联合收获机CAN总线架构设计与试验
|
摘要
针对国内外农机装备智能化发展及设备物联远程网控需求,基于ISO 11783系列标准,提出并设计了联合收获机智能CAN总线方案及其应用系统。根据联合收获机的作业特点和智能控制需求,建立了由动力CAN总线、设备管理CAN总线、专用设备CAN总线1和专用设备CAN总线2组成的模块化、可扩展的智能农机CAN总线网络结构。基于ISO 11783 CAN总线应用层协议标准,制定了智能化联合收获机远程网控通信协议。最后,进行了联合收获机CAN总线应用系统网络负载和实时性的通信试验及工程应用试验验证。试验结果表明,在500 kb/s波特率下,所有总线的负载率均小于30%,数据在3层CAN总线之间传输总延时小于1 ms,满足联合收获机智能远程网控CAN总线系统的设计要求。
Aiming at the intelligent development of agricultural machinery and equipment at home and abroad and the remote network control requirements of equipment and materials,based on ISO 11783 agricultural machine CAN bus standard,the intelligent harvesting CAN bus program and its application system were proposed and designed. According to the operation characteristics and intelligent control requirements of the combine harvester,a modular and expandable intelligent agricultural CAN bus network structure,consisting of a power CAN bus,a device management CAN bus,a dedicated device CAN bus 1 and a dedicated device CAN bus 2 was established. Based on the ISO 11783 CAN bus application layer protocol standard,an intelligent remote harvester remote network control communication protocol was developed. Finally,the network load and real-time communication experiment of CAN bus application system of intelligent combine harvester and the engineering application experiment were carried out. The results showed that at the baud rate of 500 kb/s,the load of all buses was less than30%,and the data transmission delay between the three layers CAN buses was less than 1 ms,which fully met the design requirements of the intelligent remote network-controlled CAN bus system of combine harvester. In engineering applications,it also met the automatic navigation communication requirements of harvesters.
Aiming at the intelligent development of agricultural machinery and equipment at home and abroad and the remote network control requirements of equipment and materials,based on ISO 11783 agricultural machine CAN bus standard,the intelligent harvesting CAN bus program and its application system were proposed and designed. According to the operation characteristics and intelligent control requirements of the combine harvester,a modular and expandable intelligent agricultural CAN bus network structure,consisting of a power CAN bus,a device management CAN bus,a dedicated device CAN bus 1 and a dedicated device CAN bus 2 was established. Based on the ISO 11783 CAN bus application layer protocol standard,an intelligent remote harvester remote network control communication protocol was developed. Finally,the network load and real-time communication experiment of CAN bus application system of intelligent combine harvester and the engineering application experiment were carried out. The results showed that at the baud rate of 500 kb/s,the load of all buses was less than30%,and the data transmission delay between the three layers CAN buses was less than 1 ms,which fully met the design requirements of the intelligent remote network-controlled CAN bus system of combine harvester. In engineering applications,it also met the automatic navigation communication requirements of harvesters.
引文
[1]蒋瑞锋.电驱动联合收获机智能控制系统的研究[D].杨凌:西北农林科技大学,2015.JIANG Ruifeng. The research on intelligent control system of the combine driven by electricity[D]. Yangling:Northwest A&F University,2015.(in Chinese)
[2]王帅.基于CAN总线的谷物联合收获机模块化智能监测系统研究[D].济南:济南大学,2017.WANG Shuai. Research on modular intelligent monitoring system for grain combine harvester based on CAN bus[D]. Ji'nan:University of Jinan,2017.(in Chinese)
[3]刘洪利,王熙.基于CAN总线的拖拉机机组作业性能分析[J/OL].农业机械学报,2016,47(增刊):30-34.LIU Hongli,WANG Xi. Analysis of tractor working performace based on CAN bus[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2016,47(Supp.):30-34. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=2016s005&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2016. S0. 005.(in Chinese)
[4]苗中华,褚剑钢,刘成良,等.采棉机智能监控系统CAN应用层协议设计[J/OL].农业机械学报,2012,43(1):180-184.MIAO Zhonghua,CHU Jian'gang,LIU Chengliang,et al. CAN application-layer protocol design of intelligent monitoring system for cotton-picking machine[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2012,43(1):180-184.http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20120132&journal_id=jcsam. DOI:10.6041/j. issn. 1000-1298. 2012. 01. 032.(in Chinese)
[5]魏新华,李耀明,陈进,等.联合收获机工作过程智能监控装置的系统集成[J].农业工程学报,2009,25(增刊2):56-60.WEI Xinhua,LI Yaoming,CHEN Jin,et al. System integration of working process intelligent monitoring and controlling devices for combine harvester[J]. Transactions of the CSAE,2009,25(Supp. 2):56-60.(in Chinese)
[6]张美娜,尹文庆,钱燕,等.联合收获机导航数据采集系统设计[J].农业机械学报,2011,42(增刊):117-121.ZHANG Meina,YIN Wenqing,QIAN Yan,et al. Design of navigation data collecting system for combine harvester[J].Transactions of the Chinese Society for Agricultural Machinery,2011,42(Supp.):117-121.(in Chinese)
[7] PITLA S K,LIN N,SHEARER S A,et al. Use of controller area network(CAN)data to determine field efficiencies of agricultural machinery[J]. Applied Engineering in Agriculture,2014,30(6):829-839.
[8] CHEN J,ZHENG Y,LI Y,et al. Study on integration of measurement and control system for combine harvester[C]∥International Conference on Computer and Computing Technologies in Agriculture. Springer,Berlin,Heidelberg,2010:607-614.
[9] HOFSTEE J W,GOENSE D. Simulation of a controller area network-based tractor-implement data bus according to ISO 11783[J]. Journal of Agricultural Engineering Research,1999,73(4):383-394.
[10] ISO 11783—2015 Tractors and machinery for agriculture and forestry—serial control and communications data network—part7:implement messages application layer[S]. 2015.
[11]宋岩,徐皑冬,石刚.基于CAN的农业森林机械控制网络研究及实现[J].仪器仪表学报,2006,27(增刊):547-549.SONG Yan,XU Aidong,SHI Gang. Research and realization of control network for agriculture and forestry machinery based on CAN[J]. Chinese Journal of Scientific Instrument,2006,27(Supp.):547-549.(in Chinese)
[12]张真,迟瑞娟,杜岳峰,等.基于CAN总线的玉米收获智能控制系统研究[J/OL].农业机械学报,2018,49(增刊):275-281.ZHANG Zhen,CHI Ruijuan,DU Yuefeng,et al. Investigation on CAN-bus-based corn harvester intelligent control system[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(Supp.):275-281. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=2018s036&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298.2018. S0. 036.(in Chinese)
[13]周旭. CAN总线通信实时性研究与实现[D].上海:复旦大学,2007.ZHOU Xu. Real time communication research and implementation based on CAN bus[D]. Shanghai:Fudan University,2007.(in Chinese)
[14] ISO 11783—2015 Tractors and machinery for agriculture and forestry—serial control and communications data network—part3:data link layer[S]. 2015.
[15]章磊,祝明,武哲.无人直升机系统CAN总线应用层协议设计[J].北京航空航天大学学报,2011,37(10):1264-1270.ZHANG Lei,ZHU Ming,WU Zhe. CAN bus application layer protocol design for unmanned helicopter system[J]. Journal of Beijing University of Aeronautics and Astronautics,2011,37(10):1264-1270.(in Chinese)
[16]陈曦. CAN总线实时性和可靠性若干问题的研究[D].天津:天津大学,2010.CHEN Xi. Research on real-time performance and reliability of CAN bus[D]. Tianjin:Tianjin University,2010.(in Chinese)
[17] AN X F,MENG Z J,WU G W. Development of grain yield monitoring system based on CAN bus technology[J]. Transactions of the CSAE,2015,31(Supp. 2):262-266.
[18]黎永键,赵祚喜,黄培奎,等.基于CAN总线的拖拉机导航控制系统设计与试验[J/OL].农业机械学报,2016,47(增刊):35-42.LI Yongjian,ZHAO Zuoxi,HUANG Peikui,et al. Design and experiment of navigation control system for tractor based on CAN bus[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2016,47(Supp.):35-42. http:∥www.j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=2016s006&journal_id=jcsam. DOI:10. 6041/j. issn.1000-1298. 2016. S0. 006.(in Chinese)
[19]白晓平,王卓,胡静涛,等.基于领航-跟随结构的联合收获机群协同导航控制方法[J/OL].农业机械学报,2017,48(7):14-21.BAI Xiaoping,WANG Zhuo,HU Jingtao,et al. Harvester group corporative navigation method based on leader-follower structure[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2017,48(7):14-21. http:∥www. j-csam.org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20170702&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2017. 07. 002.(in Chinese)
[20]蒋建东,张钧,李聪聪,等.履带式移动机器人自主跟随算法研究[J].浙江工业大学学报,2017,45(4):355-360.JIANG Jiandong,ZHANG Jun,LI Congcong,et al. Study on autonomous following algorithm of crawler-type mobile robot[J].Journal of Zhejiang University of Technology,2017,45(4):355-360.(in Chinese)
[21]张钧.履带式农业移动机器人自主跟随控制系统研究[D].杭州:浙江工业大学,2017.ZHANG Jun. Research on autonomous follow-up control system of crawler-type agricultural mobile robot[D]. Hangzhou:Zhejiang University of Technology,2017.(in Chinese)
[2]王帅.基于CAN总线的谷物联合收获机模块化智能监测系统研究[D].济南:济南大学,2017.WANG Shuai. Research on modular intelligent monitoring system for grain combine harvester based on CAN bus[D]. Ji'nan:University of Jinan,2017.(in Chinese)
[3]刘洪利,王熙.基于CAN总线的拖拉机机组作业性能分析[J/OL].农业机械学报,2016,47(增刊):30-34.LIU Hongli,WANG Xi. Analysis of tractor working performace based on CAN bus[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2016,47(Supp.):30-34. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=2016s005&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2016. S0. 005.(in Chinese)
[4]苗中华,褚剑钢,刘成良,等.采棉机智能监控系统CAN应用层协议设计[J/OL].农业机械学报,2012,43(1):180-184.MIAO Zhonghua,CHU Jian'gang,LIU Chengliang,et al. CAN application-layer protocol design of intelligent monitoring system for cotton-picking machine[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2012,43(1):180-184.http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20120132&journal_id=jcsam. DOI:10.6041/j. issn. 1000-1298. 2012. 01. 032.(in Chinese)
[5]魏新华,李耀明,陈进,等.联合收获机工作过程智能监控装置的系统集成[J].农业工程学报,2009,25(增刊2):56-60.WEI Xinhua,LI Yaoming,CHEN Jin,et al. System integration of working process intelligent monitoring and controlling devices for combine harvester[J]. Transactions of the CSAE,2009,25(Supp. 2):56-60.(in Chinese)
[6]张美娜,尹文庆,钱燕,等.联合收获机导航数据采集系统设计[J].农业机械学报,2011,42(增刊):117-121.ZHANG Meina,YIN Wenqing,QIAN Yan,et al. Design of navigation data collecting system for combine harvester[J].Transactions of the Chinese Society for Agricultural Machinery,2011,42(Supp.):117-121.(in Chinese)
[7] PITLA S K,LIN N,SHEARER S A,et al. Use of controller area network(CAN)data to determine field efficiencies of agricultural machinery[J]. Applied Engineering in Agriculture,2014,30(6):829-839.
[8] CHEN J,ZHENG Y,LI Y,et al. Study on integration of measurement and control system for combine harvester[C]∥International Conference on Computer and Computing Technologies in Agriculture. Springer,Berlin,Heidelberg,2010:607-614.
[9] HOFSTEE J W,GOENSE D. Simulation of a controller area network-based tractor-implement data bus according to ISO 11783[J]. Journal of Agricultural Engineering Research,1999,73(4):383-394.
[10] ISO 11783—2015 Tractors and machinery for agriculture and forestry—serial control and communications data network—part7:implement messages application layer[S]. 2015.
[11]宋岩,徐皑冬,石刚.基于CAN的农业森林机械控制网络研究及实现[J].仪器仪表学报,2006,27(增刊):547-549.SONG Yan,XU Aidong,SHI Gang. Research and realization of control network for agriculture and forestry machinery based on CAN[J]. Chinese Journal of Scientific Instrument,2006,27(Supp.):547-549.(in Chinese)
[12]张真,迟瑞娟,杜岳峰,等.基于CAN总线的玉米收获智能控制系统研究[J/OL].农业机械学报,2018,49(增刊):275-281.ZHANG Zhen,CHI Ruijuan,DU Yuefeng,et al. Investigation on CAN-bus-based corn harvester intelligent control system[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(Supp.):275-281. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=2018s036&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298.2018. S0. 036.(in Chinese)
[13]周旭. CAN总线通信实时性研究与实现[D].上海:复旦大学,2007.ZHOU Xu. Real time communication research and implementation based on CAN bus[D]. Shanghai:Fudan University,2007.(in Chinese)
[14] ISO 11783—2015 Tractors and machinery for agriculture and forestry—serial control and communications data network—part3:data link layer[S]. 2015.
[15]章磊,祝明,武哲.无人直升机系统CAN总线应用层协议设计[J].北京航空航天大学学报,2011,37(10):1264-1270.ZHANG Lei,ZHU Ming,WU Zhe. CAN bus application layer protocol design for unmanned helicopter system[J]. Journal of Beijing University of Aeronautics and Astronautics,2011,37(10):1264-1270.(in Chinese)
[16]陈曦. CAN总线实时性和可靠性若干问题的研究[D].天津:天津大学,2010.CHEN Xi. Research on real-time performance and reliability of CAN bus[D]. Tianjin:Tianjin University,2010.(in Chinese)
[17] AN X F,MENG Z J,WU G W. Development of grain yield monitoring system based on CAN bus technology[J]. Transactions of the CSAE,2015,31(Supp. 2):262-266.
[18]黎永键,赵祚喜,黄培奎,等.基于CAN总线的拖拉机导航控制系统设计与试验[J/OL].农业机械学报,2016,47(增刊):35-42.LI Yongjian,ZHAO Zuoxi,HUANG Peikui,et al. Design and experiment of navigation control system for tractor based on CAN bus[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2016,47(Supp.):35-42. http:∥www.j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=2016s006&journal_id=jcsam. DOI:10. 6041/j. issn.1000-1298. 2016. S0. 006.(in Chinese)
[19]白晓平,王卓,胡静涛,等.基于领航-跟随结构的联合收获机群协同导航控制方法[J/OL].农业机械学报,2017,48(7):14-21.BAI Xiaoping,WANG Zhuo,HU Jingtao,et al. Harvester group corporative navigation method based on leader-follower structure[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2017,48(7):14-21. http:∥www. j-csam.org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20170702&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2017. 07. 002.(in Chinese)
[20]蒋建东,张钧,李聪聪,等.履带式移动机器人自主跟随算法研究[J].浙江工业大学学报,2017,45(4):355-360.JIANG Jiandong,ZHANG Jun,LI Congcong,et al. Study on autonomous following algorithm of crawler-type mobile robot[J].Journal of Zhejiang University of Technology,2017,45(4):355-360.(in Chinese)
[21]张钧.履带式农业移动机器人自主跟随控制系统研究[D].杭州:浙江工业大学,2017.ZHANG Jun. Research on autonomous follow-up control system of crawler-type agricultural mobile robot[D]. Hangzhou:Zhejiang University of Technology,2017.(in Chinese)
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |