Micro crawler tractor chassis control system based on CAN bus

Abstract

The invention discloses a micro crawler tractor chassis control system based on CAN bus, which comprises an upper decision system, a CAN bus communication system and an underlying control system. Theupper decision system is responsible for making decisions, and sends the decided instructions to the CAN bus in the form of a CAN message. The underlying control system reads the corresponding messageinformation through different CAN message identifiers, obtains an execution instruction, and controls the operation of an underlying actuator to realize the control on a micro crawler tractor. The system adopts a layered control structure to avoid direct connection between each subsystem and an actuator, and solves the problem that the number of harnesses of an existing system is large and the fault diagnosis is difficult; the system uses the CAN bus for communication, has the characteristics of broadcast communication and unrestricted number of nodes in a CAN bus network. Only two wires areneeded to be connected to the outside, which solves the problem that an existing system is difficult in new system expansion, and lays a foundation for realizing the automation and intelligence of themicro crawler tractor.

Description

technical field [0001] The invention relates to the field of agricultural machinery chassis control, in particular to a CAN bus-based miniature crawler tractor chassis control system. Background technique [0002] my country's intelligent agricultural machinery is developing rapidly, and great progress has been made in the intelligentization of agricultural machinery. In order to realize tractor automation and intelligence, more and more electrical appliances are applied to tractors, and the number of electronic control systems on tractors is also increasing. At present, most miniature crawler tractors adopt the traditional direct-connected chassis control structure. The output of each subsystem is directly connected to the actuator. There is no communication between the subsystems, and they all independently control the actuator. A new electronic control system is developed. Separate wiring is required, and there are problems such as difficulty in system expansion, large n...

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Problems solved by technology

[0003] In order to solve the problems of difficulty in expanding new systems of existing miniature crawler tractors, large number of wiring harnesses, and difficulty in fault diagnosis, a CAN bus-based miniature crawler tractor chassis control system is disclosed, which adopts a layered chassis control structure based on CAN bus. The chassis control system is divided into an upper-level decision-making system and a lower-level control system. The upper-level decision-making system is responsible for decision-making, and the lower-level control system is responsible for executing decision-making instructions. Each system communicates through the CAN bus. The upper-level decision-making system sends the execution instructions after decision-making to the CAN bus, the underlying control system reads the corresponding message information through the different CAN message identifiers, obtains execution instructions, and controls the work of the underlying actuators

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