CN1606286A - An entire fuel battery car controller monitoring system based on CAN bus - Google Patents
An entire fuel battery car controller monitoring system based on CAN bus Download PDFInfo
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- CN1606286A CN1606286A CN 200410088818 CN200410088818A CN1606286A CN 1606286 A CN1606286 A CN 1606286A CN 200410088818 CN200410088818 CN 200410088818 CN 200410088818 A CN200410088818 A CN 200410088818A CN 1606286 A CN1606286 A CN 1606286A
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- 239000000446 fuel Substances 0.000 title claims abstract description 21
- 238000012544 monitoring process Methods 0.000 title claims description 22
- 238000004891 communication Methods 0.000 claims abstract description 10
- 230000006870 function Effects 0.000 claims description 25
- 238000013507 mapping Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 abstract description 8
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000003384 imaging method Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 16
- 238000012360 testing method Methods 0.000 description 5
- 230000018109 developmental process Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000005538 encapsulation Methods 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 235000015170 shellfish Nutrition 0.000 description 1
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Abstract
A monitor system of a whole car controller for CAN bus fuel battery vehicles includes three parts: an upper bit set, CAN card and its bus and a lower bit set, in which, the PCMCIM interface of the upper bit set is connected with CAN interface of the lower bit set via the CAN card and CAN bus, the upper bit set sends request words and control parameter address to calibrate the parameters of the controller on line, the lower bit set whole car controller realizes on-line program of CAN bus communication by imaging the executing code, realizing site monitor and management for high rate of data transmission by CAN bus technology and Matlab software platform.
Description
Technical field
A kind of entire fuel battery car controller monitoring system based on the CAN bus, relate to industry spot monitoring technique field, be particularly useful for the scene of entire fuel battery car controller high data rate being monitored in real time and being managed with portable terminal such as notebook computer.
Background technology
Fuel cell car adopts the dcs structure, and each parts all has independently controller, and entire car controller carries out the coordination control of energy management and each parts to whole system.Big for satisfying the system data exchange capacity, real-time, the characteristics that reliability requirement is high adopt the CAN bus to carry out communication between each controller of whole dcs.
In the debugging of vehicle control unit controls algorithm, matching and calibration process, need monitor operating state, the running parameter of fuel cell car, to understand the operation conditions of each parts, sometimes also need directly make amendment in the testing ground to Control Parameter, variation on the program structure also needs again with the control program writing controller, and this just requires entire car controller that a powerful supervisory control system cooperating is arranged.
Finished automobile controller monitoring system all is based on the exploitation of RS-232 serial communication protocol traditionally, serial communication exists shortcomings such as data transmission credibility is poor, transmission rate is low in the real train test environment, because the low SCI communication task of controller and host computer that causes of transmission rate is heavy, limited the quantity of parameter transmission.
The epigynous computer section of supervisory control system generally adopts software developments such as VC, LabView, supports the CAN address card of notebook computer PCMCIA slot generally also to have corresponding bsp driver.Ipc monitor based on Matlab software, can utilize its powerful data processing, computing function, system dynamics frequency characteristic etc. is analyzed, accelerate Control Parameter matching and calibration process, and with combine together based on the exploitation of the controller control algolithm of Matlab/Simulink environment and off-line thereof, real-time simulation test, accelerate the entire car controller construction cycle.But various in the market PCMCIACAN address card bsp drivers are not all directly supported the Matlab environment, need reopen bsp driver and send out.
Summary of the invention
The objective of the invention is to the problems referred to above, a kind of new entire fuel battery car controller monitoring system based on the CAN bus is provided, to satisfy the needs of fuel cell entire car controller exploitation at present finished automobile controller monitoring system existence.
Entire fuel battery car controller monitoring system based on the CAN bus proposed by the invention comprises three parts: host computer, CAN card and CAN bus and slave computer, host computer with pcmcia interface by the CAN card, the CAN bus links to each other with the CAN interface of slave computer.
Described host computer is by sending out the reopening of PCMCIA CAN card bsp driver, realized based on of the control of Matlab software platform, thereby can monitor in real time and storage entire car of fuel cell car CAN network and vehicle control unit controls parameter to the CAN bus communication; Host computer has been realized online matching and calibration to the controller Control Parameter by the mode that sends request word and Control Parameter address, and entire car controller has been realized online programming function based on the CAN bus communication by described mapping run time version mode.
Described CAN card is reopened its bsp driver and is sent out, utilize the C language S-function function performance of Matlab in the S-function function, former CAN card dynamic link libraries to be carried out dynamic call, and bottom layer driving function input/output variable encapsulated again, make it meet the types of variables of Matlab, generate new dynamic link library, thereby realized of the indirect call of host computer Matlab monitoring program CAN card bottom layer driving function.
Described slave computer is an entire car controller, and mainly by the controller master chip, Flash memory and RAM memory and interlock circuit are formed, and the output of controller master chip links to each other with the input of Flash memory with the RAM memory.The slave computer entire car controller distributes two CAN data buffer zones to be used for supervisory control system, and each all can independently generate interruption, receives and send the host computer data respectively.
Online matching and calibration of described entire car controller and online programming, upper and lower computer all by the affirmation process of shaking hands preventing misoperation, and send corresponding request word to slave computer; In the online matching process, slave computer carries out Control Parameter and revises according to the Control Parameter absolute address` and the data length that receive; In the online programming process, slave computer adopts the method for subfunction mapping, each subfunction that will realize programing function earlier copies in the RAM memory, obtain the entry address of each subfunction by the calculating relative address, corresponding instruction is carried out in the address that jumps to again after the mapping, the Flash memory is wiped earlier, by CAN communication program codes is write among the Flash then with host computer, program jumps to Flash program entry address after having write the affirmation of shaking hands again, and controller resets and guides from Flash again.
The present invention uses the CAN bussing technique, realized a kind of entire fuel battery car controller monitoring system in conjunction with the Matlab software platform, its host computer especially can use but be not limited to portable terminal (as notebook computer), can realize on-the-spot monitoring in real time of high data rate and management, its main effect has:
A) CAN bus transfer rate height, fault freedom is good, and fuel cell finished automobile controller monitoring system antijamming capability is strengthened.
When b) utilizing notebook computer to monitor, application places is flexible, is convenient to the test adjustment of getting on the bus.
C) utilize fuel cell car control system CAN network communication structure, the parameter of parts has directly been received from the CAN network, alleviated the monitoring communication burden of entire car controller greatly.
D), realized the flexible debugging of car load control algolithm testing ground based on the online matching and calibration and the online programming of CAN bus.
Description of drawings
Fig. 1 is a fuel cell finished automobile controller monitoring system structural representation.
Fig. 2 is the development process of host computer Matlab monitoring program.
Fig. 3 is the online programming principle schematic.
Fig. 4 is a Flash programming Function Mapping mode schematic diagram.
Embodiment
Below in conjunction with accompanying drawing concrete enforcement of the present invention is described further.
Figure 1 shows that fuel cell finished automobile controller monitoring system structural representation.Host computer is a notebook computer with PCMCIA mouth, links to each other with entire car controller and car load CAN network by PCMCIA CAN card, and described CAN card model can be ICPCM-CO.The controller master chip is preferably the MC68376 single-chip microcomputer, it has one road CAN, directly link to each other with the CAN bus, its CAN module has 16 to receive the transmission data buffer zone, each all can independently generate interruption, wherein distribute two CAN data buffer zones to be used for supervisory control system, receive and send the host computer data respectively, receiving data is finished by the break in service subfunction, send each control cycle of buffering area and all send Control Parameter to the CAN bus, the priority level setting of two CAN Frame ID should be lower than the priority level of other all parts nodes in the fuel cell car control system, with guarantee supervisory control system not with the real-time control hazard of car load.The Flash ROM chip of expansion can be two AM29F040.
Though host computer Matlab software is supported by api function calling C language dynamic link library, but can only the function with simple input, output parameter be called, and do not support having labyrinth body function calls, the reopening that utilizes the S-function function performance of Matlab to carry out the bottom layer driving function is sent out, can realize the indirect call of CAN card buffer data, the S-function performing step is as follows:
A) call CAN card bottom layer driving dynamic link library, the bottom layer driving function is written into, obtain the handle of each subfunction in the dynamic link library, realize the antithetical phrase function calls by handle.
Following example obtains the handle that CAN receives the data subfunction:
typedef?int(*_ICPCM_SendCANMessage)(CANBUFFER*buffer)；
hDLL＝LoadLibrary(″icpcm_wdm.dll″)；ICPCM_GetCANMessages＝(_ICPCM_GetCANMessages)GetProcAddress(hDLL，″ICPCM_GetCANMessages″)；
B) subfunctions such as CAN initialization, reception, transmission CAN data are reopened sent out, carry out the encapsulation again of input/output variable, make it meet types of variables under the Matlab environment.
Following example is reopened CAN reception data subfunction and is sent out:
_ declspec (dllexport) mxArray*ReadMsg (int len) // return data is the Matlab array type
CANBUFFER canmsg[MAX_READ_MESSAGES]; //CANBUFFER is the structure data type
int?result，i，j，dims[]＝{1，0}；unsigned?char*templ；mxArray*temp；
result＝ICPCM_GetCANMessages(canmsg，MAX_READ_MESSAGES)；
dims[1]＝26*result；
Temp=mxCreateNumericArray (2, dims, mxUINT8_CLASS, mxREAL); // set up the variable length number of degrees
Group
temp1＝&canmsg；
Memcpy (mxGetPr (temp), temp1, result*26*sizeof (unsigned char)); // original CAN data are copied
Shellfish is in the Matlab array
return?temp；
}
C) with the bsp driver after S-function compiling encapsulation again, generate the dynamic link library that the Matlab environment can directly call down.
mex?canmonitor.c；
The development process of host computer Matlab monitoring program as shown in Figure 2, host computer utilizes the loadlibrary function to be written into dynamic link library in Matlab, utilize the calllib function to call to all dynamic base subfunctions, CAN is carried out the initialization setting, as form, baud rate etc., if real-time monitoring mode, host computer receives data in the CAN card data buffer zone by inquiry mode, and utilize the GUI graphical programming function of Matlab, Control Parameter and car load CAN network are monitored demonstration in real time, if online programming and online matching and calibration pattern, will with the slave computer cooperating.When monitoring finishes, utilize unloadlibrary function unloading dynamic link library.
Figure 3 shows that the online programming principle schematic, entire car controller is checked the car load key position, if be in off status, show that car load is in halted state, can carry out the modification of control program, slave computer CAN monitoring reception data buffer is opened interruption, with the request of response host computer online programming.The programming upper and lower computer handshake procedure of having unblanked to prevent misoperation, guarantees that the code of slave computer online programming is not activated unexpectedly.Usually the application program of slave computer is all carried out in Flash ROM, in programming process, adopt the method for subfunction mapping, as shown in Figure 4, the power function code that online programming is required copies among the RAM, obtain the entry address of each subfunction in RAM by calculating relative address, corresponding instruction is carried out in the address that jumps to again after the mapping, carries out the Flash programming.In the Flash programming process, read delegation's object code in each program cycles of host computer, after obtaining code address and finishing decoding, send to slave computer by the CAN bus.The slave computer controller jumps to Flash program entry address after receiving programming end data frame, and controller resets and guides from Flash again.
In the online matching and calibration process, upper and lower computer by to the above similar affirmation process of shaking hands after, host computer begins transmission information, its CAN Frame is defined as: preceding two bytes are that Flash absolute address`, the 3rd byte are data length, remaining are data.Slave computer carries out online data according to the data that receive to Control Parameter respective memory address to be revised.
Claims (4)
1, a kind of entire fuel battery car controller monitoring system based on the CAN bus, it is characterized in that described finished automobile controller monitoring system comprises three parts: host computer, CAN card and CAN bus and slave computer, host computer with pcmcia interface by the CAN card, the CAN bus links to each other with the CAN interface of slave computer.
2, entire fuel battery car controller monitoring system according to claim 1 is characterized in that host computer realizes online matching and calibration to the controller Control Parameter by the mode that sends request word and Control Parameter address; Entire car controller is realized online programming function based on the CAN bus communication by mapping run time version mode.
3, entire fuel battery car controller monitoring system according to claim 1, the bsp driver that it is characterized in that described CAN card utilizes the C language S-function function performance of Matlab in the S-function function former CAN card dynamic link libraries to be carried out dynamic call, and bottom layer driving function input/output variable encapsulated again, make it meet the types of variables of Matlab, generate new dynamic link library, realize of the indirect call of host computer Matlab monitoring program CAN card bottom layer driving function.
4, entire fuel battery car controller monitoring system according to claim 1, described slave computer is an entire car controller, mainly by the controller master chip, Flash memory and RAM memory and interlock circuit are formed, and the output of controller master chip links to each other with the input of Flash memory with the RAM memory.
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| CN 200410088818 CN1606286A (en) | 2004-11-05 | 2004-11-05 | An entire fuel battery car controller monitoring system based on CAN bus |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1304909C (en) * | 2005-11-03 | 2007-03-14 | 重庆邮电学院 | Monitoring instrument of vehicle control system CAN/LIN network and its test method |
| CN1747472B (en) * | 2005-10-17 | 2011-09-07 | 浙江大学 | Universal embedded marker and marking method based on CCP |
| CN102200777A (en) * | 2011-03-25 | 2011-09-28 | 上海汽车集团股份有限公司 | Performance monitoring method for new energy vehicle controller verification test |
| CN101617509B (en) * | 2007-03-29 | 2012-08-01 | 宝马股份公司 | Method for transferring data to a plurality of control appliances |
| CN101673202B (en) * | 2008-09-09 | 2012-09-12 | 比亚迪股份有限公司 | Program writing method and system, pre-writing device and writing device |
| CN102708602A (en) * | 2012-05-22 | 2012-10-03 | 奇瑞汽车股份有限公司 | Driving recording instrument |
| CN102109818B (en) * | 2009-12-24 | 2013-04-10 | 上海泛华测控***有限公司 | Adaptive command processing method and system based on XCP (universal measurement and calibration protocol) |
| CN103699332A (en) * | 2012-09-27 | 2014-04-02 | 比亚迪股份有限公司 | Method and system for obtaining vehicle debugging data |
| CN104850015A (en) * | 2014-09-09 | 2015-08-19 | 北汽福田汽车股份有限公司 | Software packaging method and automobile electronic controller |
| CN105044513A (en) * | 2015-07-27 | 2015-11-11 | 中国科学院光电技术研究所 | Quick frequency characteristic test system |
| CN109509900A (en) * | 2017-09-14 | 2019-03-22 | 郑州宇通客车股份有限公司 | A kind of gas-fed fuel cell control system and vehicle |
| CN109625124A (en) * | 2018-12-26 | 2019-04-16 | 深圳市车云网科技有限公司 | A kind of automobile bus signal learning system and its learning method |
| CN110109375A (en) * | 2019-05-15 | 2019-08-09 | 北京昱连科技有限公司 | A kind of Bus simulator system based on TTCAN communication module |
| CN111190411A (en) * | 2019-12-31 | 2020-05-22 | 一汽解放汽车有限公司 | Method, device and system for monitoring running state of electric control unit and storage medium |
| CN111638874A (en) * | 2020-05-27 | 2020-09-08 | 江西五十铃汽车有限公司 | Matlab software-based automobile controller coding information writing and reading method |
-
2004
- 2004-11-05 CN CN 200410088818 patent/CN1606286A/en active Pending
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1747472B (en) * | 2005-10-17 | 2011-09-07 | 浙江大学 | Universal embedded marker and marking method based on CCP |
| CN1304909C (en) * | 2005-11-03 | 2007-03-14 | 重庆邮电学院 | Monitoring instrument of vehicle control system CAN/LIN network and its test method |
| CN101617509B (en) * | 2007-03-29 | 2012-08-01 | 宝马股份公司 | Method for transferring data to a plurality of control appliances |
| CN101673202B (en) * | 2008-09-09 | 2012-09-12 | 比亚迪股份有限公司 | Program writing method and system, pre-writing device and writing device |
| CN102109818B (en) * | 2009-12-24 | 2013-04-10 | 上海泛华测控***有限公司 | Adaptive command processing method and system based on XCP (universal measurement and calibration protocol) |
| CN102200777B (en) * | 2011-03-25 | 2014-09-10 | 上海汽车集团股份有限公司 | Performance monitoring method for new energy vehicle controller verification test |
| CN102200777A (en) * | 2011-03-25 | 2011-09-28 | 上海汽车集团股份有限公司 | Performance monitoring method for new energy vehicle controller verification test |
| CN102708602A (en) * | 2012-05-22 | 2012-10-03 | 奇瑞汽车股份有限公司 | Driving recording instrument |
| CN103699332A (en) * | 2012-09-27 | 2014-04-02 | 比亚迪股份有限公司 | Method and system for obtaining vehicle debugging data |
| CN104850015A (en) * | 2014-09-09 | 2015-08-19 | 北汽福田汽车股份有限公司 | Software packaging method and automobile electronic controller |
| CN104850015B (en) * | 2014-09-09 | 2018-02-23 | 北汽福田汽车股份有限公司 | A kind of software packaging method and a kind of automobile electronic controller |
| CN105044513A (en) * | 2015-07-27 | 2015-11-11 | 中国科学院光电技术研究所 | Quick frequency characteristic test system |
| CN109509900A (en) * | 2017-09-14 | 2019-03-22 | 郑州宇通客车股份有限公司 | A kind of gas-fed fuel cell control system and vehicle |
| CN109509900B (en) * | 2017-09-14 | 2024-02-27 | 宇通客车股份有限公司 | Gaseous fuel cell control system and vehicle |
| CN109625124A (en) * | 2018-12-26 | 2019-04-16 | 深圳市车云网科技有限公司 | A kind of automobile bus signal learning system and its learning method |
| CN110109375A (en) * | 2019-05-15 | 2019-08-09 | 北京昱连科技有限公司 | A kind of Bus simulator system based on TTCAN communication module |
| CN111190411A (en) * | 2019-12-31 | 2020-05-22 | 一汽解放汽车有限公司 | Method, device and system for monitoring running state of electric control unit and storage medium |
| CN111638874A (en) * | 2020-05-27 | 2020-09-08 | 江西五十铃汽车有限公司 | Matlab software-based automobile controller coding information writing and reading method |
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