CN1649345A - Pure motor passenger car communication method based on CAN bus - Google Patents

Pure motor passenger car communication method based on CAN bus Download PDF

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Publication number
CN1649345A
CN1649345A CN 200510055245 CN200510055245A CN1649345A CN 1649345 A CN1649345 A CN 1649345A CN 200510055245 CN200510055245 CN 200510055245 CN 200510055245 A CN200510055245 A CN 200510055245A CN 1649345 A CN1649345 A CN 1649345A
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controller
byte
bus
management system
address
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CN 200510055245
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南金瑞
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Beijing Institute of Technology BIT
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Beijing Institute of Technology BIT
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Priority to CN 200510055245 priority Critical patent/CN1649345A/en
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Abstract

This invention puts forward a communication protocol suitable for pure electromotive passenger trains based on CAN2.0B and J 1939 related specifications, among which, it assigns new address, selects the assigned addresses in original SAEJ 1939 definition for the motor controller, electronic joint air gate controller, cabin display, ABS controller and power battery management system. The information contained in the parameter set and data field of entire car controller, motor controller, speed variator and battery management system of pure electromotive cars is re-defined in detail.

Description

Pure motor passenger car communication method based on the CAN bus
Technical field
This communications protocol is applicable to pure electric coach control system CAN bus communication technology field.
Background technology
Becoming increasingly conspicuous of problem such as oil crisis and environmental pollution makes electric automobile more and more cause the attention of society, becomes the developing direction of following automobile.Electric automobile is compared with the traditional combustion engine automobile, still is in industrialization initial preparatory stage abroad, and associated new and high technology and product also depend on the support of providing the merchant together, do not form new industrial system as yet.Simultaneously, in developed country, the input of orthodox car established huge production scale of industry and social infrastructure, and the powerful inertia of development, may constitute the social cost that hinders its development young mobile in some sense, make them be difficult to the strategic change of realization essence of making a decision, thereby might try to gain time precious to one for China.The continuous increase of electric-control system on the automobile and transducer, actuator makes point-to-point bind mode go to the end, for the circuit of simplifying the automobile electrically-controlled device that increases day by day connects, improves system reliability and failure diagnosis level, is beneficial between each electric control gear data resource and shares and be convenient to build up open standard and modular structure, the automotive networking bussing technique has obtained very big development, CAN bus and LIN bus will be a kind of prevailing models in conjunction with using on automobile, and with D 2The B radio communication is the remote high-frequency network communicating system on basis.Especially be noted that innovation and optimization that the application of bussing technique has brought the car load design of electrical system.On truck and motor bus, generally adopt SAE J1939 standard at present in the world.Because electric motor car is a new technology, the communication standard of many electric-controlled parts need redefine.
Summary of the invention
In order to set up the network of electric automobile whole, realize electric automobile resultant fault diagnostic function, and for each electric-control system module provides the hardware test platform, the present invention provides a kind of communications protocol that is applicable to pure electric coach on the basis of SAE J1939.
The technical solution adopted for the present invention to solve the technical problems is:
1. the principle formulated of communications protocol Advanced.The agreement of formulating is in line with international standards as far as possible, with reference to international SAEJ1939, improves on its basis, and the characteristic of oneself is arranged.Reason mainly is to consider the agreement of external maturation through practice test, uses it and can avoid detours. Directiveness.The agreement of formulating must be considered the characteristic of vehicle, instructs the development of car load and the relevant control technology of related components.
Figure A20051005524500033
Autgmentability.Upgrading development after the agreement of formulating will be convenient to, the agreement of expansion is wanted the compatible agreement of formulating previously.
2. the ECU meshed network topological structure in the network
Network topology structure as shown in Figure 1, the CAN bus transfer rate is 250kbps.
3. communications protocol is stipulated
Electric automobile network-bus communications protocol main reference SAE J1939 formulates, and just makes the communications protocol that satisfies pure electric vehicle control needs on the basis of J1939.
(1) regulation of physical layer
The regulation main reference CAN2.0B of physical layer and the relevant regulations of J1939. Consider the virtual voltage of the actual low-pressure system of pure electronic motor bus, the ECU of design should satisfy supply voltage 18～36V:
Figure A20051005524500041
Consider the electric burden on the bus, maximum ECU number is 20; Transmission medium: characteristic impedance is 120 ohm Shielded Twisted Pair STP (fire-retardant 0.5mm); Each parts all has terminal resistance (120 Ω), and terminal resistance adopts support to install, so that adjust, simultaneously, terminal resistance is with linking to each other by wire jumper between the grid line, so that collocation flexibly;
Figure A20051005524500044
Bit time (bit time): i.e. each time that takies.The bit time of all nodes must be set to identical value on the network.Recommending bit time is 4 μ S, and corresponding transmission rate is 250kbit/s, and network length is 40m;
Figure A20051005524500045
Topological structure: the wiring topology of network should be a compact as far as possible linear structure.It is short as far as possible that ECU inserts the cable of bus backbone network.For standing wave is minimized, node can not insert in the network equal intervals, and tie-in line can not be isometric, and the maximum length of tie-in line should be less than 1m;
Figure A20051005524500046
Shield terminal: shield terminal is an one point earth.
Figure A20051005524500047
Cable shield is continuously conducting in car, and the network socket of advising each parts has the joint of screen, and in components interior, screen reliably links to each other with component controls cabinet ground.
(2) regulation of data link layer
The regulation main reference CAN2.0B of data link layer and the relevant regulations of J1939.
Figure A20051005524500048
29 bit identifiers of use CAN expansion frame also redefine.Fig. 2 is the distribution of 29 identifiers.Wherein, priority is 3, and 8 priority can be arranged; R generally is fixed as 0; DP now is fixed as 0; 8 PF is the code of message; 8 PS is destination address or group expansion; 8 SA is for sending the source address of this message; The addressing rule of node; If the defined address of J1939 is then used in the existing definition of J1939 as far as possible; ECU with a plurality of functions can use a plurality of addresses, also can redefine new address; The redetermination address should use 208～231 these sections to belong to the reservation address of road vehicle; The mode that adopts broadcasting and clean culture to engage is carried out transfer of data, and unicast message is mainly used in the control problem that solves the identical function node, uses broadcasting packet under other situation as far as possible;
Figure A200510055245000411
The mode that adopts data block coding and nodes encoding to engage is carried out data communication;
Figure A200510055245000412
Frame adopts CRC check; Has automatic closing function when bus error is serious.
(3) regulation of application layer
The relevant regulations of the regulation main reference J1939 of application layer.
Figure A200510055245000414
Application layer has defined two kinds of form PDU1 and the PDU2 of protocol Data Unit PDU;
Figure A200510055245000415
Adopt PGN that data block (parameter group) is numbered, under the broadcast mode, ECU comes the content of identification data block according to PGN; The employing cycle sends and event driven mode sends data;
Figure A20051005524500051
When defining new parameter group, the parameter of identical function, the identical or parameter of close refresh rate and the parameter that belongs in the same subsystem are placed in the same parameter group as far as possible; Simultaneously, new parameter group should make full use of the data width of 8 bytes, relevant parameter is placed in same group as far as possible, considers autgmentability again, reserves a part of byte or position, so that make amendment in the future;
Figure A20051005524500052
When revising the defined parameter group of J1939, the definition of defined byte or position is not made amendment; The parameter that increases newly will with original parameter correlation in the parameter group, incoherent parameter is not joined among the defined PGN for the quantity of saving PGN; For the close ECU of function, can in defined PGN, utilize undefined part to increase discrimination bit, judge the function of ECU, make full use of original defined parameter.
(4) the ECU source address is distributed
Fig. 3 is ECU nodename and the addresses distributed that pure electric automobile may be used.Wherein the entire car controller address is newly assigned address, and electric machine controller, electronic throttle controller, driver's cabin display, abs controller and power battery management system are former SAE J1939 definition and have distributed the address.
(5) data format definition
Fig. 4 is each ECU input/output signal formal definition of pure electric coach.
(6) each ECU parameter group definition
Entire car controller #1:PVCU1
Sending node Receiving node Identifier Refresh rate Data definition
Car load Electric machine controller PGN＝51200 ?100ms The position Data name ????SPN
P ?R ?D ?P ?P ?F P S ?S ?A 1BYTE Entire car controller Status_Flag1
2BYTE Control motor switch (0X55: close; 0XAA: open)
4 ?0 ?0 ?2 ?0 ?0 D A ?2 ?0 ?8 3BYTE Electrical machine working mode Status_Flag2
4BYTE U bus(bus voltage value) low byte is annotated: two byte data low bytes are preceding, high byte after; High-order in the same byte preceding; Low level after; This byte is exported immediately following behind the DLC;
5BYTE U busHigh byte
6BYTE I battery(-/+) (battery charging/discharging electric current) low byte
7BYTE I battery(-/+) (battery charging/discharging electric current) high byte
8BYTE Undefined
Entire car controller operating state Status_Flag1:
8bit(MSB) ????7bit ????6bit ????5bit ????4bit ????3bit ????2bit 1bit(LSB)
Do not use Do not use Do not use Do not use Do not use Do not use Do not use Operate as normal
Sending node Receiving node Identifier Communication cycle Data
Battery management system Entire car controller PGN＝6352 ?100MS The position Data name ????SPN
??1Byte ????U bus(battery system measurement bus voltage value) low byte is annotated: two byte data low bytes are preceding, high byte after; High-order in the same byte preceding; Low level after; This byte is exported immediately following behind the DLC;
?P R ?D ?P ?P ?F ?P ?S ?S ?A
?6 0 ?0 ?2 ?4 ?2 ?0 ?8 ?2 ?4 ?3 ??2Byte ????U bus(battery system measurement bus voltage value) high byte
??3Byte ????I battery(-/+) (battery charging/discharging electric current) low byte
??4Byte ????I battery(-/+) (battery charging/discharging electric current) high byte
??5Byte SOC (battery module SOC) low byte
??6Byte SOC (battery module SOC) high byte
??7Byte ????Temp. amb(ambient temperature in the battery case)
??8Byte Battery Status_Flag1
Status_Flag：
8bit(MSB) 7bit ??6bit ??5bit ??4bit ??3bit ??2bit ??1bit(LSB)
Do not use Do not use Temperature is too high Overcurrent SOC is low excessively SOC is too high Module voltage is low excessively Module voltage is too high
Annotate: the logical one presentation of events is true; The logical zero presentation of events is false
Sending node Receiving node Identifier Communication cycle Data
Battery management system Entire car controller PGN＝6608 ?100MS The position Data name ????SPN
1Byte The LIFE of battery management system
?P ?R ?D ?P ?P ?F ?P ?S ?S ?A
?6 ?0 ?0 ?2 ?5 ?2 ?0 ?8 ?2 ?4 ?3 2Byte Battery Status_Flag2
3Byte ????U mean(battery module average voltage) low byte is annotated: two byte data low bytes are preceding, high byte after; High-order in the same byte preceding; Low level after; This byte is exported immediately following behind the DLC;
4Byte ????U mean(battery module average voltage) high byte
5Byte ????U range(battery module voltage extreme difference) low byte
6Byte ????U range(battery module voltage extreme difference) high byte
7Byte ????T mean(battery module temperature average)
8Byte ????T range(battery module temperature extreme difference)
Status_Flag：
Electrical machine working mode Status_Flag2:
8bit(MSB) 7bit 6bit 5bit 4bit 3bit 2bit 1bit(LSB)
Do not use Do not use Do not use Do not use Reverse drive Idle running Braking Drive
Annotate: the logical one presentation of events is true; The logical zero presentation of events is false
Entire car controller #1:PVCU1
Sending node Receiving node Identifier Refresh rate Data definition
Car load Other nodes all can receive PGN＝61702 ?10ms The position Data name ????SPN
P R D P P F P S S A ??1BYTE Entire car controller LIFE
??2BYTE Torque-target target torque low byte is annotated: two byte data low bytes are preceding, high byte after; High-order in the same byte preceding; Low level after; This byte is exported immediately following behind the DLC;
3 0 0 2 4 1 6 2 0 8 ??3BYTE Torque-target target torque high byte
??4BYTE
??5BYTE
??6BYTE
??7BYTE
??8BYTE
Electric machine controller #1:MC1
Sending node Receiving node Identifier Refresh rate Data definition
Electric machine controller Entire car controller PGN＝2256 ?100ms The position Data name ????SPN
P R D P P F P S S A 1BYTE Torque actual torque low byte is annotated: two byte data low bytes are preceding, high byte after; High-order in the same byte preceding; Low level after; This byte is exported immediately following behind the DLC;
2BYTE Torque actual torque high byte
6 0 0 8 2 0 8 2 3 9 3BYTE Controller direct voltage low byte
4BYTE Controller direct voltage high byte
5BYTE Tempmotor low byte (Electric Machine Control actuator temperature)
6BYTE Tempcontr high byte (Electric Machine Control actuator temperature)
7BYTE Electric machine controller fault message MC_Error
8BYTE
Electric machine controller fault message MC_Error
8bit(MSB) 7bit 6bit 5bit 4bit 3bit 2bit 1bit(LSB)
Keep The self check mistake The motor hypervelocity The IGBT fault Communication abnormality Temperature is too high Phase current is too high Direct voltage is too high
Annotate: the logical one presentation of events is true; The logical zero presentation of events is false
Electric machine controller #1 MC2:
Sending node Receiving node Identifier Refresh rate Data definition
Electric machine controller All nodes PGN＝616 96 ?10ms The position Data name ????SPN
P R D P P F P S S A ?1BYTE The LIFE of electric machine controller
?2BYTE Nmotor (motor speed) low byte is annotated: two byte data low bytes are preceding, high byte after; High-order in the same byte preceding; Low level after; This byte is exported immediately following behind the DLC;
3 0 0 2 4 1 0 2 3 9 ?3BYTE Nmotor (motor speed) high byte
?4BYTE The gas pedal low byte
?5BYTE The gas pedal high byte
?6BYTE Electric machine controller MC_Status
?7BYTE
?8BYTE
MC_Status：
8bit(MSB) 7bit 6bit 5bit 4bit 3bit 2bit 1bit(LSB)
Fault Self check is finished Speed-regulating mode Torque mode Retreat Idle running Braking Advance
Annotate: the logical one presentation of events is true: the logical zero presentation of events is for false
Speed changer ETC1
Sending node Receiving node Identifier Refresh rate Data definition
ETC Electric machine controller PGN＝4335 ??10ms The position Data name ????SPN
P R D P P F P S S A ?1BYTE The LIFE of ETC
?2BYTE Electrical machine working mode Control_Mode
3 0 0 1 6 2 3 9 3 ?3BYTE The electric machine speed regulation low byte
?4BYTE The electric machine speed regulation high byte
?5BYTE Transmission state ETC_Status
?6BYTE
?7BYTE
?8BYTE
Control_Mode：
8bit(MSB) 7bit ?6bit ?5bit ?4bit 3bit 2bit 1bit(LSB)
Do not use Do not use Do not use Do not use Oppositely Speed-regulating mode Torque mode Neutral
Annotate: the logical one presentation of events is true; The logical zero presentation of events is false
Battery management system BC1:
?8bit(MSB) ????7bit ????6bit ????5bit ????4bit ????3bit ????2bit ??1bit(LSB)
Do not use Do not use Do not use Do not use Do not use Do not use Do not use Do not use
Annotate: the logical one presentation of events is true; The logical zero presentation of events is false
The invention has the beneficial effects as follows, adopt this technological borrowing SAE J1939 to formulate the Content of Communication and the form of pure electric coach whole-control system communication protocol standard and major critical component, satisfy the requirement of the control and management of electric motor car car load, failure diagnosis communication protocol.
Description of drawings
Below in conjunction with drawings and Examples the utility model is further specified.
Fig. 1 is a pure electric coach control system network topology structure;
Fig. 2 is the distribution of 29 identifiers;
Fig. 3 is each ECU address assignment;
Fig. 4 is each ECU input/output signal formal definition.
Embodiment
After the design complete has the CAN interface hardware, in the software program design, communicate programming according to this protocol specification.

Claims (3)

1. one kind is applicable to pure electric coach control system CAN bus communication technology, it is characterized in that: with reference to the relevant regulations of CAN2.0B and J1939, provide a kind of communications protocol that is applicable to pure electric coach.
2. method according to claim 1, it is characterized in that the entire car controller address is newly assigned address, and electric machine controller, electronic throttle controller, driver's cabin display, abs controller and power battery management system are former SAE J1939 definition and have distributed the address.
3. method according to claim 1, its feature are seen in the specification entire car controller, electric machine controller, speed changer and battery management system parameter group have been carried out detailed definition.
CN 200510055245 2005-03-17 2005-03-17 Pure motor passenger car communication method based on CAN bus Pending CN1649345A (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100409533C (en) * 2006-06-01 2008-08-06 上海瑞华(集团)有限公司 Vehicular galvanic pile-driven urban electric bus integrated control system
CN101867570A (en) * 2010-05-13 2010-10-20 浙江大学 CAN-based communication method in embedded software reliability test
CN102069762A (en) * 2010-12-28 2011-05-25 奇瑞汽车股份有限公司 Controller area network (CAN) system of electric/hybrid power automobile
CN102195840A (en) * 2011-04-26 2011-09-21 北京理工华创电动车技术有限公司 System and method for communication of pure electric vehicle based on independent four-wheel drive of double motors
CN101417636B (en) * 2008-03-14 2013-03-20 北京理工大学 Pure electric motor coach communication system and method based on three CAN bus
CN113359680A (en) * 2021-06-28 2021-09-07 潍柴动力股份有限公司 Data acquisition method and vehicle-mounted terminal

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100409533C (en) * 2006-06-01 2008-08-06 上海瑞华(集团)有限公司 Vehicular galvanic pile-driven urban electric bus integrated control system
CN101417636B (en) * 2008-03-14 2013-03-20 北京理工大学 Pure electric motor coach communication system and method based on three CAN bus
CN101867570A (en) * 2010-05-13 2010-10-20 浙江大学 CAN-based communication method in embedded software reliability test
CN101867570B (en) * 2010-05-13 2012-12-05 浙江大学 CAN-based communication method in embedded software reliability test
CN102069762A (en) * 2010-12-28 2011-05-25 奇瑞汽车股份有限公司 Controller area network (CAN) system of electric/hybrid power automobile
CN102195840A (en) * 2011-04-26 2011-09-21 北京理工华创电动车技术有限公司 System and method for communication of pure electric vehicle based on independent four-wheel drive of double motors
CN102195840B (en) * 2011-04-26 2015-01-07 北京理工华创电动车技术有限公司 System and method for communication of pure electric vehicle based on independent four-wheel drive of double motors
CN113359680A (en) * 2021-06-28 2021-09-07 潍柴动力股份有限公司 Data acquisition method and vehicle-mounted terminal
CN113359680B (en) * 2021-06-28 2023-05-23 潍柴动力股份有限公司 Data acquisition method and vehicle-mounted terminal

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