基于CAN总线的数据臂通信设计  

Design of Data Arm Communication Based on CAN Bus

作　　者：赵晓军[1] 曹建坤[1] 李可一[2] 王飞[1] 任明伟[1] 苏海霞[1] 曹勇[1] 

机构地区：[1]河北大学电子信息工程学院,河北保定071002 [2]北京林业大学工学院,北京100083

出　　处：《自动化仪表》2010年第5期13-15,18,共4页Process Automation Instrumentation

基　　金：河北省科技厅科技支撑计划资助项目(编号:062135132);河北省教育厅重点科技基金资助项目(编号:2005002D);河北大学博士基金资助项目(编号:y2005052)

摘　　要：针对数据臂的多电机驱动、多传感器信息采集的特点,提出了一种基于CAN总线的数据臂通信方案。通过CAN总线将上位机与下位机各关节测控节点相连,实现系统的分布式测量与控制;在此基础上,制定了适合于模块化结构数据臂通信要求的CAN总线协议,以协调总线上的信息流,从而减小总线冲突仲裁所需时间。该系统的数据传输准确率高、实时性好、工作性能稳定、连线简单,能够满足数据臂对实时性、可靠性等性能的要求。Aiming at the features of data arm,i.e.multiple motor driving and multiple sensor information acquisition,the communication strategy based on CAN bus for data arm is proposed.Through CAN bus,the measured and controlled joint nodes of slave computers and the host computer are connected for implementing distributed measurement and control.On this basis,the CAN bus protocol suitable for data arm communication with modular structure is established to coordinate the information streams on the bus and reduces the time required for bus conflict arbitration.The system features highly precise data transmission,excellent real-time performance,stable operation,and easy connection.It meets the requirements of data arm upon real-time performance and reliability,etc.

关 键 词：CAN总线 数据臂 通信 接口电路 总线协议 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]