CN206719141U - A kind of electric tractor and communication device with two-way CAN - Google Patents
A kind of electric tractor and communication device with two-way CAN Download PDFInfo
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- CN206719141U CN206719141U CN201720440806.1U CN201720440806U CN206719141U CN 206719141 U CN206719141 U CN 206719141U CN 201720440806 U CN201720440806 U CN 201720440806U CN 206719141 U CN206719141 U CN 206719141U
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Abstract
It the utility model is related to a kind of electric tractor and communication device with two-way CAN, using the electric tractor communication device including central controller, high-speed CAN bus and low speed CAN, wherein, steering control system, ESC Electronic Suspension System, PTO control systems and couple state handover control system are connected in high-speed CAN bus, farm implements control system, fault detection system are connected with low speed CAN.The utility model is according to the demand of the actual communication speed of each control system, set in high-speed CAN bus and high system is required to bus speed, set in low speed CAN and relatively low system is required to bus speed, solve and inflexible problem is configured using communication between each system caused by a CAN, solve simultaneously because the deadweight of a large amount of electric tractors using harness band increases problem, the information between each ECU is shared, there is the advantages of configuration is flexible, real-time is good, strong antijamming capability.
Description
Technical field
The utility model belongs to automobile-used technical field of network communication, and in particular to a kind of electronic with two-way CAN
Tractor and communication device.
Background technology
With the fast development of automotive engineering, new technology, new thought on a large amount of automobiles are referred to the design of tractor,
Tractor applies substantial amounts of electronic control unit to realize the quick of the tractor course of work and stably now.It is same with this
When, substantial amounts of ECU remains unchanged using original wire harness link control so that the application of tractor itself wire harness and its various,
This not only makes the increase of its own weight, and can not ensure the information between each automatically controlled Dan Yuan well due to wire harness control
Transmit authentic and valid, and can not ensure that its is ageing, may cause each control system information inconsistent when serious, serious shadow
Ring its normal work.
For electric tractor, due to adding the intelligent management systems such as battery, motor and management system, not only
It is required that more control linkage lines beams, and also need to the accuracy of strict guarantee control information and ageing.If still adopt
Each ECU is connected with traditional wire harness, is almost implemented it is difficult to ensure that its effect.It can also greatly increase electronic drag simultaneously
The own wt of machine drawing.Further, since this research is to be used for light tractor, gardening, booth work are commonly used to, it is electronic to drag
The no pollution of machine drawing, zero-emission greatly meet the emission request of operation in canopy, and therefore, design one kind is used for such tractor
Bus it is particularly important.
At present, in order to solve the above problems, in the prior art, each Node Controller of electric tractor passes through a CAN
Bus is connected into whole-control system, controls the operation of each part respectively, realizes the work(of electric tractor farm work and transport
Energy.Following system is generally mounted with each node of electric tractor：Battery management system, steering, ESC Electronic Suspension System,
PTO electric machine control systems, couple state handover control system, brakes, electric machine control system, farm implements control system, auxiliary
Power-supply system, driving display of regime system, fault detection system, lamp lighting system, instrument display system etc., these systems according to
The transmission requirement and transmission speed of bus are also not quite similar according to itself communication importance difference, when these systems are all articulated in
Occur requiring bus transfer in one CAN, when may be due to bus free low system first transmit, will to bus transfer
Situation about being transmitted after high system is sought, cannot ensure that relatively important system can preferentially, timely be transmitted communication, make
Into the problem of communication configuration is dumb between each system and requires the transmission poor real of high each system to bus speed.
Utility model content
The purpose of this utility model is to provide a kind of electric tractor and communication device with two-way CAN, is used for
Solve the problems, such as that existing electric tractor influences its each system worked well using a CAN.
In order to solve the above technical problems, the utility model proposes a kind of electric tractor communication with two-way CAN
Device, including solution below：
Communication device scheme one, including central controller, high-speed CAN bus and low speed CAN, high-speed CAN bus and
Low speed CAN carries out information exchange by central controller, and the high-speed CAN bus is connected with steering control system, electronic
Suspension, PTO control systems and couple state handover control system, the low speed CAN be connected with farm implements control system,
Fault detection system.
Communication device scheme two, on the basis of communication device scheme one, the high-speed CAN bus is also associated with cell tube
Reason system, secondary power system and brakes.
Communication device scheme three, on the basis of communication device scheme one, the low speed CAN is also associated with light photograph
Bright system, instrument display system and driving display of regime system.
Communication device scheme four, five, six, respectively on the basis of communication device scheme one, two, three, the transmission of bus is situated between
Matter is twisted-pair feeder, and sending line by two differential receiveds forms, wherein the both ends that a differential received sends line pass through terminal respectively
Resistance connects another differential received and sends line.
Communication device scheme seven, on the basis of communication device scheme one, the high-speed CAN bus and/or low speed CAN are total
Each system on line includes sensor, module controller, CAN controller and the CAN transceiver being sequentially connected, each system
Corresponding CAN is connected by CAN transceiver.
Communication device scheme eight, on the basis of communication device scheme one, the high-speed CAN bus and low speed CAN
The central controller is connected by corresponding CAN transceiver, photoisolator, CAN controller respectively.
To solve the above problems, the utility model also proposes a kind of electric tractor with two-way CAN, including with
Lower solution：
Tractor scheme one, including tractor body, in addition to central controller, high-speed CAN bus and low speed CAN are total
Line, high-speed CAN bus and low speed CAN carry out information exchange by central controller, and the high-speed CAN bus, which is connected with, to be turned
To control system, ESC Electronic Suspension System, PTO control systems and couple state handover control system, the low speed CAN connection
There are farm implements control system, fault detection system.
Tractor scheme two, on the basis of tractor scheme one, the high-speed CAN bus is also associated with battery management system
System, secondary power system and brakes.
Tractor scheme three, on the basis of tractor scheme one, the low speed CAN is also associated with lighting system
System, instrument display system and driving display of regime system.
Tractor scheme four, five, six, respectively on the basis of tractor scheme one, two, three, the transmission medium of bus is
Twisted-pair feeder, send line by two differential receiveds and form, wherein the both ends that a differential received sends line pass through terminal resistance respectively
Connect another differential received and send line.
The beneficial effects of the utility model are：The utility model, which uses, includes central controller, high-speed CAN bus and low speed
The electric tractor communication device of CAN, wherein, in high-speed CAN bus connect steering control system, ESC Electronic Suspension System,
PTO control systems and couple state handover control system, farm implements control system, fault detect system are connected with low speed CAN
System.The utility model is set to bus speed according to the demand of the actual communication speed of each control system in high-speed CAN bus
It is required that high system, sets in low speed CAN and requires relatively low system to bus speed, solve using one
Communication configures inflexible problem between each system caused by CAN, while solves due to a large amount of electricity using harness band
The deadweight increase problem of dynamic tractor, is shared the information between each ECU, has and configure flexible, real-time
Well, the advantages of strong antijamming capability.
Brief description of the drawings
Fig. 1 is a kind of CAN network topology structure figure of the present utility model；
Fig. 2 is a kind of CAN network architecture figure of the present utility model.
Embodiment
Specific embodiment of the present utility model is further described below in conjunction with the accompanying drawings.
A kind of embodiment of electric tractor communication device with two-way CAN of the present utility model：
Electric tractor communication device of the present utility model as shown in figure 1, including central controller, high-speed CAN bus and
Low speed CAN, high-speed CAN bus and low speed CAN are used to carry out information exchange, high-speed CAN by central control system
Bus node includes steering control system, ESC Electronic Suspension System, PTO control systems, couple state handover control system, cell tube
Reason system, secondary power system, electric machine control system and brakes, low speed CAN node include farm implements control system, event
Hinder detecting system, lamp lighting system, instrument display system and driving display of regime system.
The CAN network service flow of above-mentioned electric tractor communication device is：
A) ECU nodal information is gathered, and unified coding is carried out to information；
B) information of Unified coding is sent to CAN and carries out message transmission；
C) information is identified each node, and whether judgement will receive the information, so as to complete the transmission of information.
To ensure transmission of the data in bus, the utility model using twisted-pair feeder bus system structure as shown in Fig. 2
The transmission medium of bus is twisted-pair feeder, and sending line by two differential receiveds forms, respectively CAN-H and CAN-L, wherein a difference
Tap transmitting-receiving line sending CAN-H both ends connect another differential received by terminal resistance respectively and send line CAN-L.
In Fig. 2, high-speed CAN bus and low speed CAN pass through corresponding CAN transceiver, photoisolator, CAN respectively
Controller connects central controller, and each system on high-speed CAN bus node and low speed CAN node includes connecting successively
Sensor, module controller, CAN controller and the CAN transceiver connect, it is total that each system by CAN transceiver connects corresponding CAN
Line.
Specifically, sensor is installed on each node end, for measuring the signal of collection unit.CAN transceiver
CAN directly is connected on, from PCA82C250, is sent for binary code stream to be converted into differential signal, differential signal is turned
It is changed to binary code stream reception.CAN controller is installed on after CAN transceiver, from SJA1000, for realizing CAN
Agreement bottom and data link layer, for generating CAN frames and being sent in a manner of binary code stream, enter line position in the process
The operations such as filling, addition CRC check, response detection；The binary code stream received is parsed and received, in the process
Transmitting-receiving comparison is carried out, position filling is gone, performs the operation such as CRC check.In addition also need to carry out conflict judgement, error handle etc. many
Task.Module controller, different controllers are selected according to the specific each several part concrete function of electric tractor.For controlling each list
The electronic control unit that the action of element module is realized.
When the system is operating, if a certain node needs to send data, the node will be monitored bus, if bus is hurried
It is commonplace, then it can be judged according to node priority, be first transmitted by the high information of priority.If bus free, data warp
Binary stream is converted to by frame to send to bus through CAN transceiver, existed by the differential voltage driving data of bus by CAN controller
Transmitted in bus, each node starts to identify the data, if identification finds to be destined to oneself, by CAN transceiver by difference
Sub-signal is converted to binary stream, is translated via CAN controller to module controller, and being sent by module controller specifically needs to make
The action message gone out is transmitted to executing agency, finally by executing agency's execution.
As shown in Fig. 2 the resistance of the terminal resistance at both ends is matched from 120 Ω, when there is node occupancy in bus
When, the transmission termination CAN-H of the node, voltage is 3.5V, receives termination CAN-L, voltage is 1.5V, if not having node in bus
During occupancy, two lines are 2.5V.CAN transceiver selects PCA82C250, is the interface between CAN controller and physical layer bus, and
And it has and protects system not disturbed by instantaneous vehicle changing environment, while there is the function of protection bus, realize to bus
Difference send, receiving ability.CAN controller selects SAJ1000, be integrated with the physics of CAN protocol into data link layer
Function.
Terminal resistance, CAN both ends are installed on, for eliminating the signal reflex in communication cable.Due to CAN
Dielectric resistance is 120 Ω, so the resistance that two resistances of selection are all 120 Ω reflects to eliminate the wire size in cable.Center
Controller, from MS320LF2402A, for bridging high and low two buses, data exchange is carried out with each node, and play gateway
Effect.Photoisolator, from 6N137, for preventing interference caused by CAN controller signal enters microcontroller.
The CAN network control processing of electric tractor of the present utility model is as follows：
By each sensor collection vehicle current operating conditions and driver by control accelerator pedal, clutch pedal,
Steering wheel angle and TR etc. send driving information, and these information are sent into afterwards according to communication protocol is encoded
Central processor, there is central processing unit analysis to obtain corresponding control information after calculating, received through CAN by corresponding node,
Through its CAN controller processing after control information is transmitted to its ECU, immediately ECU reception signals to response execution unit and by
Control unit is controlled, and these mechanisms is made corresponding reaction, the processing of signal of completion and transmitting procedure.
Because the system uses closed-loop control, information is constantly sent by CAN to be received, and substantial amounts of information needs
Transmitted in real time, to ensure that vehicle can be completed correctly and timely to act.Because CAN is the work side of more main websites
Formula, the arbitrary node on network can send information at any time, so needing to carry out priority to different nodes
Distribution, the information for alloing priority high are having the preferentially transmitted, and it is to be transmitted again that the low information of priority level does not conflict in bus,
Both reliability is met, improves accuracy again.
The EMS of tractor is constituted by battery management system and secondary power system, both pass through motor control
The signal of system processed and central control system collection analyzes the current running status of vehicle, and then carries out distribution and the pipe of energy
Reason, ensure the normal work demand of tractor.Electric machine control system receives from battery management system and secondary power system
The action adapted to after signal, complete required job requirement.Central control system receives the letter transmitted from each node
Number analysis judges the current operating condition of vehicle, is expert in turner condition and is shown, and makes corresponding brakes, steering system
System, PTO electric machine control systems, ESC Electronic Suspension System, couple state switching system, farm implements control system make corresponding action,
With realize the startup of electric tractor, acceleration, at the uniform velocity, speed change, braking, turning, farm implements control etc..During lamp lighting system receives
The signal of intent of the driver of control system is entreated, makes corresponding lighting action.The systematic running status of institute is all by instrument
Table display system is shown, including battery management system, electric machine control system, secondary power system, lamp lighting system etc.,
Driver is set to understand the current real-time condition of vehicle.Once CAN bus system breaks down, then system is detected by fault detection system
Unite failure, and then by presentation of information in instrument display system, inform system failure reason, auxiliary solves the system failure.
The function for each system that high-speed CAN bus connects with the node of low speed CAN is as follows：
Battery management system (BMS)：Battery physical parameter monitors in real time, battery status estimation, inline diagnosis and early warning,
Charge and discharge control with preliminary filling, balanced management and heat management etc.；
Electric machine control system：According to the driving demand of driver, the chemical energy of the battery on electric tractor is converted to
Mechanical energy, wheel is reached through gearbox and drive shaft；
Secondary power system：Electric tractor is set to provide auxiliary power in short-term in acceleration and climbing；
Brakes：In electric tractor work, carry out forced deceleration according to the requirement of driver and even stop；Make
The automobile of stagnation of movement (is included on ramp) steadily halt under the conditions of different kinds of roads；The car speed of descent run is set to keep steady
It is fixed；
PTO electric machine control systems：According to the difference of working condition, the state that PTO motors are adjusted to meet work requirements；
ESC Electronic Suspension System：The farm implements of electric tractor is lifted or is fallen as needed, control the tilling depth of farm implements, carry
High farm implements cultivate quality；
Couple state switching system：Controlled motor exports power to be best suitable for the pattern of current working, realizes coupling/uncoupling
Action；
Farm implements control system：It is controlled for the farm implements of electric tractor, it is met job requirement.
The function of the CAN real-time performance of electric tractor of the present utility model includes：Each electronic control unit ECU
Between information communicate with exchanging；Electric tractor vehicle security control；The power of electric tractor drive system, power, turn
The control of square；The control of electric tractor driving cycle；The electronic equipment control of the various drivings of electric tractor.
In the implementation case, the sensor of each control system has gathered data message afterwards by information through module controller
It is transferred to CAN controller generation CAN frames and is converted to binary stream, CAN transceiver is subsequently passed to, in the difference of twisted-pair feeder
Under voltage, sent by CAN transceiver with differential signal to bus, communication protocol uses SAE J1939 agreements.The utility model
CAN network uses multi-main construction, and each node of system can enter the transmission and reception of row information, more using carrier sense
The arbitration mechanism that road accesses ensures being smoothed out for bus transfer.
The utility model makes the letter between the modules such as the motor, battery management system, energy management system of electric tractor
Breath transmits and relies on the network transmission, not only meets the accuracy in information exchanging process, while also to ensure ageing, both solves
Because the deadweight of a large amount of electric tractors using harness band increases, moreover it is possible to effectively make the letter between each ECU
Breath is shared, and realizes that configuration is flexible, real-time is good, strong antijamming capability function, and to realize that intelligent tractor provides
Basis.
A kind of embodiment of electric tractor with two-way CAN of the present utility model：
Electric tractor communication device including tractor body and with two-way CAN, during the communication device includes
Centre controller, high-speed CAN bus and low speed CAN, high-speed CAN bus and low speed CAN are carried out by central controller
Information exchange, high-speed CAN bus are connected with steering control system, ESC Electronic Suspension System, PTO control systems and couple state switching
Control system, low speed CAN are connected with farm implements control system, fault detection system.
Because the communication device of the tractor in the present embodiment is in the embodiment of above-mentioned electric tractor communication device
The sufficiently clear of introduction is complete, therefore no longer it is described in detail.
Claims (10)
1. a kind of electric tractor communication device with two-way CAN, it is characterised in that including central controller, high speed
CAN and low speed CAN, high-speed CAN bus and low speed CAN carry out information exchange by central controller, described
High-speed CAN bus is connected with steering control system, ESC Electronic Suspension System, PTO control systems and couple state handover control system,
The low speed CAN is connected with farm implements control system, fault detection system.
2. the electric tractor communication device according to claim 1 with two-way CAN, it is characterised in that described
High-speed CAN bus is also associated with battery management system, secondary power system and brakes.
3. the electric tractor communication device according to claim 1 with two-way CAN, it is characterised in that described
Low speed CAN is also associated with lamp lighting system, instrument display system and driving display of regime system.
4. the electric tractor communication device with two-way CAN according to claim any one of 1-3, its feature exist
In the transmission medium of bus is twisted-pair feeder, and sending line by two differential receiveds forms, wherein a differential received sends the two of line
End connects another differential received by terminal resistance respectively and sends line.
5. the electric tractor communication device according to claim 1 with two-way CAN, it is characterised in that described
Each system in high-speed CAN bus and/or low speed CAN includes sensor, module controller, the CAN control being sequentially connected
Device processed and CAN transceiver, each system connect corresponding CAN by CAN transceiver.
6. the electric tractor communication device according to claim 1 with two-way CAN, it is characterised in that described
Described in high-speed CAN bus and low speed CAN are connected by corresponding CAN transceiver, photoisolator, CAN controller respectively
Central controller.
7. a kind of electric tractor with two-way CAN, including tractor body, it is characterised in that also include center control
Device, high-speed CAN bus and low speed CAN processed, high-speed CAN bus and low speed CAN enter row information by central controller
Interaction, the high-speed CAN bus are connected with steering control system, ESC Electronic Suspension System, PTO control systems and couple state switching
Control system, the low speed CAN are connected with farm implements control system, fault detection system.
8. the electric tractor according to claim 7 with two-way CAN, it is characterised in that the high-speed CAN is total
Line is also associated with battery management system, secondary power system and brakes.
9. the electric tractor according to claim 7 with two-way CAN, it is characterised in that the low speed CAN is total
Line is also associated with lamp lighting system, instrument display system and driving display of regime system.
10. the electric tractor with two-way CAN according to claim any one of 7-9, it is characterised in that bus
Transmission medium be twisted-pair feeder, sending lines by two differential receiveds forms, wherein a differential received sends the both ends difference of line
Another differential received is connected by terminal resistance and sends line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720440806.1U CN206719141U (en) | 2017-04-25 | 2017-04-25 | A kind of electric tractor and communication device with two-way CAN |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720440806.1U CN206719141U (en) | 2017-04-25 | 2017-04-25 | A kind of electric tractor and communication device with two-way CAN |
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| CN206719141U true CN206719141U (en) | 2017-12-08 |
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| CN201720440806.1U Expired - Fee Related CN206719141U (en) | 2017-04-25 | 2017-04-25 | A kind of electric tractor and communication device with two-way CAN |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108515842A (en) * | 2018-04-13 | 2018-09-11 | 河南科技大学 | Dual-motor electric tractor PTO control systems |
| CN113291285A (en) * | 2021-05-10 | 2021-08-24 | 第一拖拉机股份有限公司 | Tractor complete machine controller and tractor |
| CN113561775A (en) * | 2021-08-30 | 2021-10-29 | 江苏悦达智能农业装备有限公司 | Tractor circuit control device |
| CN113815551A (en) * | 2021-10-26 | 2021-12-21 | 江苏悦达智能农业装备有限公司 | Tractor intelligent control device |
| CN115039560A (en) * | 2022-07-01 | 2022-09-13 | 洛阳拖拉机研究所有限公司 | Electric control system of electric mower based on CAN bus |
-
2017
- 2017-04-25 CN CN201720440806.1U patent/CN206719141U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108515842A (en) * | 2018-04-13 | 2018-09-11 | 河南科技大学 | Dual-motor electric tractor PTO control systems |
| CN113291285A (en) * | 2021-05-10 | 2021-08-24 | 第一拖拉机股份有限公司 | Tractor complete machine controller and tractor |
| CN113561775A (en) * | 2021-08-30 | 2021-10-29 | 江苏悦达智能农业装备有限公司 | Tractor circuit control device |
| CN113815551A (en) * | 2021-10-26 | 2021-12-21 | 江苏悦达智能农业装备有限公司 | Tractor intelligent control device |
| CN115039560A (en) * | 2022-07-01 | 2022-09-13 | 洛阳拖拉机研究所有限公司 | Electric control system of electric mower based on CAN bus |
| WO2024001150A1 (en) * | 2022-07-01 | 2024-01-04 | 洛阳拖拉机研究所有限公司 | Can-bus-based electrical control system for electric mower |
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