CAN communication device, controller and motor

Abstract

The invention discloses a CAN communication device, a controller and a motor. The device is characterized in that a first communication end is connected with a second communication end through a CAN communication module, a first transformer, a CAN communication line and a second transformer; the CAN communication module is used for converting a sending signal sent by the first communication end into a CAN signal and then sending the CAN signal, or converting the CAN signal needing to be received by the first communication end into a receiving signal and then transmitting the receiving signal to the first communication end; wherein the CAN signal required to be received by the first communication end is from the second communication end; the ground phase between the first transformer and the second transformer is isolated; and any one of the first transformer and the second transformer amplifies or shrinks a CAN signal at the front end of any one transformer. According to the scheme, the two CAN communication transformers are arranged in the CAN communication circuit, signal amplification or reduction, signal isolation and signal transmission are achieved, and the stability and reliability of CAN communication are improved.

Description

Technical Field

[0001] This invention belongs to the field of CAN communication technology, specifically relating to a CAN communication device, controller, and motor, and particularly to an anti-interference isolation circuit design, controller, and motor for long-distance CAN communication. Background Technology

[0002] CAN communication refers to the communication technology of Controller Area Networks (CAN), a serial communication protocol bus used for real-time applications. CAN communication is a differential signal transmission-based serial communication protocol that uses twisted-pair cables to transmit signals. It is one of the most widely used fieldbuses in the world, used for communication between various components in automobiles, replacing expensive and bulky wiring harnesses. The characteristics of the CAN protocol include complete serial data communication, real-time support, high transmission rate, and error detection capabilities.

[0003] However, when the CAN communication distance is long, CAN communication will be affected, and the stability and reliability of CAN communication will be reduced.

[0004] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The purpose of this invention is to provide a CAN communication device, controller, and motor to solve the problem that CAN communication is affected and its stability and reliability are reduced when the CAN communication distance is long. The invention achieves the effect of improving the stability and reliability of CAN communication by setting two CAN communication transformers in the CAN communication circuit to realize signal amplification or reduction, signal isolation, and signal transmission.

[0006] This invention provides a CAN communication device for realizing CAN communication between a first communication terminal and a second communication terminal, wherein one of the first and second communication terminals is a transmitting terminal and the other is a receiving terminal. The CAN communication device includes a CAN communication module, a first transformer, and a second transformer. The first communication terminal is connected to the first transformer via the CAN communication module, the first transformer is connected to the second transformer via a CAN communication line, and the second transformer is connected to the second communication terminal. The length of the CAN communication line is above a preset length threshold. The CAN communication module is used to convert a transmit signal from the first communication terminal into a CAN signal and transmit it, or to convert a CAN signal that the first communication terminal needs to receive into a receive signal and transmit it to the first communication terminal. The CAN signal that the first communication terminal needs to receive originates from the second communication terminal. The first transformer and the second transformer are grounded and isolated. Either the first transformer or the second transformer is used to amplify or reduce the CAN signal at its own front end.

[0007] In some embodiments, the first transformer and the second transformer have the same structure, and both the first transformer and the second transformer have a first pin, a second pin, a third pin, a fourth pin, a fifth pin, and a sixth pin. Where the first communication terminal is the transmitting terminal and the second communication terminal is the receiving terminal, the TXD terminal of the first communication terminal is connected to the TXD pin of the CAN communication module, and the RXD terminal of the first communication terminal is connected to the RXD pin of the CAN communication module. The CANH pin of the CAN communication module is connected to the sixth pin of the first transformer, and the CANL pin of the CAN communication module is connected to the fourth pin of the first transformer. The first pin of the first transformer is connected to the first pin of the second transformer, and the third pin of the first transformer is connected to the third pin of the second transformer. The sixth pin of the second transformer is connected to the CANH terminal of the second communication terminal, and the fourth pin of the second transformer is connected to the CANL terminal of the second communication terminal.

[0008] In some embodiments, the system further includes: a first absorption module and a second absorption module; wherein the first absorption module is disposed between the first communication terminal and the first transformer; the second absorption module is disposed between the second transformer and the second communication terminal; either the first absorption module or the second absorption module is used to absorb energy from the signal at its own front end.

[0009] In some embodiments, the first absorption module includes: a first matching resistor module and a second matching resistor module; the second absorption module includes: a third matching resistor module and a fourth matching resistor module; wherein, the CANH pin of the CAN communication module is connected to the CANL pin of the CAN communication module after passing through the first matching resistor module and the second matching resistor module; the common terminal of the first matching resistor module and the second matching resistor module is connected to a first ground; the CANH terminal of the second communication terminal is connected to the CANL terminal of the second communication terminal after passing through the third matching resistor module and the fourth matching resistor module; the common terminal of the third matching resistor module and the third matching resistor module is connected to a second ground.

[0010] In some embodiments, the system further includes: a first suppression module and a second suppression module; wherein the first suppression module is disposed between the first communication terminal and the first transformer; the second suppression module is disposed between the second transformer and the second communication terminal; either the first suppression module or the second suppression module is used to suppress abrupt changes in the signal at the front end of the respective suppression module.

[0011] In some embodiments, the first suppression module includes a first TVS diode; the second suppression module includes a second TVS diode; the first TVS diode and the second TVS diode have the same structure, and both the first TVS diode and the second TVS diode have a first pin, a second pin, and a third pin; wherein, the CANH pin of the CAN communication module is connected to the second pin of the first TVS diode; the CANL pin of the CAN communication module is connected to the first pin of the first TVS diode; the third pin of the first TVS diode is connected to a first ground; the CANH terminal of the second communication terminal is connected to the second pin of the second TVS diode; the CANL terminal of the second communication terminal is connected to the first pin of the second TVS diode; and the third pin of the second TVS diode is connected to a second ground.

[0012] In some embodiments, the system further includes: a first filtering module and a second filtering module; wherein the first filtering module is disposed between the first communication terminal and the CAN communication module, and / or between the CAN communication module and the first transformer; and the second filtering module is disposed between the second transformer and the second communication terminal.

[0013] In some embodiments, the first filtering module includes at least one of the following: a first filtering capacitor, a second filtering capacitor, a third filtering capacitor, a fourth filtering capacitor, a fifth filtering capacitor, and a sixth filtering capacitor; wherein the first filtering capacitor is disposed between the VCC pin of the CAN communication module and a first ground; the second filtering capacitor is disposed between the VIO pin of the CAN communication module and a first ground; when the CAN communication device further includes a first absorption module, and the first absorption module includes a first matching resistor module and a second matching resistor module, the third filtering capacitor is disposed between the common terminal of the first matching resistor module and the second matching resistor module and a first ground; when the CAN communication device further includes a first suppression module, and the first suppression module includes a first TVS diode, the fourth filtering capacitor is disposed between the second pin of the first TVS diode and a first ground; the fifth filtering capacitor is disposed between the first TVS diode and a first ground. The first pin of the S-tube is located between the first ground and the first ground; the sixth filter capacitor is located between the fifth pin of the first transformer and the first ground; and / or, the second filter module includes at least one of the following: a seventh filter capacitor, an eighth filter capacitor, a ninth filter capacitor, and a tenth filter capacitor; wherein the seventh filter capacitor is located between the fifth pin of the second transformer and the second ground; if the CAN communication device further includes a second absorption module, and the second absorption module includes a third matching resistor module and a fourth matching resistor module, the eighth filter capacitor is located between the common terminal of the third matching resistor module and the fourth matching resistor module and the second ground; if the CAN communication device further includes a second suppression module, and the second suppression module includes a second TVS tube, the ninth filter capacitor is located between the second pin of the second TVS tube and the second ground; and the tenth filter capacitor is located between the first pin of the second TVS tube and the second ground.

[0014] In conjunction with the above-described device, the present invention further provides a controller comprising: the CAN communication device described above.

[0015] In conjunction with the above-described device, the present invention further provides a motor, comprising: the CAN communication device described above, or the controller described above.

[0016] Therefore, the solution of the present invention, for CAN communication circuits where the distance between the two ends of CAN communication (i.e., the first communication end and the second communication end, where one end of the first communication end and the other end of the second communication end is the transmitting end and the other end is the receiving end) is greater than a set distance threshold, at least two CAN communication transformers are set in the CAN communication circuit, namely a first transformer and a second transformer (the first transformer is such as CAN communication transformer U3, and the second transformer is such as CAN communication transformer U4). Specifically, the first transformer and the second transformer are set at both ends of the CAN communication line to amplify the transmitting end signal to increase anti-interference capability and to isolate the receiving end to protect the receiving end. Thus, by setting two CAN communication transformers in the CAN communication circuit, signal amplification or reduction, signal isolation, and signal transmission are realized, thereby improving the stability and reliability of CAN communication.

[0017] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention.

[0018] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of an embodiment of the CAN communication device of the present invention; Figure 2 This is a schematic diagram of an embodiment of a long-distance CAN anti-interference communication circuit. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0021] Considering that CAN communication is affected over long distances, its stability and reliability decrease. Specifically, over long distances (e.g., 40m to 60m), CAN communication is affected, resulting in decreased signal quality, reduced anti-interference capability, and consequently, frame loss and communication interruptions. This is mainly due to the following reasons: (1) Signal attenuation: As the length of the CAN bus branch increases, the signal attenuation and distortion will gradually worsen. Excessively long branches will cause the voltage amplitude of the signal to decrease and the rise and fall times of the signal to become longer, thereby affecting the signal recognition and communication quality.

[0022] (2) Communication stability: The CAN bus uses differential signal transmission, which is very sensitive to changes in branch length. Excessively long branches will cause changes in the signal reference point, resulting in decreased signal stability and thus affecting the communication stability of the entire CAN network.

[0023] (3) Electromagnetic interference: As the length of the CAN bus branch increases, electromagnetic interference will gradually worsen. Excessively long branches will introduce more external interference sources, thereby affecting the electromagnetic compatibility of the signal and increasing the bit error rate of the signal.

[0024] (4) Load effect: Each node on the CAN bus has a certain load effect. Excessively long branches will increase the load on the bus, thereby affecting the communication rate and stability of the bus.

[0025] As can be seen, CAN communication is a serial communication protocol based on differential signal transmission, which can use twisted-pair cables (i.e., two communication lines, CANH and CANL) to transmit signals. However, this method is very sensitive to changes in branch length. When the communication distance is long, CAN communication will be affected, resulting in decreased signal quality, reduced anti-interference ability, and consequently, frame loss and communication interruption.

[0026] CANL and CANH are two core lines used in CAN bus communication to transmit differential signals. They achieve highly reliable data transmission with interference resistance through complementary level changes. CANH transmits the positive half of the signal, and CANL transmits the negative half. They work together to create a voltage difference to encode data. CANH (Controller Area Network High) is the high-level signal line of the CAN bus, carrying the positive voltage change of the signal during communication. For example, when the bus is in active transmission mode, the voltage of CANH will rise from the default 2.5V to approximately 3.5V. Correspondingly, CANL (Controller Area Network Low) is the low-level signal line, and its voltage will drop from 2.5V to approximately 1.5V, forming a differential voltage difference of approximately 2V.

[0027] Therefore, the present invention proposes a CAN communication device, specifically an anti-interference isolation circuit design for long-distance CAN communication. A CAN communication transformer is added to the CAN communication circuit to achieve electrical isolation, signal conversion, and data transmission protection, thereby improving the stability and reliability of CAN communication.

[0028] According to an embodiment of the present invention, a CAN communication device is provided. See also Figure 1 The diagram shows a structural schematic of an embodiment of the device of the present invention. This CAN communication device is used to realize CAN communication between a first communication terminal and a second communication terminal, wherein one of the first and second communication terminals is a transmitting terminal and the other is a receiving terminal; in the solution of the present invention, as... Figure 1 As shown, the CAN communication device includes: a CAN communication module, a first transformer, and a second transformer. The CAN communication module is as follows: Figure 2 The CAN communication chip U1 shown, the first transformer is as follows Figure 2 The CAN communication transformer U3 shown is the second transformer as follows: Figure 2 The CAN communication transformer U4 shown is connected to the first transformer via the CAN communication module. The first transformer is connected to the second transformer via the CAN communication line. The second transformer is connected to the second communication terminal. The length of the CAN communication line is above a preset length threshold.

[0029] The CAN communication module is used to convert the transmit signal sent by the first communication terminal into a CAN signal and then transmit it, or to convert the CAN signal that the first communication terminal needs to receive into a receive signal and then transmit it to the first communication terminal; wherein the CAN signal that the first communication terminal needs to receive comes from the second communication terminal.

[0030] The first transformer and the second transformer are isolated from each other on the ground; either the first transformer or the second transformer is used to amplify or reduce the CAN signal at the front end of the transformer itself.

[0031] Specifically, one of the first transformer and the second transformer is used to amplify the CAN signal at its own front end; the other transformer is used to reduce the CAN signal at its own front end. For example, the first transformer is used to amplify the CAN signal sent by the first communication terminal, or to step down the CAN signal that the first communication terminal needs to receive; the second transformer is used to step down the CAN signal sent by the first communication terminal.

[0032] This invention proposes an anti-interference isolation circuit design for long-distance CAN communication. To ensure the stability and reliability of long-distance CAN bus communication, a CAN communication transformer is added to the CAN communication circuit to achieve electrical isolation, signal conversion, and data transmission protection, thereby improving the stability and reliability of CAN communication. Specifically, electrical isolation utilizes CAN communication transformer isolation technology to effectively suppress electromagnetic interference and loop interference, ensuring communication stability. Signal conversion amplifies the differential signals of the CAN bus, enhancing signal recognition and communication quality.

[0033] In some embodiments, the first transformer and the second transformer have the same structure, and both the first transformer and the second transformer have a first pin, a second pin, a third pin, a fourth pin, a fifth pin, and a sixth pin, such as pin 1, pin 2, pin 3, pin 4, pin 5, and pin 6; and pin 2 is left floating.

[0034] In this configuration, where the first communication terminal is the transmitter and the second communication terminal is the receiver, the TXD pin of the first communication terminal is connected to the TXD pin of the CAN communication module, and the RXD pin of the first communication terminal is connected to the RXD pin of the CAN communication module. The CANH pin of the CAN communication module is connected to the sixth pin of the first transformer, and the CANL pin of the CAN communication module is connected to the fourth pin of the first transformer. The first pin of the first transformer is connected to the first pin of the second transformer, and the third pin of the first transformer is connected to the third pin of the second transformer. The sixth pin of the second transformer is connected to the CANH pin of the second communication terminal, and the fourth pin of the second transformer is connected to the CANL pin of the second communication terminal.

[0035] Specifically, the CAN communication module includes: a CAN communication chip, such as... Figure 2 The CAN communication chip U1 is shown. The TXD pin of the first communication terminal is connected to the TXD pin of the CAN communication chip, and the RXD pin of the first communication terminal is connected to the RXD pin of the CAN communication chip. The CANH pin of the CAN communication chip is connected to the sixth pin of the first transformer, and the CANL pin of the CAN communication chip is connected to the fourth pin of the first transformer. The first pin of the first transformer is connected to the first pin of the second transformer, and the third pin of the first transformer is connected to the third pin of the second transformer. The sixth pin of the second transformer is connected to the CANH pin of the second communication terminal, and the fourth pin of the second transformer is connected to the CANL pin of the second communication terminal.

[0036] The present invention aims to design an anti-interference isolation circuit for long-distance CAN communication, as detailed in the following document. Figure 2 The example shown. Figure 2 This is a schematic diagram of an embodiment of a long-distance CAN anti-interference communication circuit. See also the following for the solution of this invention. Figure 2 In the example shown, two CAN communication transformers (i.e., CAN communication transformer U3 and CAN communication transformer U4) are added to amplify and reduce the signal, ensuring the stability of long-distance information transmission.

[0037] In the solution of this invention, a CAN communication transformer is added to the CAN communication circuit. By adding the CAN communication transformer, the back-end circuit is isolated and protected; the front-end signal is amplified to increase anti-interference capability; electromagnetic interference is reduced, the interruption problem during long-distance communication is solved, and stability is increased.

[0038] Specifically, a CAN communication transformer is added to the CAN communication circuit for signal isolation, resolving signal interference issues and improving signal anti-interference capabilities. Additionally, a CAN communication transformer is added to the CAN communication circuit for signal amplification, resolving signal attenuation and interference issues during long-distance transmission and eliminating signal loss problems.

[0039] In some embodiments, the CAN communication device of the present invention further includes: a first absorption module and a second absorption module, wherein the first absorption module is such as resistors R5 and R6, and the second absorption module is such as resistors R7 and R8.

[0040] The first absorption module is disposed between the first communication terminal and the first transformer. The second absorption module is disposed between the second transformer and the second communication terminal. Either the first or the second absorption module is used to absorb energy from the signal at its own front end to prevent signal reflection and ensure the integrity of the obtained signal.

[0041] In the solution of the present invention, the signal energy is absorbed by the first absorption module and the second absorption module to avoid reflection and ensure the integrity of the signal.

[0042] In some embodiments, the first absorption module includes: a first matching resistor module and a second matching resistor module, wherein the first matching resistor module is as follows: Figure 2 The resistor R5 shown, the second matching resistor module as shown Figure 2 The resistor R6 is shown; the second absorption module includes: a third matching resistor module and a fourth matching resistor module, wherein the third matching resistor module is as follows: Figure 2 The resistor R7 shown, the second matching resistor module as shown Figure 2 The resistor R8 is shown.

[0043] In this configuration, the CANH pin of the CAN communication module is connected to the CANL pin of the CAN communication module via the first matching resistor module and the second matching resistor module; the common terminal of the first matching resistor module and the second matching resistor module is connected to a first ground, such as GND. Specifically, when the CAN communication module includes a CAN communication chip, the CANH pin of the CAN communication chip is connected to the CANL pin of the CAN communication chip via the first matching resistor module and the second matching resistor module; the common terminal of the first matching resistor module and the second matching resistor module is connected to a first ground.

[0044] The CANH terminal of the second communication terminal is connected to the CANL terminal of the second communication terminal via the third matching resistor module and the fourth matching resistor module; the common terminal of the third matching resistor module and the third matching resistor module is connected to the second ground; wherein, the second ground is such as GND1.

[0045] In the solution of this invention, see Figure 2 In the example shown, resistors R5, R6, R7, and R8 are all matching resistors to prevent signal reflection from causing interference.

[0046] In some embodiments, the CAN communication device of the present invention further includes: a first suppression module and a second suppression module, wherein the first suppression module is as follows: Figure 2 The transient voltage suppression diode U2 shown, the second suppression module as follows Figure 2 The transient voltage suppression diode U5 is shown.

[0047] The first suppression module is disposed between the first communication terminal and the first transformer. The second suppression module is disposed between the second transformer and the second communication terminal. Either the first or the second suppression module is used to suppress abrupt changes in the signal at its own front end to avoid signal abrupt changes and form a stable CAN signal, i.e., to form the desired CAN signal.

[0048] In the solution of the present invention, signal abrupt changes are suppressed by the first suppression module and the second suppression module, thereby forming a stable CAN signal.

[0049] In some embodiments, the first suppression module includes: a first TVS diode, the first TVS diode being as follows: Figure 2The transient voltage suppression diode U2 shown; the second suppression module includes: a second TVS diode, the second TVS diode as shown in the figure. Figure 2 The transient voltage suppressor diode U5 shown is shown. The first TVS diode and the second TVS diode have the same structure, and both the first TVS diode and the second TVS diode have a first pin, a second pin and a third pin, such as pin 1, pin 2 and pin 3.

[0050] In this configuration, the CANH pin of the CAN communication module is connected to the second pin of the first TVS diode; the CANL pin of the CAN communication module is connected to the first pin of the first TVS diode; and the third pin of the first TVS diode is connected to a first ground. The CANH pin of the second communication terminal is connected to the second pin of the second TVS diode; the CANL pin of the second communication terminal is connected to the first pin of the second TVS diode; and the third pin of the second TVS diode is connected to a second ground.

[0051] In the solution of this invention, see Figure 2 In the example shown, transient voltage suppressor diodes U2 and U5 are TVS diodes to prevent signal surges.

[0052] In this invention, to address the interference problem during long-distance CAN communication, the CANH and CANL signals emitted by the CAN communication chip U1 are boosted by the CAN communication transformer U4 at the front end. This step amplifies the signals, increasing their amplitude and enhancing their anti-interference capability over long distances. As the length of the CAN bus branch increases, electromagnetic interference also intensifies. Excessively long branches introduce more external interference sources, affecting the electromagnetic compatibility of the signal and increasing the bit error rate. After being boosted by the CAN communication transformer U4 and transmitted over long distances, the signal is then stepped down by the CAN communication transformer U3 to restore its original voltage.

[0053] TXD (Transmit Data) and RXD (Receive Data) are basic signal lines in serial communication, responsible for sending and receiving data respectively. Functionally, the TXD pin acts as the data transmitter, transmitting data generated by the device outwards; the RXD pin acts as the data receiver, responsible for capturing data streams from other devices. In the controller, the TXD and RXD signals of the main control chip, such as the MCU, are converted into CAN differential signals via the CAN communication chip U1. Matching resistors, such as resistors R5 and R6, are added to absorb signal energy, prevent reflections, and ensure signal integrity. Simultaneously, transient voltage suppression diode U2 suppresses signal abrupt changes, forming a stable CAN signal. However, because the differential signal voltage difference is relatively small at this point, long-distance transmission is susceptible to external interference, causing message frame loss and signal attenuation, leading to communication abnormalities. In this invention, the differential CAN signal is amplified by voltage multiplication and multiple voltage multiplication using a high-frequency isolation CAN communication transformer (i.e., CAN communication transformer U3), increasing the signal amplitude and improving its anti-interference capability. Simultaneously, the CAN communication transformer U3 should be placed near the CAN communication chip U1 (e.g., at a distance of 1 cm from U1) to ensure that the stable CAN signal is amplified without interference. Since the amplified signal cannot be directly received by the backend, it needs to be stepped down by a CAN communication transformer U4 of the same model to reduce the amplified signal to its original amplitude. The reduced signal is then passed through matching resistors such as R7 and R8, and a transient suppression diode U5 to form a stable signal output to the receiving end. The CAN communication transformer U4 should be close to the output port, and long-distance communication lines should be placed between two CAN communication transformers. The CAN communication signal output through this circuit not only ensures frameless long-distance output but also effectively suppresses external strong electrical interference.

[0054] In long-distance CAN communication circuits, interference from the environment and noise can frequently cause frame loss or communication interruption, affecting the normal operation of the controller (i.e., the motor controller) and the motor. In the solution of this invention, by adding a CAN communication transformer to the CAN communication circuit, not only can the front-end signal be amplified, increasing its anti-interference capability, but the CAN communication transformer also acts as an isolation element, effectively protecting the downstream circuitry.

[0055] In some embodiments, the CAN communication device of the present invention further includes: a first filtering module and a second filtering module, wherein the first filtering module is as follows: Figure 2 The capacitors C1, C2, C3, C4, C5, and C6 shown are part of the second filter module. Figure 2 The capacitors C7, C8, C9, and C10 are shown.

[0056] The first filtering module is disposed between the first communication terminal and the CAN communication module, and / or between the CAN communication module and the first transformer. The second filtering module is disposed between the second transformer and the second communication terminal.

[0057] In the solution of the present invention, the corresponding signal is filtered by the first filtering module and the second filtering module to reduce interference and improve the accuracy of signal transmission.

[0058] In some embodiments, the first filtering module includes at least one of the following: a first filtering capacitor, a second filtering capacitor, a third filtering capacitor, a fourth filtering capacitor, a fifth filtering capacitor, and a sixth filtering capacitor, wherein the first filtering capacitor is as follows: Figure 2 The capacitor C1 shown is the second filter capacitor as shown. Figure 2 The capacitor C2 shown is the third filter capacitor as shown. Figure 2 The capacitor C3 shown is the fourth filter capacitor as shown. Figure 2 The capacitor C4 shown is the fifth filter capacitor. Figure 2 The capacitor C5 shown is the sixth filter capacitor. Figure 2 The capacitor C6 is shown.

[0059] The first filter capacitor is disposed between the VCC pin of the CAN communication module and the first ground. The second filter capacitor is disposed between the VIO pin of the CAN communication module and the first ground. If the CAN communication device further includes a first absorption module, and the first absorption module includes a first matching resistor module and a second matching resistor module, the third filter capacitor is disposed between the common terminal of the first matching resistor module and the second matching resistor module and the first ground. If the CAN communication device further includes a first suppression module, and the first suppression module includes a first TVS diode, the fourth filter capacitor is disposed between the second pin of the first TVS diode and the first ground; the fifth filter capacitor is disposed between the first pin of the first TVS diode and the first ground. The sixth filter capacitor is disposed between the fifth pin of the first transformer and the first ground.

[0060] And / or, the second filtering module includes at least one of the following: a seventh filtering capacitor, an eighth filtering capacitor, a ninth filtering capacitor, and a tenth filtering capacitor, wherein the seventh filtering capacitor is as follows: Figure 2 The capacitor C7 shown is the eighth filter capacitor. Figure 2 The capacitor C8 shown is the ninth filter capacitor. Figure 2 The capacitor C7 shown is the tenth filter capacitor. Figure 2 The capacitor C10 is shown.

[0061] The seventh filter capacitor is disposed between the fifth pin of the second transformer and the second ground. When the CAN communication device further includes a second absorption module, and the second absorption module includes a third matching resistor module and a fourth matching resistor module, the eighth filter capacitor is disposed between the common terminal of the third matching resistor module and the fourth matching resistor module and the second ground. When the CAN communication device further includes a second suppression module, and the second suppression module includes a second TVS diode, the ninth filter capacitor is disposed between the second pin of the second TVS diode and the second ground; the tenth filter capacitor is disposed between the first pin of the second TVS diode and the second ground.

[0062] In the solution of this invention, see Figure 2 In the example shown, capacitors C1, C2, C3, C4, C5, C6, C7, C8, C9, and C10 are used for filtering.

[0063] like Figure 2 The long-distance CAN anti-interference communication circuit shown mainly includes: resistors R1, R2, R3, R4, R5, R6, R7, and R8; capacitors C1, C2, C3, C4, C5, C6, C7, C8, C9, and C10; CAN communication chip U1; transient voltage suppression diodes U2 and U5; CAN communication transformers U3 and U4; and a power supply voltage of 3.3VD.

[0064] In this configuration, the DSP.CANB.TXD terminal of the DSP processor in the controller is connected to the TXD terminal of the CAN communication chip U1 via resistor R1; the DSP.CANB.RXD terminal of the DSP processor in the controller is connected to the RXD terminal of the CAN communication chip U1 via resistor R2; the GND terminal of the CAN communication chip U1 is grounded to GND, the VCC terminal of the CAN communication chip U1 is connected to the power supply voltage +5VD, and the VCC terminal of the CAN communication chip U1 is also grounded to GND via capacitor C1; the S terminal of the CAN communication chip U1 is grounded to GND via resistor R3, and the S terminal of the CAN communication chip U1 is also connected to the CANB.S terminal via resistor R4; the VIO terminal of the CAN communication chip U1 is grounded to GND via capacitor C2, and the VIO terminal of the CAN communication chip U1 is also connected to the power supply voltage +3.3VD. The S terminal selects the communication mode, VIO is the chip power supply port, and the CANB.S terminal is connected to the MCU. The CANH terminal of CAN communication chip U1 is grounded to GND via resistor R5 and capacitor C3. The CANH terminal of CAN communication chip U1 is also grounded via capacitor C4. The CANH terminal of CAN communication chip U1 is also connected to pin 2 of transient voltage suppression diode U2. Pin 1 of transient voltage suppression diode U2 is grounded to GND via capacitor C5, and pin 3 of transient voltage suppression diode U2 is grounded to GND. The CANL terminal of CAN communication chip U1 is connected to the common terminal of resistor R5 and capacitor C3 via resistor R6. The CANL terminal of CAN communication chip U1 is also connected to pin 1 of transient voltage suppression diode U2.

[0065] CAN communication transformers U3 and U4 have the same structure and both have a first transformer module and a second transformer module. The first transformer module has a first winding and a second winding, which share a first iron core. The second transformer module has a third winding, a fourth winding, a fifth winding, and a sixth winding, which share a second iron core. The opposite-named terminal of the first winding is pin 6, and the same-named terminal of the first winding is connected to the same-named terminal of the third winding. The center terminal of the third winding, the opposite-named terminal of the third winding, and the same-named terminal of the fourth winding are connected and form pin 5. The opposite-named terminal of the second winding is pin 4, and the same-named terminal of the second winding is connected to the opposite-named terminal of the fourth winding. The same-named terminal of the fifth winding is pin 1, and the opposite-named terminal of the fifth winding is connected to the same-named terminal of the sixth winding and forms pin 2. The opposite-named terminal of the sixth winding is pin 3.

[0066] The CANH terminal of CAN communication chip U1 is also connected to pin 6 of CAN communication transformer U3, and the CANL terminal of CAN communication chip U1 is also connected to pin 4 of CAN communication transformer U3. Pin 5 of CAN communication transformer U3 is grounded to GND via capacitor C6. Pin 1 of CAN communication transformer U3 is connected to pin 1 of CAN communication transformer U4, and pin 3 of CAN communication transformer U3 is connected to pin 3 of CAN communication transformer U4. Pin 6 of CAN communication transformer U4 is connected to pin 4 of CAN communication transformer U4 via resistors R7 and R8, and pin 5 of CAN communication transformer U4 is grounded to GND1 via capacitor C7. The common terminal of resistors R7 and R8 is grounded to GND1 via capacitor C8, and the common terminal of resistors R7 and R8 is also connected to pin 3 of transient voltage suppression diode U5 via capacitor C8. Pin 6 of the CAN communication transformer U4 is also connected to the CANH terminal of another communication terminal (such as a transmitter or receiver). Pin 6 of the CAN communication transformer U4 is also grounded to GND1 via capacitor C9. Pin 6 of the CAN communication transformer U4 is also connected to pin 2 of the transient voltage suppression diode U5. Pin 4 of the CAN communication transformer U4 is also connected to pin 1 of the transient voltage suppression diode U5. Pin 4 of the CAN communication transformer U4 is also connected to the CANL terminal of another communication terminal (such as a transmitter or receiver). Pin 4 of the CAN communication transformer U4 is also grounded to GND1 via capacitor C10.

[0067] In this invention, a CAN communication transformer is added to the CAN communication circuit to improve anti-interference capability. The CAN communication transformer has isolation capabilities, effectively protecting downstream circuits while providing anti-interference support. The CAN communication transformer can amplify the front-end signal, increasing the signal quality of communication.

[0068] In some alternative embodiments, Figure 2 The long-distance CAN anti-interference communication circuit shown is used for all long-distance CAN communication controllers, such as those using... Figure 2 The circuit shown directly replaces the CAN communication controller.

[0069] In the solution of this invention, a long-distance CAN communication anti-interference circuit is used for long-distance CAN communication, which isolates the CAN communication transformer and improves the stability and reliability of CAN communication.

[0070] By employing the technical solution of this invention, when CAN communication is performed between the two ends of the CAN communication circuit (i.e., the first communication end and the second communication end, where one end is the transmitting end and the other end is the receiving end), and the distance between the CAN communication lines is above a set distance threshold, at least two CAN communication transformers are set in the CAN communication circuit, namely a first transformer and a second transformer (the first transformer is such as CAN communication transformer U3, and the second transformer is such as CAN communication transformer U4). Specifically, the first transformer and the second transformer are set at both ends of the CAN communication line to amplify the transmitting end signal to increase anti-interference capability and to isolate the receiving end to protect the receiving end. Thus, by setting two CAN communication transformers in the CAN communication circuit, signal amplification or reduction, signal isolation, and signal transmission are achieved, thereby improving the stability and reliability of CAN communication.

[0071] According to an embodiment of the present invention, a controller corresponding to a CAN communication device is also provided. This controller may include the CAN communication device described above. The CAN communication device includes a CAN communication module, a first transformer, and a second transformer, wherein the CAN communication module is as follows: Figure 2 The CAN communication chip U1 shown, the first transformer is as follows Figure 2 The CAN communication transformer U3 shown is the second transformer as follows: Figure 2 The CAN communication transformer U4 shown is connected to the first transformer via the CAN communication module. The first transformer is connected to the second transformer via the CAN communication line. The second transformer is connected to the second communication terminal. The length of the CAN communication line is above a preset length threshold.

[0072] The CAN communication module is used to convert the transmit signal sent by the first communication terminal into a CAN signal and then transmit it, or to convert the CAN signal that the first communication terminal needs to receive into a receive signal and then transmit it to the first communication terminal; wherein the CAN signal that the first communication terminal needs to receive comes from the second communication terminal.

[0073] The first transformer and the second transformer are isolated from each other on the ground; either the first transformer or the second transformer is used to amplify or reduce the CAN signal at the front end of the transformer itself.

[0074] In the solution of this invention, to ensure the stability and reliability of long-distance CAN bus communication, a CAN communication transformer needs to be added to the CAN communication circuit to achieve electrical isolation, signal conversion, and data transmission protection, thereby improving the stability and reliability of CAN communication. Specifically, electrical isolation: CAN communication transformer isolation technology is used to effectively suppress electromagnetic interference and loop interference, ensuring communication stability. Signal conversion: The differential signal of the CAN bus is amplified to enhance signal recognition capability and communication quality.

[0075] In some embodiments, the first transformer and the second transformer have the same structure, and both the first transformer and the second transformer have a first pin, a second pin, a third pin, a fourth pin, a fifth pin, and a sixth pin, such as pin 1, pin 2, pin 3, pin 4, pin 5, and pin 6.

[0076] In this configuration, where the first communication terminal is the transmitter and the second communication terminal is the receiver, the TXD pin of the first communication terminal is connected to the TXD pin of the CAN communication module, and the RXD pin of the first communication terminal is connected to the RXD pin of the CAN communication module. The CANH pin of the CAN communication module is connected to the sixth pin of the first transformer, and the CANL pin of the CAN communication module is connected to the fourth pin of the first transformer. The first pin of the first transformer is connected to the first pin of the second transformer, and the third pin of the first transformer is connected to the third pin of the second transformer. The sixth pin of the second transformer is connected to the CANH pin of the second communication terminal, and the fourth pin of the second transformer is connected to the CANL pin of the second communication terminal.

[0077] In the solution of this invention, see Figure 2 In the example shown, two CAN communication transformers (i.e., CAN communication transformer U3 and CAN communication transformer U4) are added to amplify and reduce the signal, ensuring the stability of long-distance information transmission.

[0078] In the solution of this invention, a CAN communication transformer is added to the CAN communication circuit. By adding the CAN communication transformer, the back-end circuit is isolated and protected; the front-end signal is amplified to increase anti-interference capability; electromagnetic interference is reduced, the interruption problem during long-distance communication is solved, and stability is increased.

[0079] Specifically, a CAN communication transformer is added to the CAN communication circuit for signal isolation, resolving signal interference issues and improving signal anti-interference capabilities. Additionally, a CAN communication transformer is added to the CAN communication circuit for signal amplification, resolving signal attenuation and interference issues during long-distance transmission and eliminating signal loss problems.

[0080] In some embodiments, the CAN communication device of the present invention further includes: a first absorption module and a second absorption module, wherein the first absorption module is such as resistors R5 and R6, and the second absorption module is such as resistors R7 and R8.

[0081] The first absorption module is disposed between the first communication terminal and the first transformer. The second absorption module is disposed between the second transformer and the second communication terminal. Either the first or the second absorption module is used to absorb energy from the signal at its own front end to prevent signal reflection and ensure the integrity of the obtained signal.

[0082] In the solution of the present invention, the signal energy is absorbed by the first absorption module and the second absorption module to avoid reflection and ensure the integrity of the signal.

[0083] In some embodiments, the first absorption module includes: a first matching resistor module and a second matching resistor module, wherein the first matching resistor module is as follows: Figure 2 The resistor R5 shown, the second matching resistor module as shown Figure 2 The resistor R6 is shown; the second absorption module includes: a third matching resistor module and a fourth matching resistor module, wherein the third matching resistor module is as follows: Figure 2 The resistor R7 shown, the second matching resistor module as shown Figure 2 The resistor R8 is shown.

[0084] In this configuration, the CANH pin of the CAN communication module is connected to the CANL pin of the CAN communication module via the first matching resistor module and the second matching resistor module; the common terminal of the first matching resistor module and the second matching resistor module is connected to a first ground, such as GND. Specifically, when the CAN communication module includes a CAN communication chip, the CANH pin of the CAN communication chip is connected to the CANL pin of the CAN communication chip via the first matching resistor module and the second matching resistor module; the common terminal of the first matching resistor module and the second matching resistor module is connected to a first ground.

[0085] The CANH terminal of the second communication terminal is connected to the CANL terminal of the second communication terminal via the third matching resistor module and the fourth matching resistor module; the common terminal of the third matching resistor module and the third matching resistor module is connected to the second ground; wherein, the second ground is such as GND1.

[0086] In the solution of this invention, see Figure 2 In the example shown, resistors R5, R6, R7, and R8 are all matching resistors to prevent signal reflection from causing interference.

[0087] In some embodiments, the CAN communication device of the present invention further includes: a first suppression module and a second suppression module, wherein the first suppression module is as follows: Figure 2 The transient voltage suppression diode U2 shown, the second suppression module as follows Figure 2 The transient voltage suppression diode U5 is shown.

[0088] The first suppression module is disposed between the first communication terminal and the first transformer. The second suppression module is disposed between the second transformer and the second communication terminal. Either the first or the second suppression module is used to suppress abrupt changes in the signal at its own front end to avoid signal abrupt changes and form a stable CAN signal, i.e., to form the desired CAN signal.

[0089] In the solution of the present invention, signal abrupt changes are suppressed by the first suppression module and the second suppression module, thereby forming a stable CAN signal.

[0090] In some embodiments, the first suppression module includes: a first TVS diode, the first TVS diode being as follows: Figure 2 The transient voltage suppression diode U2 shown; the second suppression module includes: a second TVS diode, the second TVS diode as shown in the figure. Figure 2 The transient voltage suppressor diode U5 shown is shown. The first TVS diode and the second TVS diode have the same structure, and both the first TVS diode and the second TVS diode have a first pin, a second pin and a third pin, such as pin 1, pin 2 and pin 3.

[0091] In this configuration, the CANH pin of the CAN communication module is connected to the second pin of the first TVS diode; the CANL pin of the CAN communication module is connected to the first pin of the first TVS diode; and the third pin of the first TVS diode is connected to a first ground. The CANH pin of the second communication terminal is connected to the second pin of the second TVS diode; the CANL pin of the second communication terminal is connected to the first pin of the second TVS diode; and the third pin of the second TVS diode is connected to a second ground.

[0092] In the solution of this invention, see Figure 2 In the example shown, transient voltage suppressor diodes U2 and U5 are TVS diodes to prevent signal surges.

[0093] In this invention, to address the interference problem during long-distance CAN communication, the CANH and CANL signals are boosted by the CAN communication transformer U4 at the front end. This step amplifies the signals, increasing their amplitude and enhancing their anti-interference capability over long distances. As the length of the CAN bus branch increases, electromagnetic interference also intensifies. Excessively long branches introduce more external interference sources, affecting the electromagnetic compatibility of the signal and increasing the bit error rate. After being boosted by the CAN communication transformer U4 and transmitted over long distances, the signal is then stepped down by the CAN communication transformer U3 to restore its original voltage.

[0094] The TXD and RXD signals of the main control chip in the controller, such as the MCU, are converted into CAN differential signals through the CAN communication chip U1. Matching resistors, such as resistors R5 and R6, are added to absorb signal energy, prevent reflection, and ensure signal integrity. Simultaneously, transient voltage suppression diode U2 suppresses signal abrupt changes, forming a stable CAN signal. However, because the differential signal voltage difference is small at this point, long-distance transmission is susceptible to external interference, causing message frame loss and signal attenuation, leading to communication abnormalities. In this invention, a high-frequency isolation CAN communication transformer (i.e., CAN communication transformer U3) amplifies the differential CAN signal by voltage multiplication and multiple voltage multiplication, increasing the signal amplitude and improving its anti-interference capability. The CAN communication transformer U3 should be placed near the CAN communication chip U1 to ensure that the stable CAN signal is amplified without interference. Since the amplified signal cannot be directly received by the backend, it needs to be stepped down by a CAN communication transformer U4 of the same model to reduce the amplified signal to its original amplitude. The reduced signal is then passed through matching resistors, such as resistors R7 and R8, and transient voltage suppression diode U5 to form a stable signal output to the receiving end. The CAN communication transformer U4 should be placed close to the output port. For long-distance communication lines, it should be placed between two CAN communication transformers. The CAN communication signal output through this circuit can not only be transmitted over long distances without frame loss, but also effectively suppress external strong electrical interference.

[0095] In long-distance CAN communication circuits, interference from the environment and noise can frequently cause frame loss or communication interruption, affecting the normal operation of the controller (i.e., the motor controller) and the motor. In the solution of this invention, by adding a CAN communication transformer to the CAN communication circuit, not only can the front-end signal be amplified, increasing its anti-interference capability, but the CAN communication transformer also acts as an isolation element, effectively protecting the downstream circuitry.

[0096] In some embodiments, the CAN communication device of the present invention further includes: a first filtering module and a second filtering module, wherein the first filtering module is as follows: Figure 2 The capacitors C1, C2, C3, C4, C5, and C6 shown are part of the second filter module. Figure 2 The capacitors C7, C8, C9, and C10 are shown.

[0097] The first filtering module is disposed between the first communication terminal and the CAN communication module, and / or between the CAN communication module and the first transformer. The second filtering module is disposed between the second transformer and the second communication terminal.

[0098] In the solution of the present invention, the corresponding signal is filtered by the first filtering module and the second filtering module to reduce interference and improve the accuracy of signal transmission.

[0099] In some embodiments, the first filtering module includes at least one of the following: a first filtering capacitor, a second filtering capacitor, a third filtering capacitor, a fourth filtering capacitor, a fifth filtering capacitor, and a sixth filtering capacitor, wherein the first filtering capacitor is as follows: Figure 2 The capacitor C1 shown is the second filter capacitor as shown. Figure 2 The capacitor C2 shown is the third filter capacitor as shown. Figure 2 The capacitor C3 shown is the fourth filter capacitor as shown. Figure 2 The capacitor C4 shown is the fifth filter capacitor. Figure 2 The capacitor C5 shown is the sixth filter capacitor. Figure 2 The capacitor C6 is shown.

[0100] The first filter capacitor is disposed between the VCC pin of the CAN communication module and the first ground. The second filter capacitor is disposed between the VIO pin of the CAN communication module and the first ground. If the CAN communication device further includes a first absorption module, and the first absorption module includes a first matching resistor module and a second matching resistor module, the third filter capacitor is disposed between the common terminal of the first matching resistor module and the second matching resistor module and the first ground. If the CAN communication device further includes a first suppression module, and the first suppression module includes a first TVS diode, the fourth filter capacitor is disposed between the second pin of the first TVS diode and the first ground; the fifth filter capacitor is disposed between the first pin of the first TVS diode and the first ground. The sixth filter capacitor is disposed between the fifth pin of the first transformer and the first ground.

[0101] And / or, the second filtering module includes at least one of the following: a seventh filtering capacitor, an eighth filtering capacitor, a ninth filtering capacitor, and a tenth filtering capacitor, wherein the seventh filtering capacitor is as follows: Figure 2 The capacitor C7 shown is the eighth filter capacitor. Figure 2 The capacitor C8 shown is the ninth filter capacitor. Figure 2 The capacitor C7 shown is the tenth filter capacitor. Figure 2 The capacitor C10 is shown.

[0102] The seventh filter capacitor is disposed between the fifth pin of the second transformer and the second ground. When the CAN communication device further includes a second absorption module, and the second absorption module includes a third matching resistor module and a fourth matching resistor module, the eighth filter capacitor is disposed between the common terminal of the third matching resistor module and the fourth matching resistor module and the second ground. When the CAN communication device further includes a second suppression module, and the second suppression module includes a second TVS diode, the ninth filter capacitor is disposed between the second pin of the second TVS diode and the second ground; the tenth filter capacitor is disposed between the first pin of the second TVS diode and the second ground.

[0103] In this invention, a CAN communication transformer is added to the CAN communication circuit to improve anti-interference capability. The CAN communication transformer has isolation capabilities, effectively protecting downstream circuits while providing anti-interference support. The CAN communication transformer can amplify the front-end signal, increasing the signal quality of communication.

[0104] Since the processing and functions implemented by the controller in this embodiment are basically the same as those in the embodiments, principles and examples of the device, any details not covered in this embodiment can be found in the relevant descriptions in the foregoing embodiments, and will not be repeated here.

[0105] According to an embodiment of the present invention, a motor corresponding to a CAN communication device is also provided. This motor may include: the CAN communication device described above, or the controller described above.

[0106] Since the processing and functions implemented by the motor in this embodiment are basically the same as those in the embodiments, principles and examples of the device, any details not covered in this embodiment can be found in the relevant descriptions in the foregoing embodiments, and will not be repeated here.

[0107] In summary, it is readily understood by those skilled in the art that, without conflict, the aforementioned advantageous methods can be freely combined and superimposed.

[0108] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the invention should be included within the scope of the claims.

Claims

1. A CAN communication device, characterized in that, This device is used to implement CAN communication between a first communication terminal and a second communication terminal, wherein one of the first and second communication terminals is a transmitting terminal and the other is a receiving terminal. The CAN communication device includes: a CAN communication module, a first transformer, and a second transformer. The first communication terminal is connected to the first transformer via the CAN communication module. The first transformer is connected to the second transformer via a CAN communication line. The second transformer is connected to the second communication terminal. The length of the CAN communication line is above a preset length threshold. The CAN communication module is used to convert the transmit signal sent by the first communication terminal into a CAN signal and then transmit it, or to convert the CAN signal that the first communication terminal needs to receive into a receive signal and then transmit it to the first communication terminal; wherein, the CAN signal that the first communication terminal needs to receive comes from the second communication terminal. The first transformer and the second transformer are isolated from each other on the ground; either the first transformer or the second transformer is used to amplify or reduce the CAN signal at the front end of the transformer itself.

2. The CAN communication device according to claim 1, characterized in that, The first transformer and the second transformer have the same structure, and both the first transformer and the second transformer have a first pin, a second pin, a third pin, a fourth pin, a fifth pin, and a sixth pin; In the case where the first communication terminal is the transmitting terminal and the second communication terminal is the receiving terminal, the TXD terminal of the first communication terminal is connected to the TXD pin of the CAN communication module, and the RXD terminal of the first communication terminal is connected to the RXD pin of the CAN communication module; the CANH pin of the CAN communication module is connected to the sixth pin of the first transformer, and the CANL pin of the CAN communication module is connected to the fourth pin of the first transformer. The first pin of the first transformer is connected to the first pin of the second transformer, and the third pin of the first transformer is connected to the third pin of the second transformer. The sixth pin of the second transformer is connected to the CANH terminal of the second communication terminal, and the fourth pin of the second transformer is connected to the CANL terminal of the second communication terminal.

3. The CAN communication device according to claim 1 or 2, characterized in that, Also includes: First absorption module and second absorption module; wherein... The first absorption module is disposed between the first communication terminal and the first transformer; The second absorption module is disposed between the second transformer and the second communication terminal; Either the first absorption module or the second absorption module is used to absorb energy from the signal at its own front end.

4. The CAN communication device according to claim 3, characterized in that, The first absorption module includes: a first matching resistor module and a second matching resistor module; the second absorption module includes: a third matching resistor module and a fourth matching resistor module; wherein, The CANH pin of the CAN communication module is connected to the CANL pin of the CAN communication module after passing through the first matching resistor module and the second matching resistor module; the common terminal of the first matching resistor module and the second matching resistor module is connected to the first ground. The CANH terminal of the second communication terminal is connected to the CANL terminal of the second communication terminal via the third matching resistor module and the fourth matching resistor module; the common terminal of the third matching resistor module and the third matching resistor module is connected to the second ground.

5. The CAN communication device according to any one of claims 1 to 4, characterized in that, Also includes: First suppression module and second suppression module; wherein, The first suppression module is disposed between the first communication terminal and the first transformer; The second suppression module is disposed between the second transformer and the second communication terminal; Either the first suppression module or the second suppression module is used to suppress abrupt changes in the signal at the front end of the suppression module itself.

6. The CAN communication device according to claim 5, characterized in that, The first suppression module includes a first TVS diode; the second suppression module includes a second TVS diode; the first TVS diode and the second TVS diode have the same structure, and both the first TVS diode and the second TVS diode have a first pin, a second pin, and a third pin; wherein, The CANH pin of the CAN communication module is connected to the second pin of the first TVS transistor; the CANL pin of the CAN communication module is connected to the first pin of the first TVS transistor; the third pin of the first TVS transistor is connected to the first ground. The CANH terminal of the second communication terminal is connected to the second pin of the second TVS transistor; the CANL terminal of the second communication terminal is connected to the first pin of the second TVS transistor; and the third pin of the second TVS transistor is connected to the second ground.

7. The CAN communication device according to any one of claims 1 to 6, characterized in that, Also includes: First filtering module and second filtering module; wherein... The first filtering module is disposed between the first communication terminal and the CAN communication module, and / or between the CAN communication module and the first transformer; The second filtering module is located between the second transformer and the second communication terminal.

8. The CAN communication device according to claim 7, characterized in that, in, The first filtering module includes at least one of the following: a first filtering capacitor, a second filtering capacitor, a third filtering capacitor, a fourth filtering capacitor, a fifth filtering capacitor, and a sixth filtering capacitor; wherein, The first filter capacitor is disposed between the VCC pin of the CAN communication module and the first ground. The second filter capacitor is disposed between the VIO pin of the CAN communication module and the first ground. In the case where the CAN communication device further includes a first absorption module, and the first absorption module includes a first matching resistor module and a second matching resistor module, the third filter capacitor is disposed between the common terminal of the first matching resistor module and the second matching resistor module and the first ground. In the case where the CAN communication device further includes a first suppression module, and the first suppression module includes a first TVS diode, the fourth filter capacitor is disposed between the second pin of the first TVS diode and the first ground; the fifth filter capacitor is disposed between the first pin of the first TVS diode and the first ground. The sixth filter capacitor is disposed between the fifth pin of the first transformer and the first ground. And / or, The second filtering module includes at least one of the following: a seventh filtering capacitor, an eighth filtering capacitor, a ninth filtering capacitor, and a tenth filtering capacitor; wherein, The seventh filter capacitor is disposed between the fifth pin of the second transformer and the second ground; In the case where the CAN communication device further includes a second absorption module, and the second absorption module includes a third matching resistor module and a fourth matching resistor module, the eighth filter capacitor is disposed between the common terminal of the third matching resistor module and the fourth matching resistor module and the second ground. In the case where the CAN communication device further includes a second suppression module, and the second suppression module includes a second TVS diode, the ninth filter capacitor is disposed between the second pin of the second TVS diode and the second ground; the tenth filter capacitor is disposed between the first pin of the second TVS diode and the second ground.

9. A controller, characterized in that, include: The CAN communication device as described in any one of claims 1 to 8.

10. An electric motor, characterized in that, include: The CAN communication device as described in any one of claims 1 to 8, or the controller as described in claim 9.

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