CN1606286A - An entire fuel battery car controller monitoring system based on CAN bus - Google Patents

Abstract

A CAN bus-based fuel cell vehicle controller monitoring system is especially suitable for real-time monitoring and management of fuel cell vehicle controllers with high data transmission rates on-site with mobile terminals such as notebook computers. The system consists of three parts: upper computer, CAN card, CAN bus and lower computer. The PCMCIA interface of the upper computer is connected to the CAN interface of the lower computer through the CAN card, and the CAN bus is connected to the CAN interface of the lower computer. The upper computer sends request words and control parameter addresses to control the controller. Parameters are matched and calibrated online; the vehicle controller of the lower computer implements online programming of CAN bus communication through mapping and executing codes. The present invention uses CAN bus technology, combined with Matlab software platform, can realize high data transmission rate on-site real-time monitoring and management, the system reduces the monitoring and communication burden of the vehicle controller, enhances anti-interference ability, flexible application places, and realizes the vehicle control algorithm Flexible commissioning at the test site.

Description

A fuel cell vehicle vehicle controller monitoring system based on CAN bus

technical field

A CAN bus-based fuel cell vehicle controller monitoring system relates to the field of industrial site monitoring technology, and is especially suitable for real-time monitoring and monitoring of fuel cell vehicle controllers with high data transmission rates using mobile terminals such as notebook computers. manage.

Background technique

Fuel cell vehicles adopt a distributed control system structure, each component has an independent controller, and the vehicle controller performs energy management on the entire system and coordinates control of each component. In order to meet the characteristics of large amount of system data exchange, high real-time performance and high reliability, the CAN bus is used for communication between the controllers of the entire distributed control system.

In the process of debugging and matching calibration of the control algorithm of the vehicle controller, it is necessary to monitor the working status and working parameters of the fuel cell vehicle to understand the operating status of each component, and sometimes it is necessary to directly modify the control parameters at the test site. Changes in the program structure also need to rewrite the control program into the controller, which requires the vehicle controller to have a powerful monitoring system to work together.

The vehicle controller monitoring system is traditionally developed based on the RS-232 serial communication protocol. The serial communication has the disadvantages of poor data transmission reliability and low transmission rate in the real vehicle test environment. Due to the low transmission rate, the controller and the upper The SCI communication task of the computer is heavy, which limits the number of parameter transmissions.

The upper computer part of the monitoring system is generally developed by VC, LabView and other software, and the CAN communication card supporting the PCMCIA slot of the notebook computer generally also has the corresponding underlying driver. The host computer monitoring based on Matlab software can use its powerful data processing and calculation functions to analyze the dynamic frequency characteristics of the system, speed up the process of matching and calibrating control parameters, and cooperate with the development and control algorithm of the controller based on the Matlab/Simulink environment. Its offline and real-time simulation test are integrated to speed up the development cycle of the vehicle controller. However, the underlying drivers of various PCMCIACAN communication cards currently on the market do not directly support the Matlab environment, and the underlying drivers need to be redeveloped.

Contents of the invention

The purpose of the present invention is to provide a new CAN bus-based fuel cell vehicle controller monitoring system to meet the needs of fuel cell vehicle controller development in view of the above problems existing in the current vehicle controller monitoring system.

The fuel cell vehicle vehicle controller monitoring system based on the CAN bus proposed by the present invention includes three parts: a host computer, a CAN card, a CAN bus and a lower computer. The PCMCIA interface of the upper computer passes through the CAN card, the CAN bus and the lower computer. The CAN interface of the machine is connected.

The upper computer realizes the control of the CAN bus communication based on the Matlab software platform through the redevelopment of the bottom driver of the PCMCIA CAN card, thereby being able to monitor and control the fuel cell vehicle vehicle CAN network and vehicle controller control parameters in real time. Data storage; the upper computer realizes the online matching and calibration of the control parameters of the controller by sending the request word and the control parameter address, and the vehicle controller realizes the online programming function based on CAN bus communication through the above-mentioned mapping execution code mode.

Described CAN card carries out redevelopment to its underlying driver program, utilizes the C language S-function function function function of Matlab to carry out dynamic call to former CAN card dynamic connection storehouse in S-function function, and the bottom layer driver function input and output variable is carried out again Encapsulate to make it conform to the variable type of Matlab, and generate a new dynamic link library, so as to realize the indirect call of the underlying driver function of the CAN card by the Matlab monitoring program of the host computer.

Described lower computer is a whole vehicle controller, mainly is made up of controller master chip, Flash memory and RAM memory and relevant circuit, the output of controller master chip is connected with the input of Flash memory and RAM memory. The vehicle controller of the lower computer allocates two CAN data buffers for the monitoring system, each of which can independently generate interrupts and receive and send data from the upper computer respectively.

In the online matching calibration and online programming of the vehicle controller, both the upper and lower computers pass the handshake confirmation process to prevent misoperation, and send corresponding request words to the lower computer; during the online matching process, the lower computer according to the received control parameters Absolute address and data length, modify the control parameters; in the online programming process, the lower computer adopts the method of sub-function mapping, first copy each sub-function that realizes the programming function to the RAM memory, and obtain the entry of each sub-function by calculating the relative address Address, and then jump to the mapped address to execute the corresponding command, erase the Flash memory first, and then write the target program code into the Flash through the CAN communication with the host computer, and then jump to the The entry address of the Flash program, the controller resets and boots from the Flash again.

The present invention utilizes CAN bus technology, combines Matlab software platform to realize a kind of fuel cell vehicle vehicle controller monitoring system, its upper computer can especially use but not limited to mobile terminal (such as notebook computer), can realize high data transmission rate on-site real-time Monitoring and management, its main effects are:

a) The CAN bus has high transmission rate, good fault tolerance performance, and the anti-interference ability of the fuel cell vehicle controller monitoring system is enhanced.

b) When using a notebook computer for monitoring, the application site is flexible, and it is convenient to test and debug on the vehicle.

c) The CAN network communication structure of the fuel cell vehicle control system is used, and the parameters of the components are directly received from the CAN network, which greatly reduces the monitoring and communication burden of the vehicle controller.

d) The online matching calibration and online programming based on CAN bus realize the flexible debugging of the test site of the vehicle control algorithm.

Description of drawings

Figure 1 is a schematic structural diagram of a fuel cell vehicle controller monitoring system.

Figure 2 is the development process of the host computer Matlab monitoring program.

Figure 3 is a schematic diagram of the principle of online programming.

FIG. 4 is a schematic diagram of a flash programming function mapping method.

Detailed ways

The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings.

Figure 1 shows the structure diagram of the fuel cell vehicle controller monitoring system. The upper computer is a notebook computer with a PCMCIA port, which is connected with the vehicle controller and the vehicle CAN network through a PCMCIA CAN card, and the CAN card model can be ICPCM-CO. The main chip of the controller is preferably MC68376 single-chip microcomputer, which has one CAN and is directly connected to the CAN bus. The monitoring system receives and sends data from the host computer respectively. The received data is completed by the interrupt service sub-function. The sending buffer sends control parameters to the CAN bus in each control cycle. The priority level setting of the two CAN data frame IDs should be higher than that of fuel cell vehicles. The priority level of all other component nodes in the control system is low to ensure that the monitoring system does not conflict with the real-time control of the vehicle. The extended Flash read-only memory chip can be two slices of AM29F040.

Although the upper computer Matlab software supports the call of the C language dynamic link library through the API function, it can only call the function with simple input and output parameters, and does not support the call of the complex structure function. Using Matlab's S- The function function redevelops the underlying driver function, which can realize the indirect call of the buffer data of the CAN card. The S-function implementation steps are as follows:

a) Call the underlying driver dynamic link library of the CAN card, load the underlying driver functions, obtain the handles of each sub-function in the dynamic link library, and realize the calling of the sub-functions through the handles.

The following example obtains the handle of the CAN receive data subfunction:

typedef int(*_ICPCM_SendCANMessage)(CANBUFFER*buffer);

hDLL = LoadLibrary("icpcm_wdm.dll"); ICPCM_GetCANMessages = (_ICPCM_GetCANMessages) GetProcAddress(hDLL, "ICPCM_GetCANMessages");

b) Redevelop sub-functions such as CAN initialization, receiving, and sending CAN data, and repackage input and output variables to make them conform to the variable types in the Matlab environment.

The following example redevelops the CAN receive data subfunction:

_declspec(dllexport)mxArray*ReadMsg(int len)//The return data is Matlab array type

{ CANBUFFER canmsg[MAX_READ_MESSAGES];//CANBUFFER is a 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);//Create a variable length number

Group

temp1=&canmsg;

memcpy(mxGetPr(temp), temp1, result*26*sizeof(unsigned char));//Copy the original CAN data

shell into Matlab array

return temp;

}

c) Compile the repackaged underlying driver program with S-function, and generate a dynamic link library that can be directly called under the Matlab environment.

mex canmonitor.c;

The development process of the host computer Matlab monitoring program is shown in Figure 2. The host computer uses the loadlibrary function to load the dynamic link library in Matlab, and uses the calllib function to call all the dynamic library sub-functions and initialize the CAN, such as the format , baud rate, etc., if it is a real-time monitoring mode, the upper computer receives the data in the CAN card data buffer through the query method, and uses the GUI graphic programming function of Matlab to monitor and display the control parameters and the CAN network of the vehicle in real time. Online programming and online matching and calibration mode will work with the lower computer. When the monitoring is over, use the unloadlibrary function to unload the dynamic link library.

Figure 3 is a schematic diagram of the online programming principle. The vehicle controller checks the position of the vehicle key. If it is in the off state, it indicates that the vehicle is in a stopped state, and the control program can be modified. The lower computer CAN monitors the receiving data buffer and opens the interrupt. In response to the online programming request of the host computer. There is a handshake process between the upper and lower computers for programming unlocking to prevent misoperation and ensure that the online programming code of the lower computer is not accidentally activated. Usually the application program of the lower computer is executed in the Flash ROM, and the sub-function mapping method is used in the programming process, as shown in Figure 4, the function code required for online programming is copied to the RAM, and the relative address is calculated Obtain the entry address of each sub-function in RAM, and then jump to the mapped address to execute the corresponding instruction to perform Flash programming. During the Flash programming process, the upper computer reads a line of target code in each programming cycle, obtains the code address and completes the decoding, and sends it to the lower computer through the CAN bus. After the lower computer controller receives the programming end data frame, it jumps to the entry address of the Flash program, and the controller resets and boots from the Flash again.

In the process of online matching and calibration, after the upper and lower computers pass the handshake confirmation process similar to the above, the upper computer starts to send information, and the definition of the CAN data frame is: the first two bytes are the absolute address of the Flash, and the third byte is the data length, the rest is data. The lower computer performs online data modification on the corresponding memory address of the control parameters according to the received data.

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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