鎽� 瑕侊細鏈枃鍒嗘瀽浜嗚粖鐢–AN绺界窔缍�(w菐ng)绲�(lu貌)鐨勭壒寰侊紝瑷�(sh猫)瑷堝苟瀵︾従(xi脿n)浜嗚粖鐢–AN绺界窔缍�(w菐ng)绲�(lu貌)蹇€熷師鍨嬬郴绲�(t菕ng)锛岃В姹轰簡灏囧熀浜庡揩閫熷師鍨嬬殑宓屽叆寮忚粺浠惰ō(sh猫)瑷堝拰鍩轰簬缍�(w菐ng)绲�(lu貌)浠跨湡鐨勭郴绲�(t菕ng)鍒嗘瀽鐩哥祼(ji茅)鍚堢殑鍟忛銆傛渶鍚庝娇鐢═HECU-2003纭欢骞宠嚭鑸嘢imulink涓嬬殑鎺у埗妯″瀷鍏卞悓绲勬垚鐨勫椹楃挵(hu谩n)澧冮璀変簡绯荤当(t菕ng)瑷�(sh猫)瑷堢殑鏈夋晥鎬с€�
闂�(gu膩n)閸佃锛�CAN绺界窔缍�(w菐ng)绲�(lu貌);蹇€熷師鍨�;杌婄敤闆绘帶鍠厓
Abstract锛�This paper analyzed the characteristics of vehicle CAN bus, then designed and implemented the rapid prototyping system for vehicle CAN bus. It solved the problem on how to integrate module based embedded software development with network simulation based system analysis. In the end of this paper it verified the validity of the platform by using the experiment composed by THECU-2003 hardware platform and control models built in Simulink.
Key words锛�CAN bus; rapid prototyping; electric control unit
1 寮曡█
銆€銆€闅ㄨ憲杌婄敤缍�(w菐ng)绲�(lu貌)涓鎺х瘈(ji茅)榛炴暩(sh霉)閲忓拰鎺у埗寰�(f霉)闆滃害鐨勪笉鏂峰鍔�锛岀偤浜嗘豢瓒虫帶鍒惰姹傘€侀檷浣庢帶鍒剁郴绲�(t菕ng)闁嬬櫦(f膩)鎴愭湰锛屾苯杌婄敓鐢�(ch菐n)寤犲晢鍜屾苯杌婅ō(sh猫)瑷堝柈浣嶅皪杌婄敤宓屽叆寮忚粺浠堕枊鐧�(f膩)宸ュ叿鐨勮姹傝秺渚嗚秺楂�銆傜洰鍓�锛屽競鍫翠笂宸茬稉(j墨ng)瀛樺湪涓€浜涢嚌灏嶉€欎竴鎳�(y墨ng)鐢ㄩ牁(l菒ng)鍩熺殑杌熶欢闁嬬櫦(f膩)鎶€琛�(sh霉)鍜岃粺浠堕枊鐧�(f膩)宸ュ叿锛屼緥濡傚熀浜庡揩閫熷師鍨嬬殑杌熶欢瑷�(sh猫)瑷堟妧琛�(sh霉)鍜孧ATLAB/Simulink銆乨SPACE闁嬬櫦(f膩)宸ュ叿?锛涱媱璇崇剸鍍厜鍋疯兘娴栴挍O(sh猫)瑷堟妧琛�(sh霉)鏄寚杌熶欢瑷�(sh猫)瑷堣€呴€氶亷鍓�(chu脿ng)寤哄拰缍(h霉)宓屽叆寮忚粺浠剁殑鍔熻兘妯″瀷渚嗘弿杩拌粺浠跺姛鑳斤紝骞朵笖浣跨敤闈㈠悜寰檿鐞嗗櫒鐨勮嚜鍕曚唬纰肩敓鎴愭妧琛�(sh霉)瀵︾従(xi脿n)涓嬩綅姗�(j墨)浠g⒓蹇€熺敓鎴愮殑杌熶欢闁嬬櫦(f膩)鏂规硶銆備娇鐢ㄩ€欎竴鎶€琛�(sh霉)鍙互鎻愰珮宓屽叆寮忚粺浠剁殑闁嬬櫦(f膩)鏁堢巼锛岄檷浣庨枊鐧�(f膩)鎴愭湰銆�
銆€銆€浣嗘槸鐩墠鐨勮粺浠堕枊鐧�(f膩)宸ュ叿閮藉伌(c猫)閲嶄簬鍠浕鎺у柈鍏冿紙ECU锛夊缓妯″拰椹楄瓑杌熶欢鍦ㄥ柈ECU鐠�(hu谩n)澧冧笅鐨勫煼(zh铆)琛屾晥鐜囧拰鎬ц兘;灏嶆帶鍒剁瓥鐣ュ湪缍�(w菐ng)绲�(lu貌)鍫存櫙涓嬬殑榄鎬у拰鐗瑰緛鍒嗘瀽鏀寔鏈夐檺銆傚彟涓€鏂归潰锛岀恫(w菐ng)绲�(lu貌)鍗�(xi茅)璀颁豢鐪熷拰鍒嗘瀽宸ュ叿锛屽OPNET闆栫劧鍙互鎻愪緵缍�(w菐ng)绲�(lu貌)鍫存櫙涓嬪崝(xi茅)璀版€ц兘鐨勫垎鏋怺6]锛屼絾鏄敱浜嶰PNET涓婇枊鐧�(f膩)鐨勪豢鐪熶唬纰肩劇娉曠洿鎺ョЩ妞嶅埌鎺у埗鍣ㄤ笂锛屾墍浠ラ枊鐧�(f膩)宸ヤ綔涓嶈兘鏂逛究鍦板鐝�(xi脿n)閲濆皪鐩(bi膩o)绯荤当(t菕ng)鐨勯噸鐢�銆�
銆€銆€濡傛灉鎴戝€戦嚌灏嶈粖鐢–AN绺界窔缍�(w菐ng)绲�(lu貌)鐨勬噳(y墨ng)鐢ㄥ牬鏅�锛屽皣鍩轰簬蹇€熷師鍨嬬殑宓屽叆寮忚粺浠惰ō(sh猫)瑷堝拰鍩轰簬缍�(w菐ng)绲�(lu貌)浠跨湡鐨勫垎鏋愮浉绲�(ji茅)鍚�锛屽鐝�(xi脿n)杌婄敤CAN绺界窔缍�(w菐ng)绲�(lu貌)鐨勫揩閫熷師鍨�銆傚湪瑷�(sh猫)瑷堝墠鏈熺敤妯″瀷瀹氱京鐨勮櫅鎿‖浠朵唬鏇挎矑鏈夎ō(sh猫)瑷堝畬鎴愭垨鑰呮搧鏈夋垚鏈お楂樼殑瀵﹂殯纭欢锛岄€�(j矛n)琛屽垵鏈熺殑绯荤当(t菕ng)瑷�(sh猫)瑷堝垎鏋�;鐣�(d膩ng)鐩告噳(y墨ng)鐨勭‖浠跺埌浣嶅悗锛屾浛鎻涜櫅鎿‖浠�锛屽皣妯″瀷浠g⒓杞�(zhu菐n)鍖栨垚闈㈠悜鐩(bi膩o)绯荤当(t菕ng)鐨勭洰妯�(bi膩o)浠g⒓锛岄€�(j矛n)琛屾洿鎺ヨ繎瀵﹂殯绯荤当(t菕ng)鐨勯璀夊垎鏋�;鏈€鍚庣暥(d膩ng)鎵€鏈夊闅涙帶鍒惰粺浠�銆佹帶鍒跺櫒纭欢鍜岃鎺х‖浠堕兘瀹屾垚鏅�锛岄€�(j矛n)琛岄泦鎴愮殑鍏ㄧ郴绲�(t菕ng)瀵︽檪浠跨湡銆傞€欐ǎ鍙互瑙f焙浣跨敤鐩镐簰鐛ㄧ珛鐨勫伐鍏烽枊鐧�(f膩)妯″瀷鍜岄€�(j矛n)琛屼豢鐪熼璀夋墍瀛樺湪鐨勫晱椤屻€�
銆€銆€鏈枃閫氶亷灏嶈粖鐢–AN绺界窔缍�(w菐ng)绲�(lu貌)蹇€熷師鍨嬬殑瑷�(sh猫)瑷堝鐝�(xi脿n)锛屾彁渚涗簡涓€绋皪杌婄敤CAN绺界窔缍�(w菐ng)绲�(lu貌)閫�(j矛n)琛岃ō(sh猫)瑷�銆佷豢鐪熷拰鎬ц兘鍒嗘瀽鐨勭郴绲�(t菕ng);绯荤当(t菕ng)浣跨敤铏涙摤纭欢鐨勬柟娉曪紝閫氶亷鍦⊿imulink涓(g貌u)閫犲吀鍨嬭粖鐢ㄧ挵(hu谩n)澧冪浉闂�(gu膩n)鐨勬帶鍒跺櫒妯″瀷鍜岃鎺у皪璞℃ā鍨�锛屼互鍙婂湪Windows鐠�(hu谩n)澧冧笅妲�(g貌u)閫燙AN鍗′豢鐪熺▼搴廡H-CAN-Vcard鍜孋AN绺界窔鍒嗘瀽宸ュ叿TH-CAN_Scope锛岄嚌灏嶈粖鐢–AN绺界窔缍�(w菐ng)绲�(lu貌)鍫存櫙锛屽鐝�(xi脿n)浜咰AN绺界窔缍�(w菐ng)绲�(lu貌)鐠�(hu谩n)澧冧笅鎺у埗绛栫暐浠跨湡鍒嗘瀽鍜屾帶鍒朵唬纰肩敓鎴愮殑鏈夋(j墨)绲�(ji茅)鍚�銆�
2 绯荤当(t菕ng)瑷�(sh猫)瑷堣垏瀵︾従(xi脿n)
2.1 杌婄敤CAN绺界窔缍�(w菐ng)绲�(lu貌)鐨勭壒寰佸垎鏋�
銆€銆€CAN 绺界窔鏄竴绋覆琛岄€氫俊绺界窔銆備娇鐢ㄥ付鏈夋矕绐佹娓殑杓夋尝鍋佃伣澶氳矾瑷晱鏂瑰紡锛堝嵆CSMA/CD锛夐€�(j矛n)琛岀附绶氫徊瑁佽垏鎺у埗銆傜偤浜嗗皪杌婄敤CAN绺界窔鍦ㄧ恫(w菐ng)绲�(lu貌)鍫存櫙涓嬬殑鎬ц兘閫�(j矛n)琛岃(gu墨)鑼�锛屽湅闅涙(bi膩o)婧�(zh菙n)鍖栫祫绻擨SO鍜岀編鍦嬫苯杌婂伐绋嬪斧鍗�(xi茅)鏈僑AE灏岰AN閫氫俊瑷烘柗鐨勫熀婧�(zh菙n)鐠�(hu谩n)澧冮兘鍒惰▊浜嗙浉闂�(gu膩n)鐨勫湅闅涙(bi膩o)婧�(zh菙n)銆傞€欎簺妯�(bi膩o)婧�(zh菙n)渚濇摎(j霉)CAN鍗�(xi茅)璀扮殑鍒嗗堡绲�(ji茅)妲�(g貌u)锛屽緸涓嶅悓灞ゆ瀹氱京鍩烘簴(zh菙n)娓│瑕佹眰銆備緥濡傦細SAE J2012鍜孖SO/DIS 15031-6灏嶆噳(y墨ng)鎳�(y墨ng)鐢ㄥ堡鏁呴殰瑷烘柗鐨勫畾缇�;[3] [7]ISO/DIS15765-2灏嶆噳(y墨ng)缍�(w菐ng)绲�(lu貌)灞ら€氫俊鍗�(xi茅)璀�锛岄€氶亷瀹氱京鐒℃噳(y墨ng)绛斿垎娈垫暩(sh霉)鎿�(j霉)鍌抽€佸崝(xi茅)璀帮紙USDT锛夋彁渚涢暦娑堟伅鏁�(sh霉)鎿�(j霉)鍒嗘/閲嶇祫銆佸付娴侀噺鎺у埗鐨勬暩(sh霉)鎿�(j霉)鍌宠几鍜屾澘涓婃帶鍒跺柈鍏冭垏鏉垮娓│宸ュ叿闁撴秷鎭殑瓒呮檪铏曠悊鎺у埗銆俒2]
銆€銆€鍙︿竴鏂归潰锛屽悇鍊嬫苯杌婄敓鐢�(ch菐n)寤犲涔熸牴鎿�(j霉)閫欎簺鍦嬮殯妯�(bi膩o)婧�(zh菙n)鍒惰▊浜嗚嚜宸辩殑浼佹キ(y猫)妯�(bi膩o)婧�(zh菙n)锛岀敤浠ヨ(gu墨)鑼僂CU鐢�(ch菐n)鍝佷緵鎳�(y墨ng)鍟嗙殑鐢�(ch菐n)鍝�銆傚鎴村鍕掑厠钀婃柉鍕�-濂旈Τ闆嗗湗(tu谩n)鐨凜AN閫氫俊妯�(bi膩o)婧�(zh菙n)杌熶欢妯″瀷鍒嗙偤杌婅紱瑷烘柗鐩搁棞(gu膩n)鐨勬ā濉婂拰鑸囪粖杓涜ê鏂风劇闂�(gu膩n)鐨勬ā濉婂叐閮ㄥ垎銆傚叾涓粖杓涜ê鏂风浉闂�(gu膩n)鐨勬ā濉婂張鍒嗙偤瑷烘柗鍗�(xi茅)璀版湇鍕�(w霉)锛圞WP2000锛夊拰缍�(w菐ng)绲�(lu貌)鍌宠几鍗�(xi茅)璀版湇鍕�(w霉) 锛圛SO-15765-2锛� 锛屽垎鍒ュ皪鎳�(y墨ng)鎳�(y墨ng)鐢ㄥ堡鏈嶅嫏(w霉)鍜岀恫(w菐ng)绲�(lu貌)灞ゆ湇鍕�(w霉)鐨勫姛鑳芥弿杩�锛屽畾缇╃浉闂�(gu膩n)鐨勫熀婧�(zh菙n)鐠�(hu谩n)澧冨弮鏁�(sh霉)鍜屾脯瑭︽秷鎭簭鍒椼€俒2]
銆€銆€閫欎簺妯�(bi膩o)婧�(zh菙n)灏嶄簬杌婄敤鐠�(hu谩n)澧冧笅鍩轰簬CAN绺界窔鐨勮ê鏂锋湇鍕�(w霉)鐨勫収(n猫i)瀹�銆佺恫(w菐ng)绲�(lu貌)鍌抽€佹秷鎭簭鍒楅枔鐨勯倧杓棞(gu膩n)绯诲拰鏅傚欢瑕佹眰绲﹀嚭浜嗚┏绱�(x矛)瀹氱京銆傝€屼緷鎿�(j霉)閫欎簺瑕佹眰锛屾彁渚涗竴鍊婥AN绺界窔缍�(w菐ng)绲�(lu貌)蹇€熷師鍨嬶紝鐪熷鍦版ā鎿叿鏈夌郸瀹氱壒寰佺殑娑堟伅搴忓垪鍜屾暩(sh霉)鎿�(j霉)娴�锛屽啀鐝�(xi脿n)鍙兘鍑虹従(xi脿n)鐨勫共鎿惧拰瑾ょ⒓淇¤櫉灏辨槸鏈ō(sh猫)瑷堢殑鏍稿績鎶€琛�(sh霉)宸ヤ綔銆傞€欎竴宸ヤ綔鎴愭灉鍙互鎻愪緵灏嶇恫(w菐ng)绲�(lu貌)娴侀噺銆佺恫(w菐ng)绲�(lu貌)鏁堢巼鍜岀恫(w菐ng)绲�(lu貌)闊挎噳(y墨ng)闁撶浉浜掗棞(gu膩n)绯荤殑鍒嗘瀽鍔熻兘锛屼豢鐪熷拰椹楄瓑杌婄敤CAN缍�(w菐ng)绲�(lu貌)鐠�(hu谩n)澧冧腑ECU鎺у埗浠g⒓鐨勯妫掓€у拰瀵︽檪鎬�銆�
2.2 蹇€熷師鍨嬬郴绲�(t菕ng)鐨勭祼(ji茅)妲�(g貌u)鑸囧鐝�(xi脿n)
銆€銆€鏈揩閫熷師鍨嬬郴绲�(t菕ng)鏈変笁椤炵瘈(ji茅)榛烇細鏈夌墿鐞咰AN纭欢鎺ュ彛鐨勫闅汣AN绡€(ji茅)榛�銆佺敱TH-CAN-Vcard鑸嘢imulink妯″瀷绲勬垚鐨勮櫅鎿珻AN绡€(ji茅)榛炲拰閬嬭TH-CAN-Scope鍒嗘瀽宸ュ叿鐨勭洠(ji膩n)鎺х瘈(ji茅)榛炪€傚湪瑷�(sh猫)瑷堜豢鐪熷椹楁檪锛岀瘈(ji茅)榛炵殑鏁�(sh霉)鐩矑鏈夐檺鍒讹紝鍍呭彈鍏烽珨鐨凜AN鎳�(y墨ng)鐢ㄥ堡鐨勭法鍧€鏂规褰遍熆銆傜涓€椤炵瘈(ji茅)榛炴槸鎴戝€戦€氬父浣跨敤鐨凜AN绡€(ji茅)榛烇紝閫欓噷閲嶉粸鎻忚堪鍚庡叐椤炵瘈(ji茅)榛炵殑瀵︾従(xi脿n)銆�
2.2.1 铏涙摤CAN绡€(ji茅)榛�
銆€銆€铏涙摤CAN绡€(ji茅)榛炵敱TH-CAN-Vcard鑸嘢imulink妯″瀷绲勬垚锛岀瘈(ji茅)榛炲鐝�(xi脿n)濡傚湒1鎵€绀�銆傜暥(d膩ng)鐗╃悊CAN鍗′笉瀛樺湪鏅傦紝閲囩敤铏涙摤纭欢鎶€琛�(sh霉)锛岄€氶亷閬告搰CAN鍗¢﹨(q奴)鍕曞韩鎻愪緵鐨勮櫅鎿珻AN閫氶亾锛屽悓鏅傚皣闁嬬櫦(f膩)鐨刅CANCtrl鎺у埗灏嶈薄瀵︿緥鍖栨垚COM鏈嶅嫏(w霉)鍣紙COM Server锛夊氨鍙互鍦ㄥ柈姗�(j墨)涓嬪缓绔婥OM鏈嶅嫏(w霉)鍣ㄨ垏MATLAB涓ā鍨嬶紙浣滅偤COM瀹㈡埗姗�(j墨)锛夐枔鐨勮伅(li谩n)绯�銆傝櫅鎿帴鏀�/鐧�(f膩)閫丆AN娑堟伅鍒癈AN绺界窔鐨勯亷绋嬶紝鐐篠imulink涓嬪缓绔嬬殑妯″瀷鎻愪緵鍩烘湰鐨凜AN閫氫俊娓│鍔熻兘銆�
銆€銆€鐣�(d膩ng)鐗╃悊CAN鍗″瓨鍦ㄦ檪锛屽彲浠ョ洿鎺ュ皣妯″瀷涓殑鐩(bi膩o)CAN閫氶亾閫�(j矛n)琛屼慨鏀癸紝寰炶€屼娇MATLAB涓殑妯″瀷鍏峰倷鑸囧叾瀹冪墿鐞咰AN绡€(ji茅)榛為€氫俊鐨勫姛鑳�锛岄€欐檪澶氬€嬩綅浜庝笉鍚孭C姗�(j墨)涓婄殑妯″瀷鍜屽鍊婨CU纭欢涓婄殑鎺у埗鍣ㄤ唬纰煎彲浠ラ€氶亷CAN绺界窔寤虹珛涓€鍊嬭粖鐢–AN缍�(w菐ng)绲�(lu貌)浠跨湡鍒嗘瀽鐠�(hu谩n)澧�銆�
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鍦�1 铏涙摤CAN绡€(ji茅)榛炵殑瀵︾従(xi脿n)[/align]
銆€銆€TH-CAN-Vcard鍓囨槸鍦╓indows鐠�(hu谩n)澧冧笅浣跨敤Visual Studio .NET鍜孠VASER鍏徃CAN鍗¢﹨(q奴)鍕曞韩闁嬬櫦(f膩)鐨凜AN鍗′豢鐪熺▼搴忋€傛垜鍊戦€氶亷ActiveX鎶€琛�(sh霉)闁嬬櫦(f膩)浜哣CANCtrl鎺у埗灏嶈薄锛屽苟鍦╒CANCtrl涓鐝�(xi脿n)浜嗕互涓嬬殑鍏�(n猫i)閮ㄥ嚱鏁�(sh霉)锛�
銆€銆€VCAN_Read 鍫辨枃鎺ユ敹鍑芥暩(sh霉);鍏ュ彛鍙冩暩(sh霉)鐐篊AN閫氶亾鍙ユ焺銆佽繑鍥炲弮鏁�(sh霉)鐐哄湪鎺ユ敹绶╂矕鍗€(q奴)涓殑CAN鍫辨枃鐨処D銆佹暩(sh霉)鎿�(j霉)鍖呫€侀暦搴�銆佹(bi膩o)璀樺拰鏅傞枔鎴�銆�
銆€銆€VCAN_Write 鍫辨枃鐧�(f膩)閫佸嚱鏁�(sh霉);鍏ュ彛鍙冩暩(sh霉)鐐篊AN閫氶亾鍙ユ焺锛屼互鍙婂緟鐧�(f膩)閫丆AN鍫辨枃鐨処D銆佹暩(sh霉)鎿�(j霉)鍖呫€侀暦搴﹀拰妯�(bi膩o)璀�銆�
銆€銆€VCAN_Start CAN鍗″垵濮嬪寲鍑芥暩(sh霉);鍏ュ彛鍙冩暩(sh霉)鐐烘墍閬窩AN閫氶亾铏�銆佹尝鐗圭巼銆侀€氶亾闁嬪暉妯″紡銆佸悓姝ユā寮忓拰鍚屾娈�锛屼互鍙奀AN鎺у埗鍣ㄥ伐浣滄ā寮�銆�
銆€銆€VCAN_Close CAN鍗¢棞(gu膩n)闁夊嚱鏁�(sh霉);鍏ュ彛鍙冩暩(sh霉)鏄疌AN鍗″垵濮嬪寲鎴愬姛鏅傛墍杩斿洖鐨勫彞鏌勩€�
2.2.2 鐩�(ji膩n)鎺х瘈(ji茅)榛�
銆€銆€鐩�(ji膩n)鎺х瘈(ji茅)榛炴槸閫�(j矛n)琛孋AN绺界窔娑堟伅搴忓垪鐩�(ji膩n)娓拰鎺у埗鐨勭瘈(ji茅)榛�锛岄亱琛孴H-CAN-Scope - CAN娑堟伅浠跨湡鍒嗘瀽宸ュ叿銆俆H-CAN-Scope鏄豢鐪烠AN娑堟伅搴忓垪鍜岄€�(j矛n)琛屼豢鐪熺祼(ji茅)鏋滆閷勫垎鏋愮殑宸ュ叿锛屾槸浣跨敤KVASER鍏徃鐨凜ANLIB SDK闁嬬櫦(f膩)鐨� Windows 涓嬬殑鎳�(y墨ng)鐢ㄧ▼搴忋€�
銆€銆€TH-CAN-Scope鐨凜AN娑堟伅铏曠悊鍔熻兘鍖呮嫭锛氬壍(chu脿ng)寤�/绶ㄨ集娑堟伅娴佸簭鍒�銆丆AN閫氫俊绠$悊銆丆AN娑堟伅搴忓垪璺熻工銆佹帶鍒惰嚭浜烘(j墨)鎺ュ彛鍜岀敤浜庢秷鎭簭鍒楃鐞嗙殑鏁�(sh霉)鎿�(j霉)搴董璀�(h霉)銆傚叾涓壍(chu脿ng)寤�/绶ㄨ集娑堟伅娴佸簭鍒�銆丆AN娑堟伅搴忓垪璺熻工銆佹帶鍒惰嚭浜烘(j墨)鎺ュ彛鍜岃垏鏁�(sh霉)鎿�(j霉)搴搷浣滅浉闂�(gu膩n)鐨勬秷鎭簭鍒楃鐞嗕娇鐢ㄧ敤鎴剁窔绋嬨€傝€孋AN閫氫俊绠$悊灏嶅鏅傛€ц姹傝純楂�锛屼娇鐢ㄧ崹绔嬬殑宸ヤ綔绶氱▼锛屽叐鍊嬬窔绋嬮€氶亷浣跨敤Windows 涓嬬殑娑堟伅铏曠悊姗�(j墨)鍒剁浉浜掗€氫俊銆�
銆€銆€鍙﹀锛孴H-CAN-Scope鎻愪緵鐨勫垎鏋愬姛鑳藉寘鎷細鍦ㄧ窔椤ずCAN鍫辨枃銆佸湪绶氱当(t菕ng)瑷圕AN绺界窔鐨勪娇鐢ㄦ儏娉�銆佽閷勭附绶氫笂鐨凜AN鍫辨枃銆佷富鍕曠櫦(f膩)閫�/寰挵(hu谩n)鐧�(f膩)閫丆AN鎿惧嫊鍫辨枃銆傚苟涓斿皣涓€娈垫檪闁撳収(n猫i)鏀堕泦鐨凜AN鍫辨枃瑷橀寗鍦ㄦ暩(sh霉)鎿�(j霉)搴腑锛屽彲浠ラ€�(j矛n)琛屾洿瑭崇窗(x矛)娣卞叆鐨勬€ц兘鍒嗘瀽锛岄€氶亷浣跨敤CAN鍫辨枃绶ㄨ集宸ュ叿锛屽彲浠ユ寚瀹氱洠(ji膩n)鎺х瘈(ji茅)榛炲湪鏅傞枔瑙哥櫦(f膩)锛堝湪鎸囧畾鐨勭浉灏嶆檪闁撶櫦(f膩)閫佹煇鍊�/鏌愮祫CAN娑堟伅锛夊拰浜嬩欢瑙哥櫦(f膩)锛堟敹鍒版煇鍊婥AN鍫辨枃鎴栨敹鍒版煇椤濩AN鍫辨枃鏅傜櫦(f膩)閫佹寚瀹氱殑CAN鍫辨枃搴忓垪锛夋(j墨)鍒朵笅鐧�(f膩)閫佽Ц鐧�(f膩)鍫辨枃锛屼互鑰冨療CAN绺界窔鐨勬€ц兘銆�
2.3 绯荤当(t菕ng)瀵︾従(xi脿n)鎶€琛�(sh霉)
2.3.1 MATLAB澶栭儴绋嬪簭鎺ュ彛鐨勫鐝�(xi脿n)
銆€銆€TH-CAN-Vcard鐐篗ATLAB涓嬬殑鎺у埗鍣ㄦā鍨嬪拰琚帶妯″瀷鎻愪緵CAN閫氫俊鐨勫姛鑳斤紝閲囩敤浜咰OM鎶€琛�(sh霉)銆傝垏鐢―DE鎶€琛�(sh霉)瀵︾従(xi脿n)鐨凪atlab澶栭儴閫氫俊鏂瑰紡鐩告瘮[4]锛� COM鎶€琛�(sh霉)鐨勬€ц兘鏇村ソ锛屽湪Emanuele Ruffaldi绛変汉鎵€鍋氱殑娓│涓紝 COM鑸嘍DE鐩告瘮锛屽鎬ц兘鎻愰珮浜�10鍊嶏紝璁€鎬ц兘鎻愰珮浜�30澶氬€峓5]; 鍙﹀MATHWORKS 灏� DDE鎺ュ彛鐝�(xi脿n)鍦ㄤ篃涓嶅啀閫�(j矛n)琛岀辜绾�(x霉)鐨勯枊鐧�(f膩)锛岃€屾帹钖︿娇鐢–OM鎺ュ彛銆�
銆€銆€鍏烽珨浣跨敤鏅傦紝棣栧厛鎴戝€戝湪Simulink涓(g貌u)閫燰CAN鐧�(f膩)閫佹ā濉婂拰VCAN鎺ユ敹妯″锛屼娇鐢∕瑾炶█涓殑actxcontrol鍛戒护灏嘨CANCtrl COM灏嶈薄瀵︿緥鍖�锛岀嵅寰楀叾鍙ユ焺锛岀劧鍚庡氨鍙互閫氶亷閫欏€嬪渚嬪寲鍙ユ焺瑾�(di脿o)鐢–OM灏嶈薄涓浉鎳�(y墨ng)鐨刅CAN_Write鍜孷CAN_Read鍑芥暩(sh霉)锛屽鐝�(xi脿n)Matlab涓帶鍒舵ā鍨嬬殑CAN閫氫俊鏀寔锛屽湪浣跨敤涓婄瓑鍚屼簬涓€鍊嬫湁鍙ユ焺鐨勮ō(sh猫)鍌欍€�
2.3.2 鏁�(sh霉)鎿�(j霉)娴佹ā鎿拰绡€(ji茅)榛炲悓姝ョ殑瀵︾従(xi脿n)
銆€銆€鐐轰簡鍦–AN绺界窔涓婄敘(ch菐n)鐢熸寚瀹氱殑CAN娑堟伅搴忓垪锛屾垜鍊戦€氶亷TH-CAN-Scope瀹氱京闇€瑕佺殑鍫辨枃搴忓垪锛岀劧鍚庨€氶亷鏅傞枔瑙哥櫦(f膩)鍜屼簨浠惰Ц鐧�(f膩)鐩哥祼(ji茅)鍚堢殑鏂瑰紡锛屽畾缇╁皪绺界窔涓婄殑CAN娑堟伅鐨勯熆鎳�(y墨ng)鎿嶄綔锛岃€岀浉鎳�(y墨ng)鐨勬帶鍒堕倧杓�锛屽墖閫氶亷Simulink妯″瀷渚嗗鐝�(xi脿n)銆傛墍浠ュ闅涚殑鎺у埗绛栫暐椤炰技浜庡垎甯冧簬鍚勫€婥AN绡€(ji茅)榛炰腑銆�
銆€銆€绡€(ji茅)榛為枔鐨勫悓姝ユ槸鎸囧湪绺界窔涓婄殑鎵€鏈塁AN绡€(ji茅)榛炴噳(y墨ng)瑭茶兘澶犲湪鏌愪竴鏅傚埢鍚屾檪鐢�(ch菐n)鐢熷悇鑷寚瀹氱殑娑堟伅搴忓垪銆備娇鐢ㄧ敱TH-CAN-Scope寤f挱鐧�(f膩)閫佽嚜瀹氱京鐨凜AN鍚屾鐧�(f膩)閫佹秷鎭紝鍟熷嫊鍚勭瘈(ji茅)榛炶▓鏅傚櫒鐨勬柟寮�锛屽彲浠ュ鐝�(xi脿n)涓€瀹氱簿搴︾殑绡€(ji茅)榛炲悓姝�銆�
2.3.3 CAN绺界窔鎬ц兘鍒嗘瀽鐨勫鐝�(xi脿n)
銆€銆€鍦ㄩ€�(j矛n)琛孋AN绺界窔鐨勬€ц兘鍒嗘瀽鏅�锛屾垜鍊戝鐝�(xi脿n)浜嗕互涓嬬殑鍒嗘瀽鍔熻兘锛氳€冨療绺界窔璨�(f霉)杓夛紙鍖呮嫭绡€(ji茅)榛炴暩(sh霉)銆佸悇绡€(ji茅)榛炰俊鎭噺鍜屽悇绡€(ji茅)榛炶ō(sh猫)缃殑绺界窔閫熺巼锛夌殑褰遍熆;鑰冨療绡€(ji茅)榛炲劒(y艒u)鍏堢礆绛栫暐鐨勫奖闊�;鑰冨療瀹归尟绛栫暐锛堜緥濡傜櫦(f膩)閫佹帴鏀堕尟瑾ょ巼閬庨珮鐨勭瘈(ji茅)榛炴噳(y墨ng)瑭蹭富鍕曢€€鍑篊AN绺界窔缍�(w菐ng)绲�(lu貌)锛夌殑褰遍熆;浠ュ強鑰冨療CAN缍�(w菐ng)绲�(lu貌)瀵︽檪鎬ц兘锛屼富瑕佸寘鎷恫(w菐ng)绲�(lu貌)鍫辨枃娑堟伅鏅傚欢鐨勫ぇ灏忚寖鍦嶄互鍙婂牨鏂囨秷鎭檪寤剁殑璁婂寲銆傚叾涓�锛屾檪寤跺ぇ灏忔弿杩颁簡鍫辨枃鏅傚欢鐨勯潨鎱�(t脿i)鐗规€�锛岃€屾檪寤惰畩鍖栧墖鎻忚堪浜嗗牨鏂囨檪寤剁殑鍕曟厠(t脿i)鐗规€�銆�
3 绯荤当(t菕ng)鍔熻兘娓│鑸囧垎鏋�
銆€銆€鐐轰簡椹楄瓑蹇€熷師鍨嬬郴绲�(t菕ng)灏嶅ECU涓嬭櫅鎿‖浠跺拰瀵﹂殯纭欢娣峰悎浠跨湡鐨勬敮鎸�锛屾垜鍊戣ō(sh猫)瑷堜簡鍦�2鎵€绀虹殑绯荤当(t菕ng)鍔熻兘娓│瀵﹂骞宠嚭锛氬叾涓璄CU-A鍜孍CU-B鏄叐鍊嬬崹绔嬬殑纭欢ECU锛岄噰鐢ㄥ椹楀闁嬬櫦(f膩)鐨凾H-ECU2003鎺у埗鍣�;ECU-C鍜孍CU-D鏄湪Simulink涓枊鐧�(f膩)鐨勫叐鍊嬬崹绔嬬殑鎺у埗妯″瀷锛岄€氶亷VCAN鐧�(f膩)閫佹ā濉婂拰VCAN鎺ユ敹妯″瀵︾従(xi脿n)杌熶欢浠跨湡CAN鍗″姛鑳�锛屾槸铏涙摤纭欢銆傚湪娓│涓�锛岄€氶亷鍦ㄥ悇绡€(ji茅)榛為亷婵炬帴鏀跺埌鐨凜AN娑堟伅锛屾帶鍒堕€氫俊娴佺▼濡傚湒2鎵€绀�锛屽嵆ECU-A -> ECU-B -> ECU-C ->ECD-D -> ECU-A銆傚緸鑰岄璀夎櫅鎿‖浠跺拰瀵﹂殯纭欢娣峰悎浠跨湡涓嬬殑鎵€鏈夊牬鏅€�
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銆€銆€瀵﹂涓�锛屼娇鐢═H-CAN-Scope浣滅偤鐩�(ji膩n)鎺ц粺浠讹紝灏岰AN绺界窔涓婄殑鏁�(sh霉)鎿�(j霉)閫�(j矛n)琛屼簡5s鐨勬暩(sh霉)鎿�(j霉)閲囬泦锛屽苟灏嶇瘈(ji茅)榛為枔2000澶氭CAN娑堟伅鍫辨枃鐨勬檪寤跺潎鍊煎拰妯�(bi膩o)婧�(zh菙n)鏂瑰樊閫�(j矛n)琛屽垎鏋愶紙閫欓噷鐨勬檪寤跺寘鎷簡绡€(ji茅)榛炵殑铏曠悊鏅傚欢鍜岀瘈(ji茅)榛為枔鐨勫偝杓告檪寤讹級锛屽垎鏋愮祼(ji茅)鏋滆琛�1锛屽椹楄瓑鏄庣郴绲�(t菕ng)涓换鎰忓叐鍊嬬瘈(ji茅)榛為枔閮借兘閫�(j矛n)琛屾甯哥殑閫氫俊锛屾豢瓒虫脯瑭﹁姹傦紝椹楄瓑浜嗙郴绲�(t菕ng)瑷�(sh猫)瑷堢殑鏈夋晥鎬�銆�
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銆€銆€[2] Daimler Chrysler Cop. Network Transport Protocol Requirement Definition, R1.1. May 9, 2000.
銆€銆€[3] Holger Zeltwanger. CAN Standard Review: Change and Enhancements of the ISO11898 [S]. 2000.
銆€銆€[4] 鏉庨暦铏�锛� 鍒╃敤澶氱窔绋嬪鐝�(xi脿n)MATLAB閬�(yu菐n)绋嬩豢鐪燂紝瑷堢畻姗�(j墨)宸ョ▼鑸囨噳(y墨ng)鐢�锛�2003锛�17.
銆€銆€[5] Emanuele Ruffaldi,, 1.2.3 ways of integrating MATLAB with the .NET. http://www.codeproject.com, 2005.
銆€銆€[6] 鍔夌彥锛屾鏉帮紝瀹夊缓骞�锛屽嵖鏁�锛� 缍�(w菐ng)绲�(lu貌)浠跨湡鎶€琛�(sh霉)鍦–AN绺界窔鍗�(xi茅)璀板垎鏋愪腑鐨勬噳(y墨ng)鐢紝 2003鍏ㄥ湅浠跨湡鎶€琛�(sh霉)瀛�(xu茅)琛�(sh霉)鏈冭璜栨枃闆�锛�2003.
銆€銆€[7] SAE Standard, Recommended Practice for a Serial Control and Communication Vehicle Network J1939 锛圖raft锛� [S]. 1997.