基于CAN总线技术的汽车车门驱动控制系统的研究
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摘要
随着汽车电子技术的发展,融现代汽车技术与电子、信息技术为一体的汽车电子技术也进入了快速发展阶段,总线式车身控制技术是汽车电子技术的发展的新方向。
本文主要对基于CAN总线技术的汽车车门驱动控制系统的进行了研究。通过介绍国内外汽车电子领域和现场总线技术的发展状况,说明了总线式控制器网络技术是今后汽车电子技术的发展趋势和主要研究发展方向。论文详细介绍了CAN总线通信的基本原理与系统总线控制结构,分析了以CAN总线为核心的车辆网络串行通信控制协议SAE J1939标准,说明了应用CAN总线技术构成汽车车门控制系统的优点。
本文介绍了主控制器和车门控制系统的设计原则、系统结构,详细阐述了主控制器和车门控制系统的软、硬件设计与开发过程,详细论述了中央处理器电路、CAN模块电路、电机控制驱动电路等各个模块的硬件结构。叙述了控制系统的软件开发环境、设计原则和开发流程。给出了各个车门单元的程序结构和软件设计,以左前门控制器单元为例说明了控制器主程序、集控门锁开锁/闭锁子程序、车窗电机控制子程序以及后视镜子程序,并对其他控制器单元的程序和软件设计进行了说明。并且通过对车窗电机结构特点的分析与测试,提取车窗夹持特征,针对目前车窗防夹方法的缺点提出了新的车窗防夹功能控制策略的解决方案。
最后,进行了现场调试和对系统的测试。现场的测试结果证明该车门CAN总线控制系统工作正常,性能良好,能够达到现代化车门控制的要求,具有可靠性高、稳定性好、价格低等优点,具有广阔的应用前景。
The automobile electronic technology including modern automobile technology, electronics, and information technology also come into the stage of rapid development, with the rapid development of the automobile electronic technology. The bus-based automobile body control technology is a new development direction of the automobile electronic technology.
The thesis lays emphasis on the research about automobile door control system on the base of CAN bus.
The thesis explains that bus controller network technology is the development trend and main research direction of automobile electronic technology in the future through introducing the overseas and domestic development conditions of automobile electronic field and bus technology. It depicts the principles of CAN bus and the system bus control structures. It analyzes the automobile network communication control protocol SAE J1939 with CAN bus as its core. It explains the advantage of door control system constituted by CAN bus technology.
It introduces the design principle and system structure of the center controller automobile door control system. It depicts the design and development process of the soft and hardware of the center controller automobile door control system. And, it depicts every module’s hardware structure such as central processor circuit, CAN module circuit and electrical machinery drive control circuit. Also, it states the software development environment, design principle and development process of control system. It gives the procedure structure of each door unit and software design. It shows the main program of controller, open and close program of central control lock, subprogram of control window electromotor, and the subprogram of rearview mirror, with left-front door controller unit as the example. And it illuminates program and software design of other controller units. And, it gets the feature of automobile window blocking by the analysis and test on the window electrical machinery structure and characteristic. It brings forward new solution on the control strategy of guarding against window blocking to the disadvantage of actual guarding against window blocking measure.
Finally, it is the stage of live adjustment and system test. The test result proves that the automobile CAN bus control system works well with excellent function and it can reach the control demand of modern automobile door with the advantage of high reliability, good stability and low price, which has large application foreground.
本文主要对基于CAN总线技术的汽车车门驱动控制系统的进行了研究。通过介绍国内外汽车电子领域和现场总线技术的发展状况,说明了总线式控制器网络技术是今后汽车电子技术的发展趋势和主要研究发展方向。论文详细介绍了CAN总线通信的基本原理与系统总线控制结构,分析了以CAN总线为核心的车辆网络串行通信控制协议SAE J1939标准,说明了应用CAN总线技术构成汽车车门控制系统的优点。
本文介绍了主控制器和车门控制系统的设计原则、系统结构,详细阐述了主控制器和车门控制系统的软、硬件设计与开发过程,详细论述了中央处理器电路、CAN模块电路、电机控制驱动电路等各个模块的硬件结构。叙述了控制系统的软件开发环境、设计原则和开发流程。给出了各个车门单元的程序结构和软件设计,以左前门控制器单元为例说明了控制器主程序、集控门锁开锁/闭锁子程序、车窗电机控制子程序以及后视镜子程序,并对其他控制器单元的程序和软件设计进行了说明。并且通过对车窗电机结构特点的分析与测试,提取车窗夹持特征,针对目前车窗防夹方法的缺点提出了新的车窗防夹功能控制策略的解决方案。
最后,进行了现场调试和对系统的测试。现场的测试结果证明该车门CAN总线控制系统工作正常,性能良好,能够达到现代化车门控制的要求,具有可靠性高、稳定性好、价格低等优点,具有广阔的应用前景。
The automobile electronic technology including modern automobile technology, electronics, and information technology also come into the stage of rapid development, with the rapid development of the automobile electronic technology. The bus-based automobile body control technology is a new development direction of the automobile electronic technology.
The thesis lays emphasis on the research about automobile door control system on the base of CAN bus.
The thesis explains that bus controller network technology is the development trend and main research direction of automobile electronic technology in the future through introducing the overseas and domestic development conditions of automobile electronic field and bus technology. It depicts the principles of CAN bus and the system bus control structures. It analyzes the automobile network communication control protocol SAE J1939 with CAN bus as its core. It explains the advantage of door control system constituted by CAN bus technology.
It introduces the design principle and system structure of the center controller automobile door control system. It depicts the design and development process of the soft and hardware of the center controller automobile door control system. And, it depicts every module’s hardware structure such as central processor circuit, CAN module circuit and electrical machinery drive control circuit. Also, it states the software development environment, design principle and development process of control system. It gives the procedure structure of each door unit and software design. It shows the main program of controller, open and close program of central control lock, subprogram of control window electromotor, and the subprogram of rearview mirror, with left-front door controller unit as the example. And it illuminates program and software design of other controller units. And, it gets the feature of automobile window blocking by the analysis and test on the window electrical machinery structure and characteristic. It brings forward new solution on the control strategy of guarding against window blocking to the disadvantage of actual guarding against window blocking measure.
Finally, it is the stage of live adjustment and system test. The test result proves that the automobile CAN bus control system works well with excellent function and it can reach the control demand of modern automobile door with the advantage of high reliability, good stability and low price, which has large application foreground.
引文
1 侯树梅,王世震. 汽车车身总线应用现状及发展趋势.汽车电器,2004, (11) :1~4
2 陆孟雄,鲁植雄. CAN总线用于汽车布线的技术现状分析.汽车科技,2004, (4) :9~12
3 苟广鹏,孙泽昌,魏学哲.控制器局域网技术在汽车中的应用研究.汽车工程,2000,22 (6) :409~412
4 阳宪惠.现场总线技术及其应用.清华大学出版社,2000:76~95
5 周泉.CAN 的基本知识——背景概述与故障状态.汽车电器,2004, (3) :55~57
6 李冬江,张大成.汽车车在网络系统 (CAN-BUS) 原理与检修.机械工业出版社,2005:36~67
7 邬宽明. CAN 总线原理和应用系统设计.北京航空航天大学出版社,1996:24~52
8 冯渊.汽车电子控制技术.机械工业出版社,1999:84~103
9 边焕鹤.汽车电器与电子设备.人民交通出版社,1997:78~131
10 徐向阳.汽车电器与电子控制技术.机械工业出版社,1999:19~54
11 马春红.基于 CAN/LIN 总线的车灯驱动控制系统的设计.哈尔滨理工大学硕士学位论文,2006:1~6
12 饶运涛,邹继军.郑勇芸现场总线CAN原理与应用技术.北京航空航天大学出版社,2003:20~36 137~153
13 周震.基于CAN总线的车身控制模块.南京航空航天大学硕士学位论文,2005:13~24
14 韩光省. 基于LIN总线技术的汽车车门系统的开发.吉林大学硕士学位论文,2005:10~26
15 刘慧银,程建平,龚光华,王云飞,许庆丰.Motorola (FreeScale) 微控制器 MC68HC08 原理及其嵌入式应用.清华大学出版社,2005:15~29
16 李洪波.基于CAN总线的车灯控制网络的研究.哈尔滨理工大学硕士学位论文,2005:28~29
17 李春明.汽车车身电子技术.北京理工大学出版社,2003:146~196
18 王箴.车身系统的CAN总线控制.汽车电器,2003, (5) :11~14
19 陈学珍,陈旭武.CAN 总线及应用.电气传动自动化,2005,27 (5) :51~53
20 康华光.电子技术基础 (模拟部分) (第四版) .高等教育出版社,1999:1~40
21 阎石.数字电子技术基础 (第四版) .高等教育出版社,1999:456~492
22 邢增平.PROTEL 99 SE设计专家指导.中国铁道出版社,2004:150~214
23 谢淑如,郑光钦. PROTEL PCB 99 SE电路板设计.清华大学出版社,2001:179~220
24 朱华旭. CAN/LIN总线技术在车内网络中的应用研究.武汉理工大学学报·信息与管理工程版,2005,27 (5) :204~206
25 张春化.汽车电器与电路.人民邮电出版社,2003:185~191
26 汪立亮. 现代汽车中央门锁及防盗系统原理与检修.电子工业出版社,2000:37~55
27 马忠梅.单片机的C语言应用程序设计 (第三版) .北京航空航天大学出版社,2003:1~11
28 赵永哲,李雄飞.C语言程序设计.吉林大学出版社,1999:6~14
29 谭浩强.C程序设计.清华大学出版社,1991:1~9
30 杨小川.Protel DXP 设计指导教程.清华大学出版社,2003:25~154
31 王华平.基于低速CAN总线的电动车车门控制系统的研制.天津工业大学硕士论文,2005:17~23
32 翦权斌. 基于CAN总线电动汽车主控制器及车门控制系统的研制与开发.天津大学硕士论文,2005:47~52
33 高松,高燕.浅谈J1939协议在客车CAN总线中的应用.农业装备与车辆工程,2005, (10) :1~5
34 耿振江.基于CAN总线的汽车整车电控的研究.武汉理工大学硕士学位论文,2005:13~26
35 Infineon.车门区域模块解决方案.EDN研讨会,2006, (8) :1~18
36 广州周立功单片机发展有限公司.CANalyst CAN分析仪用户手册,2005 (7) :4~19
37 Motorola. MC33486 Technical Data. Motorola,2001:1~7
38 ST. L9949 DOOR ACTUATOR DRIVER. ST,2002:1~19
39 Infineon. TLE7201R Door Module Power Bridge IC. Infineon,2000:1~34
40 Infineon. BTS6143 Smart Highside Power Switch. Infineon,2000:1~15
41 Metrowerk. MC68HC08 manuals for Metrowerks CodeWarrior. Metrowerks,2000:1~13
42 BOSCH. CAN Specification Ver 2.0. BOSCH,Sept,1991:34~68
43 FreeScale Semiconductor Inc. MC68HC908GZ16 MC68HC908GZ8 Data Sheet. FreeScale Semiconductor,Inc. ,2004:123~155
44 Steven McAsla. Using the Motorola MSCAN Filter Configuration Tool. Freescale Semiconductor. Inc. ,2000:2~8
45 Linear. LT1121 Technical Data Sheet. Linear,1994:1~8
46 Philips Semiconductor. PCA82C250 CAN Controller Interface Data Sheet. Philips Semiconductor,2000:1~8
47 Motorola. MC33888 Technical Data. Motorola. 2001
48 Metrowerks. MC68HC08 Manuals for Metrowerks or Metrowerks ,Metrowerks,2000:15~28
49 Stuart Robb. Creating Efficient C Code for the MC68HC08. Freescale Semiconductor Inc. ,2000:4~14
2 陆孟雄,鲁植雄. CAN总线用于汽车布线的技术现状分析.汽车科技,2004, (4) :9~12
3 苟广鹏,孙泽昌,魏学哲.控制器局域网技术在汽车中的应用研究.汽车工程,2000,22 (6) :409~412
4 阳宪惠.现场总线技术及其应用.清华大学出版社,2000:76~95
5 周泉.CAN 的基本知识——背景概述与故障状态.汽车电器,2004, (3) :55~57
6 李冬江,张大成.汽车车在网络系统 (CAN-BUS) 原理与检修.机械工业出版社,2005:36~67
7 邬宽明. CAN 总线原理和应用系统设计.北京航空航天大学出版社,1996:24~52
8 冯渊.汽车电子控制技术.机械工业出版社,1999:84~103
9 边焕鹤.汽车电器与电子设备.人民交通出版社,1997:78~131
10 徐向阳.汽车电器与电子控制技术.机械工业出版社,1999:19~54
11 马春红.基于 CAN/LIN 总线的车灯驱动控制系统的设计.哈尔滨理工大学硕士学位论文,2006:1~6
12 饶运涛,邹继军.郑勇芸现场总线CAN原理与应用技术.北京航空航天大学出版社,2003:20~36 137~153
13 周震.基于CAN总线的车身控制模块.南京航空航天大学硕士学位论文,2005:13~24
14 韩光省. 基于LIN总线技术的汽车车门系统的开发.吉林大学硕士学位论文,2005:10~26
15 刘慧银,程建平,龚光华,王云飞,许庆丰.Motorola (FreeScale) 微控制器 MC68HC08 原理及其嵌入式应用.清华大学出版社,2005:15~29
16 李洪波.基于CAN总线的车灯控制网络的研究.哈尔滨理工大学硕士学位论文,2005:28~29
17 李春明.汽车车身电子技术.北京理工大学出版社,2003:146~196
18 王箴.车身系统的CAN总线控制.汽车电器,2003, (5) :11~14
19 陈学珍,陈旭武.CAN 总线及应用.电气传动自动化,2005,27 (5) :51~53
20 康华光.电子技术基础 (模拟部分) (第四版) .高等教育出版社,1999:1~40
21 阎石.数字电子技术基础 (第四版) .高等教育出版社,1999:456~492
22 邢增平.PROTEL 99 SE设计专家指导.中国铁道出版社,2004:150~214
23 谢淑如,郑光钦. PROTEL PCB 99 SE电路板设计.清华大学出版社,2001:179~220
24 朱华旭. CAN/LIN总线技术在车内网络中的应用研究.武汉理工大学学报·信息与管理工程版,2005,27 (5) :204~206
25 张春化.汽车电器与电路.人民邮电出版社,2003:185~191
26 汪立亮. 现代汽车中央门锁及防盗系统原理与检修.电子工业出版社,2000:37~55
27 马忠梅.单片机的C语言应用程序设计 (第三版) .北京航空航天大学出版社,2003:1~11
28 赵永哲,李雄飞.C语言程序设计.吉林大学出版社,1999:6~14
29 谭浩强.C程序设计.清华大学出版社,1991:1~9
30 杨小川.Protel DXP 设计指导教程.清华大学出版社,2003:25~154
31 王华平.基于低速CAN总线的电动车车门控制系统的研制.天津工业大学硕士论文,2005:17~23
32 翦权斌. 基于CAN总线电动汽车主控制器及车门控制系统的研制与开发.天津大学硕士论文,2005:47~52
33 高松,高燕.浅谈J1939协议在客车CAN总线中的应用.农业装备与车辆工程,2005, (10) :1~5
34 耿振江.基于CAN总线的汽车整车电控的研究.武汉理工大学硕士学位论文,2005:13~26
35 Infineon.车门区域模块解决方案.EDN研讨会,2006, (8) :1~18
36 广州周立功单片机发展有限公司.CANalyst CAN分析仪用户手册,2005 (7) :4~19
37 Motorola. MC33486 Technical Data. Motorola,2001:1~7
38 ST. L9949 DOOR ACTUATOR DRIVER. ST,2002:1~19
39 Infineon. TLE7201R Door Module Power Bridge IC. Infineon,2000:1~34
40 Infineon. BTS6143 Smart Highside Power Switch. Infineon,2000:1~15
41 Metrowerk. MC68HC08 manuals for Metrowerks CodeWarrior. Metrowerks,2000:1~13
42 BOSCH. CAN Specification Ver 2.0. BOSCH,Sept,1991:34~68
43 FreeScale Semiconductor Inc. MC68HC908GZ16 MC68HC908GZ8 Data Sheet. FreeScale Semiconductor,Inc. ,2004:123~155
44 Steven McAsla. Using the Motorola MSCAN Filter Configuration Tool. Freescale Semiconductor. Inc. ,2000:2~8
45 Linear. LT1121 Technical Data Sheet. Linear,1994:1~8
46 Philips Semiconductor. PCA82C250 CAN Controller Interface Data Sheet. Philips Semiconductor,2000:1~8
47 Motorola. MC33888 Technical Data. Motorola. 2001
48 Metrowerks. MC68HC08 Manuals for Metrowerks or Metrowerks ,Metrowerks,2000:15~28
49 Stuart Robb. Creating Efficient C Code for the MC68HC08. Freescale Semiconductor Inc. ,2000:4~14