基于CANopen的智能监控上位系统研究
|
摘要
目前船舶智能监控系统存在着系统结构复杂、维护不方便,设备互操作性差,以及缺乏对系统状态信息进行智能管理等问题。本课题在比较国内外船舶智能监控系统的基础上,制定了能满足工程需求的系统方案。
本文分析了CANopen协议结构和各通信对象的特点,介绍了EM9000开发平台、WinCE操作系统、Embedded Visual C++的编程环境。充分利用在Embedded Visual C++环境下的多线程技术、回调处理、消息处理、文件处理机制,实现了船舶智能监控上位软件系统。通过调用底层CAN通信动态链接库中标准接口完成报文的基本收发,根据具体应用背景封装独立的类实现CANopen通信,在其中主要完成了各种对象的通信和对象字典的建立。
程序设计采用模块化的设计思想,增强了软件的灵活性。论文详细阐述了应用程序中实时显示模块、网络管理模块、系统配置模块、实时打印模块的相互关系及处理流程。智能监控系统接收下位模拟量数据,根据不同的数值进行实时显示和报警处理。通过上位机发送NMT、SDO对象对下位节点进行实时的管理和配置,其中有证实的服务,增强了系统的安全性和可靠性,WinCE操作系统自身带有的时间处理方式,使系统中的定时处理更加方便和准确。
测试结果表明,该系统运行稳定,界面显示实时生动,并具备存储、打印等功能,有很高的应用价值。
At present, the shipping intelligent monitoring system has many problems of complex structure, poor equipment interoperability, inconvenient maintenance and lack of intelligent management of state information. An intelligent monitoring system was developed in this paper to meet the applied needs after researched the actuality of the system in domestic and overseas.
The structure of CANopen protocol, the characteristic of object dictionary, the developed platform of EM9000,WinCE operation system and Embedded Visual C++ are introduced. It fulfilled the software system using some technology of multithread , callback processing, message and document handling mechanism in the Embedded Visual C++ . The communication between objects and the object dictionary are established by calling the standard transceiver interface of CAN dynamic link library and packaging CANopen communication class.
Modularize design concept was adopted to the program, and it enhanced the flexibility of the software. The paper discussed the relationship among the real-time display module, network management module, system configuration module and real-time print module and their corresponding disposing processes . The system received the analog data, and the data will real-time display or give an alarm. The upper-computer can manage and configure the nodes of lower-computer on real-time by sending some message of the nodes. The confirmed service enhanced the system’s security and reliability. The operating system uses its own time disposed mode, and it makes timing more convenient and accurate.
The experimental results show that the system runs stably and the interface displays vividly. The system also has some other functions, for example memory and printing and so on. The system has highly applied value.
本文分析了CANopen协议结构和各通信对象的特点,介绍了EM9000开发平台、WinCE操作系统、Embedded Visual C++的编程环境。充分利用在Embedded Visual C++环境下的多线程技术、回调处理、消息处理、文件处理机制,实现了船舶智能监控上位软件系统。通过调用底层CAN通信动态链接库中标准接口完成报文的基本收发,根据具体应用背景封装独立的类实现CANopen通信,在其中主要完成了各种对象的通信和对象字典的建立。
程序设计采用模块化的设计思想,增强了软件的灵活性。论文详细阐述了应用程序中实时显示模块、网络管理模块、系统配置模块、实时打印模块的相互关系及处理流程。智能监控系统接收下位模拟量数据,根据不同的数值进行实时显示和报警处理。通过上位机发送NMT、SDO对象对下位节点进行实时的管理和配置,其中有证实的服务,增强了系统的安全性和可靠性,WinCE操作系统自身带有的时间处理方式,使系统中的定时处理更加方便和准确。
测试结果表明,该系统运行稳定,界面显示实时生动,并具备存储、打印等功能,有很高的应用价值。
At present, the shipping intelligent monitoring system has many problems of complex structure, poor equipment interoperability, inconvenient maintenance and lack of intelligent management of state information. An intelligent monitoring system was developed in this paper to meet the applied needs after researched the actuality of the system in domestic and overseas.
The structure of CANopen protocol, the characteristic of object dictionary, the developed platform of EM9000,WinCE operation system and Embedded Visual C++ are introduced. It fulfilled the software system using some technology of multithread , callback processing, message and document handling mechanism in the Embedded Visual C++ . The communication between objects and the object dictionary are established by calling the standard transceiver interface of CAN dynamic link library and packaging CANopen communication class.
Modularize design concept was adopted to the program, and it enhanced the flexibility of the software. The paper discussed the relationship among the real-time display module, network management module, system configuration module and real-time print module and their corresponding disposing processes . The system received the analog data, and the data will real-time display or give an alarm. The upper-computer can manage and configure the nodes of lower-computer on real-time by sending some message of the nodes. The confirmed service enhanced the system’s security and reliability. The operating system uses its own time disposed mode, and it makes timing more convenient and accurate.
The experimental results show that the system runs stably and the interface displays vividly. The system also has some other functions, for example memory and printing and so on. The system has highly applied value.
引文
[1] 尚作斌,林叶锦,杨金保.船舶机舱自动化系统的发展趋势研究.世界海运,2001,24(4):38～39
[2] 孙建波,郭晨,张旭.船舶机舱监测和报警系统的设计与实现.系统仿真学报,2006,18(2):851～856
[3] 孟宪尧,白广来,韩新洁.智能型船舶机舱监测报警系统.大连海事大学学报,2001,27(3):22～25
[4] 张显库,任光,刘军.综合船舶监控系统设计.中国造船,2002,43(2):72～79
[5] 战兴群,赵隽,张炎华.机舱监测报警系统研制.船舶工程,2001(3):42～47
[6] 张均东,闫慧琦,余剑翔.基于 CAN 总线的船舶监控系统设计.测控技术,2003,22(10):24-27
[7] 何光宇,胡正.针对工业控制的 CANopen 系统.微计算机信息.测控自动化,2003(12):4～6
[8] 程坷飞,王渝.基于 CANopen 协议的车载平台数据通讯系统.微计算机信息.嵌入式网络技术,2005(7):45～46
[9] 杨如峰,赵国军,郑尚透.基于 CANopen 协议的电梯控制系统的研究.工业控制计算机.2006,19(6)3～4
[10] 港口航运业要闻综述,中国国际海运网.2007(8)
[11] 贾宝柱,任光,王冬捷.船舶机舱综合监控系统可靠性分析及设计.2003,29(1):27-30
[12] 叶浩峰.CANopen 总线的原理以及实现[硕士学位论文.华南理工大学,2005
[13] CANopen Device Profile for Generic I/O Modules.CiA Draft Standard 401,VOL2.1,2002
[14] 谢红胜.基于 CAN 总线的 UPS 智能模块化技术研究:[硕士学位论文].华中科技大学,2004
[15] 英创信息技术有限公司,EM9000 嵌入式模块开发评估套件手册,2007.3
[16] 万松峰,黄惟公.基于 ARM 的嵌入式 Linux 操作系统移植.西华大学学报.2005(11),24(6):27～28
[17] M.Farsi,K.Ratcliff,ManuelBarbosa.An introduction to CANopen.Computer & Control Engineering Journal,1999:161～168
[18] 吴爱国,刘莉.CAN 总线控制系统的应用层协议 CANopen 剖析.微计算机信息,2003,19(3):27～29
[19] 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
[20] 王俊波,胥布工.CANopen 协议分析与实现.嵌入式网络技术与应用,2006,22(6):104～106
[21] CANopen Application Layer and Communication Profile.CiA Draft Standard 301 VOL4.02,2002
[22] CANopen Framework for CANopen Managers and Programmable CANopen Devices.CiA Draft Standard Proposal 302 VOL 3.2.1,2003
[23] CANopen high-level protocol for CAN-bus.NIKHEF internal documentation,2000
[24] CANopen Electronic data sheet specification for CANopen.CiA Draft Standard 306 VOL 1.3,2005
[25] CANopen Master API for Windows.Software Version 4.0.IXXAT Automation GmbH
[26] CANopen Master/Slave Software.Software Version 4.21.IXXAT Automation GmbH
[27] 邹继军,饶运涛.CAN 总线系统智能节点设计.广州周立功单片机发展有限公司,华东地质学院信息工程系
[28] 金家峰.一种崭新的现场测控网络.微计算机信息,1995 (5):38~42
[29] Olaf Pfeiffer,Andrew Ayre.Christian Keydel.Embedded Networking with CAN and CANopen.RTC Books,2003
[30] AdrianTang,SophiaScoggins,戴浩译.开放式网络和开放系统互联,北京:电子工业出版社,1994
[31] Mirko Tischer.Master And Slave In The CANopen World.Vector Informatik GmbH,2004
[32] CANopen Layer Setting Services and Protocol.CiA Draft Standard 305 VOL1.1.1,2002
[33] John Lakos.大规模 C++程序设计,李师贤,明仲,曾新红等译.北京:中国电力出版社,2003,212~213
[34] Bjame Stroustrup.The C++ Programming Language(Special Edition).北京:高等教育出版社,2001,786~787
[35] 孙鑫,余安萍.VC++深入详解.北京:电子工业出版社,2001,3~4
[36] 钱燕.基于EVC环境的串口通信程序设计.科学技术与工程,2007(5),7(10)
[37] Jeffrey Richer著(美).王建华,张焕生译.Windows 核心编程.北京:机械工业出版社,2006(9),45~50
[38] 汪兵,李存斌,陈鹏.EVC高级编程及其应用开发.北京:中国水利水电出版社,2005,185~222
[39] 曹昊,李隆,钟中.多线程技术在工控软件中的应用.上海大学学报(自然科学版),1999(5):45～49
[40] CANopen Framework for Maritime Electronics.CiA Draft Standard 307 VOL1.0.1,2002
[41] 谈赞.低压配电监控上位机系统的设计与实现:[硕士学位论文].大连理工大学,2005
[42] Cena, Gianluca, Valenzano,et al. Improved CAN fieldbus industrial application. IEEE Transactions on IndustrialE lectronics,1997,44(4):553～56
[43] CANopen electronic data sheets pecificationf or CANopen (EDS).CiA DSP306 V 1.1.29 June 2001.
[44] 孙建波,郭晨,张旭.船舶机舱监测和报警系统的设计与实现.系统仿真学报,2006,18(2):851～856
[45] M.Farsi,K.Ratcliff,ManuelBarbosa.An introduction to CANopen. Computer & Control Engineering Journal,1999:161～168
[46] 孟宪尧,白广来,韩新洁.智能型船舶机舱监测报警系统.大连海事大学学报,2001,27(3):22～25
[47] 张显库,任光,刘军.综合船舶监控系统设计.中国造船,2002,43(2):72～79
[48] 菜月明,刘浩.基于 CAN 总线的工业控制系统.中国仪器仪表,2001:16～18
[49] ESC/P,ESC/P2,ESC/PK,ESC/PK2程序设计指南.EPSON
[50] 陆斌,何友金.VC 中对输入设备的响应.测控仪表自动化,2003(7):79～80
[51] USB-to-CAN compact.Intelligent PC/CAN Interface
[52] CanAnalyser/32.Powerful CAN Analyzing Tool.Version 1.82
[2] 孙建波,郭晨,张旭.船舶机舱监测和报警系统的设计与实现.系统仿真学报,2006,18(2):851～856
[3] 孟宪尧,白广来,韩新洁.智能型船舶机舱监测报警系统.大连海事大学学报,2001,27(3):22～25
[4] 张显库,任光,刘军.综合船舶监控系统设计.中国造船,2002,43(2):72～79
[5] 战兴群,赵隽,张炎华.机舱监测报警系统研制.船舶工程,2001(3):42～47
[6] 张均东,闫慧琦,余剑翔.基于 CAN 总线的船舶监控系统设计.测控技术,2003,22(10):24-27
[7] 何光宇,胡正.针对工业控制的 CANopen 系统.微计算机信息.测控自动化,2003(12):4～6
[8] 程坷飞,王渝.基于 CANopen 协议的车载平台数据通讯系统.微计算机信息.嵌入式网络技术,2005(7):45～46
[9] 杨如峰,赵国军,郑尚透.基于 CANopen 协议的电梯控制系统的研究.工业控制计算机.2006,19(6)3～4
[10] 港口航运业要闻综述,中国国际海运网.2007(8)
[11] 贾宝柱,任光,王冬捷.船舶机舱综合监控系统可靠性分析及设计.2003,29(1):27-30
[12] 叶浩峰.CANopen 总线的原理以及实现[硕士学位论文.华南理工大学,2005
[13] CANopen Device Profile for Generic I/O Modules.CiA Draft Standard 401,VOL2.1,2002
[14] 谢红胜.基于 CAN 总线的 UPS 智能模块化技术研究:[硕士学位论文].华中科技大学,2004
[15] 英创信息技术有限公司,EM9000 嵌入式模块开发评估套件手册,2007.3
[16] 万松峰,黄惟公.基于 ARM 的嵌入式 Linux 操作系统移植.西华大学学报.2005(11),24(6):27～28
[17] M.Farsi,K.Ratcliff,ManuelBarbosa.An introduction to CANopen.Computer & Control Engineering Journal,1999:161～168
[18] 吴爱国,刘莉.CAN 总线控制系统的应用层协议 CANopen 剖析.微计算机信息,2003,19(3):27～29
[19] 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
[20] 王俊波,胥布工.CANopen 协议分析与实现.嵌入式网络技术与应用,2006,22(6):104～106
[21] CANopen Application Layer and Communication Profile.CiA Draft Standard 301 VOL4.02,2002
[22] CANopen Framework for CANopen Managers and Programmable CANopen Devices.CiA Draft Standard Proposal 302 VOL 3.2.1,2003
[23] CANopen high-level protocol for CAN-bus.NIKHEF internal documentation,2000
[24] CANopen Electronic data sheet specification for CANopen.CiA Draft Standard 306 VOL 1.3,2005
[25] CANopen Master API for Windows.Software Version 4.0.IXXAT Automation GmbH
[26] CANopen Master/Slave Software.Software Version 4.21.IXXAT Automation GmbH
[27] 邹继军,饶运涛.CAN 总线系统智能节点设计.广州周立功单片机发展有限公司,华东地质学院信息工程系
[28] 金家峰.一种崭新的现场测控网络.微计算机信息,1995 (5):38~42
[29] Olaf Pfeiffer,Andrew Ayre.Christian Keydel.Embedded Networking with CAN and CANopen.RTC Books,2003
[30] AdrianTang,SophiaScoggins,戴浩译.开放式网络和开放系统互联,北京:电子工业出版社,1994
[31] Mirko Tischer.Master And Slave In The CANopen World.Vector Informatik GmbH,2004
[32] CANopen Layer Setting Services and Protocol.CiA Draft Standard 305 VOL1.1.1,2002
[33] John Lakos.大规模 C++程序设计,李师贤,明仲,曾新红等译.北京:中国电力出版社,2003,212~213
[34] Bjame Stroustrup.The C++ Programming Language(Special Edition).北京:高等教育出版社,2001,786~787
[35] 孙鑫,余安萍.VC++深入详解.北京:电子工业出版社,2001,3~4
[36] 钱燕.基于EVC环境的串口通信程序设计.科学技术与工程,2007(5),7(10)
[37] Jeffrey Richer著(美).王建华,张焕生译.Windows 核心编程.北京:机械工业出版社,2006(9),45~50
[38] 汪兵,李存斌,陈鹏.EVC高级编程及其应用开发.北京:中国水利水电出版社,2005,185~222
[39] 曹昊,李隆,钟中.多线程技术在工控软件中的应用.上海大学学报(自然科学版),1999(5):45～49
[40] CANopen Framework for Maritime Electronics.CiA Draft Standard 307 VOL1.0.1,2002
[41] 谈赞.低压配电监控上位机系统的设计与实现:[硕士学位论文].大连理工大学,2005
[42] Cena, Gianluca, Valenzano,et al. Improved CAN fieldbus industrial application. IEEE Transactions on IndustrialE lectronics,1997,44(4):553～56
[43] CANopen electronic data sheets pecificationf or CANopen (EDS).CiA DSP306 V 1.1.29 June 2001.
[44] 孙建波,郭晨,张旭.船舶机舱监测和报警系统的设计与实现.系统仿真学报,2006,18(2):851～856
[45] M.Farsi,K.Ratcliff,ManuelBarbosa.An introduction to CANopen. Computer & Control Engineering Journal,1999:161～168
[46] 孟宪尧,白广来,韩新洁.智能型船舶机舱监测报警系统.大连海事大学学报,2001,27(3):22～25
[47] 张显库,任光,刘军.综合船舶监控系统设计.中国造船,2002,43(2):72～79
[48] 菜月明,刘浩.基于 CAN 总线的工业控制系统.中国仪器仪表,2001:16～18
[49] ESC/P,ESC/P2,ESC/PK,ESC/PK2程序设计指南.EPSON
[50] 陆斌,何友金.VC 中对输入设备的响应.测控仪表自动化,2003(7):79～80
[51] USB-to-CAN compact.Intelligent PC/CAN Interface
[52] CanAnalyser/32.Powerful CAN Analyzing Tool.Version 1.82