CAN Bus Communication Research Articles

Design and experiment of coconut picking robot with climbing

Due to the height of coconut trees and the high risks associated with manual picking, there is a severe shortage of labor in the coconut picking industry in Hainan. To address this issue, a coconut picking robot was designed and constructed. In this study, the robot was mainly composed of tree climber and 3 degree of freedom (DoF) manipulator. The robot integrated two functions of tree climbing and coconut picking. The 3D model of the picking robot was designed through SOLIDWORKS. Furthermore, the statics and dynamics simulation of the robot were implemented through ANSYS and ADAMS. With STM32 as the core, an embedded remote control system based on CAN bus communication protocol was developed. And a multi-channel remote controller handle was used to control the robot to realize tree climbing and coconut picking. According to the test results, the robot could successfully climb trees up to 13.42 m tall. The average climbing time of coconut picking robot on 10 coconut trees was 152.3 s, and the average picking time was 222.1 s. Specifically, for coconut trees with height ranging from 7.03 m to 11.5 m, inclination ranging from 78° to 90° and diameter ranging from 21.08 cm to 30.20 cm, the average climbing time of the coconut picking robot was 147.7 s. The average climbing time for the remaining trees was 162.9 s. For the above types of trees, the robot could climb to the top of the trees more quickly, demonstrating better climbing performance. This study provides technical support for mechanized coconut picking and will inspire the development of coconut picking robots.

An Innovative Lift Control Board Design and Prototype Production Using CANbus Communication System and STM32 Microcontroller

In this study, Önder Group Inc. Design Center, with an innovative approach, designed controllers for the first time, and prototypes were produced for a wide range of goods lifts according to different needs. With the innovative board design, goods lift users can choose parameters such as the number of floors, door types, and lock types from a user-friendly menu to suit their needs. Within the scope of the study, all functions that may be needed were identified, and the hardware structure of the system was determined. By simply changing the defined parameters, the desired goods lift controller can be made ready in a very short time. Time savings were achieved by simply expanding the hardware structure with the design of the CANbus communication system according to the number of floors and stops of the elevators. Thus, a wide range of lifts can be used by simply increasing the number of floor announcer boards and selecting the menu. Additionally, thanks to the designed Wi-Fi plug-in software, operators will be able to monitor the malfunction and operating status of the lift. With this plug-in, technical service teams can intervene immediately in case of malfunction.

Design and Analysis of Battery Management System for Electric Vehicles

Abstract: This article presents a design for both the hardware and software components of the BMS, enabling battery monitoring and management. The Battery Management System (BMS) is a fundamental component of electric vehicles, primarily utilized to ensure battery safety and enhance battery lifespan. The hardware component encompasses the design of voltage acquisition circuitry, second-order filtering circuitry, sampling and holding circuitry, CAN bus communication circuitry, and other relevant features. The software section comprises subroutines for battery information collection, equalization circuitry, SOC estimation, and other relevant features. The BMS developed in this study successfully collects voltage, temperature, current, and other relevant information, and accurately estimates SOC and other crucial parameters. Testing confirmed that the battery management system precisely collects battery voltage, current, and temperature information, while the SOC estimation achieves a relatively high degree of accuracy.

Retracted: The Development of Data Acquisition System of Formula SAE Race Car Based on CAN Bus Communication Interface and Closed-Loop Design of Racing Car

Retracted: The Development of Data Acquisition System of Formula SAE Race Car Based on CAN Bus Communication Interface and Closed-Loop Design of Racing Car

Design of Electric Vehicle Battery Management System

The Battery Management System (BMS) is a fundamental component of electric vehicles, primarily utilized to ensure battery safety and enhance battery lifespan. This article presents a design for both the hardware and software components of the BMS, enabling battery monitoring and management. The hardware component encompasses the design of voltage acquisition circuitry, second-order filtering circuitry, sampling and holding circuitry, CAN bus communication circuitry, and other relevant features. The software section comprises subroutines for battery information collection, equalization circuitry, SOC estimation, and other relevant features. The BMS developed in this study successfully collects voltage, temperature, current, and other relevant information, and accurately estimates SOC and other crucial parameters. Testing confirmed that the battery management system precisely collects battery voltage, current, and temperature information, while the SOC estimation achieves a relatively high degree of accuracy.

Data Storage System Application and Performance Analysis over CanBus Communication Network with Microcontroller

Otomotiv sektörü günümüz teknolojisinin en büyük fırsatlarından biridir. Otomobiller her zaman hayatımızın vazgeçilmez ekipmanlarının başındaki yerini koruyor. Bu sistemler hem mekanik hem de elektronik olarak çok büyük bir altyapıya ve tasarıma sahiptir. İnsanlar için ön planda olan bu ekipmanların gereksinimlerinde güvenlik önceliklidir. Bu nedenle her bir algılayıcının doğru çalışması ve sistem içerisinde birbirleriyle çok hassas bir şekilde iletişim kurmaları gerekir. Otomobillerdeki bu güvenli haberleşme CanBus haberleşme sistemi ile yapılmaktadır. Bu makalenin amacı, otomobillerdeki CanBus iletişim sistemleri üzerinden verilere erişmektir. Verilerin kaydedilmesi ve gerektiğinde erişilerek görselleştirilmesidir.
 Bu makalede, arıza tespiti amacıyla otomobillerdeki CanBus üzerinden yayınlanan algılayıcı verilerinin gerçek zamanlı olarak okunması ve SD kart ortamında depolanması sağlanıştır. Ayrıca kaydedilen verilerin grafik ortama aktarılarak görselleştirilmesi sağlanmıştır.

Fault diagnosis and analysis of hydraulic brake based on friction vibration signal

The friction vibration signal corresponding to different fault types of brakes is significantly different, thus a hydraulic disc brake fault diagnosis and judgment scheme based on vibration signal detection was proposed and validated in the paper. According to the composition and electric control principle of hydraulic brake, the vibration signal detection and brake pressure control strategies were established. The key hardware and isolation circuit of the detection system were designed, which can effectively improve the stability and anti-interference ability in the process of vibration data acquisition and transmission with SPI and CAN bus communication scheme. In order to eliminate noise interference in friction vibration signal and improve the accuracy of fault diagnosis with advantage, wavelet threshold denoising method was applied to brake disc vibration signal processing. The denoised signal can be obtained by inverting the selected wavelet coefficients to separate the useful components of the signal from the invalid noise. For the research on the correlation between fault types and vibration signal characteristics, a friction vibration test bench for hydraulic braking system was built to obtain and process the output signal from vibration sensor. The frequency spectrum response laws of vibration signals were compared and analyzed when the brake disc was normal and had surface defects, including microcracks, excessive wear and fatigue peeling. The external parameters such as brake pressure and spindle speed were keeping constant, thus eliminating the influence of working factors on vibration characteristics. In order to study the influence of brake pressure failure on friction vibration, the variation law of vibration signal is compared and analyzed under the condition of hydraulic valve leakage and pressure maintaining failure. The results show that the friction vibration signal can be used as an effective basis for judging the surface defects and brake pressure faults of brake discs. Under the condition of wavelet threshold denoising, accurate and effective vibration parameters can be obtained, which is of great significance to the safety and reliability of the braking system.

Vehicle Information Acquisition and Communication System Based on Multi-Satellite Fusion, CAN Bus and GPS

This paper proposes a GPS and GPRS-based multifunctional vehicle terminal design scheme, which uses an embedded platform based on S3C2440 (bit 23 microprocessor of ARM920T core) and operating system, expands GPS navigation module and GPRS module, video surveillance The module integrates the CAN bus interface to realize vehicle navigation, wireless Internet access, CAN bus communication, and video monitoring functions, and fully meets people's requirements for car safety, convenience and comfort. The GPRS navigation module selects the JP13 receiver, and completes the related hardware circuit design. The navigation system adopts navigation software design based on the eSuperMap platform, which can realize electronic map display and operation, satellite positioning information display, path analysis, navigation and other functions.

Design and Validation of an In-Vehicle Data Recorder System for Testing Purposes

This paper presents the design and statistical validation of an In-Vehicle Data Recorder System (IVDR) for testing purposes, implementing the use of CAN bus (Controller Area Network) communications protocol through the SAE J1962 port. The device works according to an interrupt-based algorithm that reads the vehicles sensor data sent through the CAN bus network. This data is stored in an external memory card and sent to a server using a General Packet Radio Services (GPRS) module, it can also be connected to a computer to view the data in real time. The proposed IVDR was thoroughly validated by means of multiple experiments, including one in which its performance was compared to an industrial use device with similar functions, it has also already been used in the development of a Typical Driving Cycle (TDC) for the city of Chia in Colombia. Statistical analysis shows that the device performs similarly against commercial devices and complies with SAE standard guidelines, presenting the device as a low-cost and reliable option for testing purposes and massively distributed IoT applications.

Monitoring Applications for Vehicle based on Internet of Things (IoT) using the MQTT Protocol

Monitoring of vehicle conditions is needed as one of the securities in driving because one of the accident rates is negligence in checking the condition of the vehicle. This study aims to help reduce the level of accidents and increase human awareness for vehicle conditions, especially minibus type vehicles. The system works to provide information on the condition of vehicles sourced from the Engine Control Unit (ECU). ECU data cars are obtained by SNIP traffic broadcast message and ask for data directly at the ECU. The car can provide vehicle information using a Canbus communication protocol through the OBD-II socket. Vehicle information can be seen by users through the website in real time. Based on the evaluation from the user side, this system provides ease of monitoring vehicle conditions because it can be accessed via the internet using various kinds of devices.

A Provable Secure Session Key Distribution Protocol Based on NSSK for In-Vehicle CAN Network

Many CAN-based session key sharing approaches are based on the group key scheme, which can easily lead advanced adversaries to infiltrate all ECUs (electronic control units) in the network if the sharing key is leaked. To address the above problem, we propose a provable secure session key distribution protocol based on the improved NSSK (Needham–Schroeder shared key) protocol for the in-vehicle CAN network. We applied the mechanisms of message authentication and digital signature to fix the defects of the original NSSK regarding its lack of resistance to the Denning–Sacco attack. Then, we analyzed the provable security of the proposed protocol on the random oracle model and verified the security goals of the protocol by using the simulation tools AVISPA and Tamarin Prover; the results reflect that the protocol met the security requirements for key distribution such as session key secrecy, injective agreement, and known key secrecy. Finally, we compared our new protocol with other key distribution protocols in CAN bus communication to evaluate the performance of the new protocol in actual scenarios. The result shows that the protocol is secure against many payload-based attacks and is practical for in-vehicle CAN networks.

Intelligent Control System of Unmanned Vehicle Based on CAN Controller

In order to enable the driverless vehicle formation controller to automatically control the driving of the fleet, an intelligent driverless vehicle control system based on the CAN controller is proposed. Expansion convolution of different expansion rates is used to obtain multi-scale target information and to fuse the feature information at different scales during upsampling to enrich the semantic information. Finally, the driverless CAN bus communication platform was established, the driverless monitoring interface was developed, and the software program was written; experiments on the steering control, speed control, voltage, current, speed, and angular speed acquisition, respectively, were performed. The experimental results show that the average semantic segmentation accuracy of the obstacles in concentrated vehicles, pedestrians, and bicycles reached 84.6%, and the detection and segmentation accuracy of the models was good. Therefore, the unmanned intelligent vehicle control system designed in this paper can meet the performance requirements of the vehicle control. No matter whether the given desired path is a straight line or a curve, the unmanned car can complete the path tracking control quickly, stably, and accurately.

Research on Electrical Automation Monitoring System Model of Power Plant Based on CAN Bus

Using the traditional manual operation mode to control the electrical equipment of the power plant was not only inefficient and unsafe but also difficult to adapt to the use of new equipment. Therefore, this article puts forward the research on the model of power plant electrical automation monitoring system based on CAN bus, which was of great significance to improve the operation monitoring ability and management efficiency of power plant electrical equipment. Based on the analysis of the design mode and main functions of electrical equipment automation control system in power plant, this article expounded on the characteristics of CAN bus communication mode and its advantages in realizing electrical equipment automation control. According to the hierarchical management and structural characteristics of the electrical automation monitoring system, the real-time database architecture of the monitoring system was established, the real-time data monitoring and processing method of the electrical monitoring system was given, and then the electrical automation monitoring system model of the power plant was proposed. The experimental results showed that the electrical automation monitoring system proposed in this article was effective and feasible for real-time monitoring of the operation of electrical equipment. The model construction method of the electrical automation monitoring system proposed in this article can provide theoretical reference and technical support for improving the control mode of electrical equipment in power plants.

Design and test of a distributed control system of weeding robot based on multi-STM32 and CAN bus

Aiming at the problems of a single control mode, complex signal line, serious interference and poor system stability of a traditional weeding machine, a distributed control idea was proposed. Based on STM32 as the main control chip, each control unit realizes motion control, detection control, command control, and the terminal was displayed in a centralized manner. Based on ISO11783 protocol, according to the actual requirements of the weeding robot, the CAN bus communication protocol was improved and formulated to form a distributed control system. The system can completely realized all the actions of the weeding robot. 1. Motion controls: robot forwards, backwards, turning and weeding knife up or down; 2. Detection feedback: a power chassis climbing angle calculation and weeding knife speed self-adjustment, battery power, engine fuel capacity display; 3. Control command input functions. The test results had shown that the control system is stable, responsive solid, design specifications. It could meet the requirements of practical application. Meanwhile, the real-time accuracy and reliability of a CAN bus application in the agricultural production control system were verified.

High-Flexibility MPPT Techniques with Communication Scan Network for PV Micro-Grid System

This paper proposes the design and implementation of inductor-inductor-capacitor (LLC) converters with modules connected in series with the power scan method and communication scan network (CSN) to achieve MPPT and regulate the output voltage for the PV micro-grid system. The Dc/Dc converters includes six isolated LLC modules in series to supply ±380 V output voltage and track the maximum power point of the PV system. The series LLC converters are adopted to achieve high efficiency and high flexibility for the PV micro-grid system. The proposed global maximum power scan technique is implemented to achieve global maximum power tracking by adjusting the switching frequency of the LLC converter. To improve the system flexibility and achieve system redundancy, module failure can be detected in real time with a communication scan network, and then the output voltage of other modules will be changed by adjusting the switching frequency to maintain the same voltage as before the failure. Additionally, the proposed communication scan network includes the RS-485 interface of the MPPT series module and the CAN BUS communication interface with other subsystems’ communication for the PV micro-grid application system. Finally, a 6 kW MPPT prototype with a communication scan network is implemented and the proposed control method is verified for the PV system.

Design of an Embedded Rapier Loom Controller and a Control Strategy Based on SRM

Rapier looms are currently important equipment in the weaving process. The control system of the loom determines the performance of the loom, to a large extent. To effectively reduce the production cost and energy consumption and to improve the start-up performance and production efficiency of rapier looms in industrial production, this paper develops an integrated rapier loom control system based on the direct drive of a switched reluctance motor (SRM) spindle and conducts field tests and applications. The contribution and innovation of this paper is to develop a complete set of low-cost control systems, propose an SRM single neuron fuzzy PID speed control strategy based on voltage chopping control and use it for the control of the main shaft drive technology of rapier looms. The integrated rapier loom control system based on the SRM spindle direct drive proposed in this paper reduces the production costs and energy consumption and improves the start-up performance and production efficiency of the rapier loom. This text carries on the systematic plan design to the control system from the hardware system and the software system. First, according to actual needs, starting from the aspect of reducing control costs and combined with the characteristics of embedded systems, such as tailorability, low cost, and strong scalability, this paper proposes a control system hardware structure based on CAN bus communication and a fully embedded STM32. The control system is divided into multiple control modules, such as the main control module, the spindle drive module, and the power transmission coil module. The system conducts a distributed control to the loom through the CAN bus and is equipped with various communication interfaces, such as Ethernet and RS485. Second, combining the characteristics of the SRM with a simple structure, a large starting torque and the operation mode of the loom, the basic control mode of SRM voltage chopping control is determined. To improve the efficiency and start-up performance of the speed control system, the SRM single neuron PID control algorithm is proposed, and a single neuron is used to improve the PID parameters. On this basis, fuzzy control is introduced to adjust the output gain of a single neuron PID control online to improve the system performance and reduce system energy consumption. Finally, the entire set of rapier loom control systems was verified, tested and debugged on site. The results show that each functional circuit works normally, and that the designed control system can meet the speed response demand of the loom at 850 rpm and reduce the production cost and energy consumption. The comparison experiment between the single neuron fuzzy PID algorithm of the motor and the traditional PID control algorithm in the actual loom production process proves that the proposed control algorithm has a better dynamic response performance. The proposed control algorithm effectively improves the starting performance and production efficiency of rapier looms and meets the actual needs of industrial applications.

Research on Ship Fire Monitoring and Alarm System

This paper analyzed the application status of land fire protection system and the characteristics of ship fire protection, and analyzed the functional requirements of ship fire protection system according to the ship special environment with crowded escape routes and complex structure. Using distributed intelligent control mode and modular structure design, a monitoring and alarm system composed of sensor acquisition module, microprocessor, central server, audible and visual alarm module, liquid crystal display module and CAN bus communication is constructed. The designed system has simple structure, stable performance and high cost performance, and has certain application and promotion value.

Retracted] The Development of Data Acquisition System of Formula SAE Race Car Based on CAN Bus Communication Interface and Closed‐Loop Design of Racing Car

This paper is mainly based on the college formula race car, through the application of CAN bus communication interface settings, the layout and adjustment of the car sensors, and then carry out the data collection and analysis of the car. CAN bus is the local area network of controller and is one of the field bus which is put forward by German Bosch company and applied most widely in the world. The development of the data analysis system is mainly based on the MoTeC i2 data analysis software. MoTeC i2 data analysis software has been developed for many years under the continuous research of professional teams all over the world. According to the data analysis requirement of FSAE undergraduate Formula 1 teams, this paper introduces a series of data analysis methods closely related to FSAE, mainly including data channel research. This paper expounds the reliability, suspension, tire temperature, steering, and braking data analysis, respectively. Based on the data analysis template created by Motec i2, this paper conducts analysis and basic application according to the data of the real car, so as to meet the requirements of verifying design made by simulation model and tuning the real car scientifically. By means of wheel speed sensor, acceleration sensor, displacement sensor, multichannel temperature sensor, and so on, we conduct a series of tests on 2020 season car, including endurance test, linear acceleration experiment, steady rotation, etc., evaluate the data collected, and then carry on a reasonable set‐up of racing, ultimately improving lap speed.

Review of the Security of Backward-Compatible Automotive Inter-ECU Communication

Advanced electronic units inside modern vehicles have enhanced the driving experience, but also introduced a myriad of security problems due to the inherent limitations of the internal communication protocol. In the last two decades, a number of security threats have been identified and accordingly, security measures have been proposed. While a large body of research on the vehicular security domain is focused on exposing vulnerabilities and proposing counter measures, there is an apparent paucity of research aimed at reviewing existing works on automotive security and at extracting insights. This paper provides a systematic review of security threats and countermeasures for the ubiquitous CAN bus communication protocol. It further exposes the limitations of the existing security measures, and discusses a seemingly-overlooked, simple, cost-effective and incrementally deployable solution which can provide a reasonable defense against a major class of packet injection attacks and many denial of service attacks.

Design and Implementation of CAN Bus Real-time Monitor Based on Cigarette Set Based on Computer-aided Technology

This paper introduces the connection mode of CAN bus on PR0T0S70 coiling unit based on computer-aided technology. Data transmission and reception are accomplished by CAN bus communication, and centralized processing and decentralized control are realized. In this paper, CAN bus technology is used to realize distributed control of cigarette machine equipment. The actual operation effect is stable and reliable. This paper expounds the necessity of the design of the monitor based on computer-aided technology. With PCI-9810 (non-intelligent single-channel CAN card) as the hardware interface, this paper develops a real-time CAN bus monitor based on DSP.