分布式电驱动车辆CAN通信系统设计与实现

Design and Implementation of CAN Communication System for Distributed Electric Drive Vehicle

分布式驱动车辆能够独立驱动和控制每个车轮,具有结构紧凑,传动效率高,易于精确控制等特点.以多个电控单元协调控制系统的总线通信为研究对象,基于SAE J1939与CAN2.0B总线协议,设计了多控制节点间的数据通信协议,并利用控制器快速原型开发方法与自动代码生成技术构建了通信系统的软件与硬件平台.在车轮空载条件下,对通信系统进行了实车测试,结果表明,控制指令、电机转速、电机电流与控制器温度等信号传输正确可靠,通信系统抗干扰能力强,能满足底盘系统的实时性控制需求.

Each wheel in distributed drive vehicle can be driven and controlled independently and it also has the advantages of compact structure,high transmission efficiency,easy to precisely control etc.Bus communication with a plurality of electrical control unit coordinated control system is taken as the study object,a communication protocol is designed for multiple control nodes based on SAE J1939 and CAN2.0Bcommunication protocol.And the software and hardware platform for the communication system are achieved by using controller rapid prototyping method and automatic code generation technology.Under the wheel unloaded conditions the communication system designed before are tested in real vehicle.The test results indicate that the signals such as control command,motor speed,motor current controller temperature and so on can be transmitted accurately and reliably.The communication system has strong anti-interference ability to meet the real-time control demands of the chassis control system.