基于CANopen的多协议转换与传输机制研究
摘要
随着计算机和系统集成电路技术的不断发展,分布式控制系统正逐步普遍应用于船舶工业当中。但是由于分布式控制系统设备种类繁多,协议不尽相同,所以给数据的传输和集中管理带来了不小的困难。现场总线作为底层的一种拓扑性网络,可以创建一个双向通信、全数字化的控制系统。它可以使现场的多个设备之间以及现场设备与远程监控计算机进行连接,实现数据传输和信息交换。所以我们需要一个规范化的系统,它可以将底层设备的数据采集系统融合在一起,具有良好的传输性能,并可以实现实时监测和事务调度功能。
本文在探讨总线技术的基础上,应用CAN总线技术对船舶中的多协议转换及传输机制进行了研究。第一部分介绍了论文的研究目的和意义以及本文的内容和结构框架。第二部分在CAN总线的基础上分析了其应用层CANopen协议的技术规范,对CANopen协议各通信对象的实现进行了初步的探讨,为以后的实现奠定了基础。第三部分首先利用双冗余网络结构设计对CAN总线的实时性、可靠性以及经济性做了优化,然后是RS232/485到CAN总线的协议转换。第四部分对CANopen主站进行了设计,包括CANopen协议的传输机制与接收处理,事务调度算法和定时复合机制策略在总线中的实现。第五部分是结论与展望。
在研究过程中,首先解决了底层设备的协议转换,然后在CANopen高级协议的基础上,对网络拓扑及传输机制进行分析,最后是CANopen主站中的各种通信对象(NMT、PDO、SOD、SYNC)的传输实现。在系统的研究设计中,软硬件设计都采用了模块化的思想,在保证系统可靠性和稳定性的前提下,尽可能地减少硬件的设计成本。系统软件设计均采用的是C++语言编写,通信模块以C++通用类的方式提供给应用类去调用,应用中只需要在包含通信类文件的基础上简单地创建实例即可实现基本的CANopen通信功能。利用面向对象设计的方法大大提高了系统软件的可扩展性和可移植性。
Distributed control systems are widely and gradually used in shipbuilding industry with the computer and the development of integrated circuit technology systems. However, because of a wide range of distributed control system equipment and the different protocols, there are many difficulties in the data transmission and centralized management. As the underlying topology of a network, filed bus can create a two-way communication, all-digital control system. It can make the site between multiple devices and on-site equipment link with remote monitoring computer, achieve the purpose for data transfer and information exchange. So we need a standardized system, which can make the data acquisition systems of underlying device mix together and possess good transmission performance. Moreover, it should achieve the function of real-time monitoring and transaction scheduling.
This article carries on the research of the multi-protocol conversion and transport mechanism in ship, based on the probe of CAN-bus. The first part describes the purpose and significance of the research papers, as well as the content and structure of this framework. The second part analyzes the technical specifications of the application layer of CAN-bus (CANopen) based on the CAN-bus, carry out the preliminary study of the realization of communication objects in the CANopen for the future implementation. The third part first optimize the real time, reliability and economy of CAN-bus, using the double redundancy design, and then design the conversion between CAN bus protocol and RS232/485. The fourth section describes design of the master station, including the transmission mechanism and receiving treatment of CANopen protocol, the realization of transaction scheduling algorithms and high multi-use of resolution timer in bus. The fifth part of the paper is the conclusion and outlook.
In the course of the study, first, it solved the point of the underlying protocol conversion, and then analysis the network topology and transmission mechanisms based on CANopen, finally, the realization of communication objects (NMT, PDO, SOD, SYNC) in embedded system of slave and master. The modular plan was being used in the design of software and hardware, in the premise of ensuring reliability and stability of system, as far as possible to reduce hardware design cost. The preparation of system software program used C++ language, communication module presents as C++ general class which is called by the application class, the application has to only include the communication class file to complete basic CANopen communication function. The Object-oriented design improved the system software's scalability and portability greatly.
本文在探讨总线技术的基础上,应用CAN总线技术对船舶中的多协议转换及传输机制进行了研究。第一部分介绍了论文的研究目的和意义以及本文的内容和结构框架。第二部分在CAN总线的基础上分析了其应用层CANopen协议的技术规范,对CANopen协议各通信对象的实现进行了初步的探讨,为以后的实现奠定了基础。第三部分首先利用双冗余网络结构设计对CAN总线的实时性、可靠性以及经济性做了优化,然后是RS232/485到CAN总线的协议转换。第四部分对CANopen主站进行了设计,包括CANopen协议的传输机制与接收处理,事务调度算法和定时复合机制策略在总线中的实现。第五部分是结论与展望。
在研究过程中,首先解决了底层设备的协议转换,然后在CANopen高级协议的基础上,对网络拓扑及传输机制进行分析,最后是CANopen主站中的各种通信对象(NMT、PDO、SOD、SYNC)的传输实现。在系统的研究设计中,软硬件设计都采用了模块化的思想,在保证系统可靠性和稳定性的前提下,尽可能地减少硬件的设计成本。系统软件设计均采用的是C++语言编写,通信模块以C++通用类的方式提供给应用类去调用,应用中只需要在包含通信类文件的基础上简单地创建实例即可实现基本的CANopen通信功能。利用面向对象设计的方法大大提高了系统软件的可扩展性和可移植性。
Distributed control systems are widely and gradually used in shipbuilding industry with the computer and the development of integrated circuit technology systems. However, because of a wide range of distributed control system equipment and the different protocols, there are many difficulties in the data transmission and centralized management. As the underlying topology of a network, filed bus can create a two-way communication, all-digital control system. It can make the site between multiple devices and on-site equipment link with remote monitoring computer, achieve the purpose for data transfer and information exchange. So we need a standardized system, which can make the data acquisition systems of underlying device mix together and possess good transmission performance. Moreover, it should achieve the function of real-time monitoring and transaction scheduling.
This article carries on the research of the multi-protocol conversion and transport mechanism in ship, based on the probe of CAN-bus. The first part describes the purpose and significance of the research papers, as well as the content and structure of this framework. The second part analyzes the technical specifications of the application layer of CAN-bus (CANopen) based on the CAN-bus, carry out the preliminary study of the realization of communication objects in the CANopen for the future implementation. The third part first optimize the real time, reliability and economy of CAN-bus, using the double redundancy design, and then design the conversion between CAN bus protocol and RS232/485. The fourth section describes design of the master station, including the transmission mechanism and receiving treatment of CANopen protocol, the realization of transaction scheduling algorithms and high multi-use of resolution timer in bus. The fifth part of the paper is the conclusion and outlook.
In the course of the study, first, it solved the point of the underlying protocol conversion, and then analysis the network topology and transmission mechanisms based on CANopen, finally, the realization of communication objects (NMT, PDO, SOD, SYNC) in embedded system of slave and master. The modular plan was being used in the design of software and hardware, in the premise of ensuring reliability and stability of system, as far as possible to reduce hardware design cost. The preparation of system software program used C++ language, communication module presents as C++ general class which is called by the application class, the application has to only include the communication class file to complete basic CANopen communication function. The Object-oriented design improved the system software's scalability and portability greatly.
引文
[1]李玉锁.船舶综合信息系统[D].辽宁：大连海事大学,2005.
[2]李晶.船舶综合平台信息系统研究与实现[D].湖北：华中科技大学,2006.
[3]杨建华.船舶集成自动化[D].辽宁：大连海事大学,2007.
[4]李站.一种基于嵌入式系统的船舶综合信息系统设计[D].广东：中山大学,2010.
[5]彭元修.基于CAN总线的数据采集与控制系统研究[D].上海：上海海事大学,2005.
[6]段新,褚健,施一明.船舶综合数字信息系统研究与探讨[J].中国造船,2010,51(1)
[7]高旭Windows CE嵌入式操作系统下的CANopen主站实现方案及其应用研究[D].河北：河北工业大学,2007.
[8]荀百谊.基于CAN总线网络控制网络平台的研究与设计[D].辽宁：东北大学,2008.
[9]孟诏.基于CANopen协议的CAN总线控制系统研究[D].北京：北京工业大学,2008.
[10]张厚林CANopen通讯协议设计与实现[D].湖北：华中科技大学,2009.
[11]于锋.计算机网络与数据通信[M].北京：中国水利水电出版社,2003,8：105-107.
[12]蒋智康.基于CANopen协议的分布式控制系统的研究[D].广西：广西大学,2008.
[13]CANopen-Application Layer and communication Profile. CiA Draft Standard 301 Version 4.02[Z].2002.
[14]PIC18F458 DATA SHEET. Microchip Technology Inc[Z].2005.
[15]孙健.基于CANopen协议的新型分布式环网柜监控终端的研发[D].安徽：合肥工业大学,2007.
[16]陈骥.基于CANopen高级协议和ED调度算法的电动汽车网络协议研究[D].天津：天津大学,2003.
[17]程俊.基于CANopen协议的电动执行机构从站研究[D].广东：华南理工大学,2010.
[18]赵峰CANopen协议研究及一体化适配器开发[D].北京：北京化工大学,2009.
[19]李志军.船舶总线协议转换装置的硬件和软件设计[D].辽宁：大连海事大学,2008.
[20]王福友.船用CAN网络信息交换及监测装置的设计与实现[D].黑龙江：哈尔滨工程大学,2008.
[21]李慧,孙波.网络监控技术的研究与实现[J].计算机工程与设计,2004,25(8)：1301-1304.
[22]周跃峰CANopen协议在冗余系统中的应用研究[D].四川：西南交通大学,2009.
[23]熊瑞平.面向网络化制造的智能监控技术研究[D].四川：四川大学,2006.
[24]宋晓强CAN bus高层协议CANopen的研究以及在模块化CAN控制器上的实现[D].天津：天津大学,2004.
[25]何炎祥,刘朝阳.分布式实时数据库系统中一种新的复制控制策略[J].小型微型计算机系统,2000,21(3)：298-301.
[26]李斌.基于CAN总线网络控制系统调度算法的分析与研究[D].天津：天津大学,2003.
[27]Nolte, T.; Hansson, H.; Norstrom,C.Probabilistic worst-case response-time analysis for the controller area network.,Real-Time and Embedded Technology and Applications Symposium,2003,Page(s):200-207.
[28]曲凤丽.汽车网络研究及CAN总线总线网络拓扑的优化[D].浙江：浙江大学,2008.
[29]Zuberi,K.M.;Shin,K.G.Scheduling messages on controller area network for real-time CIMapplications, Robotics and Automation,Vol.13(2),1997,Page(s):310-316.
[30].Zuberi,K.M.;Shin,K.G.Design and implementation of efficient message scheduling for controller area network,Computers,Vol.49(2),2000,Page(s):182-188.
[31]吕巧艳,高守乐,裴立端,徐卫东,韩朝军.基于SJA1000的CAN_RS232/485接口卡的设计[J].煤炭工程,2005(9).
[32]张海艳,喻林,刘彦成,孙凡金.CAN总线与RS485总线协议转换器的设计[J].电气开关,2008(6).
[33]杨凌霄,杨校辉,刘艳辉RS485-CAN协议转换器的设计与应用[J].嵌入式系统应用,2010(26)：7-2.
[34]邓广福,刘光达,周志坚RS232-CAN协议转换器的设计及应用[J].吉林大学学报,2006,24(4).
[35]张海艳.RS232/485与CAN总线协议转换器的研究与设计[D].辽宁：大连海事大学,2008.
[36]Bjame Stroustrup. The C++ Programming Language(Special Edition)北京：高等教育出版社,2001：786～787.
[37]林涛.嵌入式系统Windows CE的研究[J].微计算机信息,2006,22(6)：91-93.
[38]任家富,庹先国,陶永莉等编著.数据采集与总线技术[M].北京：北京航空航天大学出版社,2008,1：72-73.
[39]CANopen Framework for CANopen Managers and Programmable CANopen Devices.CiA Draft Standard Proposal 302 V3.2.1,2003.
[40]CANopen:high-level protocol for CAN-bus. NIKHEF internal documentation,2000.
[41]汗兵,李存斌,陈鹏等编著.EVC高级编程及其应用开发[M].北京：中国水利水电出版社,2005,1：157-158.
[42]孔鹏.Visual C++ 6.0完全自学手册[M].北京：机械工业出版社,2008,1：439-441.
[43]吕京国,黄国满,杨明辉.用Visual C++实现大数量的快速存取[J].测绘科学,2002,27(3).
[44][美]Jeffrey Richter. Programming Applications for Microsoft Windows[M]北京：清华大学出版社,2008,1.
[45]宋威CANopen现场总线应用层协议主站的开发与实现[D].北京：北京工业大学,2008.
[2]李晶.船舶综合平台信息系统研究与实现[D].湖北：华中科技大学,2006.
[3]杨建华.船舶集成自动化[D].辽宁：大连海事大学,2007.
[4]李站.一种基于嵌入式系统的船舶综合信息系统设计[D].广东：中山大学,2010.
[5]彭元修.基于CAN总线的数据采集与控制系统研究[D].上海：上海海事大学,2005.
[6]段新,褚健,施一明.船舶综合数字信息系统研究与探讨[J].中国造船,2010,51(1)
[7]高旭Windows CE嵌入式操作系统下的CANopen主站实现方案及其应用研究[D].河北：河北工业大学,2007.
[8]荀百谊.基于CAN总线网络控制网络平台的研究与设计[D].辽宁：东北大学,2008.
[9]孟诏.基于CANopen协议的CAN总线控制系统研究[D].北京：北京工业大学,2008.
[10]张厚林CANopen通讯协议设计与实现[D].湖北：华中科技大学,2009.
[11]于锋.计算机网络与数据通信[M].北京：中国水利水电出版社,2003,8：105-107.
[12]蒋智康.基于CANopen协议的分布式控制系统的研究[D].广西：广西大学,2008.
[13]CANopen-Application Layer and communication Profile. CiA Draft Standard 301 Version 4.02[Z].2002.
[14]PIC18F458 DATA SHEET. Microchip Technology Inc[Z].2005.
[15]孙健.基于CANopen协议的新型分布式环网柜监控终端的研发[D].安徽：合肥工业大学,2007.
[16]陈骥.基于CANopen高级协议和ED调度算法的电动汽车网络协议研究[D].天津：天津大学,2003.
[17]程俊.基于CANopen协议的电动执行机构从站研究[D].广东：华南理工大学,2010.
[18]赵峰CANopen协议研究及一体化适配器开发[D].北京：北京化工大学,2009.
[19]李志军.船舶总线协议转换装置的硬件和软件设计[D].辽宁：大连海事大学,2008.
[20]王福友.船用CAN网络信息交换及监测装置的设计与实现[D].黑龙江：哈尔滨工程大学,2008.
[21]李慧,孙波.网络监控技术的研究与实现[J].计算机工程与设计,2004,25(8)：1301-1304.
[22]周跃峰CANopen协议在冗余系统中的应用研究[D].四川：西南交通大学,2009.
[23]熊瑞平.面向网络化制造的智能监控技术研究[D].四川：四川大学,2006.
[24]宋晓强CAN bus高层协议CANopen的研究以及在模块化CAN控制器上的实现[D].天津：天津大学,2004.
[25]何炎祥,刘朝阳.分布式实时数据库系统中一种新的复制控制策略[J].小型微型计算机系统,2000,21(3)：298-301.
[26]李斌.基于CAN总线网络控制系统调度算法的分析与研究[D].天津：天津大学,2003.
[27]Nolte, T.; Hansson, H.; Norstrom,C.Probabilistic worst-case response-time analysis for the controller area network.,Real-Time and Embedded Technology and Applications Symposium,2003,Page(s):200-207.
[28]曲凤丽.汽车网络研究及CAN总线总线网络拓扑的优化[D].浙江：浙江大学,2008.
[29]Zuberi,K.M.;Shin,K.G.Scheduling messages on controller area network for real-time CIMapplications, Robotics and Automation,Vol.13(2),1997,Page(s):310-316.
[30].Zuberi,K.M.;Shin,K.G.Design and implementation of efficient message scheduling for controller area network,Computers,Vol.49(2),2000,Page(s):182-188.
[31]吕巧艳,高守乐,裴立端,徐卫东,韩朝军.基于SJA1000的CAN_RS232/485接口卡的设计[J].煤炭工程,2005(9).
[32]张海艳,喻林,刘彦成,孙凡金.CAN总线与RS485总线协议转换器的设计[J].电气开关,2008(6).
[33]杨凌霄,杨校辉,刘艳辉RS485-CAN协议转换器的设计与应用[J].嵌入式系统应用,2010(26)：7-2.
[34]邓广福,刘光达,周志坚RS232-CAN协议转换器的设计及应用[J].吉林大学学报,2006,24(4).
[35]张海艳.RS232/485与CAN总线协议转换器的研究与设计[D].辽宁：大连海事大学,2008.
[36]Bjame Stroustrup. The C++ Programming Language(Special Edition)北京：高等教育出版社,2001：786～787.
[37]林涛.嵌入式系统Windows CE的研究[J].微计算机信息,2006,22(6)：91-93.
[38]任家富,庹先国,陶永莉等编著.数据采集与总线技术[M].北京：北京航空航天大学出版社,2008,1：72-73.
[39]CANopen Framework for CANopen Managers and Programmable CANopen Devices.CiA Draft Standard Proposal 302 V3.2.1,2003.
[40]CANopen:high-level protocol for CAN-bus. NIKHEF internal documentation,2000.
[41]汗兵,李存斌,陈鹏等编著.EVC高级编程及其应用开发[M].北京：中国水利水电出版社,2005,1：157-158.
[42]孔鹏.Visual C++ 6.0完全自学手册[M].北京：机械工业出版社,2008,1：439-441.
[43]吕京国,黄国满,杨明辉.用Visual C++实现大数量的快速存取[J].测绘科学,2002,27(3).
[44][美]Jeffrey Richter. Programming Applications for Microsoft Windows[M]北京：清华大学出版社,2008,1.
[45]宋威CANopen现场总线应用层协议主站的开发与实现[D].北京：北京工业大学,2008.