CN106671905A - Dual-CAN control system of tractor and dual-CAN control method - Google Patents

Dual-CAN control system of tractor and dual-CAN control method Download PDF

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Publication number
CN106671905A
CN106671905A CN201611248721.XA CN201611248721A CN106671905A CN 106671905 A CN106671905 A CN 106671905A CN 201611248721 A CN201611248721 A CN 201611248721A CN 106671905 A CN106671905 A CN 106671905A
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CN
China
Prior art keywords
control unit
function control
tractor
network segment
double
Prior art date
Application number
CN201611248721.XA
Other languages
Chinese (zh)
Inventor
路少中
张礼
刘洋
于洪涛
任杰
钮国明
张坤
张继东
刘兆花
Original Assignee
雷沃重工股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 雷沃重工股份有限公司 filed Critical 雷沃重工股份有限公司
Priority to CN201611248721.XA priority Critical patent/CN106671905A/en
Publication of CN106671905A publication Critical patent/CN106671905A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231Circuits relating to the driving or the functioning of the vehicle

Abstract

The invention relates to a dual-CAN control system of a tractor and a dual-CAN control method; the system comprises an information interactive control unit and every function control unit at the inner part of the tractor; according to the communication demand, every function control unit is divided into two network segments; multiple function control units in one network section are in communication and connection through a CAN bus; the information interactive control unit is provided with two CAN ports, wherein one CAN port is in communication and connection with the CAN bus of the network segment, and the other CAN port is in communication and connection with the CAN bus of the other network section, thus every function control unit in two network segments is in communication to each other. According to the invention, every function control unit at the inner part of the tractor is divided into two network segments, and the information interactive control unit in the whole network is configured with two CAN ports; the two CAN ports are respectively connected with two network segments, thus every function control unit in two network segments at the inner part of the tractor can realize communication through the information interactive unit.

Description

A kind of double CAN control systems of tractor and double CAN control methods

Technical field

The present invention relates to communication technical field, and in particular to a kind of double CAN control systems of tractor and double CAN controlling parties Method.

Background technology

There are numerous electric function control units inside tractor, information is realized between these electric function control units Alternating transmission, presently mainly by circuit will need interaction two function control units between be attached, then pin To numerous function control units, circuit installs complicated, while the data transfer between numerous function control units is not allowed very much Easily centralized management.

The content of the invention

The invention provides a kind of double CAN control systems of tractor and double CAN control methods, realize inside tractor Communicating between each function control unit of different segment.

The technical scheme that the present invention solves above-mentioned technical problem is as follows:A kind of double CAN control systems of tractor, including information Each function control unit inside interaction control unit and tractor, according to communication need, each function control unit is divided into Two network segments, the multiple function control units in each network segment are communicated to connect by CAN, described information interaction control unit With two CAN ports, one of CAN port and a CAN communication connection for the network segment, another CAN port with it is another One CAN communication connection of the network segment so that each function control unit in two network segments is communicated.

Beneficial effects of the present invention are:Each function control unit inside tractor is divided into two network segments, each net Each function control unit in section is communicated to connect by CAN, and for the information exchange control unit in whole network is matched somebody with somebody Two CAN ports are put, two CAN ports connect two network segments respectively, realize each in the different segment inside tractor Function control unit is communicated.

On the basis of above-mentioned technical proposal, the present invention can also make following improvement.

Further, each CAN has CANH lines and CANL lines, each CAN CANH lines and Two terminal resistances are connected in parallel between CANL lines.

It is described further to have the beneficial effect that:Parallel resistance is set between the CANH lines and CANL lines of CAN, can Reliable information transfer is realized, the reflection of short circuit phenomenon and signal is prevented.

Further, the corresponding CAN of each network segment, for being responsible between each function control unit in the network segment Information transfer;

Each described function control unit, in addition to for control function, is additionally operable to control it working condition of part Detected, if it controls part exception occurs, carried out abnormal alarm.

It is described further to have the beneficial effect that:The work for controlling part to each function control unit inside tractor State is detected in real time, it is ensured that whole tractor normally runs.

Further, the multiple function control unit includes full-vehicle control unit VCU, gear box control unit TCU, liquid Brilliant instrument, suspension control unit and control unit of engine ECU;

Described information interaction control unit and control unit of engine ECU constitute first network segment, each in first network Function control unit is communicated to connect by a CAN, described information interaction control unit, full-vehicle control unit VCU, speed change Case control unit TCU, liquid crystal instrument and suspension control unit constitute second network segment, each function control unit in second network segment Communicated to connect by another CAN.

Further, each described function control unit, is additionally operable to the work state information for controlling part that will be detected Liquid crystal instrument is sent to by CAN;

The liquid crystal instrument, the working condition letter of the controlled part for showing each function control unit and its detection The work state information of breath and two-way CAN.

It is described further to have the beneficial effect that:By in network each function control unit and CAN working condition letter Breath is shown on liquid crystal instrument, and available personnel or maintenance personal note abnormalities and take corresponding measure in time in time.

Further, when the passage of CAN all the way in dual CAN bus breaks down, will be uploaded in failure CAN Defeated information is switched to and is transmitted in normal CAN.

It is described further to have the beneficial effect that:It is the whole network configuration of each function control unit of tractor inside composition Dual CAN bus, when it is therein CAN breaks down all the way when, the biography of data can also be carried out by another road CAN It is defeated, it is ensured that the normal operation of whole network.

To solve technical problem of the invention, a kind of double CAN control methods of tractor are additionally provided, including:

S1, by tractor inside each function control unit be divided into two network segments according to communication need, in each network segment Including multiple function control units;

S2, the multiple function control units in each network segment are communicated to connect by CAN;

S3, is that the information exchange control unit on tractor configures two CAN ports, a CAN port and a network segment CAN communication connection, the CAN of another CAN port and another network segment communicates to connect so that in two network segments Each function control unit can be communicated.

Further, the step S2 also includes:It is responsible for each work(in the network segment by the corresponding CAN of each network segment Information transfer between energy control unit, and the work shape for controlling part to it by each function control unit in the network segment State is detected, if exception occurs in controlled part, the function control unit carries out abnormal alarm.

Further, each function control unit in the described network segment is controlled the working condition of part to it and is detected Specifically include:

Each function control unit on the network segment controls component retrieval data message from it, and data message is tested Card, if data message is correct, the controlled part of the function control unit is in normal condition, the work for controlling part that will be detected Make status information and liquid crystal instrument is sent to by CAN, and if data message mistake, the controlled portion of the function control unit Part is in abnormality.

Further, above-mentioned technical proposal also includes:When the passage of CAN all the way in dual CAN bus breaks down, The information transmitted in failure CAN is switched to and is transmitted in normal CAN.

Further, above-mentioned technical proposal also includes:By each function control unit and its controlled part of monitoring The work state information of work state information and two-way CAN is shown on liquid crystal instrument.

Brief description of the drawings

Fig. 1 is the double CAN control system block diagram representations of the tractor of one embodiment of the invention;

Fig. 2 is the double CAN control method flow charts of the tractor of another embodiment of the present invention.

Specific embodiment

Principle of the invention and feature are described below in conjunction with accompanying drawing, example is served only for explaining the present invention, and It is non-for limiting the scope of the present invention.

It is the double CAN control systems of tractor of one embodiment of the invention referring to Fig. 1, including information exchange control unit With each function control unit inside tractor, according to communication need, each function control unit is divided into two network segments, each Multiple function control units in the network segment are communicated to connect by CAN, and the information exchange control unit on tractor has two Individual CAN port, one of CAN port and a CAN communication connection for the network segment, another CAN port and another net The CAN communication connection of section so that each function control unit in two network segments can be communicated.

Wherein, CANH lines and CANL lines are respectively provided with per CAN all the way, in the CANH lines and CANL of each CAN Between line and connect two terminal resistances, i.e., the parallel resistance R1 and resistance R2 between the CANH lines and CANL lines of the first CAN, The parallel resistance R3 and resistance R4 between the CANH lines and CANL lines of the second CAN, in the present embodiment, resistance R1, R2, R3 120 ohm are with the resistance of R4, reliable information transfer can be realized, prevent the reflection of short circuit phenomenon and signal.

In tractor field, the built-in function control unit of tractor has full-vehicle control unit VCU, gear box control unit TCU, liquid crystal instrument, suspension control unit and control unit of engine ECU.In order that the letter between each system in tractor Manner of breathing mutual communication and other systems are not influenceed, each function control unit in tractor is divided into two network segments, information Interaction control unit and car control unit ECU is mobilized to constitute first network segment, each function control unit in first network segment passes through One CAN communication connection, described information interaction control unit, full-vehicle control unit VCU, gear box control unit TCU, liquid Brilliant instrument and suspension control unit constitute second network segment, and each function control unit in second network segment is total by another CAN Line is communicated to connect.In order to realize the communication between each function control unit in tractor, namely realize two in tractor Communication between the network segment, is that information exchange control unit configures two CAN ports, and a CAN port and two network segments are wherein One CAN communication connection of the network segment, another CAN port is communicated to connect with the CAN of another network segment so that dilatory Two network segments of machine can be communicated with one another, namely each function control unit in two network segments of tractor can be communicated mutually Letter.

Wherein, the corresponding CAN of each network segment is responsible for the information between each function control unit in the network segment Transmission, there is multiple controlled parts in each function control unit of tractor inside, such as, control unit of engine ECU includes Multiple sensors, the working condition that each function control unit controls part to it detects, and by the work of controlled part Make status information and liquid crystal instrument is sent to by CAN, if exception occurs in controlled part, function control unit carries out exception Alarm, to find that each function control unit controls part in tractor in time using the personnel or maintenance personal of tractor Abnormality.

In addition, when the passage of CAN all the way in dual CAN bus breaks down, by what is transmitted in failure CAN Information is switched to and is transmitted in normal CAN.The present embodiment is the whole of tractor inside each function control unit composition Individual network configuration dual CAN bus, when it is therein CAN breaks down all the way when, can also be carried out by another road CAN The transmission of data, it is ensured that the normal operation of whole network.

The work state information and CAN of the controlled part of each function control unit will also occur in the present embodiment in the network segment The work state information of bus is shown on liquid crystal instrument, wherein, when the working condition of controlled part is exception or CAN Working condition for it is abnormal when, be shown on liquid crystal instrument in the form of failure code, available personnel or maintenance personal Note abnormalities in time and take corresponding measure in time.

It is the double CAN control methods of tractor of another embodiment of the present invention referring to Fig. 2, including:

S1, by tractor inside each function control unit be divided into two network segments according to communication need, in each network segment Including multiple function control units;

S2, the multiple function control units in each network segment are communicated to connect by CAN;

S3, is that the information exchange control unit on tractor configures two CAN ports, a CAN port and a network segment CAN communication connection, the CAN of another CAN port and another network segment communicates to connect so that in two network segments Each function control unit is communicated.

The built-in function control unit of tractor has many, in order that the information phase between each system in tractor Mutual communication and other systems are not influenceed, each function control unit in tractor is divided into two network segments, each net Section includes multiple function control units.It is each in order to realize communicating between each function control unit in the network segment Multiple function control units in the individual network segment are communicated to connect by CAN, and in order to realize communicating for two network segments, are believed Breath interaction control unit configures two CAN ports, a CAN port and a CAN communication connection for the network segment, another CAN port is communicated to connect with the CAN of another network segment so that each function control unit in two network segments can be communicated mutually Letter.

The corresponding CAN of each network segment is responsible for the information transfer between each function control unit in the network segment, drags There are multiple controlled parts in each function control unit of machine drawing inside, such as, control unit of engine includes multiple sensors, The working condition that each function control unit controls part to it is detected, if abnormal, function control occurs in controlled part Unit carries out abnormal alarm.

Wherein, the concrete mode that each function control unit controls that the working condition of part detected to it is:The network segment On each function control unit control component retrieval from it and can represent the data message of controlled unit status, and logarithm it is believed that Breath is verified, if data message is correct, the controlled part of the function control unit is in normal condition, if data message is wrong By mistake, then the controlled part of the function control unit is in abnormality.Each function control unit is by the work of its controlled part Status information is sent to liquid crystal instrument by CAN, and the present embodiment is by the controlled part of each function control unit in the network segment Work state information and the work state information of CAN be shown on liquid crystal instrument, and when the work shape of controlled part State be exception or CAN working condition for it is abnormal when, be shown on liquid crystal instrument in the form of failure code, be available for making Noted abnormalities in time with personnel or maintenance personal and take corresponding measure in time.In addition, when in dual CAN bus all the way When CAN passage breaks down, the information transmitted in the CAN of failure is switched to and is passed in normal CAN It is defeated.

A kind of double CAN control systems of tractor and double CAN control methods that the present invention is provided, by each inside tractor Function control unit is divided into two network segments, and for the information exchange control unit in whole network configures two CAN ports, two CAN port connects two network segments respectively, realizes the mutual of each function control unit in two network segments inside tractor Communication, and when the passage of CAN all the way in dual CAN bus breaks down, be then switched in another road CAN and transmit number According to ensure that the normal transmission of whole tractor internal information.

The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all it is of the invention spirit and Within principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.

Claims (12)

1. double CAN control systems of a kind of tractor, it is characterised in that including many inside information exchange control unit and tractor Individual function control unit, according to communication need, multiple function control units are divided into two network segments, the multiple functions in each network segment Control unit is communicated to connect by CAN, and described information interaction control unit has two CAN ports, one of CAN ends Mouth is communicated to connect with a CAN communication connection for the network segment, another CAN port with the CAN of another network segment so that Each function control unit in two network segments is communicated.
2. double CAN control systems of a kind of tractor as claimed in claim 1, it is characterised in that each CAN has CANH lines and CANL lines, two terminal resistances are connected between the CANH lines and CANL lines of each CAN.
3. double CAN control systems of a kind of tractor as claimed in claim 2, it is characterised in that corresponding CAN is total for each network segment Line, for the information transfer being responsible between each function control unit in the network segment;
Each described function control unit, the working condition for controlling part to it is detected, if it controls part going out It is now abnormal, then carry out abnormal alarm.
4. a kind of double CAN control systems of tractor as claimed in claim 3, it is characterised in that described each function control Unit, the working condition for controlling part to it carries out detection and specifically includes:
Each function control unit controls component retrieval data message from it, and data message is verified, if data are believed Breath is correct, then the controlled part of the function control unit is in normal condition, if data message mistake, the function control unit Controlled part be in abnormality.
5. a kind of double CAN control systems of tractor as claimed in claim 4, it is characterised in that the multiple function control list Unit includes full-vehicle control unit VCU, gear box control unit TCU, liquid crystal instrument, suspension control unit and control unit of engine ECU;
Described information interaction control unit and control unit of engine ECU constitute first network segment, each function in first network segment Control unit is communicated to connect by a CAN, described information interaction control unit, full-vehicle control unit VCU, gearbox control Unit TCU processed, liquid crystal instrument and suspension control unit constitute second network segment, and each function control unit in second network segment passes through Another CAN communication connection.
6. a kind of double CAN control systems of tractor as claimed in claim 5, it is characterised in that each described function control Unit, the work state information for controlling part for being additionally operable to detect is sent to liquid crystal instrument by CAN;
The liquid crystal instrument, for show each function control unit and its detection controlled part work state information with And the work state information of two-way CAN.
7. double CAN control systems of a kind of tractor as claimed in claim 6, it is characterised in that when in dual CAN bus all the way When CAN passage breaks down, the information transmitted in failure CAN is switched to and is transmitted in normal CAN.
8. double CAN control methods of a kind of tractor, it is characterised in that including:
S1, by tractor inside each function control unit be divided into two network segments according to communication need;;
S2, the multiple function control units in each network segment are communicated to connect by CAN;
S3, is that the information exchange control unit on tractor configures two CAN ports, a CAN port and a CAN for the network segment Bus communication is connected, and the CAN of another CAN port and another network segment is communicated to connect so that each in two network segments Function control unit is communicated.
9. double CAN control methods of a kind of tractor as claimed in claim 8, it is characterised in that the step S2 also includes:
Information transfer between each function control unit in the network segment is responsible for by the corresponding CAN of each network segment, and The working condition that part is controlled to it by each function control unit in the network segment is detected, and controls part by what is detected Work state information liquid crystal instrument is sent to by CAN, and if there is abnormal, the function control unit in controlled part Carry out abnormal alarm.
10. double CAN control methods of a kind of tractor as claimed in claim 9, it is characterised in that described by each in the network segment The working condition that individual function control unit controls part to it carries out detection and specifically includes:
Each function control unit on the network segment controls component retrieval data message from it, and data message is verified, if Data message is correct, then the controlled part of the function control unit is in normal condition, if data message mistake, the function control The controlled part of unit processed is in abnormality.
The double CAN control methods of 11. tractors as claimed in claim 10, it is characterised in that also include:
By the work of each function control unit and its work state information and two-way CAN of the controlled part of detection Status information is shown on liquid crystal instrument.
The double CAN control methods of 12. a kind of tractors as claimed in claim 11, it is characterised in that also include:
When the passage of CAN all the way in dual CAN bus breaks down, the information switching that will be transmitted in failure CAN It is transmitted on to normal CAN.
CN201611248721.XA 2016-12-29 2016-12-29 Dual-CAN control system of tractor and dual-CAN control method CN106671905A (en)

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CN109656847A (en) * 2018-12-26 2019-04-19 雷沃重工股份有限公司 A kind of redundancy approach of tractor engine data

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