Research On All Terrain Articulated Vehicle Control System Based On CAN-BUS

All-terrain articulated tracked vehicle is used for very bad terrain conditions, weather conditions road transport vehicles. The vehicle has advanced two articulated vehicles and control technology. Unique technology to make it applicable in time of war transport, disaster relief, oil field operations, material transport, security proof, project rescue, port operations, hydraulic construction, electrical construction, mining development, medical care, geological exploration and forest protection, all-weather, all-terrain vehicle capability.The subject of this paper is to use CAN bus to all-terrain tracked vehicle, increase its anti-jamming capability, system scalability, reduce weight, make it has better performances, and environmental adaptability. CAN bus is a bus-type control device interconnection network, compared with other field bus, CAN bus data communication with outstanding reliability, timeliness and flexibility.First, starting from the overal,study and design the entire vehicle CAN network solution.use the bridge to divide the entire vehicle network to power CAN network segment, the first part vehicle CAN network segment and the second CAN network segment. First, ease of maintenance and testing. When the first part vehicle and the second part vehicle are separated. The first part vehicle CAN network is still able to operate independently. Second, information filtering role of the bridge reduces the bus load, the entire vehicle Select J1939 protocol as the CAN network high-level protocol. And designed the CAN instrument and body control node based on J1939 protocol.The power CAN network segments and the first part vehicle CAN network segment join in the CAN instrument. Information need to be monitored display on the CAN instrument and this node complete the data exchange of the two segments. Analyzed the main control node,such as engine ECM, transmission ECU related PGN and messages.Take the freescale's automotive microcontroller MC9S08DZ60 as the control node core chip.Designed the node hardware architecture with anti-interference ability. And research and development node software in line with CAN J1939 protocol, including the underlying software, network management, data transmission protocols. Data transmission protocol of the J1939 protocol to send and broadcast multi-packet transmission protocol BAM. Simulation of the whole vehicle CAN networks with CANoe.