鎽� 瑕�:闅ㄨ憲瑷�(j矛)绠楁(j墨)鎶€琛�(sh霉)鐨勭櫦(f膩)灞�, 閬�(y霉n)鍕�(d貌ng)鎺у埗绯荤当(t菕ng)鍦ㄧ稉(j墨ng)閬�(gu貌)寤ｆ硾閬�(y霉n)鐢ㄧ殑鍓嶆櫙涓嬫鍚戣憲缍�(w菐ng)绲�(lu貌)鍖栨帶鍒舵柟鍚戠櫦(f膩)灞曘€備富瑕佽◣璜栦簡鍌崇当(t菕ng)鐨勯亱(y霉n)鍕�(d貌ng)鎺у埗绯荤当(t菕ng)鐨勫眬闄愭€�, 鍒嗘瀽浜嗙従(xi脿n)鍫�(ch菐ng)绺界窔閬�(y霉n)鍕�(d貌ng)鎺у埗绯荤当(t菕ng)閫氫俊鐗规€�, 鎻愬嚭浜嗕竴绋熀浜嶤AN 绺界窔鐨勫杌搁亱(y霉n)鍕�(d貌ng)鎺у埗绯荤当(t菕ng)鏂规, 鏈€鍚庤ō(sh猫)瑷�(j矛)浜嗗熀浜嶴JA1000 鐨凜AN 绺界窔閫氫俊鐨勮粺纭欢绯荤当(t菕ng)銆傚(sh铆)椹�(y脿n)绲�(ji茅)鏋滆〃鏄�, 瑭茬郴绲�(t菕ng)鍏锋湁閫ｆ帴绨�(ji菐n)鍠�銆侀€氳▕鍙潬銆佸(sh铆)鏅�(sh铆)鎬уソ鍜屾槗浜庡(sh铆)鐝�(xi脿n)绛夊劒(y艒u)榛�(di菐n)銆� 闂�(gu膩n)閸佃:閬�(y霉n)鍕�(d貌ng)鎺у埗; CAN 绺界窔; 绺界窔閫氳▕; SJA1000 [b][align=center]Research of networked movement- sys tem based on CANbus SHU Zhi- bing, ZHANG Jie[/align][/b] Abstract:With developments of the computer technology, motion control system is wisely usedand the system based on network is deeply researched. It鈥� s discussed that conventional motion controlsystem has drawback,analysed communication characteristic of fieldbus control system, and designed amotion control system based on CANbus.At last, It presents the hardware and the communication softwaredesign of CANbus based on SJA1000. The system is proved to be simpler to connect,more reliable andeasier to realize on experiment . Key words: Motion control; CANbus; Communication; SJA1000 1 寮曡█ 閬�(y霉n)鍕�(d貌ng)鎺у埗绯荤当(t菕ng)鏄互姗�(j墨)姊伴亱(y霉n)鍕�(d貌ng)鐨勯﹨(q奴)鍕�(d貌ng)瑷�(sh猫)鍌欌€旈浕鍕�(d貌ng)姗�(j墨)鐐烘帶鍒跺皪(du矛)璞�, 浠ユ帶鍒跺櫒鐐烘牳蹇�, 浠ラ浕鍔涢浕瀛�銆佸姛鐜囪畩鎻涜缃偤鍩�(zh铆)琛屾(j墨)妲�(g貌u), 鍦ㄨ嚜鍕�(d貌ng)鎺у埗鐞嗚珫鎸囧皫(d菐o)涓嬬祫鎴愮殑闆绘埃鍌冲嫊(d貌ng)鎺у埗绯荤当(t菕ng)銆傚湪闆绘埃鏅�(sh铆)浠�, 闆诲嫊(d貌ng)姗�(j墨)涓€鐩村湪鐝�(xi脿n)浠ｅ寲鐨勭敓鐢�(ch菐n)鍜岀敓娲讳腑璧疯憲鍗佸垎閲嶈鐨勪綔鐢ㄣ€傚湪杩戝勾渚�(l谩i), 鐢变簬鍗婂皫(d菐o)楂斿埗閫犺ō(sh猫)鍌欑瓑鐩搁棞(gu膩n)鐨勯浕瀛愬埗閫犺ō(sh猫)鍌欏競鍫�(ch菐ng)澶у箙鎴愰暦(zh菐ng), 鑰屼娇寰楁(j墨)鍣ㄨō(sh猫)鍌欎笂鐨勯亱(y霉n)鍕�(d貌ng)鎺у埗绯荤当(t菕ng)鍑虹従(xi脿n)浜嗕互涓嬪咕榛�(di菐n)鎶€琛�(sh霉)闇€姹�: 锛� 1锛� 澶氳桓閬�(y霉n)鍕�(d貌ng)鎺у埗銆傛(j墨)鍣ㄨō(sh猫)鍌欏洜鑷嫊(d貌ng)鍖栫▼搴︽彁楂樿€屼娇寰楀柈涓€姗�(j墨)鍣ㄤ笂鎵€闇€瑕佺殑杌告暩(sh霉)澧炲, 涓€鑷�(t谩i)瑷�(sh猫)鍌欎笂鍗佸咕杌告槸甯歌(ji脿n)鐨勪簨鎯�銆傚湪杌告暩(sh霉)璁婂鍚�, 濡備綍鍗�(xi茅)瑾�(di脿o)鍚勮桓鍕�(d貌ng)浣滃氨鏄竴鍊�(g猫)閲嶈鐨勮椤�銆� 锛� 2锛� 楂旂⿳瑕佸皬銆傜敱浜庡粻鎴跨┖闁撶殑闄愬埗, 姗�(j墨)鍣ㄧ殑楂旂⿳瑕佹眰瓒婂皬瓒婂ソ, 姗�(j墨)鍣ㄥ収(n猫i)鎺у埗鍣ㄧ殑楂旂⿳涔熷氨琚姹傛剤渚�(l谩i)鎰堝皬, 鐩稿皪(du矛)鐨勮蛋绶氱┖闁撲篃鎰堜締(l谩i)鎰堝皬銆� 锛� 3锛� 瑕佹洿绮剧⒑銆傞毃钁楀崐灏�(d菐o)楂斿埗绋嬪凡缍�(j墨ng)绮惧瘑鍒�100nm 涓€涓�, 鍦ㄥ埗绋嬪強妾㈡脯(c猫)鐩搁棞(gu膩n)瑷�(sh猫)鍌欐墍瑕佹眰鐨勯亱(y霉n)鍕�(d貌ng)绮惧害涔熻鏇寸簿纰�, 鍏跺畠濡侺CD 瑷�(sh猫)鍌�, SMD 鍒剁▼瑷�(sh猫)鍌欎篃鏈夌浉鍚岃姹�銆� 锛� 4锛� 瑕佹洿绌�(w臎n)瀹�銆傚洜?y脿n)妯楊媱鎬(sh猫)鍌欑殑鎶曡硣缍�(j墨ng)璨�(f猫i)榫愬ぇ, 绯荤当(t菕ng)鍋滄(j墨)鐨勬垚鏈氨鏇撮’鐨勭獊鍑�, 鍥犳鎵€鏈夋(j墨)鍣ㄨō(sh猫)鍌欏埗閫犲晢閮藉繀闋堣拷姹傜郴绲�(t菕ng)鐨勭┅(w臎n)瀹氭€с€傚悓鏅�(sh铆)涔熷繀闋堣€冩叜鍦ㄧ祫浠舵悕澹炶缍慨鏅�(sh铆), 蹇呴爤鑳藉揩閫熸浛鎻涗笖涓嶅嚭宸尟(cu貌)銆� 缍滃悎浠ヤ笂骞鹃粸(di菐n)鐨勯渶姹傚垎鏋愬彲浠ョ湅鍒�, 鏃㈣鍦ㄤ竴鍊�(g猫)鎺у埗鍣ㄥ収(n猫i)閫�(j矛n)琛屽杌搁亱(y霉n)鍕�(d貌ng)鎺у埗, 鍙堣鎺у埗鍣ㄧ殑楂旂⿳鏇村皬, 閰嶇窔鍜岀董淇鏇村鏄�, 閫欎簺姊濅欢鐪嬩締(l谩i)鏄浉娌栫獊鐨�?锛熸ⅱ璧傽妯ｈ(shu艒), 鐝�(xi脿n)鍫�(ch菐ng)绺界窔鎶€琛�(sh霉)渚挎槸鎳�(y墨ng)閫欎簺鏂版(j墨)鍣ㄨō(sh猫)鍌欑殑闇€姹傝€岀敘(ch菐n)鐢熺殑銆� 2 鐝�(xi脿n)鍫�(ch菐ng)绺界窔閬�(y霉n)鍕�(d貌ng)鎺у埗绯荤当(t菕ng)閫氫俊鐗规€� 鐢ㄤ簬閬�(y霉n)鍕�(d貌ng)鎺у埗鐨勭従(xi脿n)鍫�(ch菐ng)绺界窔鏈夊叐绋€氫俊鎺у埗绛栫暐: 浜嬩欢瑙哥櫦(f膩)鍜屾檪(sh铆)闁撹Ц鐧�(f膩)銆備簨浠惰Ц鐧�(f膩)涓�, 鎺у埗鍠厓妾㈡脯(c猫)鍒颁簨浠剁櫦(f膩)鐢熷悗, 鏍规摎(j霉)闋�(y霉)瀹氱殑绠楁硶瑷�(j矛)绠楀嚭姝ｇ⒑鐨勬噳(y墨ng)绛�, 鐒跺悗灏囨噳(y墨ng)绛斾俊鎭櫦(f膩)閫佺郸鏁�(sh霉)瀛椾己鏈嶉﹨(q奴)鍕�(d貌ng)鍣�銆傚緸浜嬩欢鐧�(f膩)鐢熷埌鎳�(y墨ng)绛斾俊鎭殑鎺ユ敹涔嬮枔鐨勫欢鏅�(sh铆)蹇呴爤鏄湁闄愮殑, 涔熷氨鏄渶澶у€煎繀闋堟槸鍙煡鐨�, 瀹冪殑鍊煎氨鏄€氫俊鍗�(xi茅)璀扮殑瀵�(sh铆)鏅�(sh铆)鎬ф寚妯�(bi膩o)銆備絾鏄�, 浜嬩欢瑙哥櫦(f膩)涓殑浜嬩欢鏄毃姗�(j墨)鐨�銆佷笉鍙爯(y霉)鐭ョ殑, 鎵€浠ュ皫(d菐o)鑷寸従(xi脿n)鍫�(ch菐ng)绺界窔閫氫俊鐨勪笉纰哄畾鎬�, 绯荤当(t菕ng)涓殑鍚勫€�(g猫)绔欓粸(di菐n)鏈�(hu矛)鐖�(zh膿ng)鐢ㄥ偝杓镐粙璩�(zh矛),灏�(d菐o)鑷撮€氫俊鐨勬矕绐佸拰涓嶅彲闈�, 寰堥洠淇濊瓑楂樼殑瀵�(sh铆)鏅�(sh铆)鎬�銆備簨浠惰Ц鐧�(f膩)閫氬父鏄潪鍛ㄦ湡鎬х殑, 浣跨敤闈炲懆鏈熸€ф暩(sh霉)鎿�(j霉)鍌宠几瀵�(sh铆)鐝�(xi脿n)鏈€鐐虹啊(ji菐n)鍠�, 浣嗘槸涔熷彲浠ョ敤鍛ㄦ湡鎬ф暩(sh霉)鎿�(j霉)鍌宠几瀵�(sh铆)鐝�(xi脿n), 姝ゆ檪(sh铆), 灏卞繀闋堟(bi膩o)璀�(sh铆)鍝€�(g猫)鍛ㄦ湡鐨勬暩(sh霉)鎿�(j霉)鐐烘湁鏁堟暩(sh霉)鎿�(j霉)銆� 鏅�(sh铆)闁撹Ц鐧�(f膩)閫氬父鏄懆鏈熸€у湴閫�(j矛n)琛岀殑, 鎺у埗鍠厓鍛ㄦ湡鎬у湴瑷�(j矛)绠楀嚭鎺у埗鏁�(sh霉)鎿�(j霉), 鐒跺悗鍙婃檪(sh铆)鐧�(f膩)閫佹帶鍒舵暩(sh霉)鎿�(j霉)绲︿己鏈嶉﹨(q奴)鍕�(d貌ng)鍣�?锛熷垈鍧悲銊愭攢宄劅^(gu貌)涓€鍊�(g猫)鍏ㄥ眬鏅�(sh铆)閻橀€�(j矛n)琛岄﹨(q奴)鍕�(d貌ng)鐨�, 绯荤当(t菕ng)鐨勮鐐轰笉鍍呭湪鍔熻兘涓婂緱鍒扮⒑瀹�, 鑰屼笖鍦ㄦ檪(sh铆)闁撲笂涔熸槸纰哄畾鐨�, 鍚勭珯榛�(di菐n)涓嶆渻(hu矛)鐖�(zh膿ng)鐢ㄥ偝杓稿獟浠�,鏁村€�(g猫)绯荤当(t菕ng)鏄彲闈犵殑銆傛檪(sh铆)闁撹Ц鐧�(f膩)鎺у埗涓殑閫氫俊鍛ㄦ湡鏅�(sh铆)闁撴噳(y墨ng)瑭茬瓑浜庢帶鍒跺懆鏈熸檪(sh铆)闁�, 鎴栬€呴€氫俊鍛ㄦ湡鏅�(sh铆)闁撹兘澶犺鎺у埗鍛ㄦ湡鏅�(sh铆)闁撴暣闄ゃ€傚懆鏈熸€х殑鏅�(sh铆)闁撹Ц鐧�(f膩)涓�, 閫氫俊鍛ㄦ湡鏅�(sh铆)闁撳繀闋堝浐瀹�, 涓嶈兘鏈夋槑椤殑娉㈠嫊(d貌ng), 鍗虫暩(sh霉)鎿�(j霉)鍌宠几蹇呴爤鏈夌⒑瀹氭€�, 涔熺ū鐐哄(sh铆)鏅�(sh铆)鎬�銆� 绺介珨鑰岃█, 鐢ㄤ簬閬�(y霉n)鍕�(d貌ng)鎺у埗鐨勭従(xi脿n)鍫�(ch菐ng)绺界窔閫氫俊鍗�(xi茅)璀扮殑鎬ц兘瑕佹眰鏈変笁榛�(di菐n): 锛� 1锛� 鍙潬鐨勯€氫俊, 浠ラ仼鍚堝伐妤�(y猫)鐝�(xi脿n)鍫�(ch菐ng)鎯″姡鐨勭挵(hu谩n)澧�; 锛� 2锛� 鏁�(sh霉)鎿�(j霉)鍌宠几?sh霉)鑶�?sh铆)鏅�(sh铆)鎬�銆傚懆鏈熸€ф暩(sh霉)鎿�(j霉)鍌宠几鍜岄潪鍛ㄦ湡鎬ф暩(sh霉)鎿�(j霉)鍌宠几閮藉繀闋堟湁寰堥珮鐨勫(sh铆)鏅�(sh铆)鎬�, 闊挎噳(y墨ng)鏅�(sh铆)闁撻€氬父鐐猴紙 1锝�10锛� ms銆� 锛� 3锛夊懡浠ゅ煼(zh铆)琛屽拰鐙€鎱�(t脿i)鍙嶉鐨勫悓姝ユ€�銆傜偤浜嗛仈(d谩)鍒板悇鍧愭(bi膩o)杌哥殑鍚屾閬�(y霉n)鍕�(d貌ng)绮惧害, 闇€瑕佸悇杌稿湪鏀跺埌鍛戒护鍊间箣鍚庡繀闋堝湪鍚屼竴鏅�(sh铆)鍒诲悓鏅�(sh铆)鍩�(zh铆)琛屼綅缃帶鍒舵寚浠ゅ拰鍚屾檪(sh铆)閲囨ǎ鐣�(d膩ng)鍓嶄綅缃�, 鐧�(f膩)閫佺郸鎺у埗鍠厓銆� 3 CAN 绺界窔閬�(y霉n)鍕�(d貌ng)鎺у埗绯荤当(t菕ng)绺介珨瑷�(sh猫)瑷�(j矛) CAN 绺界窔锛� Controller Area Network 鎺у埗灞€鍩熺恫(w菐ng)绲�(lu貌)锛� , 鏄竴绋櫘閬嶇殑鎳�(y墨ng)鐢�銆傞€氶亷(gu貌)CAN 绺界窔閫�(j矛n)琛屾暩(sh霉)鎿�(j霉)鍌宠几鑸囨帶鍒�, 浣�浼烘湇闆绘(j墨)鐨勬€ц兘鏇村姞绌�(w臎n)瀹�, 鑳芥洿濂芥洿闈堟椿鍦板湴鎳�(y墨ng)鐢ㄤ簬閬�(y霉n)鍕�(d貌ng)鎺у埗绯荤当(t菕ng)涓�銆� 濡傚湒1 鎵€绀�, 鍩轰簬CAN 绺界窔鐨勯亱(y霉n)鍕�(d貌ng)鎺у埗绯荤当(t菕ng)鑸囨帶鍒剁郴绲�(t菕ng)鍏稿瀷绲�(ji茅)妲�(g貌u)鐩告瘮, 鏈夊叐鍊�(g猫)椤憲鐨勭壒榛�(di菐n)銆傜涓€鏄叾鎺у埗灏�(du矛)璞＄偤浼烘湇閬�(y霉n)鍕�(d貌ng)鎺у埗灏�(du矛)璞�, 绗簩鏄叾缍�(w菐ng)绲�(lu貌)鍖栨帶鍒跺櫒鍖呮嫭CAN 绺界窔閫氫俊濯掍粙鍜孋AN 鎺у埗鍣ㄧ瘈(ji茅)榛�(di菐n)鍏╅儴鍒嗐€傚鍊�(g猫)CAN 鎺у埗鍣ㄧ瘈(ji茅)榛�(di菐n)閫氶亷(gu貌)CAN 绺界窔閫氫俊濯掍粙骞宠浜掕伅(li谩n)鐐轰竴鍊�(g猫)鍠堡绲�(ji茅)妲�(g貌u)鐨勫熀浜嶤AN 绺界窔鐨勪己鏈嶉亱(y霉n)鍕�(d貌ng)鎺у埗绯荤当(t菕ng)銆傜暥(d膩ng)闇€瑕佹洿澶氳桓閬�(y霉n)鍕�(d貌ng)鎺у埗鏅�(sh铆), 鍙渶瑕佺啊(ji菐n)鍠殑鍐嶅鍔犳柊閬�(y霉n)鍕�(d貌ng)鎺у埗绡€(ji茅)榛�(di菐n), 鎶婃柊鐨勯亱(y霉n)鍕�(d貌ng)鎺у埗绡€(ji茅)榛�(di菐n)浣滅偤鏂扮殑CAN 绺界窔绡€(ji茅)榛�(di菐n)鎺涙帴鍒癈AN 绺界窔涓婂氨鍙互褰㈡垚涓€鍊�(g猫)鍒嗗竷寮忓杌搁亱(y霉n)鍕�(d貌ng)鎺у埗绯荤当(t菕ng), 鑰屼笖鐒�(w煤)闇€鍦ㄧ‖浠朵笂灏�(du矛)鍘熸湁鐨勯亱(y霉n)鍕�(d貌ng)鎺у埗绡€(ji茅)榛�(di菐n)鍋氫换浣曠殑淇敼銆備篃鍙€氶亷(gu貌)浜掕伅(li谩n)缍�(w菐ng)闂�(gu膩n)鑸嘔E锛� Industry Ethernet锛� 鎴朓ntranet/Internet 涓婁笅浜掕伅(li谩n)鐐轰竴鍊�(g猫)澶氬堡绲�(ji茅)妲�(g貌u)鐨勭恫(w菐ng)绲�(lu貌)鍖栦己鏈嶉亱(y霉n)鍕�(d貌ng)鎺у埗绯荤当(t菕ng)銆� 鍩轰簬CAN 绺界窔閬�(y霉n)鍕�(d貌ng)鎺у埗绯荤当(t菕ng)鐨勮ō(sh猫)瑷�(j矛), 涓昏宸ヤ綔鍦ㄤ簬灏�(du矛)CAN 鎺у埗鍣ㄧ瘈(ji茅)榛�(di菐n)鐨勮ō(sh猫)瑷�(j矛), 鍖呮嫭纭欢鍜岃粺浠跺叐閮ㄥ垎銆傜‖浠惰ō(sh猫)瑷�(j矛), 涓昏鍦ㄤ簬閬告搰鍚堥仼鐨勮姱鐗囧拰纭欢闆昏矾鍒嗗垾瑷�(sh猫)瑷�(j矛)鍦�1 鎵€绀篊AN 鎺у埗鍣ㄧ瘈(ji茅)榛�(di菐n)鐨�5 鍊�(g猫)鍩烘湰绲勬垚閮ㄥ垎, 鍗充富鎺у埗鍣ㄣ€佷富鎺у埗鍣ㄨ垏鍌虫劅鍣�/ 鍩�(zh铆)琛屽櫒鐨勬帴鍙ｆā濉�銆佷富鎺у埗鍣ㄨ垏CAN 绺界窔鎺у埗鍣ㄧ殑鎺ュ彛妯″銆丆AN 绺界窔鎺у埗鍣ㄥ拰CAN 绺界窔鏀剁櫦(f膩)鍣�銆傝粺浠惰ō(sh猫)瑷�(j矛), 涓昏宸ヤ綔鍦ㄤ簬閬告搰鍚堥仼鐨勭郴绲�(t菕ng)杌熶欢鍜屾噳(y墨ng)鐢ㄩ枊(k膩i)鐧�(f膩)杌熶欢鍒嗗垾瑷�(sh猫)瑷�(j矛)鍚勭ó鎺ュ彛椹�(q奴)鍕�(d貌ng)杌熶欢銆佺郴绲�(t菕ng)绠＄悊杌熶欢鍜屾帶鍒跺姛鑳借粺浠�銆� 4 绯荤当(t菕ng)纭欢瑷�(sh猫)瑷�(j矛) 涓绘帶鍒跺櫒绛嗚€呴噰鐢ˋT89C51 鍠墖姗�(j墨)浣滅偤铏曠悊鏍稿績, 閲囩敤PCA82C250 浣滅偤CAN 绺界窔鏀剁櫦(f膩)鍣�, 鍦�2 绲﹀嚭浜嗗熀浜嶴JA1000鐨凜AN 绺界窔绯荤当(t菕ng)闆昏矾鍦栥€傜偤浜嗗寮�(qi谩ng)鎶楀共鎿捐兘鍔�, SJA1000 鐨凾X0 鍜孯X0 寮曡叧骞舵矑(m茅i)鏈夌洿鎺ュ拰PCA82C250 鐨凾XD, RXD 鐩搁€ｆ帴, 鑰屾槸閫氶亷(gu貌)楂橀€熷厜鑰�6N137 鍚庤垏PCA82C250 鐩搁€�, 閫欐ǎ鍙互瀵�(sh铆)鐝�(xi脿n)绺界窔涓婂悇CAN 绡€(ji茅)榛�(di菐n)涔嬮枔鐨勯浕姘ｉ殧闆�, 鍏夎€�6N137 鐨勫叐鍋�(c猫)浣跨敤瀹屽叏鐛�(d煤)绔嬬殑鍏╃祫闆绘簮VCC 鍜�+5V銆� SJA1000 鑸囧柈鐗囨(j墨)鐨勬帴鍙ｆ瘮杓冪啊(ji菐n)鍠�, AD0锝濧D7 鐩存帴閫ｆ帴鍒癆T89C51 鐨凱0 绔彛, RD銆乄R 鍜孉LE 淇¤櫉(h脿o)涔熺洿鎺ュ拰AT89C51鐨勭浉鎳�(y墨ng)寮曡叧閫�(j矛n)琛岄€ｆ帴, MODE 鎺�+5V 瑷�(sh猫)缃甋JA100 鎺у埗鍣ㄧ偤Interl妯″紡銆係JA1000 鐨勭墖閬镐俊铏�(h脿o)CS 鐢盇T89C51 鐨凱2.0 姹哄畾, 鍥犳绯荤当(t菕ng)涓璖JA1000 鐨勫皨鍧€绌洪枔寰炲湴鍧€0 闁�(k膩i)濮�, 鍙互浣跨敤姝ゅ湴鍧€鍔犱笂SJA1000 鍏�(n猫i)閮ㄥ瘎瀛樺櫒鍦板潃鐨勫亸绉婚噺渚�(l谩i)瑷晱(w猫n)SJA1000 鍏�(n猫i)閮≧AM绌洪枔銆係JA1000 鐨勪腑鏂疯几鍑轰俊铏�(h脿o)INT 鑸嘇T89C51 鐨処NT0寮曡叧鐩搁€�, 浠ヤ究AT89C51 浠ヤ腑鏂锋柟寮忔垨鏌ヨ鏂瑰紡灏�(du矛)鍫�(b脿o)鏂囨敹鐧�(f膩)浣滃嚭闊挎噳(y墨ng)銆� 5 绯荤当(t菕ng)绋嬪簭瑷�(sh猫)瑷�(j矛) 鍩轰簬SJA1000 鐨凜AN 绺界窔寤虹珛閫氫俊鐨勯亷(gu貌)绋嬪寘鎷郴绲�(t菕ng)鍒濆鍖栥€佹帴鏀跺拰鐧�(f膩)閫�銆� 5.1 SJA1000 鐨勫垵濮嬪寲绋嬪簭 AT89C51 鍦ㄤ笂闆诲悗棣栧厛閬�(y霉n)琛屽叾鑷韩鐨勫京(f霉)浣嶇▼搴�, 骞跺湪姝ゅ悗瑾�(di脿o)鐢⊿JA1000 鐨勯厤缃▼搴�銆傞厤缃▼搴忓湪瑷�(sh猫)缃甋JA1000 鐨勫瘎瀛樺櫒鍓�, 蹇呴爤閫氶亷(gu貌)璁€寰�(f霉)浣嶆ā寮�/ 璜�(q菒ng)姹傛(bi膩o)蹇椾締(l谩i)妾㈡煡SJA1000 鏄惁宸茶檿浜庡京(f霉)浣嶆ā寮�, 鍥�?y脿n)姗愮崣?xi臎)鍏ラ厤缃俊鎭殑瀵勫瓨鍣ㄥ儏鍦ㄥ京(f霉)浣嶆ā寮忎笅鍙互琚(xi臎)鍏�銆傚垵濮嬪寲绋嬪簭涓�, 棣栧厛灏嘢JA1000 瑷�(sh猫)鐐哄京(f霉)浣嶇媭鎱�(t脿i), 闅ㄥ悗瀹歋JA1000 浣跨敤PeliCAN 妯″紡, CLKOUT 寮曡叧杓稿嚭闋荤巼鐐哄鎺ユ櫠鎸牷鐜囩殑1/2, 鐐哄柈椹�(y脿n)鏀舵烤娉㈠櫒妯″紡銆� SJA1000 鐨勫垵濮嬪寲娴佺▼锛� 鍦栫暐锛� 銆� 鍦ㄦ竻闄JA1000 鐨勫京(f霉)浣嶆ā寮�/ 璜�(q菒ng)姹傛(bi膩o)蹇楅€�(j矛n)鍏ュ伐浣滄ā寮忔檪(sh铆),蹇呴爤鍏堟鏌ユ(bi膩o)蹇楁槸鍚︾⒑瀵�(sh铆)琚竻闄�銆佹槸鍚﹂€�(j矛n)鍏ヤ簡宸ヤ綔妯″紡鍚�, 鎵嶈兘閫�(j矛n)琛屼笅涓€姝ョ殑鎿嶄綔銆傚湪閫�(j矛n)鍏ュ伐浣滄ā寮忓悗, CAN 鎺у埗鍣ㄧ殑涓柗鍙浣胯兘, 骞堕枊(k膩i)濮嬫甯哥殑鐧�(f膩)閫佹垨鎺ユ敹?q菒ng)?b脿o)鏂囥€� 5.2 SJA1000 鐨勫牨(b脿o)鏂囩櫦(f膩)閫佹帴鏀� 鏍规摎(j霉)CAN 鍗�(xi茅)璀拌(gu墨)鑼�, 鍫�(b脿o)鏂囩殑鍌宠几鐢盋AN 鎺у埗鍣⊿JA1000鐛�(d煤)绔嬪畬鎴�銆傚湪鍫�(b脿o)鏂囩殑鐧�(f膩)閫侀亷(gu貌)绋嬩腑, 鍠墖姗�(j墨)AT89C51 蹇呴爤灏囪鐧�(f膩)閫佺殑鍫�(b脿o)鏂囬€佸叆绯荤当(t菕ng)鐧�(f膩)閫佺珐娌栧崁(q奴), 鍦ㄥ皣绯荤当(t菕ng)鐧�(f膩)閫佺珐娌栧崁(q奴)涓殑鏁�(sh霉)鎿�(j霉)绉昏嚦CAN 鎺у埗鍣ㄧ櫦(f膩)閫佺珐娌栧櫒涔嬪墠, 蹇呴爤鍒ゆ柗鐧�(f膩)閫佺珐娌栧櫒鏄惁琚噵鏀�銆� 鍫�(b脿o)鏂囩殑鎺ユ敹鐢盋AN 鎺у埗鍣⊿JA1000 鐛�(d煤)绔嬪畬鎴�, 鏀跺埌鐨勫牨(b脿o)鏂囧湪鎺ユ敹绶╂矕鍣ㄥ収(n猫i), 鍚屾檪(sh铆)灏囩媭鎱�(t脿i)瀵勫瓨鍣ㄧ殑鎺ユ敹绶╂矕鍣ㄧ媭鎱�(t脿i)妯�(bi膩o)蹇桼BS 鍜屾帴鏀朵腑鏂锋(bi膩o)蹇桼I 缃綅銆傚鏋滃牨(b脿o)鏂囨帴鏀惰浣胯兘, 鍠墖姗�(j墨)鍙互灏囨帴鏀剁珐娌栧櫒鍏�(n猫i)鐨勬柊鍫�(b脿o)鏂囪畝鍑�, 骞跺瓨鍎�(ch菙)鍒板柈鐗囨(j墨)鐨勫収(n猫i)瀛樺柈鍏冩垨澶栭儴鏁�(sh霉)鎿�(j霉)瀛樺劜(ch菙)鍣ㄤ腑, 鐒跺悗閲嬫斁鎺ユ敹绶╂矕鍣�銆係JA1000 鍫�(b脿o)鏂囨帴鏀堕亷(gu貌)绋嬪彲浠ョ敱SJA1000 鐨勪腑鏂疯珛(q菒ng)姹傛垨鏌ヨSJA1000 鐨勬帶鍒舵鐙€鎱�(t脿i)妯�(bi膩o)蹇椾締(l谩i)鎺у埗銆� 6 灏忕祼(ji茅) 鍒嗘瀽鍌崇当(t菕ng)鐨勯亱(y霉n)鍕�(d貌ng)鎺у埗绯荤当(t菕ng)宸蹭笉婊胯冻闆诲瓙鍒堕€犺ō(sh猫)鍌欑殑瑕佹眰鍜岀従(xi脿n)鍫�(ch菐ng)绺界窔閬�(y霉n)鍕�(d貌ng)鎺у埗绯荤当(t菕ng)閫氫俊鐗规€�, 鎻愬嚭浜嗗熀浜嶴JA1000 鐨凜AN绺界窔鐨勭恫(w菐ng)绲�(lu貌)鍖栭亱(y霉n)鍕�(d貌ng)鎺у埗绯荤当(t菕ng)鏂规, 鐐轰氦娴佷己鏈嶇殑缍�(w菐ng)绲�(lu貌)鍖栫爺绌跺拰鎳�(y墨ng)鐢ㄤ綔鍑轰簡涓€娆℃湁鐩婄殑鏂版帰绱�銆侰AN 绺界窔鍙互寰堝ソ鍦版豢瓒崇従(xi脿n)鍫�(ch菐ng)绺界窔閬�(y霉n)鍕�(d貌ng)鎺у埗绯荤当(t菕ng)灏�(du矛)瀵�(sh铆)鏅�(sh铆)闊挎噳(y墨ng)鐨勮純楂樿姹�, 鍚屾檪(sh铆)浣跨敤CAN 绺界窔閭勪娇寰楃郴绲�(t菕ng)鍏锋湁寰堝ソ鐨勬摯(ku貌)灞曟€ц兘銆傞€欐ǎ鐐哄悜澶氳桓鎴栧榛�(di菐n)鐨勫垎甯冨紡閬�(y霉n)鍕�(d貌ng)鎺у埗缍�(w菐ng)绲�(lu貌)鐧�(f膩)灞曟墦涓嬪爡(ji膩n)瀵�(sh铆)鐨勫熀绀�(ch菙)銆� 鍙冭€冩枃鐛�(xi脿n) 1 楗掗亱(y霉n)婵�, 閯掔辜杌�, 閯媷钑�. 鐝�(xi脿n)鍫�(ch菐ng)绺界窔CAN 鍘熺悊鑸囨噳(y墨ng)鐢ㄦ妧琛�(sh霉)[M]. 鍖椾含: 鍖椾含鑸┖鑸ぉ澶у(xu茅)鍑虹増绀�, 2003. 2 鑸掑織鍏电瓑. 浜ゆ祦浼烘湇閬�(y霉n)鍕�(d貌ng)鎺у埗绯荤当(t菕ng)[M]. 鍖椾含: 娓呰彲澶у(xu茅)鍑虹増绀�, 2006. 3 妤婇噾宸�, 閯噳(y墨ng)寮�(qi谩ng), 寮垫尟浠�. 鏁�(sh霉)鎿�(j霉)鍌宠几鎿�(ku貌)灞曟妧琛�(sh霉)鑸囨噳(y墨ng)鐢ㄥ(sh铆)渚媅M]. 鍖椾含: 浜烘皯閮甸浕鍑虹増绀�, 2005.