. Amsterdam. 2000.3.20. Version 3.0
[32]基于CAN的较高层协议和子协议. Pro.Dr.-Ing.K. Etschberger.
[33]CiA Draft Standard Proposal 401. Version1.4. 1996.12.1
[34]Electronic Data Sheet Specification for CANopen. Version1.1. 2001.06.29
[37]M.Farsi, K.Ratcliff, Manuel Barbosa. An introduction to CANopen. Computer & Control Engineering Journal. August 1999:161～168
[36]CANopen Communication Profile for Industry System Based on CAL. CiA Draft Standard 301. October 1996
[37]Mohammad Farsi, Karl Ratcliff. An introduction to CANopen and CANopen Communication Issues. The Institution of Electrical Engineers. Print and published by The IEE. Savoy Place, LondonWC2R 0BL,UK. 1997
[38]Karl Ratcliff. CANopen Implementation Issues. The Institution of Electrical Engineers. Print by The IEE, Savoy Place, LondonWC2R 0BL,UK. 1997
[39]Steve Biegacki. The application of DeviceNet in process control. ISA Transactions. 1996.35(2):169～176
[40]武长坤,截瑜兴.DeviceNet现场总线及其应用.低压电器.2004(7):31～33
[41]蔡忠勇,高函. DeviceNet现场总线讲座第一讲现场总线发展概况与DeviceNet进入中国.低压电器. 2002.(2): 59～61
[42]阳宪惠.工业数据通信与控制网络.清华大学出版社. 2003.6.1:390～446, 113～117
[43]吴乃优,敖银辉,高向东,黄松杰. DeviceNet网络的通信原理.电气传动. 2000(6):51～53
[44]Biegacki S and VanGompel D. The Application of DeviceNet in Process Control. ISA Transaction. 1996.35(2):169～176
[45]佟为明,陈向阳等. DeviceNet现场总线技术.微处理机. 2002(1):1～3,7
[46]CAN kingdom官方网. www cankingdom.org/over.htm
[47]SAE Standard. SAE J1939, Recommended Practice for Control and Communications Network. USA,SAE. Issued 2000-04, Revised 2003-08
[48]SAE Standard. SAEJ1939-01, Recommended Practice for Control and Communications Network for On-Highway Equipment. USA,SAE. 2000-09
[49]SAE Standard. SAE J1939-11, Physical Layer, 250K bits/s, Twisted Shielded Pair. USA,SAE. Issued 1994-12,Revised 1999-10
[50]SAE Standard. SAE J1939-21, Data Link Layer. USA,SAE. Issued 1994-07, Revised 2001-04
[51]SAE Standard. SAE J1939-31, (R) Network Layer. USA,SAE. Issued 1994-12, Revised 1997-12
[52]SAE Standard. SAE J1939-71, (R)Vehicle Application Layer—J1939-71. USA,SAE. Issued 1994-08, Revised 2002-08
[53]SAE Standard. SAE J1939-73, Vehicle Application Layer—Diagnostics. Issued. 1996
[54]SAE Standard. SAE J1939-75, Application Layer—Generator Sets and Industrial. USA,SAE. Issued 2002-12
[55]SAE Standard. SAE J1939-81, Network Management. USA,SAE. Issued 1997-07, Revised 2003-05
[56]程军,崔继波,苟凯英.车辆控制系统CAN总线通信的实施方法.汽车工程. 2001年(23卷)第5期. 300～305
[57]SAE Standard. Recommended Practice for a Serial Control and Communications Vehicle Network J1939. USA,SAE. Issued 2000-04
[58]MC9S12DG128 Single-chip 16-bit microcontroller with CAN controller datasheet. V02.15. Freescale Semiconductor, Inc. 2005-10
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