CN115643129A - Baud rate regulation and control structure and method for monitoring star CAN bus of ship diesel generator set - Google Patents
Baud rate regulation and control structure and method for monitoring star CAN bus of ship diesel generator set Download PDFInfo
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Abstract
The invention discloses a regulation and control architecture and a regulation and control method suitable for monitoring a star-shaped CAN bus of a ship diesel generator set. The baud rate regulation and control unit mainly realizes two functions: the automatic matching branch baud rate function CAN automatically adjust the baud rate of the CAN bus of each branch and match the baud rate of corresponding branch equipment to realize normal communication; the baud rate active control function can actively control and request all equipment of each branch to reduce the baud rate so as to improve the communication anti-interference capability when the bus communication quality is reduced. The invention has the advantages of flexibly and actively configuring the baud rate and the communication speed of each branch according to the importance degree of different CAN bus branch devices and the real-time state of the CAN bus, so that the utilization rate of each branch bus is maintained in a healthy range for a long time, and the communication reliability of the monitoring system of the ship diesel generator set is obviously improved.
Description
Technical Field
The invention belongs to the technical field of monitoring CAN communication of ship diesel generator sets, and particularly relates to a baud rate regulation and control method for monitoring a star-shaped CAN bus of a ship diesel generator set, which aims to improve the reliability of CAN communication in a complex ship electromagnetic environment.
Background
In a ship diesel generating set and an auxiliary system thereof, the ship diesel generating set generally at least comprises two diesel engines, two generators, a generator fault monitoring device, an oil level measuring device, a fuel water content monitoring device, a diesel engine auxiliary system control device and other devices, and all the devices transmit state parameters to a diesel generating set monitoring center in real time through a CAN bus. Because the important grades of all equipment are different, the arrangement of the equipment in a cabin is dispersed, the electromagnetic compatibility environment is very complex, and the traditional mode that one CAN bus is adopted to connect all the monitored equipment is difficult to meet the requirement of the monitoring reliability of medium and large ships, the star topology bus architecture based on the CAN gateway board is developed, namely the traditional single CAN bus is improved into a plurality of CAN bus branches which are respectively connected with the equipment with different important grades, and the CAN gateway board receives and summarizes data of the plurality of CAN buses and then forwards the data to the monitoring center of the diesel generating set. The star topology bus architecture has the advantage of flexibly regulating and controlling the baud rates of the plurality of CAN buses, CAN effectively reduce bus data congestion, and improves communication reliability.
The ship diesel generator set comprises a large number of accessory equipment, different equipment is distributed in different cabins or different layers in a large range according to the overall arrangement requirement, the communication distance is changed greatly, the CAN bus transmission distance is directly related to the baud rate, the higher the baud rate is, the shorter the reliable transmission distance is, and vice versa. Generally, a CAN communication system does not have a bus baud rate active regulation function, so that different branches are easy to cause electromagnetic interference when communicating with a gateway boardThe problem of data loss occurs; with simultaneous devices of different importance, e.g. G in FIG. 1 1 ～G n The baud rates of the CAN gateway board are different, and the CAN gateway board CAN normally communicate only by matching the baud rates of the corresponding equipment in real time. Therefore, the active regulation and control of the monitoring star CAN bus baud rate of the diesel generator set are realized based on the CAN gateway board, and the method is of great importance for improving the reliability and flexibility of the monitoring system of the ship diesel generator set.
Disclosure of Invention
Aiming at the baud rate regulation and control problem in the application of the ship diesel generator set monitoring star-shaped CAN bus, the invention provides a baud rate regulation and control method suitable for the ship diesel generator set monitoring star-shaped CAN bus, and the baud rate regulation and control method CAN flexibly and actively configure the baud rate of each bus branch according to the equipment characteristics of different CAN bus branches and the real-time state of the CAN bus through a CAN gateway board, so that the utilization rate of each branch bus is maintained in a healthy range for a long time, and the communication reliability of a ship diesel generator set monitoring system is obviously improved.
Specifically, the invention provides a baud rate regulation and control framework suitable for monitoring a star CAN bus of a ship diesel generator set, which comprises a plurality of groups of information source equipment, a plurality of CAN bus branches and a CAN gateway board, wherein the CAN gateway board comprises a CAN communication interface module, a CAN data frame ID counting module, a data frame average interval time calculation module, a baud rate regulation and control unit and a communication rate regulation and control module, the CAN communication interface module is used for connecting the plurality of CAN bus branches with the CAN gateway board in a communication way, and the CAN data frame ID counting module is used for recording the number of normally received data frames of each branch, counting the number of error frames and judging whether the normal reception is carried out or not; the data frame average interval time calculation module is used for calculating the average interval time of each branch for normally receiving the data frame; the baud rate regulating and controlling unit is used for automatically matching the baud rates of the branches and actively regulating and controlling the baud rates of all the branches according to the importance degrees of different CAN bus branch devices and the real-time state of the CAN bus; the communication rate regulation and control module is used for realizing the regulation and control of the communication rate of each branch according to the output of the baud rate regulation and control unit,
the baud rate regulating and controlling unit automatically matches the branch baud rate according to the following modes:
a1 The CAN gateway board is configured to be in a monitoring mode after the system is initialized, the initialized baud rate is a preset baud rate value, and the system waits for interruption to generate and starts data receiving;
a2 In the data receiving process, if the error of the data frame occurs, the error counting is interrupted, and the receiving errors are counted;
a3 When the receiving error count reaches a first preset limit value, gradually resetting the baud rate of each branch in a large-to-small polling mode, and retrying data receiving; when the receiving error count does not reach the preset limit value, the method continues
Monitoring;
a4 If the data frame is normally received, entering non-error interruption, and the baud rate is automatically matched successfully;
the baud rate regulating and controlling unit actively regulates and controls the baud rate according to the following modes:
b1 The CAN gateway board receives and judges data in a normal working mode, if an error frame is received, firstly judges whether the error number exceeds a first preset limit value and is less than a second preset limit value, and if so, enters a process of automatically matching the baud rate of the branch;
b2 Otherwise, continuing to count the receiving error and the average interval time of the data frames;
b3 If the receiving error count reaches a second preset limit value, a command for reducing the baud rate of the branch is sent out, namely, a request for reducing the baud rate is sent out to all equipment on the branch by taking a value which is one grade lower than the current baud rate as a target according to the baud rate table, and all equipment on the branch is waited to respond;
b4 If all the devices on the branch agree to reduce the baud rate, resetting the baud rate of the CAN interface of the CAN gateway board; otherwise, the command for reducing the baud rate of the branch is sent again until all the devices reply;
b5 When the data receiving is recovered to normal after the baud rate of the branch is reduced, the anti-interference performance of the bus communication of the branch is improved, and the active control of the baud rate is finished.
Further, the communication rate regulation and control module regulates and controls the communication rate according to the following modes:
c1 The system performs the calculation of the receiving error count and the average interval time of the data frames after the initialization;
c2 If the receiving error count does not reach the preset limit value, the control flow is exited and the communication speed is kept unchanged;
c3 If the receiving error count reaches the preset limit value and the output of the baud rate regulating unit is unchanged, the control flow is exited and the communication rate is kept unchanged;
c4 If the receiving error count reaches a preset limit value and the output of the baud rate regulating unit is changed, when the output of the baud rate regulating unit is reduced, the communication rate is reduced step by step according to the set communication rate table and in combination with the average interval time of the data frames;
c5 If the receiving error count reaches the preset limit value and the output of the baud rate regulating unit is changed, and when the baud rate regulating output is increased, the communication rate is increased step by step according to the set communication rate table in combination with the average interval time of the data frames;
c6 Clearing error counts after regulating the communication rate, and if the reception error is no longer exceeded, the communication rate regulation is completed.
Further, the second preset limit is greater than the first preset limit.
Further, when the tributary baud rates are reset, the tributary baud rates are set from large to small in the order of 250kbps, 125kbps, 100kbps, 50kbps, and 20kbps, and re-reception of data is attempted until the tributary baud rates match with the tributary devices.
Further, the communication rate regulation and control module is further configured to:
c41 When the baud rate regulation output is reduced, reducing the communication rate step by step according to a set communication rate table in combination with the average interval time of the data frames;
c42 When the baud rate regulation output is increased, gradually increasing the communication rate according to a set communication rate table in combination with the average interval time of the data frames;
c43 The combined data frame mean interval time regulates the communication rate to be set so that each communication time is less than the data frame mean interval time;
c44 The communication rate table is set to 100 ms/time, 200 ms/time, 500 ms/time, 1 s/time, 1.5 s/time, 2 s/time, 2.5 s/time, or 3 s/time.
On the other hand, the invention provides a baud rate regulating and controlling method suitable for monitoring a star CAN bus of a ship diesel generator set, which is used for carrying out the baud rate regulating and controlling method by using the baud rate regulating and controlling architecture of claim 1, and comprises the following steps:
a1 The CAN gateway board is configured to be in a monitoring mode after the system is initialized, the initialized baud rate is an initial baud rate value, and the system waits for interruption to generate and starts data receiving;
a2 In the data receiving process, whether the data frame is correctly received or not is monitored in real time, if the data frame is wrong, error counting interruption is started, and the receiving error is counted;
a3 When the receiving error count reaches a preset limit value, resetting the baud rate of each branch line in a large-to-small polling mode and retrying data receiving; when the receiving error count does not reach the preset limit value, continuing monitoring;
a4 If the data frame is normally received, entering non-error interruption, enabling the Baud rate to be successfully matched automatically, and enabling the CAN gateway board to enter a normal working mode;
b1 The CAN gateway board receives and judges data in a normal working mode, if an error frame is received, firstly judges whether the error number exceeds a first preset limit value but is smaller than a second preset limit value, and if so, enters a process of automatically matching the baud rate of the branch;
b2 Otherwise, continuing to count the receiving error and the average interval time of the data frames;
b3 If the received error count reaches a second preset limit value, sending a command for reducing the baud rate of the branch, namely sending a request for reducing the baud rate to all equipment on the branch by taking a value which is one grade lower than the current baud rate as a target according to the baud rate table, and waiting for all equipment on the branch to respond;
b4 If all the devices on the branch agree to reduce the baud rate, resetting the baud rate of the CAN interface of the CAN gateway board; otherwise, the command for reducing the baud rate of the branch is sent again until all the devices reply;
b5 When the data receiving is recovered to normal after the baud rate of the branch is reduced, the anti-interference performance of the bus communication of the branch is improved, and the active control of the baud rate is finished.
Further, when the tributary baud rates are reset, the tributary baud rates are set from large to small in the order of 250kbps, 125kbps, 100kbps, 50kbps, and 20kbps, and re-reception of data is attempted until the tributary baud rates match with the tributary devices.
Further, the step C4) includes:
c41 When the baud rate regulation output is reduced, reducing the communication rate step by step according to a set communication rate table in combination with the average interval time of the data frames;
c42 When the baud rate regulation output is increased, gradually increasing the communication rate according to a set communication rate table in combination with the average interval time of the data frames;
c43 The value of the combined data frame mean interval time regulation communication rate is set so that each communication time is less than the data frame mean interval time;
c44 The communication rate table is set to 100 ms/time, 200 ms/time, 500 ms/time, 1 s/time, 1.5 s/time, 2 s/time, 2.5 s/time, or 3 s/time.
The invention has the following advantages:
1. by means of automatic matching of the baud rates of the branches, compatibility of the star CAN bus of the diesel generator set with the branches with different baud rates CAN be achieved, self-adaptive adjustment of the baud rates of the branches is achieved, manual configuration of the baud rates of the branches in each power-on operation is omitted, operation efficiency is improved, and engineering practicability is high.
2. By actively regulating the baud rate, the baud rate and the data frame sending frequency can be actively regulated under the condition of abnormal bus communication quality, the bus data congestion is effectively reduced, and the communication reliability of the diesel generator set in long-time operation is improved.
3. By regulating and controlling the communication rate, the communication rate is matched with the baud rate under the conditions of different baud rates and average interval time of data frames, and the communication quality is improved.
4. By the active regulation and control method for the baud rate of the star CAN bus, the mature topology application of the star CAN bus of the diesel generator set CAN be realized, and the method has important significance for improving the reliability and flexibility of a monitoring system of the ship diesel generator set.
Drawings
Fig. 1 is a diagram of a baud rate control architecture based on a CAN gateway board according to the present invention.
Fig. 2 is a flow chart of an automatic matching branch baud rate.
Fig. 3 is a flow chart of baud rate active control.
Fig. 4 is a flow chart of communication rate regulation.
Fig. 5 is a CAN communication status parameter display interface.
Detailed Description
In order to describe the present invention more specifically, embodiments of the present invention will be further described below with reference to the accompanying drawings.
Fig. 1 shows a baud rate control architecture based on a CAN gateway board according to the present invention, which includes a plurality of sets of information source devices, a plurality of CAN bus branches, a CAN status parameter display interface, and a CAN gateway board. The CAN gateway board comprises a CAN communication interface module, a CAN data frame ID counting module, a data frame average interval time calculating module, a baud rate regulating unit, a communication rate regulating module and the like, wherein the CAN communication interface module is used for communicating and connecting a plurality of CAN bus branches with the CAN gateway board, and the CAN data frame ID counting module CAN record the number of data frames normally received by each branch and CAN be used for counting the number of error frames and judging whether the data frames are normally received or not; the data frame average interval time calculation module can calculate the average interval time of each branch for normally receiving the data frame and can be used for regulating and controlling the communication rate; the baud rate regulating and controlling unit CAN automatically match the baud rates of the branches and actively regulate and control the baud rates of the branches according to the importance degrees of different CAN bus branch devices and the real-time state of the CAN bus; the communication rate regulation and control module can realize the regulation and control of the communication rate of each branch according to the output of the baud rate regulation and control unit.
Further, the baud rate regulation and control unit mainly comprises two functions:
1) When the power system on the gateway board is in a normal working mode, if the gateway board does not receive normal data for a long time, message error interruption is generated, the CAN port of the gateway board is in a monitoring mode in the process, and a method of polling the baud rate table from large to small CAN be adopted to enable the baud rate of each branch to be matched with each branch device;
2) When the conditions that the number of error frames of the CAN bus is increased and the frame loss rate is increased due to the influences of scattered cabin layout positions, complex electromagnetic compatibility environments and the change of surrounding loads on each device of the diesel generator set are caused, the gateway board firstly counts the number of the error frames of each branch in a fixed time, and when the number of the error frames exceeds a threshold value, the gateway board issues an instruction to all the devices of the CAN bus to request to actively reduce the baud rate of the branch and the data frame sending frequency, so that the reliability of data receiving of the bus of the branch is improved, and the data congestion of the bus is reduced.
Referring to fig. 2, the flow of automatically matching the baud rate of the branch is as follows:
a1 After the system is initialized, the CAN gateway board is configured to be in a monitoring mode, the initialized baud rate is 250kbps (common baud rate value), and data receiving is started after interruption;
a2 If the error count interruption is entered after the data frame error occurs, counting the received error;
a3 When the receiving error count reaches to be lower than a preset limit value (small), gradually resetting the baud rate of each branch in a large-to-small polling mode, and retrying data receiving; when the receiving error count does not reach a first preset limit value, continuing monitoring;
a4 If the data frame is received normally, then entering non-error interruption, and the baud rate is matched successfully.
The reset branch baud rates can be set from large to small in sequence according to the sequence of 250kbps, 125kbps, 100kbps, 50kbps, 20kbps and the like until the baud rate of each branch is matched with each branch device.
Referring to fig. 3, the flow of the baud rate active control is as follows:
b1 The CAN gateway board receives and judges data in a normal working mode, if an error frame is received, firstly judges whether the error number exceeds a first preset limit value and is smaller than a second preset limit value (the error is determined to be accidental error), and if the error number is smaller than the second preset limit value, the CAN gateway board enters a process of automatically matching the baud rate of the branch;
b2 Otherwise, continuing to count the receiving error and the average interval time of the data frames;
b3 If the received error count reaches a second preset limit value, sending a command for reducing the baud rate of the branch, namely sending a request for reducing the baud rate to all equipment on the branch by taking a value which is one grade lower than the current baud rate as a target according to the baud rate table, and waiting for all equipment on the branch to respond;
b4 If all the devices on the branch agree to reduce the baud rate, resetting the baud rate of the CAN interface of the CAN gateway board; otherwise, the command for reducing the baud rate of the branch is sent again until all the devices reply;
b5 When the data receiving is recovered to normal after the baud rate of the branch is reduced, the anti-interference performance of the bus communication of the branch is improved, and the active control of the baud rate is finished.
The accidental error judgment can select a smaller receiving error count limit value, and when the receiving error count is smaller than the limit value, the accidental error is judged, otherwise, the accidental error is not judged.
Referring to fig. 4, the communication rate regulation process is as follows:
c1 The system performs the calculation of the receiving error count and the average interval time of the data frames after the initialization;
c2 If the receiving error count does not reach the preset limit value, the control flow is exited and the communication speed is kept unchanged;
c3 If the receiving error count reaches the preset limit value and the output of the baud rate regulating unit is unchanged, the control flow is exited and the communication rate is kept unchanged;
c4 If the receiving error count reaches a preset limit value and the output of the baud rate regulating unit is changed, when the output of the baud rate regulating unit is reduced, the communication rate is reduced step by step according to the set communication rate table and in combination with the average interval time of the data frames;
c5 If the receiving error count reaches the preset limit value and the output of the baud rate regulating unit is changed, and when the baud rate regulating output is increased, the communication rate is increased step by step according to the set communication rate table in combination with the average interval time of the data frames;
c6 Clearing error counts after regulating the communication rate, and if the reception error is no longer exceeded, the communication rate regulation is completed.
The communication speed is regulated and controlled by combining the average interval time of the data frames, so that each communication time is smaller than the average interval time of the data frames; the communication rate table may be set to 100 ms/time, 200 ms/time, 500 ms/time, 1 s/time, 1.5 s/time, 2 s/time, 2.5 s/time, 3 s/time, etc.
Referring to fig. 5, a CAN communication state parameter display interface CAN be designed to display the CAN bus communication state of the monitored equipment in the diesel generating set in a graphic form, including data normal or interruption, average time interval of data frame transmission of each equipment, baud rate of each CAN bus, communication fault branch positioning, communication fault alarm prompting and the like. The CAN communication state parameter display interface CAN provide real-time, visual and clear CAN communication state monitoring of the diesel generator set for users, and guarantee the normal operation of a ship power system.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, simplifications and modifications without departing from the spirit and principles of the present invention are included in the protection scope of the present invention.
Claims (8)
1. A baud rate regulation and control framework suitable for monitoring a star CAN bus of a ship diesel generator set comprises a plurality of groups of information source equipment, a plurality of CAN bus branches and a CAN gateway board, wherein the CAN gateway board comprises a CAN communication interface module, a CAN data frame ID counting module, a data frame average interval time calculating module, a baud rate regulation and control unit and a communication rate regulation and control module, the CAN communication interface module is used for connecting the plurality of CAN bus branches with the CAN gateway board in a communication way, and the CAN data frame ID counting module is used for recording the number of normally received data frames of each branch, counting the number of error frames and judging whether the data frames are normally received or not; the data frame average interval time calculation module is used for calculating the average interval time of each branch for normally receiving the data frame; the baud rate regulating and controlling unit is used for automatically matching the baud rates of the branches and actively regulating and controlling the baud rates of the branches according to the importance degrees of different CAN bus branch devices and the real-time state of the CAN bus; the communication speed regulation and control module is used for realizing the regulation and control of the communication speed of each branch according to the output of the baud rate regulation and control unit and is characterized in that,
the baud rate regulating and controlling unit automatically matches the branch baud rate according to the following mode:
a1 The CAN gateway board is configured to be in a monitoring mode after the system is initialized, the initialized baud rate is a preset baud rate value, and the system waits for interruption to generate and starts to receive data;
a2 In the data receiving process, if the error of the data frame occurs, the error counting is interrupted, and the receiving error is counted;
a3 When the receiving error count reaches a first preset limit value, gradually resetting the baud rate of each branch in a large-to-small polling mode, and retrying data receiving; when the receiving error count does not reach the preset limit value, continuing monitoring;
a4 If the data frame is normally received, entering non-error interruption, and the baud rate is automatically matched successfully;
the baud rate regulating and controlling unit actively regulates and controls the baud rate according to the following modes:
b1 The CAN gateway board receives and judges data in a normal working mode, if an error frame is received, firstly judges whether the error number exceeds a first preset limit value and is less than a second preset limit value, and if so, enters a process of automatically matching the baud rate of the branch;
b2 Otherwise, continuing to count the receiving error and the average interval time of the data frames;
b3 If the received error count reaches a second preset limit value, sending a command for reducing the baud rate of the branch, namely sending a request for reducing the baud rate to all equipment on the branch by taking a value which is one grade lower than the current baud rate as a target according to the baud rate table, and waiting for all equipment on the branch to respond;
b4 If all the devices on the branch agree to reduce the baud rate, resetting the baud rate of the CAN interface of the CAN gateway board; otherwise, the command for reducing the baud rate of the branch is sent again until all the devices reply;
b5 When the data receiving is recovered to normal after the baud rate of the branch is reduced, the anti-interference performance of the bus communication of the branch is improved, and the active control of the baud rate is finished.
2. The baud rate regulation and control architecture suitable for a ship diesel generating set monitoring star CAN bus of claim 1, wherein the communication rate regulation and control module regulates and controls the communication rate according to the following modes:
c1 The system performs the calculation of the receiving error count and the average interval time of the data frames after the initialization;
c2 If the receiving error count does not reach the preset limit value, the control flow is exited and the communication speed is kept unchanged;
c3 If the receiving error count reaches the preset limit value and the output of the baud rate regulating unit is unchanged, the control flow is exited and the communication rate is kept unchanged;
c4 If the receiving error count reaches the preset limit value and the output of the baud rate regulating unit is changed, when the baud rate regulating output is reduced, the communication rate is reduced step by step according to the set communication rate table and in combination with the average interval time of the data frames;
c5 If the receiving error count reaches the preset limit value and the output of the baud rate regulating unit is changed, and when the baud rate regulating output is increased, the communication rate is increased step by step according to the set communication rate table in combination with the average interval time of the data frames;
c6 Clearing error counts after regulating the communication rate, and if the reception error is no longer exceeded, the communication rate regulation is completed.
3. The baud rate regulation and control architecture suitable for a ship diesel generating set monitoring star CAN bus of claim 1, wherein the second preset limit is greater than the first preset limit.
4. The baud rate control architecture suitable for monitoring the ship diesel generator set star CAN bus according to claim 1, wherein when the branch baud rate is reset, the baud rates are sequentially set from large to small according to the sequence of 250kbps, 125kbps, 100kbps, 50kbps and 20kbps, and data are tried to be received again until the baud rate of each branch is matched with each branch device.
5. The baud rate regulation and control architecture suitable for a ship diesel generating set monitoring star CAN bus of claim 2, wherein the communication rate regulation and control module is further configured to:
c41 When the baud rate regulation output is reduced, reducing the communication rate step by step according to a set communication rate table in combination with the average interval time of the data frames;
c42 When the baud rate regulation output is increased, gradually increasing the communication rate according to a set communication rate table in combination with the average interval time of the data frames;
c43 The combined data frame average interval time regulates the communication rate to be set so that each communication time is less than the data frame average interval time;
c44 The communication rate table is set to 100 ms/time, 200 ms/time, 500 ms/time, 1 s/time, 1.5 s/time, 2 s/time, 2.5 s/time, or 3 s/time.
6. A baud rate regulation and control method suitable for monitoring a star CAN bus of a ship diesel generator set, which is used for carrying out the baud rate regulation and control method by using the baud rate regulation and control architecture of claim 1, and is characterized by comprising the following steps:
a1 The CAN gateway board is configured to be in a monitoring mode after the system is initialized, the initialized baud rate is an initial baud rate value, and the system waits for interruption to generate and starts data receiving;
a2 In the data receiving process, whether the data frame is correctly received or not is monitored in real time, if the data frame is wrong, error counting interruption is started, and the receiving error is counted;
a3 When the receiving error count reaches a preset limit value, resetting the baud rate of each branch line in a large-to-small polling mode and retrying data receiving; when the receiving error count does not reach the preset limit value, continuing monitoring;
a4 If the data frame is normally received, entering non-error interruption, enabling the baud rate to be automatically matched successfully, and enabling the CAN gateway board to enter a normal working mode;
b1 The CAN gateway board receives and judges data in a normal working mode, if an error frame is received, firstly judges whether the error number exceeds a first preset limit value but is smaller than a second preset limit value, and if so, enters a process of automatically matching the baud rate of the branch;
b2 Otherwise, continuing to count the receiving error and count the average interval time of the data frames;
b3 If the received error count reaches a second preset limit value, sending a command for reducing the baud rate of the branch, namely sending a request for reducing the baud rate to all equipment on the branch by taking a value which is one grade lower than the current baud rate as a target according to the baud rate table, and waiting for all equipment on the branch to respond;
b4 If all the devices on the branch agree to reduce the baud rate, resetting the baud rate of the CAN interface of the CAN gateway board; otherwise, the command for reducing the baud rate of the branch is sent again until all the devices reply;
b5 When the data receiving is recovered to normal after the baud rate of the branch is reduced, the anti-interference performance of the bus communication of the branch is improved, and the active control of the baud rate is finished.
7. The method for regulating and controlling the baud rate of the star CAN bus suitable for monitoring the ship diesel generator set according to claim 5, wherein the baud rates of the branches are reset according to the sequence of 250kbps, 125kbps, 100kbps, 50kbps and 20kbps from large to small, and the data is tried to be received again until the baud rates of the branches are matched with the devices of the branches.
8. The baud rate control method suitable for monitoring the star CAN bus of the marine diesel generating set according to claim 5,
the step C4) comprises the following steps:
c41 When the baud rate regulation output is reduced, reducing the communication rate step by step according to a set communication rate table and in combination with the average interval time of the data frames;
c42 When the baud rate regulation output is increased, gradually increasing the communication rate according to a set communication rate table in combination with the average interval time of the data frames;
c43 The value of the combined data frame mean interval time regulation communication rate is set so that each communication time is less than the data frame mean interval time;
c44 The communication rate table is set to 100 ms/time, 200 ms/time, 500 ms/time, 1 s/time, 1.5 s/time, 2 s/time, 2.5 s/time, or 3 s/time.
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