联合收获机CAN总线架构设计与试验  

CAN Bus Architecture Design and Test of Combine Harvester

作　　者：蒋建东[1] 孙远方 金骁 周倩 毛智琳 JIANG Jiandong;SUN Yuanfang;JIN Xiao;ZHOU Qian;MAO Zhilin(Key Laboratory of Special Purpose Equipment and Advanced Manufacturing Technology,Ministry of Education,Zhejiang University of Technology,Hangzhou 310014,China;Thinker Agricultural Machinery Co.,Ltd.,Huzhou 313017,China)

机构地区：[1]浙江工业大学特种装备制造与先进加工技术教育部重点实验室,杭州310014 [2]星光农机股份有限公司,湖州313017

出　　处：《农业机械学报》2019年第6期93-99,共7页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(51375456)

摘　　要：针对国内外农机装备智能化发展及设备物联远程网控需求,基于ISO11783系列标准,提出并设计了联合收获机智能CAN总线方案及其应用系统。根据联合收获机的作业特点和智能控制需求,建立了由动力CAN总线、设备管理CAN总线、专用设备CAN总线1和专用设备CAN总线2组成的模块化、可扩展的智能农机CAN总线网络结构。基于ISO11783CAN总线应用层协议标准,制定了智能化联合收获机远程网控通信协议。最后,进行了联合收获机CAN总线应用系统网络负载和实时性的通信试验及工程应用试验验证。试验结果表明,在500kb/s波特率下,所有总线的负载率均小于30%,数据在3层CAN总线之间传输总延时小于1ms,满足联合收获机智能远程网控CAN总线系统的设计要求。Aiming at the intelligent development of agricultural machinery and equipment at home and abroad and the remote network control requirements of equipment and materials,based on ISO 11783 agricultural machine CAN bus standard,the intelligent harvesting CAN bus program and its application system were proposed and designed. According to the operation characteristics and intelligent control requirements of the combine harvester,a modular and expandable intelligent agricultural CAN bus network structure,consisting of a power CAN bus,a device management CAN bus,a dedicated device CAN bus 1 and a dedicated device CAN bus 2 was established. Based on the ISO 11783 CAN bus application layer protocol standard,an intelligent remote harvester remote network control communication protocol was developed. Finally,the network load and real-time communication experiment of CAN bus application system of intelligent combine harvester and the engineering application experiment were carried out. The results showed that at the baud rate of 500 kb/s,the load of all buses was less than30%,and the data transmission delay between the three layers CAN buses was less than 1 ms,which fully met the design requirements of the intelligent remote network-controlled CAN bus system of combine harvester. In engineering applications,it also met the automatic navigation communication requirements of harvesters.

关 键 词：联合收获机 CAN总线 架构设计 通信试验 

分 类 号：S225.3[农业科学—农业机械化工程]