列车用CAN总线高层协议研究与实现
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摘要
现场总线(Fieldbus)技术是当前自动化技术的热点之一。现场总线技术集先进的嵌入式系统、现代通信、自动控制理论以及网络技术等于一身，充分体现出先进技术的进步能为人类带来的便利。
CAN总线作为ISO11898国际标准的现场总线技术，以其自身的优势不断得到推广和应用，但是CAN本身并非一个完整的协议，只包括物理层和数据链路层两个底层协议，实践表明，即使最简单的CAN分布式系统，仅仅靠两层协议规范是不够的，要进行高效率的通讯还需要进一步开发高层协议。近年来，各大组织机构先后推出的CAN总线应用层协议多达四十种，其中CANopen正在被列入IEC61375标准行列。
铁路行业总线应用具有其自身的特点，目前还没有出现面向铁路专用的CAN总线应用层协议标准，本文以TCN(IEC61375-1)为参考，结合CAN总线自身的底层协议特点，借鉴了其它CAN应用层协议的优点，设计出面向列车总线应用的CAN总线应用层协议——Train-CAN协议。本文从该协议的报文分配、报文传输机制、网络管理方法以及标准设备四大方面加以描述，并介绍了一个典型的应用——分布式车载故障检测记录系统，将系统中的数据传输进行了归类，描述了系统节点的网络功能，并对系统的数据流分布进行了分析，最后将协议在系统中实现。正是因为有了分布式车载故障检测记录系统，Train-CAN才能形成初步的设计思路，经过不断测试实验和修改完善，最终形成自定制列车用CAN总线应用层协议。
The technology of fieldbus is one of the hotspot in recent automation application field. The technology of fieldbus integrated advanced technology of embedded system, modern communication, the theory of autocontrol and networks in its own system. It incarnated the convenience bringed to people by the advancement of advanced technology.
CAN was the international standard ISO11898 of fieldbus. With its predominance, CAN was ceaselessly extended and applied. But CAN was not a complete protocol. It contained two layers of physics and data link only. To play high efficiency in communication, the application layer protocol of CAN should be developed. In recent years, several large-scale organizations gave out their CAN application layer protocols up to forty kinds, as one of which, CANopen is now being listed to the standard of IEC61375.
The fieldbus application in railway has its own specialty. There has been no special CAN bus application layer standard protocol faced to railway application up to now. In this paper, the author designed new CAN bus application layer protocol named Train-CAN faced to train application used TCN(IEC61375-1) for reference and combined the specialty of bottom layer in CAN bus model, and used other CAN application layer protocol's excellence for reference. The author described the protocol in four parts: the assignment of message, the transmission rules of message, the network management and the description of standard equipment. And then the author introduced a typical application of the detecting and recording system of locomotive instant fault .In this section, the data transmission of system was classified, the network function of each node was described, the distributary of data stream was analyzed and finally the protocol was realized in this system. Just because of the detecting and recording system of locomotive instant fault, the Train-CAN was provided primary design idea, was tested and improved, and finally was formed as special user-defined CAN bus application layer protocol faced to train application.
CAN总线作为ISO11898国际标准的现场总线技术，以其自身的优势不断得到推广和应用，但是CAN本身并非一个完整的协议，只包括物理层和数据链路层两个底层协议，实践表明，即使最简单的CAN分布式系统，仅仅靠两层协议规范是不够的，要进行高效率的通讯还需要进一步开发高层协议。近年来，各大组织机构先后推出的CAN总线应用层协议多达四十种，其中CANopen正在被列入IEC61375标准行列。
铁路行业总线应用具有其自身的特点，目前还没有出现面向铁路专用的CAN总线应用层协议标准，本文以TCN(IEC61375-1)为参考，结合CAN总线自身的底层协议特点，借鉴了其它CAN应用层协议的优点，设计出面向列车总线应用的CAN总线应用层协议——Train-CAN协议。本文从该协议的报文分配、报文传输机制、网络管理方法以及标准设备四大方面加以描述，并介绍了一个典型的应用——分布式车载故障检测记录系统，将系统中的数据传输进行了归类，描述了系统节点的网络功能，并对系统的数据流分布进行了分析，最后将协议在系统中实现。正是因为有了分布式车载故障检测记录系统，Train-CAN才能形成初步的设计思路，经过不断测试实验和修改完善，最终形成自定制列车用CAN总线应用层协议。
The technology of fieldbus is one of the hotspot in recent automation application field. The technology of fieldbus integrated advanced technology of embedded system, modern communication, the theory of autocontrol and networks in its own system. It incarnated the convenience bringed to people by the advancement of advanced technology.
CAN was the international standard ISO11898 of fieldbus. With its predominance, CAN was ceaselessly extended and applied. But CAN was not a complete protocol. It contained two layers of physics and data link only. To play high efficiency in communication, the application layer protocol of CAN should be developed. In recent years, several large-scale organizations gave out their CAN application layer protocols up to forty kinds, as one of which, CANopen is now being listed to the standard of IEC61375.
The fieldbus application in railway has its own specialty. There has been no special CAN bus application layer standard protocol faced to railway application up to now. In this paper, the author designed new CAN bus application layer protocol named Train-CAN faced to train application used TCN(IEC61375-1) for reference and combined the specialty of bottom layer in CAN bus model, and used other CAN application layer protocol's excellence for reference. The author described the protocol in four parts: the assignment of message, the transmission rules of message, the network management and the description of standard equipment. And then the author introduced a typical application of the detecting and recording system of locomotive instant fault .In this section, the data transmission of system was classified, the network function of each node was described, the distributary of data stream was analyzed and finally the protocol was realized in this system. Just because of the detecting and recording system of locomotive instant fault, the Train-CAN was provided primary design idea, was tested and improved, and finally was formed as special user-defined CAN bus application layer protocol faced to train application.
引文
[1] IEC61375-1-1999, Part 1: "Train Communication Network"
[2] zur Bonsen, The Multifunction Vehicle Bus (MVB), Factory Communication Systems, 1995
[3] Jaime Jimenez, Jose L.Martin, Carlos Cuadrado, Jagoba Arias and Jesus Lazaro, "A Top-down Design for the Train Communication Network", 2003 IEEE
[4] 马晨普，《一种适合于铁路机车车辆使用的CAN协议开发》，电力机车与城轨车辆，2005年第28卷第4期，P17-P19
[5] 刘文清，“基于TCN的列车通信网络系统研究”，硕士研究生学位论文，2007
[6] 谢维达、赵亚辉、徐晓松，《现场总线与列车通信网络》，工业控制计算机，2002年15卷第1期，P5-P10
[7] 刘俊艳，“多功能车厢总线的应用研究”，硕士研究生学位论文，2001
[8] 胡海建，“基于IEC61375标准的MVB通信控制器设计”，硕士研究生学位论文，2003
[9] 崔冬建，“Lon Works分布式控制网络的应用研究”，硕士研究生学位论文，2002
[10] 张大勇，“CAN总线在机车故障检测系统中应用的研究”，硕士研究生学位论文，2004
[11] 饶运涛，邹继军，郑勇芸编著，《现场总线CAN原理与应用技术》，北京航空航天大学出版社，2003
[12] 杜尚丰、曹晓钟、徐津，《CAN总线测控技术及其应用》，电子工业出版社，2007
[13] 周立功等，《iCAN现场总线原理与应用》，北京航空航天大学出版社，2007
[14] 王金明，《Verilog HDL程序设计教程》，人民邮电出版社，2004
[15] 小林芳直[日]，《数字逻辑屯路的ASIC设计》，科学出版社，2004
[16] 张培仁、孙轶、蒋海峰等《嵌入式微处理器原理、系统设计与应用》，清华大学出版社，2007
[2] zur Bonsen, The Multifunction Vehicle Bus (MVB), Factory Communication Systems, 1995
[3] Jaime Jimenez, Jose L.Martin, Carlos Cuadrado, Jagoba Arias and Jesus Lazaro, "A Top-down Design for the Train Communication Network", 2003 IEEE
[4] 马晨普，《一种适合于铁路机车车辆使用的CAN协议开发》，电力机车与城轨车辆，2005年第28卷第4期，P17-P19
[5] 刘文清，“基于TCN的列车通信网络系统研究”，硕士研究生学位论文，2007
[6] 谢维达、赵亚辉、徐晓松，《现场总线与列车通信网络》，工业控制计算机，2002年15卷第1期，P5-P10
[7] 刘俊艳，“多功能车厢总线的应用研究”，硕士研究生学位论文，2001
[8] 胡海建，“基于IEC61375标准的MVB通信控制器设计”，硕士研究生学位论文，2003
[9] 崔冬建，“Lon Works分布式控制网络的应用研究”，硕士研究生学位论文，2002
[10] 张大勇，“CAN总线在机车故障检测系统中应用的研究”，硕士研究生学位论文，2004
[11] 饶运涛，邹继军，郑勇芸编著，《现场总线CAN原理与应用技术》，北京航空航天大学出版社，2003
[12] 杜尚丰、曹晓钟、徐津，《CAN总线测控技术及其应用》，电子工业出版社，2007
[13] 周立功等，《iCAN现场总线原理与应用》，北京航空航天大学出版社，2007
[14] 王金明，《Verilog HDL程序设计教程》，人民邮电出版社，2004
[15] 小林芳直[日]，《数字逻辑屯路的ASIC设计》，科学出版社，2004
[16] 张培仁、孙轶、蒋海峰等《嵌入式微处理器原理、系统设计与应用》，清华大学出版社，2007