BMS slave control CANID automatic identification and distribution system and method
By designing an automated CANID address allocation system in BMS, using PWM signals and communication signals interactions to automatically configure CANID in the slave control unit, the problem of traditional allocation dependence on dial switch is solved, efficiency and accuracy are improved, and cost is reduced.
Patent Information
- Application Number
- CN202411235453.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-04
- Publication Date
- 2024-12-27
AI Technical Summary
The traditional BMS slave control CANID address allocation depends on the in-board dial switch, which needs to be adjusted when incorrectly, resulting in high time and labor costs and requires professional engineers to operate, affecting the after-sales work of the slave controller.
Design a BMS slave CANID automatic identification and distribution system, through the interaction of PWM signals and communication signals between the master control module and the slave control module, the slave control unit automatically configures CANID, and obtains and detects the slave control unit through the master control unit. CANID configuration information to realize automated address allocation.
It improves the efficiency and accuracy of slave control CANID address allocation in BMS, reduces manual intervention, reduces time and labor costs, and simplifies the after-sales work of slave controllers.
Smart Images
Figure CN119211193A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of BMS technology, and in particular to a BMS slave control CAN ID automatic identification and allocation system and method. Background Art
[0002] In the BMS (BATTERY MANAGEMENT SYSTEM) of a car, the master controller needs to establish a network system to communicate with the slave controller through CANID (car bus ID) address allocation. The traditional BMS slave CANID address allocation relies on the on-board dip switch for ID address allocation. When the dip switch address is wrong, the master controller will not be able to communicate with the slave controller, and the dip switch needs to be adjusted. This operation requires professional engineers to operate, which is very unfavorable to the after-sales work of the slave controller, and has high time and labor costs. Summary of the invention
[0003] In order to overcome the above shortcomings, the purpose of this application is to provide a BMS slave control CAN ID automatic identification and allocation system and method, so as to effectively solve the above problems.
[0004] In order to achieve the above objectives, this application adopts the following technical solutions:
[0005] In a first aspect, a BMS slave control CANID automatic identification and allocation system includes:
[0006] A main control module comprises a main control unit, a main signal sending unit and a main communication unit, wherein the main control unit is electrically connected to the main signal sending unit to control the main signal sending unit to send a PWM signal, and the main control unit is electrically connected to the main communication unit to control the main communication unit to send a communication signal.
[0007] The first slave control module includes a first slave control unit, a first signal sending unit and a first communication unit, wherein the master signal sending unit is electrically connected to the first slave control unit to send a PWM signal to enable the first slave control unit to automatically configure a CANID, the first slave control unit is electrically connected to the first communication unit to control the first communication unit to receive the communication signal sent by the master communication unit, and the first slave control unit is electrically connected to the first signal sending unit to control the first signal sending unit to send a PWM signal.
[0008] The second slave control module comprises a second slave control unit, a second signal sending unit and a second communication unit, wherein the second signal sending unit is electrically connected to the second slave control unit to send a PWM signal so that the second slave control unit automatically configures a CAN ID, the second slave control unit is electrically connected to the second communication unit to control the second communication unit to receive the communication signal sent by the master communication unit, and the second slave control unit is electrically connected to the second signal sending unit to control the second signal sending unit to send a PWM signal.
[0009] The main control unit is electrically connected to the second signal sending unit to receive the PWM signal sent by the second signal sending unit, and the main communication unit is electrically connected to the first communication unit and the second communication unit respectively to establish a communication network with the first communication unit and the second communication unit after sending the communication signal so that the main control unit can obtain the configuration CAN ID information of the first slave control unit and the second slave control unit respectively.
[0010] Further, the main control unit includes a main control chip, the main signal sending unit includes a first transistor and a second transistor, the first pin of the main control chip is electrically connected to the control end of the first transistor, the first pole of the first transistor is grounded, the second pole of the first transistor is electrically connected to the control end of the second transistor, the first pole of the second transistor is connected to a power supply, and the second pole of the second transistor is electrically connected to the first slave control unit to send a PWM signal to the first slave control unit.
[0011] Furthermore, the main communication unit includes a main communication chip, and the main communication chip is electrically connected to the main control chip.
[0012] Further, the first slave control unit includes a first slave control chip, the first signal sending unit includes a third transistor and a fourth transistor, the first pin of the first slave control chip is electrically connected to the control end of the third transistor, the first pole of the third transistor is grounded, the second pole of the third transistor is electrically connected to the control end of the fourth transistor, the first pole of the fourth transistor is connected to a power supply, and the second pole of the fourth transistor is electrically connected to the second slave control unit to send a PWM signal to the second slave control unit.
[0013] Furthermore, the first communication unit includes a first communication chip, the first communication chip is electrically connected to the main communication chip and the first communication chip is electrically connected to the first slave control chip, the main control chip controls the main communication chip to send a communication signal, and the first slave control chip controls the first communication chip to receive the communication signal so that the main control chip obtains the configuration CAN ID information of the first slave control chip.
[0014] Furthermore, the first slave control module also includes a first sampling chip and a first CAN ID information storage chip, the first sampling chip is electrically connected to the first slave control chip, and an isolation transformer is provided on the system in which the first sampling chip and the first slave control chip are connected, the first sampling chip is used to collect the PWM signal in the first slave control chip, the first CAN ID information storage chip is electrically connected to the first slave control chip, and the first CAN ID information storage chip is used to store CAN ID information configured by the first slave control chip.
[0015] Further, the second slave control unit includes a second slave control chip, the second signal sending unit includes a fifth transistor and a sixth transistor, the first pin of the second slave control chip is electrically connected to the control end of the fifth transistor, the first pole of the fifth transistor is grounded, the second pole of the fifth transistor is electrically connected to the control end of the sixth transistor, the first pole of the sixth transistor is connected to a power supply, and the second pole of the sixth transistor is electrically connected to the master control unit to send a PWM signal to the master control unit.
[0016] Furthermore, the second communication unit includes a second communication chip, the second communication chip is electrically connected to the main communication chip and the second communication chip is electrically connected to the second slave control chip, the main control chip controls the main communication chip to send a communication signal, and the second slave control chip controls the second communication chip to receive the communication signal so that the main control chip obtains the configuration CAN ID information of the second slave control chip.
[0017] Furthermore, the second slave control module also includes a second sampling chip and a second CAN ID information storage chip, the second sampling chip is electrically connected to the second slave control chip, and an isolation transformer is arranged on the system in which the second sampling chip and the second slave control chip are connected, the second sampling chip is used to collect the PWM signal in the second slave control chip, the second CAN ID information storage chip is electrically connected to the second slave control chip, and the second CAN ID information storage chip is used to store the CAN ID information configured by the second slave control chip.
[0018] In a second aspect, a method for automatically identifying and allocating a BMS slave control CAN ID comprises the following steps:
[0019] S1, the master control unit controls the master signal sending unit to send a PWM signal to the first slave control unit, and the first slave control unit automatically configures the CAN ID after receiving the PWM signal.
[0020] S2, after receiving the PWM signal, the first slave control unit controls the first signal sending unit to send the PWM signal to the second slave control unit, and the second slave control unit automatically configures the CAN ID after receiving the PWM signal,
[0021] S3, after receiving the PWM signal, the second slave control unit controls the second signal sending unit to send the PWM signal to the master control unit,
[0022] S4, the main control unit determines whether a PWM signal is received, and when the main control unit does not receive a PWM signal, steps S1-S3 are repeated, and when the main control unit receives a PWM signal, the main communication unit is controlled to send a communication signal to the first communication unit and the second communication unit respectively.
[0023] S5, the first slave control unit controls the first communication unit to receive a communication signal so that the master control unit obtains the CAN ID configuration information of the first slave control unit, and the second slave control unit controls the second communication unit to receive a communication signal so that the master control unit obtains the CAN ID configuration information of the second slave control unit,
[0024] S6. The main control unit determines whether the CAN ID configuration information of the first slave control unit and the second slave control unit is correct. When the CAN ID configuration information of the first slave control unit and the second slave control unit is correct, the slave control unit CAN ID configuration is completed. When the CAN ID configuration information of the first slave control unit and the second slave control unit is incorrect, steps S1-S5 are repeated.
[0025] Beneficial Effects
[0026] In the present application, the first slave control unit and the second slave control unit can automatically configure the CAN ID after receiving the PWM signal. The frequency and duty cycle of the PWM signal received by each slave control unit are fixed values and different from each other, so that the CAN ID is configured for the slave control units in sequence, thereby improving the efficiency of the slave control CAN ID address allocation in the BMS. At the same time, the master control unit can detect the CAN ID configured for the slave control unit to improve the accuracy of the CAN ID address allocation. BRIEF DESCRIPTION OF THE DRAWINGS
[0027] The accompanying drawings are used to provide an understanding of the technical solution of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the technical solution of the present disclosure and do not constitute a limitation on the technical solution of the present disclosure. The shapes and sizes of the components in the accompanying drawings do not reflect the actual proportions and are only intended to illustrate the content of the present application.
[0028] Figure 1 This is a flow chart of the CAN ID automatic identification and allocation method for this application.
[0029] Figure 2Schematic diagram of the main control module system structure in one embodiment of the present application.
[0030] Figure 3 Schematic diagram of the structure of the first slave control module system in one embodiment of the present application.
[0031] Figure 4 Schematic diagram of the structure of the second slave control module system in one embodiment of the present application.
[0032] Figure 5 This is a schematic diagram of the structure of a CAN ID automatic identification and allocation system in one embodiment of the present application. DETAILED DESCRIPTION
[0033] The above scheme is further described below in conjunction with specific examples. It should be understood that these examples are used to illustrate the present application and are not limited to the scope of the present application. The implementation conditions adopted in the examples can be further adjusted as the conditions of the specific manufacturer, and the unspecified implementation conditions are usually the conditions in conventional experiments.
[0034] Unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connecting" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. In this article, "electrical connection" includes the situation where the constituent elements are connected together through an element with some electrical function. "Elements with some electrical function" are not particularly limited as long as they can transfer electrical signals between the connected constituent elements. "Elements with some electrical function" can be, for example, electrodes or wiring, or switching elements such as transistors, or other functional elements such as resistors, inductors or capacitors. "Up", "down", "left", "right", etc. are only used to indicate relative position relationships. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.
[0035] In this application, the directions or positional relationships indicated by the terms "upper", "lower", "inner", "middle", etc. are based on the directions or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific direction, or to be constructed and operated in a specific direction.
[0036] As described in the background technology, the traditional BMS slave CAN ID address allocation relies on the on-board dip switch for ID address allocation. When the dip switch address is wrong, the master controller will not be able to communicate with the slave controller, and the dip switch needs to be adjusted.
[0037] In view of the above problems, the inventor provides a BMS slave control CAN ID automatic identification and allocation system, the system includes a main control module, the main control module includes a main control unit, a main signal sending unit and a main communication unit, the main control unit is electrically connected to the main signal sending unit to control the main signal sending unit to send a PWM signal, the main control unit is electrically connected to the main communication unit to control the main communication unit to send a communication signal, a first slave control module, the first slave control module includes a first slave control unit, a first signal sending unit and a first communication unit, the main signal sending unit is electrically connected to the first slave control unit to send a PWM signal so that the first slave control unit automatically configures the CAN ID, the first slave control unit is electrically connected to the first communication unit to control the first communication unit to receive the communication signal sent by the master communication unit, the first slave control unit is electrically connected to the first signal sending unit to control the first signal sending unit to send a PWM signal, a second slave control module, the second slave control module includes a second slave control unit, a second signal sending unit and a second communication unit, the second signal sending unit is electrically connected to the second slave control unit to send a PWM signal so that the second slave control unit automatically configures the CAN ID, the second slave control unit is electrically connected to the second communication unit to control the second communication unit to receive the communication signal sent by the master communication unit, the second slave control unit is electrically connected to the second signal sending unit to control the second signal sending unit to send a PWM signal, the master control unit is electrically connected to the second signal sending unit to receive the PWM signal sent by the second signal sending unit, and the master communication unit is electrically connected to the first communication unit and the second communication unit respectively to establish a communication network with the first communication unit and the second communication unit after sending the communication signal so that the master control unit can obtain the configuration CAN ID information of the first slave control unit and the second slave control unit respectively.
[0038] like Figure 1 As shown, the inventor also provides a method for automatically identifying and allocating a BMS slave CAN ID, the method comprising the following steps:
[0039] S1, the master control unit controls the master signal sending unit to send a PWM signal to the first slave control unit, and the first slave control unit automatically configures the CAN ID after receiving the PWM signal.
[0040] S2, after receiving the PWM signal, the first slave control unit controls the first signal sending unit to send the PWM signal to the second slave control unit, and the second slave control unit automatically configures the CAN ID after receiving the PWM signal,
[0041] S3, after receiving the PWM signal, the second slave control unit controls the second signal sending unit to send the PWM signal to the master control unit,
[0042] S4, the main control unit determines whether a PWM signal is received, and when the main control unit does not receive a PWM signal, steps S1-S3 are repeated, and when the main control unit receives a PWM signal, the main communication unit is controlled to send a communication signal to the first communication unit and the second communication unit respectively.
[0043] S5, the first slave control unit controls the first communication unit to receive a communication signal so that the master control unit obtains the CAN ID configuration information of the first slave control unit, and the second slave control unit controls the second communication unit to receive a communication signal so that the master control unit obtains the CAN ID configuration information of the second slave control unit,
[0044] S6. The main control unit determines whether the CAN ID configuration information of the first slave control unit and the second slave control unit is correct. When the CAN ID configuration information of the first slave control unit and the second slave control unit is correct, the slave control unit CAN ID configuration is completed. When the CAN ID configuration information of the first slave control unit and the second slave control unit is incorrect, steps S1-S5 are repeated.
[0045] In the present application, the first slave control unit and the second slave control unit can automatically configure the CAN ID after receiving the PWM signal. The frequency and duty cycle of the PWM signal received by each slave control unit are fixed values and different from each other, so that the CAN ID is configured for the slave control units in sequence, thereby improving the efficiency of the slave control CAN ID address allocation in the BMS. At the same time, the master control unit can detect the CAN ID configured for the slave control unit to improve the accuracy of the CAN ID address allocation.
[0046] Next, combine the attached Figure 2-5 The present application is described exemplarily.
[0047] An embodiment of the present application provides a BMS slave control CAN ID automatic identification and allocation system, the system includes a BMS slave control CAN ID automatic identification and allocation circuit, the circuit includes:
[0048] Main control module, such as Figure 3As shown, the main control module includes a signal sending unit composed of a main control chip U1, a main communication chip U2, transistors Q1 and M1, which can send a PMW signal with a frequency of 10HZ and a duty cycle of 10%. Pins 1 and 2 of the main control chip U1 are electrically connected to pins 1 and 2 of the main communication chip U2, and pin 3 of the main control chip U1 is electrically connected to the control end of the transistor Q1. The main control chip U1 sends a high / low level signal to control the opening and closing of the transistor Q1. One pole of the transistor Q1 is grounded, and the other pole is connected to the control end of the transistor M1. The ends are electrically connected. When the transistor Q1 is turned on, the transistor M1 is also turned on. When the transistor Q1 is turned off, the transistor M1 is also turned off. One pole of the transistor M1 is connected to the power supply, and the other pole is electrically connected to the first slave control chip U3 of the first slave control module. It sends a PMW signal with a frequency of 10HZ and a duty cycle of 10% to the first slave control chip U3. Pin 4 of the main control chip U1 can receive a PMW signal with a frequency of 10HZ and a duty cycle of 50%. Pins 3 and 4 of the main communication chip U2 are electrically connected to the communication chip of the slave control module;
[0049] The first slave control module, such as Figure 4 As shown, it includes a first slave chip U4, a first communication chip U3, a first CAN ID information storage chip U5 and a first sampling chip U6. Pins 1 and 2 of the first communication chip U3 are connected to pins 3 and 4 of the master communication chip U2. Pins 3 and 4 of the first communication chip U3 are electrically connected to pins 1 and 2 of the first slave chip U4. Pin 3 of the first slave chip U4 receives a PMW signal with a frequency of 10HZ and a duty cycle of 10%. Pins 5, 6 and 7 of the first slave chip U4 are electrically connected to the first CAN ID information storage chip U5. Pins 8 and 9 of the first slave chip U4 are electrically connected to the first sampling chip U6 through an isolation transformer T1. Pin 4 of the first slave chip U4 is electrically connected to the control end of transistor Q2. Transistor Q2 controls transistor M2 to be turned on. The principle is the same as the above. One pole of transistor M2 sends a PMW signal with a frequency of 10HZ and a duty cycle of 20%.
[0050] The second slave control module includes three control modules, and the circuit structure of the three control modules is the same as that of the first slave control module. The PMW signal with a frequency of 10HZ and a duty cycle of 20% sent by the first slave control module is input into the next control module, and so on. The last control module of the three control modules includes: Figure 5 As shown, the first slave control chip U41, the first communication chip U31, the first CAN ID information storage chip U51 and the first sampling chip U61, one pole of the transistor M21 in the control module sends a PMW signal with a frequency of 10HZ and a duty cycle of 50% to pin 4 of the master control chip U1.
[0051] like Figure 5 As shown, the main control module is P0, and the sub-control modules include P1, P2, P3, and P4. From the above principle, it can be seen that
[0052] PO sends a 10HZ / 10% signal to P1, P1 configures CAN ID to 1, and P1 sends a 10HZ / 20% signal to P2.
[0053] P2 configures CAN ID to 2, and P2 sends a 10HZ / 30% signal to P3.
[0054] P3 configures CAN ID to 3, and P3 sends a 10HZ / 40% signal to P4.
[0055] P4 configures CAN ID to 4, and P4 sends a 10HZ / 50% signal to P0.
[0056] PO detects whether the 10HZ / 50% signal is received. If not, it means that an error occurs in the above link, which may cause a CAN ID error in the configuration of a sub-control module, so reallocate the CAN ID and repeat the above operation;
[0057] PO obtains the CAN IDs of P1, P2, P3, and P4. Only when P1 CAN ID is 1, P2 CAN ID is 2, P3 CAN ID is 3, and P4 CAN ID is 4, the system configuration of CAN ID is completed. Otherwise, one or more of the four CAN IDs are wrong. Reallocate the CAN ID and repeat the above operation.
[0058] The above embodiments are only for illustrating the technical concept and features of the present application, and their purpose is to enable people familiar with the technology to understand the content of the present application and implement it accordingly, and they cannot be used to limit the protection scope of the present application. Any equivalent transformation or modification made according to the spirit of the present application shall be included in the protection scope of the present application.
Claims
1. A BMS slave control CANID automatic identification and allocation system, characterized by: include: A main control module comprises a main control unit, a main signal sending unit and a main communication unit, wherein the main control unit is electrically connected to the main signal sending unit to control the main signal sending unit to send a PWM signal, and the main control unit is electrically connected to the main communication unit to control the main communication unit to send a communication signal. The first slave control module includes a first slave control unit, a first signal sending unit and a first communication unit, wherein the master signal sending unit is electrically connected to the first slave control unit to send a PWM signal to enable the first slave control unit to automatically configure a CANID, the first slave control unit is electrically connected to the first communication unit to control the first communication unit to receive the communication signal sent by the master communication unit, and the first slave control unit is electrically connected to the first signal sending unit to control the first signal sending unit to send a PWM signal. The second slave control module comprises a second slave control unit, a second signal sending unit and a second communication unit, wherein the second signal sending unit is electrically connected to the second slave control unit to send a PWM signal to enable the second slave control unit to automatically configure a CANID, the second slave control unit is electrically connected to the second communication unit to control the second communication unit to receive a communication signal sent by the master communication unit, and the second slave control unit is electrically connected to the second signal sending unit to control the second signal sending unit to send a PWM signal. The main control unit is electrically connected to the second signal sending unit to receive the PWM signal sent by the second signal sending unit, and the main communication unit is electrically connected to the first communication unit and the second communication unit respectively to establish a communication network with the first communication unit and the second communication unit after sending the communication signal so that the main control unit can obtain the configuration CANID information of the first slave control unit and the second slave control unit respectively.
2. The BMS slave CANID automatic identification and allocation system according to claim 1, characterized in that: The main control unit includes a main control chip, and the main signal sending unit includes a first transistor and a second transistor. The first pin of the main control chip is electrically connected to the control end of the first transistor, the first pole of the first transistor is grounded, the second pole of the first transistor is electrically connected to the control end of the second transistor, the first pole of the second transistor is connected to a power supply, and the second pole of the second transistor is electrically connected to the first slave control unit to send a PWM signal to the first slave control unit.
3. The BMS slave CANID automatic identification and allocation system according to claim 2, characterized in that: The main communication unit includes a main communication chip, and the main communication chip is electrically connected to the main control chip.
4. The BMS slave CANID automatic identification and allocation system according to claim 1, characterized in that: The first slave control unit includes a first slave control chip, the first signal sending unit includes a third transistor and a fourth transistor, the first pin of the first slave control chip is electrically connected to the control end of the third transistor, the first electrode of the third transistor is grounded, the second electrode of the third transistor is electrically connected to the control end of the fourth transistor, the first electrode of the fourth transistor is connected to a power supply, and the second electrode of the fourth transistor is electrically connected to the second slave control unit to send a PWM signal to the second slave control unit.
5. The BMS slave CANID automatic identification and allocation system according to any one of claims 3-4, characterized in that: The first communication unit includes a first communication chip, the first communication chip is electrically connected to the main communication chip and the first communication chip is electrically connected to the first slave control chip, the main control chip controls the main communication chip to send a communication signal, and the first slave control chip controls the first communication chip to receive the communication signal so that the main control chip obtains the configuration CANID information of the first slave control chip.
6. The BMS slave CANID automatic identification and allocation system according to claim 4, characterized in that: The first slave control module also includes a first sampling chip and a first CANID information storage chip. The first sampling chip is electrically connected to the first slave control chip, and an isolation transformer is provided on the system in which the first sampling chip and the first slave control chip are connected. The first sampling chip is used to collect the PWM signal in the first slave control chip. The first CANID information storage chip is electrically connected to the first slave control chip, and the first CANID information storage chip is used to store the CANID information configured by the first slave control chip.
7. The BMS slave CANID automatic identification and allocation system according to claim 3, characterized in that: The second slave control unit includes a second slave control chip, the second signal sending unit includes a fifth transistor and a sixth transistor, the first pin of the second slave control chip is electrically connected to the control end of the fifth transistor, the first pole of the fifth transistor is grounded, the second pole of the fifth transistor is electrically connected to the control end of the sixth transistor, the first pole of the sixth transistor is connected to a power supply, and the second pole of the sixth transistor is electrically connected to the master control unit to send a PWM signal to the master control unit.
8. The BMS slave CANID automatic identification and allocation system according to claim 7, characterized in that: The second communication unit includes a second communication chip, the second communication chip is electrically connected to the main communication chip and the second communication chip is electrically connected to the second slave control chip, the main control chip controls the main communication chip to send a communication signal, and the second slave control chip controls the second communication chip to receive the communication signal so that the main control chip obtains the configuration CANID information of the second slave control chip.
9. The BMS slave CANID automatic identification and allocation system according to claim 7, characterized in that: The second slave control module also includes a second sampling chip and a second CANID information storage chip, the second sampling chip is electrically connected to the second slave control chip, and an isolation transformer is provided on the system in which the second sampling chip and the second slave control chip are connected, the second sampling chip is used to collect the PWM signal in the second slave control chip, the second CANID information storage chip is electrically connected to the second slave control chip, and the second CANID information storage chip is used to store the CANID information configured by the second slave control chip.
10. A method for automatically identifying and allocating a BMS slave CANID, characterized in that: The steps include: S1, the master control unit controls the master signal sending unit to send a PWM signal to the first slave control unit, and the first slave control unit automatically configures the CANID after receiving the PWM signal. S2, after receiving the PWM signal, the first slave control unit controls the first signal sending unit to send the PWM signal to the second slave control unit, and the second slave control unit automatically configures the CANID after receiving the PWM signal, S3, after receiving the PWM signal, the second slave control unit controls the second signal sending unit to send the PWM signal to the master control unit, S4, the main control unit determines whether a PWM signal is received, and when the main control unit does not receive a PWM signal, steps S1-S3 are repeated, and when the main control unit receives a PWM signal, the main communication unit is controlled to send a communication signal to the first communication unit and the second communication unit respectively. S5, the first slave control unit controls the first communication unit to receive a communication signal so that the master control unit obtains the CANID configuration information of the first slave control unit, and the second slave control unit controls the second communication unit to receive a communication signal so that the master control unit obtains the CANID configuration information of the second slave control unit, S6. The main control unit determines whether the CANID configuration information of the first slave control unit and the second slave control unit is correct. When the CANID configuration information of the first slave control unit and the second slave control unit is correct, the CANID configuration of the slave control unit is completed. When the CANID configuration information of the first slave control unit and the second slave control unit is incorrect, steps S1-S5 are repeated.