基于CAN总线的采集模块在机舱监测系统中的应用研究
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摘要
随着信息技术的飞速发展,以现场总线为基础的网络型控制系统已成为船舶自动化领域的发展方向。而CAN总线因为其总线协议的高可靠性、实时性和灵活性及其独特的设计和合理的成本已经成为总线通信网络的首选。CAN总线已被广泛应用于各个自动化控制系统中。从高速的网络到低价位的多路接线都可以使用CAN总线。例如,在汽车电子、自动控制、智能大厦、电力系统、安防监控等领域,CAN总线都具有不可比拟的优越性。基于此,本课题应用CAN总线技术,并在分析了CAN总线2.0B协议的基础上,采用结构化的方法设计了带有CAN总线通信接口的底层数据采集模块,并将其应用于船舶机舱监测系统。
本课题首先介绍了CAN总线的特点及CAN总线技术规范,然后详细阐述了模块的硬件设计和软件开发过程。在硬件方面,首先介绍了机舱监测系统的总体结构和本课题所设计模块的总体结构,然后对核心器件P87C591的管脚功能和CAN功能进行了分析说明,最后以结构化的设计方法设计了模块的CAN总线通信接口电路,模拟量、脉冲量和开关量的调理电路,单片机外围电路,并着重论述了CAN总线接口的冗余设计。在软件方面,完成了CAN总线初始化、发送、接收程序,双CAN总线冗余程序,AD采集程序,数字滤波程序和脉冲量采集程序的设计。另外自行定义和编写了CAN总线应用层协议,使之更加符合本系统的要求和特点,并应用测试软件ZLGCANTest进行了通信测试,测试结果显示底层模块可以与上位机顺利进行通信。
目前,在船舶控制系统中多数是集散型控制系统,而随着船舶控制对象的不断增加和系统增大,它已较难胜任复杂的控制对象。将现场总线CAN应用于船舶控制系统中可以分散简化控制对象,提高系统可靠性。
本课题基于CAN总线的数据采集模块已经进行了厂内调试,运行稳定、采集速度快、通信良好,达到了我们预期的效果,已安装到现场,投入使用。
Along with the rapid development of information technology, the network control system based on the Fieldbus has shown the right direction for developping ship automation. And the CAN bus has become the preferred for the high relibility, good real time , good flexibility performance, the idiographic design and rational cost. CAN bus has been applied in all automatic control system. It can be used not only in high speed network, but also the low cost routes connection. For example, in the field of automobile electronic, auto control, brain power edifice, electric power system, security-defense monitor and control. CAN bus has the superiority that can not be compared by others. So after analyzing the CAN bus protocol 2.0B, this thesis uses CAN bus to design the data acquisition module which contains the CAN bus interface with structurely method, and uses it in the ship's engine-room monitoring system .
The thesis first introduces the peculiarity and technical manual of CAN bus, then detailedly expatiates the design procedure of the hardware and software. In hardware, firstly introduces the structure of the system and the the structure of the data acquisition module. Secondly,expatiates the important chip P87C591 's characteristics, foot functions and the CAN controller in it detailedly. Thirdly divides the hardware into three modules functionally to design separately by the modularized method, which include signal dispose circuit, CAN bus communicational interface circuit and the other circuits constituted the minimum system of the MCU. Forthly gives the wiring diagram of the module. The redundance designment of CAN bus is emphasized. In software, the thesis finishes programs as CAN bus communication, CAN bus redundance , data acquisition and data processing. The thesis defines the application layer protocol in order to tally with the system, also uses the testing software ZLGCANTest to do the communication test. The result shows that the module can communicate with PC favourably.
At present,most of marine control system is distributed control system. With the increasing of marine control objects, it is not able to fit the complicated objects. Appling the CAN bus into marine control system may separate and simplify the control objects and improve the system's relibility.
The data acquisition module based on CAN bus has been debugged in the factory . Both of acquisition and communication are all right, which have achieved our anticipated effect, and have been installed and applied.
本课题首先介绍了CAN总线的特点及CAN总线技术规范,然后详细阐述了模块的硬件设计和软件开发过程。在硬件方面,首先介绍了机舱监测系统的总体结构和本课题所设计模块的总体结构,然后对核心器件P87C591的管脚功能和CAN功能进行了分析说明,最后以结构化的设计方法设计了模块的CAN总线通信接口电路,模拟量、脉冲量和开关量的调理电路,单片机外围电路,并着重论述了CAN总线接口的冗余设计。在软件方面,完成了CAN总线初始化、发送、接收程序,双CAN总线冗余程序,AD采集程序,数字滤波程序和脉冲量采集程序的设计。另外自行定义和编写了CAN总线应用层协议,使之更加符合本系统的要求和特点,并应用测试软件ZLGCANTest进行了通信测试,测试结果显示底层模块可以与上位机顺利进行通信。
目前,在船舶控制系统中多数是集散型控制系统,而随着船舶控制对象的不断增加和系统增大,它已较难胜任复杂的控制对象。将现场总线CAN应用于船舶控制系统中可以分散简化控制对象,提高系统可靠性。
本课题基于CAN总线的数据采集模块已经进行了厂内调试,运行稳定、采集速度快、通信良好,达到了我们预期的效果,已安装到现场,投入使用。
Along with the rapid development of information technology, the network control system based on the Fieldbus has shown the right direction for developping ship automation. And the CAN bus has become the preferred for the high relibility, good real time , good flexibility performance, the idiographic design and rational cost. CAN bus has been applied in all automatic control system. It can be used not only in high speed network, but also the low cost routes connection. For example, in the field of automobile electronic, auto control, brain power edifice, electric power system, security-defense monitor and control. CAN bus has the superiority that can not be compared by others. So after analyzing the CAN bus protocol 2.0B, this thesis uses CAN bus to design the data acquisition module which contains the CAN bus interface with structurely method, and uses it in the ship's engine-room monitoring system .
The thesis first introduces the peculiarity and technical manual of CAN bus, then detailedly expatiates the design procedure of the hardware and software. In hardware, firstly introduces the structure of the system and the the structure of the data acquisition module. Secondly,expatiates the important chip P87C591 's characteristics, foot functions and the CAN controller in it detailedly. Thirdly divides the hardware into three modules functionally to design separately by the modularized method, which include signal dispose circuit, CAN bus communicational interface circuit and the other circuits constituted the minimum system of the MCU. Forthly gives the wiring diagram of the module. The redundance designment of CAN bus is emphasized. In software, the thesis finishes programs as CAN bus communication, CAN bus redundance , data acquisition and data processing. The thesis defines the application layer protocol in order to tally with the system, also uses the testing software ZLGCANTest to do the communication test. The result shows that the module can communicate with PC favourably.
At present,most of marine control system is distributed control system. With the increasing of marine control objects, it is not able to fit the complicated objects. Appling the CAN bus into marine control system may separate and simplify the control objects and improve the system's relibility.
The data acquisition module based on CAN bus has been debugged in the factory . Both of acquisition and communication are all right, which have achieved our anticipated effect, and have been installed and applied.
引文
[1]张尹珠.中国造船业订单超越韩国因.环球时报,2007-3-22(6)
[2]喻方平.微型计算机在船舶中的应用.北京:电子工业出版社,1997.75-76
[3]刘世居.机舱监控系统的新发展(2).青岛远洋船员学院学报,1999,4:23-25
[4]战兴群,翟传润,张炎华,等.周期无人值守机舱监测报警系统方案研究.中国造船,2002,43(1):75-80
[5]夏继强,邢春香.现场总线工业控制网络技术.北京:北京航空航天大学出版社,2005.5-7
[6]高以成.现场总线控制系统(FCS).工业控制计算机,1997,11:34-36
[7]万曼影,刘三山,汤洁.基于CAN总线的机舱监控系统及数据采集模块的设计.交通与计算机,2001,5(19):46-48
[8]陈启昌.现场总线控制系统的优势和进展.华北电力技术,1997,9:42-44
[9]杨瑞红,于秀丽.CAN的特点及应用.甘肃科技,2004,5:47-49
[10]Xu yongfa,Li gongxuan,Dujun.A study of the Application of the CAN FieldBus in the Cabin Roboticized System(CRS)of Naval Vessel.IMECE,2003:208-223
[11]Chen zongyu,L.F.Wang,Y.H.Liu.The study of configuration Style CNC system based on CAN BUS.The International Journal of Advanced Manufacturing Technology,Springer London,2006(28):11-12
[12]乌宽明.CAN总线原理和应用系统设计.北京:科学出版社,1998.112-114
[13]史久根,张培仁,陈真勇.CAN现场总线系统设计技术.北京:国防工业出版社,2004.212-213
[14]饶运涛,邹继军,郑勇芸.现场总线CAN原理与应用技术.北京:北京航空航天大学出版社,2007.24-31
[15]黄学勤.基于CAN总线的汽车灯控网络系统的设计与实现:[硕士学位论文].南京:南京农业大学,2006
[16]陈学珍,陈旭武.CAN总线及应用.电气传动自动化,2005,27(5):51-53
[17]李锐,吴琳,谭南邻,等.CAN在工业测控系统中的应用.计算机应用,1999,19(5):59-60
[18]陈秀峰.基于CAN总线的套色控制系统的设计:[硕士学位论文].武汉:华中科技大学,2006
[19]阳宪惠.现场总线技术原理.北京:清华大学出版社,1999,135-136
[20]刘辉,赵永生.船舶机舱监测报警系统的设计.大连海事大学学报,1999,25(4):65-69
[21]Zhenghuayao,Guoyi,Huangxuewu.Investigation of Integrated Electric Propulsion Simulation System of Modern Ship.IMECE,2003:123-129
[22]李巍,曹建.现场总线技术与机舱自动化.交通部上海船舶运输科学研究所学报,2002,25(2):109-112
[23]周立功.P8XC591微控制器应用指南 http://www.zlgmcu.com
[24]Philips Semiconductors,Data Sheet P8xC591,2000
[25]周立功.P8XC591微控制器在CAN中的应用.http://www.zlgmcu.com
[26]Philips Semiconductors,SJA1000 stand-alone CAN controller.DATA SHEET,2002(8)
[27]Philips Semiconductors,CAN Controller Interface,Data Sheet PCA82C250,2000
[28]陈炜.基于CAN总线的智能传感器在FCS船舶监控系统中的应用:[硕士学位论文].上海:上海海事大学,2006
[29]李东生,张勇.Prote199SE电路设计教程.北京:电子工业出版社,2007.41-74
[30]朱定华,黄松,蔡苗.Protel99SE原理图和印制板设计.北京:清华大学出版社,2007.23-28,74-82,90-97
[31]禹春来.CAN总线冗余方法研究.测控技术,2003,22(10):28-30
[32]孙立辉,原亮.基于CAN总线的双机冗余系统设计方法.单片机与嵌入式系统应用,2002(9):33-35
[33]周立功.P87C591AD转换应用实例.http://www.zlgmcu.com
[34]王福瑞.单片微机测控系统设计大全.北京:北京航空航天大学出版社,2003.276-279
[35]王常力,罗安.分布式控制系统(DCS)设计与应用实例.北京:电子工业出版社,2004.344-346
[36]孙传友,孙晓宾,汉泽西,等.测控系统原理与设计.北京:北京航天航空大学出版社,2002.169-171
[37]刘迎春.MCS-51单片机原理及应用教程.北京:清华大学出版社,2005.332-334
[38]Philips Semiconductors,CAN Specification Version 2.0,Part A and B,1992
[39]蒋建文,林勇,韩江洪.CAN总线通信协议的分析与实现.计算机工程,2002,28(2):219-220
[40]Application note.Extended Frame Format-A new Option of the CAN Protocol.Products for CAN Applications,1998.83-85
[41]ZLG MCU,Field Bus Fundamental Communication of CAN bus,2003
[42]马忠梅.单片机的C语言应用程序设计(第三版).北京:北京航空航天大学出版社,2003:23-37
[43]周立功.CAN-bus通用测试软件及接口函数库使用手册 http://www.zlgmcu.com
[2]喻方平.微型计算机在船舶中的应用.北京:电子工业出版社,1997.75-76
[3]刘世居.机舱监控系统的新发展(2).青岛远洋船员学院学报,1999,4:23-25
[4]战兴群,翟传润,张炎华,等.周期无人值守机舱监测报警系统方案研究.中国造船,2002,43(1):75-80
[5]夏继强,邢春香.现场总线工业控制网络技术.北京:北京航空航天大学出版社,2005.5-7
[6]高以成.现场总线控制系统(FCS).工业控制计算机,1997,11:34-36
[7]万曼影,刘三山,汤洁.基于CAN总线的机舱监控系统及数据采集模块的设计.交通与计算机,2001,5(19):46-48
[8]陈启昌.现场总线控制系统的优势和进展.华北电力技术,1997,9:42-44
[9]杨瑞红,于秀丽.CAN的特点及应用.甘肃科技,2004,5:47-49
[10]Xu yongfa,Li gongxuan,Dujun.A study of the Application of the CAN FieldBus in the Cabin Roboticized System(CRS)of Naval Vessel.IMECE,2003:208-223
[11]Chen zongyu,L.F.Wang,Y.H.Liu.The study of configuration Style CNC system based on CAN BUS.The International Journal of Advanced Manufacturing Technology,Springer London,2006(28):11-12
[12]乌宽明.CAN总线原理和应用系统设计.北京:科学出版社,1998.112-114
[13]史久根,张培仁,陈真勇.CAN现场总线系统设计技术.北京:国防工业出版社,2004.212-213
[14]饶运涛,邹继军,郑勇芸.现场总线CAN原理与应用技术.北京:北京航空航天大学出版社,2007.24-31
[15]黄学勤.基于CAN总线的汽车灯控网络系统的设计与实现:[硕士学位论文].南京:南京农业大学,2006
[16]陈学珍,陈旭武.CAN总线及应用.电气传动自动化,2005,27(5):51-53
[17]李锐,吴琳,谭南邻,等.CAN在工业测控系统中的应用.计算机应用,1999,19(5):59-60
[18]陈秀峰.基于CAN总线的套色控制系统的设计:[硕士学位论文].武汉:华中科技大学,2006
[19]阳宪惠.现场总线技术原理.北京:清华大学出版社,1999,135-136
[20]刘辉,赵永生.船舶机舱监测报警系统的设计.大连海事大学学报,1999,25(4):65-69
[21]Zhenghuayao,Guoyi,Huangxuewu.Investigation of Integrated Electric Propulsion Simulation System of Modern Ship.IMECE,2003:123-129
[22]李巍,曹建.现场总线技术与机舱自动化.交通部上海船舶运输科学研究所学报,2002,25(2):109-112
[23]周立功.P8XC591微控制器应用指南 http://www.zlgmcu.com
[24]Philips Semiconductors,Data Sheet P8xC591,2000
[25]周立功.P8XC591微控制器在CAN中的应用.http://www.zlgmcu.com
[26]Philips Semiconductors,SJA1000 stand-alone CAN controller.DATA SHEET,2002(8)
[27]Philips Semiconductors,CAN Controller Interface,Data Sheet PCA82C250,2000
[28]陈炜.基于CAN总线的智能传感器在FCS船舶监控系统中的应用:[硕士学位论文].上海:上海海事大学,2006
[29]李东生,张勇.Prote199SE电路设计教程.北京:电子工业出版社,2007.41-74
[30]朱定华,黄松,蔡苗.Protel99SE原理图和印制板设计.北京:清华大学出版社,2007.23-28,74-82,90-97
[31]禹春来.CAN总线冗余方法研究.测控技术,2003,22(10):28-30
[32]孙立辉,原亮.基于CAN总线的双机冗余系统设计方法.单片机与嵌入式系统应用,2002(9):33-35
[33]周立功.P87C591AD转换应用实例.http://www.zlgmcu.com
[34]王福瑞.单片微机测控系统设计大全.北京:北京航空航天大学出版社,2003.276-279
[35]王常力,罗安.分布式控制系统(DCS)设计与应用实例.北京:电子工业出版社,2004.344-346
[36]孙传友,孙晓宾,汉泽西,等.测控系统原理与设计.北京:北京航天航空大学出版社,2002.169-171
[37]刘迎春.MCS-51单片机原理及应用教程.北京:清华大学出版社,2005.332-334
[38]Philips Semiconductors,CAN Specification Version 2.0,Part A and B,1992
[39]蒋建文,林勇,韩江洪.CAN总线通信协议的分析与实现.计算机工程,2002,28(2):219-220
[40]Application note.Extended Frame Format-A new Option of the CAN Protocol.Products for CAN Applications,1998.83-85
[41]ZLG MCU,Field Bus Fundamental Communication of CAN bus,2003
[42]马忠梅.单片机的C语言应用程序设计(第三版).北京:北京航空航天大学出版社,2003:23-37
[43]周立功.CAN-bus通用测试软件及接口函数库使用手册 http://www.zlgmcu.com