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1、合肥工业大学硕士学位论文CAN总线远距离通讯的研究及TTCAN的分析姓名：李冬申请学位级别：硕士专业：信号与信息处理指导教师：胡庆新20100401CAN 总线远距离通讯的研究及总线远距离通讯的研究及 TTCAN 的分析的分析 摘摘 要要 CAN 现场总线是支持分布式控制及实时控制的串行通信网络， 具有可靠性高、实时性好、价格低、容易实现的优点，在工业控制方面有着广泛的应用。其通信的波特率可高达 1Mbps、最远传输距离可达 10km 以上，但在实际系统中，CAN 总线的传输距离往往达不到理论值。 本文对 CAN 总线网络的构成和协议进行了分析。讨论了影响 CAN 总线网络传输距离的因素。结合
2、 CAN 总线煤矿控制系统具体项目，通过构建实验系统对 CAN 总线远距离传输进行研究。完成的主要工作如下： 第一，对常见的几种现场总线进行比较，分析 CAN 总线作为工业自动化控制领域现场总线首选的原因。 第二，对 CAN 总线的特点及其技术规范、帧结构，数据交换原理进行了分析。讨论影响 CAN 总线网络传输距离的因素。 第三，使用国家煤矿安全标准 120特性阻抗仿真导线，使用广州致远公司的 USBCAN-I 和吉阳光电公司的 USB-CAN Adapter 作为通讯实验的两个节点，在不同的传输距离和多种终端电阻条件下进行实验，对实验结果进行了细致的分析，总结出 CAN 总线网络远距离通讯的
3、规律。 第四，通过基于 CAN 总线煤矿控制一体化系统的井下组网，阐述了未来组建 CAN 网络过程中应注意的事项。 最后，对具有较好的实时性的基于时间触发的 TTCAN 协议进行了分析，对其时钟系统进行了剖析。 文中的 CAN 总线远距离传输及 TTCAN 协议的分析和实验的结果， 对构建实际的 CAN 总线网络系统有一定的借鉴意义。 关键词：关键词：现场总线；CAN 总线；位定时参数；传输延时；传输距离；TTCAN Research on Long-distance Communication of CAN Bus and Analysis of TTCAN ABSTRACT CAN bus
4、 is one of the serial communication networks, which supports distributed control and real-time control. CAN bus network has the advantages of higher reliability, Better real-time, low price, and easy to implement. Its widely used in industry control field. Its communications baud rate can reach 1Mbp
5、s and the longest transmission distance could be more than 10km, however, the transmission distance of CAN bus usually can not reach the theoretical value. In This thesis, I analyze the composition network and protocol of the CAN bus, testify the factors that impacts on CAN bus network transmission
6、distance. Basing on CAN bus control system for coal mine specific projects, I research on long-distance communication of CAN bus by constructing the experiment system. The major tasks are listed as follows: First, through comparison of several common field bus technologies. I analyze the reasons tha
7、t CAN bus has the priority to be choosed for industry automation control field; Second, I analyze the characters, specification, frame structure and data exchange principle of CAN bus. The factors that impacts on CAN bus network transmission distance are discussed. Third, I produce a simulation of t
8、he characteristic impedance of 120 wires in accordance to national safety standards for coal mines, use ZLG USBCAN-I and Jiyang photoelectric USB-CAN Adapter as two nodes of the communication experiment. The experiments are done with different transmission distances and various terminal resistances.
9、 the experimental results are analyzed in details, I summarized the CAN bus network long-distance communication pattern. Fourth, Through constructing Coal Mine Control system based on CAN bus,I described several issues which should be paid attention to during constructing the CAN network in the futu
10、re. Finally, I elaborate the time system considering that time-triggered real-time TTCAN protocol has good performance in the last chapter. Its meaningful to construct the practical CAN bus network system since the analysis and the experiments on CAN-bus transmission distance and TTCAN protocol are
11、based on practical environments. Keywords: Field bus; CAN bus; Bit Timing Parameters; transmission delay; transmission distance; TTCAN 插图清单插图清单 图 2.1 CAN2.0A 的分层结构. 10 图 2.2 CAN2.0B 的分层结构 . 10 图 2.3 总线报文优先级判别. 11 图 2.4 数据帧(Data Frame)格式. 12 图 2.5 远程帧(Remote Frame)格式 . 12 图 2.6 错误帧(Error Frame)格式. 12 图 2.7 过载帧(Overload Frame)格式. 13 图 2.8 位时间构成. 14 图 3.1 节点之间的传播延时. 16 图 3.2 网络分布等效电路图. 19 图 3.3 分离终端连接图 . 23 图 3.4 单导线的物理模型. 24 图 3.5 阻抗特性为 120的 1km 双绞线模型 . 24 图 3.6 USBCAN-I . 25 图 3.7 USBCAN GY8507. 25 图 3.8 标准仿真线板 . 26 图 3.9 ZLGCANTest . 26 图 3.10 吉阳光电 USB-CAN Adapter. 27 图 3.11 通用 CAN 波特率计算工具.
