CN102004478A - Vehicle multi-bus coordinating communication and control system - Google Patents
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Abstract
Description
技术领域technical field
本发明涉及一种车辆多总线协调通信与控制系统，属于工业系统控制技术领域。The invention relates to a vehicle multi-bus coordinated communication and control system, which belongs to the technical field of industrial system control.
背景技术Background technique
随着汽车工业系统控制技术的发展，通信与控制的功能逐渐趋于模块化、多元化。为此，各分系统为最大限度的发挥其功能，会量体裁衣地开发出合适的控制系统。但是对于整车的控制来说，如何将各分系统融合为一体，实现集中控制，来达到实现功能的多元化、智能化的目的，目前还没有成熟的技术。With the development of automotive industry system control technology, the functions of communication and control tend to be modularized and diversified. For this reason, in order to maximize its functions, each subsystem will develop a suitable control system according to its needs. However, for the control of the whole vehicle, there is no mature technology at present on how to integrate the various sub-systems into one, realize centralized control, and achieve the purpose of diversification and intelligence of functions.
发明内容Contents of the invention
本发明所要解决的技术问题是提供一种能实现将车辆各分系统整体控制的车辆多总线协调通信与控制系统。The technical problem to be solved by the present invention is to provide a vehicle multi-bus coordinated communication and control system that can realize the overall control of each subsystem of the vehicle.
为解决上述技术问题，本发明的技术方案为In order to solve the problems of the technologies described above, the technical solution of the present invention is
一种车辆多总线协调通信与控制系统，包括车辆主控制系统、人机交互系统、辅控制系统、无线通信系统、称重系统、电机驱动系统，其特征在于，A vehicle multi-bus coordinated communication and control system, including a vehicle main control system, a human-computer interaction system, an auxiliary control system, a wireless communication system, a weighing system, and a motor drive system, characterized in that,
（1）在人机交互系统和车辆主控制系统之间架设独立的CAN总线Ⅱ，解决人机操作与车辆主控制系统之间通信；(1) Set up an independent CAN bus II between the human-computer interaction system and the vehicle main control system to solve the communication between the human-computer operation and the vehicle main control system;
（2）在辅控制系统和无线通信系统之间架设以太网，。解决车辆状与控制中心之间远程通信；(2) Set up Ethernet between the auxiliary control system and the wireless communication system. Solve the remote communication between the vehicle state and the control center;
（3）在辅控制系统和称重系统之间架设PROFIBUS总线，解决重量数据的传递、运算、设定；(3) Set up a PROFIBUS bus between the auxiliary control system and the weighing system to solve the transmission, calculation and setting of weight data;
（4）在车辆主控制系统和辅控制系统之间架设CAN总线Ⅲ，解决抬包称重信息与车辆控制系统之间通信；(4) Set up CAN bus III between the main control system and the auxiliary control system of the vehicle to solve the communication between the bag weighing information and the vehicle control system;
（5）在车辆主控制系统和电机驱动系统之间架设CAN总线Ⅳ，解决电动机动力系统状态监测。(5) Set up CAN bus IV between the vehicle main control system and the motor drive system to solve the state monitoring of the motor power system.
优选的，所述车辆主控制系统包括多个ECU，并在各ECU之间架设CAN总线Ⅰ。解决独立转向系统、多模式行驶系统、同步升降系统等车辆控制。Preferably, the vehicle main control system includes a plurality of ECUs, and a CAN bus I is set up between each ECU. Solve vehicle control such as independent steering system, multi-mode driving system, and synchronous lifting system.
本发明的有益效果是成功的将车辆各分系统有机的融合在一起，实现了车辆的集中控制，为功能的多元化，智能化发展奠定了良好的基础。The beneficial effect of the present invention is to successfully integrate the sub-systems of the vehicle together, realize the centralized control of the vehicle, and lay a good foundation for the diversification of functions and intelligent development.
附图说明Description of drawings
下面结合附图和具体实施方式对本发明的技术方案作进一步具体说明。The technical solutions of the present invention will be further specifically described below in conjunction with the accompanying drawings and specific embodiments.
图1为本发明一个实施例的系统示意图。Fig. 1 is a system schematic diagram of an embodiment of the present invention.
具体实施方式Detailed ways
如图1所示，车辆主控制系统包括三个ECU，并在各ECU之间架设CAN总线Ⅰ1，车辆主控制系统的ECU1、ECU2、ECU3的输入端口接收车辆本身的操作指令、传感器反馈信号，并将这些输入信号通过CAN总线Ⅰ1在这三个ECU之间共享传递；在人机交互系统和车辆主控制系统之间架设独立的CAN总线Ⅰ1，每个ECU根据需要实现的功能从CAN总线Ⅰ1上接收相应输入信号，通过逻辑运算，生成输出控制信号，又将输出信号通过CAN总线Ⅰ1在三个ECU之间共享传递，每个ECU根据需要实现的功能从CAN总线Ⅰ1上接收相应输出信号，通过三个ECU的输出端口驱动车辆本身的执行机构，实现车辆的多模式行驶控制、独立转向、同步升降等控制；As shown in Figure 1, the vehicle main control system includes three ECUs, and CAN bus I1 is set up between each ECU. The input ports of ECU1, ECU2, and ECU3 of the vehicle main control system receive the vehicle’s own operation instructions and sensor feedback signals. And these input signals are shared among the three ECUs through the CAN bus I1; an independent CAN bus I1 is set up between the human-computer interaction system and the vehicle main control system, and each ECU realizes the function from the CAN bus I1 according to the needs. The corresponding input signal is received on the computer, and the output control signal is generated through logical operation, and the output signal is shared and transmitted among the three ECUs through the CAN bus I1. Each ECU receives the corresponding output signal from the CAN bus I1 according to the function to be realized. Drive the actuators of the vehicle itself through the output ports of the three ECUs to realize the vehicle's multi-mode driving control, independent steering, synchronous lifting and other controls;
在人机交互系统和车辆主控制系统之间架设独立的CAN总线Ⅱ2，车辆主控制系统的三个ECU将车辆的操作指令、输入输出信息、逻辑运算结果等数据，通过独立的CAN总线Ⅱ2与人机交互系统之间共享传递，人机交互系统的显示屏实现对车辆状态的实时监控，并将人机操作信号通过CAN总线Ⅱ2传递到车辆主控制系统，实现对车辆的操作、数据设置等控制；An independent CAN bus II 2 is set up between the human-computer interaction system and the vehicle main control system, and the three ECUs of the vehicle main control system transfer data such as vehicle operation instructions, input and output information, and logic operation results through the independent CAN bus II 2 and Shared transmission between human-computer interaction systems, the display screen of the human-computer interaction system realizes real-time monitoring of vehicle status, and transmits human-computer operation signals to the main control system of the vehicle through the CAN bus II2 to realize vehicle operation and data setting, etc. control;
在辅控制系统和无线通信系统之间架设以太网，辅控制系统的ECU4将车辆编号、所处位置、车辆载重等数据通过以太网传输到无线通信系统，无线通信系统经无线以太网实时传递到控制中心，控制中心对车辆进行指挥调度的信息经无线通信系统接收后，通过以太网传输到辅控制系统，实现远程通信与调控；An Ethernet is set up between the auxiliary control system and the wireless communication system, and the ECU4 of the auxiliary control system transmits data such as the vehicle number, location, and vehicle load to the wireless communication system through the Ethernet, and the wireless communication system transmits the data to the wireless communication system in real time through the wireless Ethernet. Control center, the information of command and dispatch of vehicles by the control center is received by the wireless communication system, and then transmitted to the auxiliary control system through Ethernet to realize remote communication and control;
在辅控制系统和称重系统之间架设PROFIBUS总线，称重系统的ECU5采集传感器信号，将逻辑运算所得的重量数据，通过PROFIBUS总线传递到辅控制系统的ECU4，辅控制系统的ECU4将重量的零位校正指令、当前负载的重量、重载校正指令通过PROFIBUS总线传递到称重系统的ECU5，实现载重数据的设定；A PROFIBUS bus is set up between the auxiliary control system and the weighing system, the ECU5 of the weighing system collects the sensor signal, and the weight data obtained by logic operation is transmitted to the ECU4 of the auxiliary control system through the PROFIBUS bus, and the ECU4 of the auxiliary control system transfers the weight The zero correction command, the weight of the current load, and the heavy load correction command are transmitted to the ECU5 of the weighing system through the PROFIBUS bus to realize the setting of the load data;
在车辆主控制系统和辅控制系统之间架设CAN总线Ⅲ3，车辆主控制系统的三个ECU将车辆编号、重量设定指令等数据通过CAN总线Ⅲ3与辅控制系统之间共享传递，辅控制系统的ECU4将接收到的远程调控信号、校正后的重量数据，通过CAN总线Ⅲ3与车辆主控制系统之间共享传递。The CAN bus III3 is set up between the main control system and the auxiliary control system of the vehicle. The three ECUs of the main control system of the vehicle share and transmit data such as the vehicle number and weight setting instructions through the CAN bus III3 and the auxiliary control system. The auxiliary control system The ECU4 will share the received remote control signal and corrected weight data with the main control system of the vehicle through the CAN bus III3.
在车辆主控制系统和电机驱动系统之间架设CAN总线Ⅳ4，车辆主控制系统的三个ECU通过CAN总线Ⅳ4接收电动机动力系统转速、温度、电流、电压信息，实现对动力系统状态的监控。The CAN bus IV4 is set up between the vehicle main control system and the motor drive system. The three ECUs of the vehicle main control system receive the motor power system speed, temperature, current, and voltage information through CAN bus IV4 to monitor the status of the power system.
最后所应说明的是，以上具体实施方式仅用以说明本发明的技术方案而非限制，尽管参照较佳实施例对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或者等同替换，而不脱离本发明技术方案的精神和范围，其均应涵盖在本发明的权利要求范围当中。Finally, it should be noted that the above specific embodiments are only used to illustrate the technical solutions of the present invention and not limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that the present invention can be Modifications or equivalent replacements of the technical solutions without departing from the spirit and scope of the technical solutions of the present invention shall fall within the scope of the claims of the present invention.
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Cited By (7)
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| CN102381229A (en) * | 2011-08-22 | 2012-03-21 | 湖北三江航天万山特种车辆有限公司 | Two-man ladle transportation vehicle |
| CN102437903A (en) * | 2011-08-03 | 2012-05-02 | 杭州电子科技大学 | A multi-node coordinated communication method suitable for intelligent vehicles |
| CN102566553A (en) * | 2012-02-08 | 2012-07-11 | 中铁科工集团有限公司 | Outdoor construction equipment wireless network control system on basis of private protocol |
| CN103163856A (en) * | 2011-12-15 | 2013-06-19 | 中国石油集团渤海石油装备制造有限公司 | Nitrogen foam fracturing pump truck electronic control system based on controller area network (CAN) bus |
| CN105246110A (en) * | 2014-07-02 | 2016-01-13 | 通用汽车环球科技运作有限责任公司 | Wireless communication extension for CAN based electrical architectures |
| CN105594155A (en) * | 2014-05-08 | 2016-05-18 | 松下电器（美国）知识产权公司 | In-car network system, electronic control unit and update processing method |
| CN106516987A (en) * | 2016-12-19 | 2017-03-22 | 郑州新大方重工科技有限公司 | CAN bus network layout system suitable for wind power dedicated tire crane |
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Cited By (12)
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| CN102437903A (en) * | 2011-08-03 | 2012-05-02 | 杭州电子科技大学 | A multi-node coordinated communication method suitable for intelligent vehicles |
| CN102437903B (en) * | 2011-08-03 | 2014-03-05 | 杭州电子科技大学 | A multi-node coordinated communication method suitable for intelligent vehicles |
| CN102381229A (en) * | 2011-08-22 | 2012-03-21 | 湖北三江航天万山特种车辆有限公司 | Two-man ladle transportation vehicle |
| CN102381229B (en) * | 2011-08-22 | 2013-04-03 | 湖北三江航天万山特种车辆有限公司 | Two-man ladle transportation vehicle |
| CN103163856A (en) * | 2011-12-15 | 2013-06-19 | 中国石油集团渤海石油装备制造有限公司 | Nitrogen foam fracturing pump truck electronic control system based on controller area network (CAN) bus |
| CN102566553A (en) * | 2012-02-08 | 2012-07-11 | 中铁科工集团有限公司 | Outdoor construction equipment wireless network control system on basis of private protocol |
| CN102566553B (en) * | 2012-02-08 | 2014-01-15 | 中铁科工集团有限公司 | Outdoor construction equipment wireless network control system on basis of private protocol |
| CN105594155A (en) * | 2014-05-08 | 2016-05-18 | 松下电器（美国）知识产权公司 | In-car network system, electronic control unit and update processing method |
| CN105246110A (en) * | 2014-07-02 | 2016-01-13 | 通用汽车环球科技运作有限责任公司 | Wireless communication extension for CAN based electrical architectures |
| CN105246110B (en) * | 2014-07-02 | 2019-01-22 | 通用汽车环球科技运作有限责任公司 | It is a kind of based on CAN and be utilized wireless communication extension electrical architecture |
| CN106516987A (en) * | 2016-12-19 | 2017-03-22 | 郑州新大方重工科技有限公司 | CAN bus network layout system suitable for wind power dedicated tire crane |
| CN106516987B (en) * | 2016-12-19 | 2018-06-08 | 郑州新大方重工科技有限公司 | Suitable for the CAN bus network topology system of wind-powered electricity generation special tyre formula crane |
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