基于CAN的主机遥控系统的研究与设计
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摘要
主机遥控系统是当今船舶自动化技术的研究核心之一,随着计算机技术和现场总线技术的快速发展,越来越多的新技术应用在船舶自动化领域,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。同时我国造船业快速发展,对船舶自动化、数字化的要求不断提升,为适应我国船舶数字化的发展趋势,提高主机遥控系统的自动化技术,对于国内船舶制造业的更新换代具有一定的意义。
本文以基于CAN总线的主机遥控系统为研究对象,确立了系统的总体设计方案,完成智能节点的硬件设计,通信模块的软件实现。该方案以ARMLPC2292微控制器为节点控制核心,利用CAN总线组建主机遥控系统分布式控制网络,采用多主方式实现驾驶台、集控室及机舱之间的互联通讯,实现了对船舶柴油机的本地控制和远程监控。该控制网络之间利用冗余CAN进行通信,保证了数据通信的可靠性和实时性。
本文对CAN总线技术进行了深入的分析,阐述了采用CAN总线为主机遥控系统的通讯总线的原因。并对CAN冗余技术进行了探讨,采用了物理介质冗余设计,使用两套总线电缆、两个总线驱动器、两个总线控制器,实现了总线物理层和数据链路层的冗余配置,满足了主机遥控系统对数据传输的可靠性要求。针对船舶主机遥控系统的功能要求及控制信号和报警信号的采集特点,设计由驾驶台、集控室及机舱控制器组成的CAN网络,包括主机监测管理微机共4个节点,构成主机遥控系统的基本网络功能结构。在确定了整个网络的基础上,对主机遥控系统智能节点的软硬件进行设计,硬件方面主要由ARM7芯片外围电路的设计组成,包括开关量采集电路、模拟量采集电路、CAN冗余接口电路等。软件设计包括智能节点的软件通信设计和上位机的实现,制定了主机遥控系统的CAN通信协议,对CAN通信的初始化程序,发送程序、接收程序进行了设计,给出了主机遥控系统CAN应用层的逻辑控制程序设计。为了提高主机遥控系统的运行的稳定性和安全性而进行的CAN节点的抗干扰及抗腐蚀设计。
最后本文使用VB编写主机报警监控界面,以检验CAN接口与上位机的串口通讯,实现了CAN总线与上位机的人机对话。
The remote control system of marine engine is the kernel of ship-automation system.As computer technology and fieldbus technology has been increasing rapidly, many new technologies are used in the field of ship automation.At the same time,our country's shipbuilding industry is increasing fast.Ship automation made great progress.The control system based on fieldbus became trend in the field of ship automation.
In this article,the control system of marine engine based on the CAN bus is the object of research.It established the design of the control system,finished the hardware design and software design of intelligent nodes.The ARM LPC2292 is MCU in the intelligent node.This control system includes device level,central control room and bridge level.The three nodes realize local control and remote control.The control system based on dual CANBUS ensures the reliability and real time of the data communications.
According to the function demands of marine engine and principle of signal collection,this article designed the CAN network that can achieve Control system 'function of marine engine.This article analyses the technology of CANBUS,and make use of CAN bus for the control system of marine engine,and then discuss the dual CANBUS.The physical part of CANBUS is redundancy.The part is consisted of two set of network media,driver and controller.It is used to provide alternative functional channels in case of failure.This design meets reliable requirements of data transmission.The design of intelligent node includes hardware design and software design.The hardware is consisted of peripheral circuits of LPC2292.Including CANBUS interface circuit.Software design includes the design of communication among the nodes and the design of application of marine engine.This chapter makes communication protocol of CAN,and finish the program of the initialization and design the program of data communication.In order to improve stability and security of intelligent node,this article takes some measures for anti-jamming and anti-corrosion.
At last this article make use of VB 6.0 to achieve program that can show states of marine engine.After experiment,the communication among PC and intelligent nodes is achieved.
本文以基于CAN总线的主机遥控系统为研究对象,确立了系统的总体设计方案,完成智能节点的硬件设计,通信模块的软件实现。该方案以ARMLPC2292微控制器为节点控制核心,利用CAN总线组建主机遥控系统分布式控制网络,采用多主方式实现驾驶台、集控室及机舱之间的互联通讯,实现了对船舶柴油机的本地控制和远程监控。该控制网络之间利用冗余CAN进行通信,保证了数据通信的可靠性和实时性。
本文对CAN总线技术进行了深入的分析,阐述了采用CAN总线为主机遥控系统的通讯总线的原因。并对CAN冗余技术进行了探讨,采用了物理介质冗余设计,使用两套总线电缆、两个总线驱动器、两个总线控制器,实现了总线物理层和数据链路层的冗余配置,满足了主机遥控系统对数据传输的可靠性要求。针对船舶主机遥控系统的功能要求及控制信号和报警信号的采集特点,设计由驾驶台、集控室及机舱控制器组成的CAN网络,包括主机监测管理微机共4个节点,构成主机遥控系统的基本网络功能结构。在确定了整个网络的基础上,对主机遥控系统智能节点的软硬件进行设计,硬件方面主要由ARM7芯片外围电路的设计组成,包括开关量采集电路、模拟量采集电路、CAN冗余接口电路等。软件设计包括智能节点的软件通信设计和上位机的实现,制定了主机遥控系统的CAN通信协议,对CAN通信的初始化程序,发送程序、接收程序进行了设计,给出了主机遥控系统CAN应用层的逻辑控制程序设计。为了提高主机遥控系统的运行的稳定性和安全性而进行的CAN节点的抗干扰及抗腐蚀设计。
最后本文使用VB编写主机报警监控界面,以检验CAN接口与上位机的串口通讯,实现了CAN总线与上位机的人机对话。
The remote control system of marine engine is the kernel of ship-automation system.As computer technology and fieldbus technology has been increasing rapidly, many new technologies are used in the field of ship automation.At the same time,our country's shipbuilding industry is increasing fast.Ship automation made great progress.The control system based on fieldbus became trend in the field of ship automation.
In this article,the control system of marine engine based on the CAN bus is the object of research.It established the design of the control system,finished the hardware design and software design of intelligent nodes.The ARM LPC2292 is MCU in the intelligent node.This control system includes device level,central control room and bridge level.The three nodes realize local control and remote control.The control system based on dual CANBUS ensures the reliability and real time of the data communications.
According to the function demands of marine engine and principle of signal collection,this article designed the CAN network that can achieve Control system 'function of marine engine.This article analyses the technology of CANBUS,and make use of CAN bus for the control system of marine engine,and then discuss the dual CANBUS.The physical part of CANBUS is redundancy.The part is consisted of two set of network media,driver and controller.It is used to provide alternative functional channels in case of failure.This design meets reliable requirements of data transmission.The design of intelligent node includes hardware design and software design.The hardware is consisted of peripheral circuits of LPC2292.Including CANBUS interface circuit.Software design includes the design of communication among the nodes and the design of application of marine engine.This chapter makes communication protocol of CAN,and finish the program of the initialization and design the program of data communication.In order to improve stability and security of intelligent node,this article takes some measures for anti-jamming and anti-corrosion.
At last this article make use of VB 6.0 to achieve program that can show states of marine engine.After experiment,the communication among PC and intelligent nodes is achieved.
引文
[1]钱耀男.船舶柴油机.大连海事大学出版社,1999
[2]陈鸿缪.船舶柴油机主机遥控[M].人民交通出版社,1996:1-34
[3]范殿忠.一种新型主机遥控系统.中国修船,2002年第4期
[4]Gant Alves.Progress In Electronic Control of Large Diesel Engines.Journal of Engineering for Gas Turbines and Power.Transactions of the ASME.1990,112(3):280-286P
[5]范志贤.M-800Ⅱ型主机遥控系统及其管理.集美航海学院学报16(4):7-10.1998
[6]战兴群,赵隽,张炎华,徐廷良.机舱监测报警系统研制[J].船舶工程,2001(3):42-47
[7]:邬宽明.CAN总线原理和应用系统设计[M].北京航空航天大学出版社,1996
[8]BOSCH.CAN specification 2.0[M].1991.9
[9]彭明霞,王明照,陈明昭.基于RS-485标准的远洋船舶电站监控系统的接口设计[J].电力系统通信,2003(4):36-38
[10]李正军.现场总线及其应用技术[M].机械工业出版社,2005
[11]Comparision between CANopen,DeviceNet,CAN kingdom Higher Layer Protocols,CAN HLP Comparison,KVASER.
[12]CAN Specification Version 2.0,Part A and Part B.Philips Semiconductors,1992
[13]武晓云,曹忠身.船舶机舱自动化CAN现场总线监控系统体系结构及功能描述.中国造船,2001.3,69-74
[14]贾宝柱,任光,王冬捷,李国新.船舶机舱综合监控系统可靠性分析及设计.大连海事大学学报,2003.2,27-30
[15]李巍,曹建明.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,2002.12,109-112
[16]Wolfhard Lawrenz.Worldwide Status of CAN-Present and Future.Germany 2~(nd) international CAN Conference,2001
[17]曾庆军,周耀庭.综合船桥系统研究的核心内容[J].航海技术,2001.4
[18]陈念宁.船舶电气自动化系统的现状及发展[J].广东造船,2005.4
[19]Makoto Shiozaki.Development of a Fully Capable Electronic Control System for Diesel Engine[J].SAEPaPer850172
[20]张桂臣,任光.基于PLC的船舶主机遥控系统设计与实现[J].船舶工程,2007.4
[21]薛雁.网络技术在船舶控制系统中的运用[J].船电技术,2005年25卷3期49-512
[22]陈鸿缪.船舶柴油机主机遥控[M].人民交通出版社,1996:1-34
[23]Simatic S7-300 and M7-300 programmable controllers module specification,Siemens,2003
[24]SIMOS IMAC 55 Integrated Monitoring,Alarm and Control System References Siemens,2004
[25]褚建新,郑士君.DGS8800e数字调速器功能原理剖析[J].船舶工程,1999.5
[26]张华力.基于PLC的船舶主机遥控系统的设计与研究[D].大连海事大学硕士学位论文.2006.6
[27]曲以明,沈洪滨,张欢仁.通用型船舶主机遥控系统设计的探讨[J].机电设备,1999.1
[28]周泽魁.控制仪表与计算机控制装置[M].化学工业出版社,2002.9
[29]包瑞,黎鹏飞,梁厚武.触摸屏MT506S在柴油机控制上的应用[J].船电技术,2006.4
[30]MCS 2200 Monitoring and Control System References,SAM Electronics,2006
[31]MEGA-GUARD Pro series References,Praxis Automation Technology,2005
[32]韩巍.陈嘉福.夏焕锦.柴油机控制技术简述[J].船电技术,2005.4
[33]张平.一种多功能电控开发系统的研制[D].天津大学硕士学位论文,2002
[34]禹春来,许化龙,刘根旺等.CAN总线冗余方法研究[J].测控技术,2003,22(10):28-30,41.
[35]邬宽明.现场总线技术应用选编(上).北京航空航天大学出版社,2003:341-343,358-363
[36]周江春.基于双CAN总线船舶机舱自动化监测系统的设计与实现[D].上海交通大学,2004.
[37]徐柏辉.基于CAN的星载计算机容错总线的设计与实现[D].哈尔滨工业大学,2001.
[38]周立功.ARM嵌入式系统基础教程.北京航空航天大学出版社,2005
[39]程必达,尚衍春.国内主机遥控现状和我们的任务.江苏船舶,1991年第2期
[40]黄李庚.单片机在无线通信系统应用汇总的抗干扰措施.电子技术应用,1995(12):30-32
[41]杜迎.盐雾腐蚀对不同封装形式集成电路性能的影响[J].电子与封装,2006.6
[42]杜迎,朱卫良.盐雾对集成电路性能的影响[J].半导体技术,2004.1
[43]曹志锦,侯霞,吴秋平.基于PCI04的主从式数据采集系统及应用.测与仪表,2003,40(3):5-8
[44]史久根.CAN现场总线系统设计技术.国防工业出版社,2004
[45]饶运涛.场总线CAN原理与应用技术[M].京航空航天大学出版社,2003
[46]R.S.G.Baert,D.E.Beckman,A.veen.Efficicnt EGR Teehnology for Future Effieient HDDiesels.SAEPaper980190
[47]刘州,肖民,姚寿广.基于Intouch的柴油主机监控系统的设计[J].华东船舶工业学院学报.2004
[48]方金和.轮机自动化.大连海事大学出版社,1998
[49]http://www.zlgrncu.com/tools/cunbus/CAN232B/CAN232B
[50]徐谡.Visual Basic应用与开发案例教程.清华大学出版社,2005
[51]杜尚丰.曹晓钟.CAN总线测控技术及其应用.电子工业出版社,2007
[52]汤旭晶.PLC船舶主机遥控装置及仿真调试系统的研究.武汉理工大学硕士学位论文,2002.5
[53]DIFA41应用背景.http://202.114.88.54/g/jw69/main/kechengjianshe/DIFA-41
[54]武飞.船舶信息系统的网络研究与设计.武汉理工大学硕士学位论文,2008.5
[2]陈鸿缪.船舶柴油机主机遥控[M].人民交通出版社,1996:1-34
[3]范殿忠.一种新型主机遥控系统.中国修船,2002年第4期
[4]Gant Alves.Progress In Electronic Control of Large Diesel Engines.Journal of Engineering for Gas Turbines and Power.Transactions of the ASME.1990,112(3):280-286P
[5]范志贤.M-800Ⅱ型主机遥控系统及其管理.集美航海学院学报16(4):7-10.1998
[6]战兴群,赵隽,张炎华,徐廷良.机舱监测报警系统研制[J].船舶工程,2001(3):42-47
[7]:邬宽明.CAN总线原理和应用系统设计[M].北京航空航天大学出版社,1996
[8]BOSCH.CAN specification 2.0[M].1991.9
[9]彭明霞,王明照,陈明昭.基于RS-485标准的远洋船舶电站监控系统的接口设计[J].电力系统通信,2003(4):36-38
[10]李正军.现场总线及其应用技术[M].机械工业出版社,2005
[11]Comparision between CANopen,DeviceNet,CAN kingdom Higher Layer Protocols,CAN HLP Comparison,KVASER.
[12]CAN Specification Version 2.0,Part A and Part B.Philips Semiconductors,1992
[13]武晓云,曹忠身.船舶机舱自动化CAN现场总线监控系统体系结构及功能描述.中国造船,2001.3,69-74
[14]贾宝柱,任光,王冬捷,李国新.船舶机舱综合监控系统可靠性分析及设计.大连海事大学学报,2003.2,27-30
[15]李巍,曹建明.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,2002.12,109-112
[16]Wolfhard Lawrenz.Worldwide Status of CAN-Present and Future.Germany 2~(nd) international CAN Conference,2001
[17]曾庆军,周耀庭.综合船桥系统研究的核心内容[J].航海技术,2001.4
[18]陈念宁.船舶电气自动化系统的现状及发展[J].广东造船,2005.4
[19]Makoto Shiozaki.Development of a Fully Capable Electronic Control System for Diesel Engine[J].SAEPaPer850172
[20]张桂臣,任光.基于PLC的船舶主机遥控系统设计与实现[J].船舶工程,2007.4
[21]薛雁.网络技术在船舶控制系统中的运用[J].船电技术,2005年25卷3期49-512
[22]陈鸿缪.船舶柴油机主机遥控[M].人民交通出版社,1996:1-34
[23]Simatic S7-300 and M7-300 programmable controllers module specification,Siemens,2003
[24]SIMOS IMAC 55 Integrated Monitoring,Alarm and Control System References Siemens,2004
[25]褚建新,郑士君.DGS8800e数字调速器功能原理剖析[J].船舶工程,1999.5
[26]张华力.基于PLC的船舶主机遥控系统的设计与研究[D].大连海事大学硕士学位论文.2006.6
[27]曲以明,沈洪滨,张欢仁.通用型船舶主机遥控系统设计的探讨[J].机电设备,1999.1
[28]周泽魁.控制仪表与计算机控制装置[M].化学工业出版社,2002.9
[29]包瑞,黎鹏飞,梁厚武.触摸屏MT506S在柴油机控制上的应用[J].船电技术,2006.4
[30]MCS 2200 Monitoring and Control System References,SAM Electronics,2006
[31]MEGA-GUARD Pro series References,Praxis Automation Technology,2005
[32]韩巍.陈嘉福.夏焕锦.柴油机控制技术简述[J].船电技术,2005.4
[33]张平.一种多功能电控开发系统的研制[D].天津大学硕士学位论文,2002
[34]禹春来,许化龙,刘根旺等.CAN总线冗余方法研究[J].测控技术,2003,22(10):28-30,41.
[35]邬宽明.现场总线技术应用选编(上).北京航空航天大学出版社,2003:341-343,358-363
[36]周江春.基于双CAN总线船舶机舱自动化监测系统的设计与实现[D].上海交通大学,2004.
[37]徐柏辉.基于CAN的星载计算机容错总线的设计与实现[D].哈尔滨工业大学,2001.
[38]周立功.ARM嵌入式系统基础教程.北京航空航天大学出版社,2005
[39]程必达,尚衍春.国内主机遥控现状和我们的任务.江苏船舶,1991年第2期
[40]黄李庚.单片机在无线通信系统应用汇总的抗干扰措施.电子技术应用,1995(12):30-32
[41]杜迎.盐雾腐蚀对不同封装形式集成电路性能的影响[J].电子与封装,2006.6
[42]杜迎,朱卫良.盐雾对集成电路性能的影响[J].半导体技术,2004.1
[43]曹志锦,侯霞,吴秋平.基于PCI04的主从式数据采集系统及应用.测与仪表,2003,40(3):5-8
[44]史久根.CAN现场总线系统设计技术.国防工业出版社,2004
[45]饶运涛.场总线CAN原理与应用技术[M].京航空航天大学出版社,2003
[46]R.S.G.Baert,D.E.Beckman,A.veen.Efficicnt EGR Teehnology for Future Effieient HDDiesels.SAEPaper980190
[47]刘州,肖民,姚寿广.基于Intouch的柴油主机监控系统的设计[J].华东船舶工业学院学报.2004
[48]方金和.轮机自动化.大连海事大学出版社,1998
[49]http://www.zlgrncu.com/tools/cunbus/CAN232B/CAN232B
[50]徐谡.Visual Basic应用与开发案例教程.清华大学出版社,2005
[51]杜尚丰.曹晓钟.CAN总线测控技术及其应用.电子工业出版社,2007
[52]汤旭晶.PLC船舶主机遥控装置及仿真调试系统的研究.武汉理工大学硕士学位论文,2002.5
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