北京航空航天大学学报 ›› 2011, Vol. 37 ›› Issue (10): 1264-1270.doi: CNKI:11-2625/V.20111013.1436.012

• 论文 • 上一篇    下一篇

无人直升机系统CAN总线应用层协议设计

章磊, 祝明, 武哲   

  1. 北京航空航天大学 航空科学与工程学院, 北京 100191
  • 收稿日期:2010-12-07 出版日期:2011-10-30 发布日期:2011-11-03
  • 作者简介:章 磊(1984-),男,浙江杭州人,博士生,zhanglei8411@gmail.com.
  • 基金资助:

    陆航某预研课题资助项目

CAN bus application layer protocol design for unmanned helicopter system

Zhang Lei, Zhu Ming, Wu Zhe   

  1. School of Aeronautic Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2010-12-07 Online:2011-10-30 Published:2011-11-03

摘要: 为了将CAN(Controller Area Network)总线应用于无人直升机系统,设计一种具有通用性的CAN应用层协议.针对CANaerospace V1.7版协议在无人直升机系统应用的数据定义、测控带宽等问题进行改进.重新设计定义了基本帧格式和数据标识号,提出一种适用无人直升机系统应用的CANauh协议.为了对CANauh协议进行验证,以一种基于CAN总线的无人直升机航空电子系统为对象进行CAN总线数据内容、调度表、总线负载的设计和CANoe数字仿真.CANauh协议在10 ms基本周期的总线负载为40.83%,数据可扩展定义空间为67.4%,测控系统带宽具有66.7%的占空比,满足无人直升机系统的指标要求.CANauh协议可以促进CAN总线在无人直升机系统中的应用,避免重复性设计,增加各个系统间的互操作性,降低开发维护成本.

Abstract: In order to put the CAN (Controller Area Network) into UHS (Unmanned Helicopter System) application, a universal CAN application layer protocol was developed. The problems which are data definition, telemetry, telecontrol data link bandwidth and so on in the CANaerospace V1.7 protocol application in UHS were improved. Redefining of the basic message format and the data identifier, the CANauh protocol for UHS was put forward. In order to verify the CANauh protocol, a proposal of UHS avionics system based on CAN data bus was chosen as the research object, the data on the CAN bus, data identifier distribution and bus schedule were designed and simulated by the CANoe tool. The CAN bus load on 10 ms basic period is 40.83%, data extended definition space is 67.4%, the duty factor of telemetry and telecontrol data link bandwidth is 66.7%, satisfying the requirements of UHS. The CANauh protocol will promote the CAN data bus application in new UHS, can avoid repeated design, increases the interoperability and reduces the cost of development and maintenance.

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