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为了将CAN(Controller Area Network)总线应用于无人直升机系统,设计一种具有通用性的CAN应用层协议.针对CANaerospace V1.7版协议在无人直升机系统应用的数据定义、测控带宽等问题进行改进.重新设计定义了基本帧格式和数据标识号,提出一种适用无人直升机系统应用的CANauh协议.为了对CANauh协议进行验证,以一种基于CAN总线的无人直升机航空电子系统为对象进行CAN总线数据内容、调度表、总线负载的设计和CA-Noe数字仿真.CANauh协议在10 ms基本周期的总线负载为40.83%,数据可扩展定义空间为67.4%,测控系统带宽具有66.7%的占空比,满足无人直升机系统的指标要求.CANauh协议可以促进CAN总线在无人直升机系统中的应用,避免重复性设计,增加各个系统间的互操作性,降低开发维护成本.
In order to apply CAN (Controller Area Network) bus to unmanned helicopter system, this paper designs a universal CAN application layer protocol.For the CANaerospace V1.7 protocol in unmanned helicopter system application of data definition, measurement and control bandwidth issues Improvement.Redefined the basic frame format and data identification number, and proposed a CANauh protocol for unmanned helicopter system application.In order to validate the CANauh protocol, a CAN-based unmanned helicopter avionics system CAN bus data content, schedule, bus load design and CA-Noe digital simulation.The CANauh protocol has a bus load of 40.83% in 10 ms basic cycle, data expandable definition space is 67.4%, and measurement and control system bandwidth is 66.7% Space ratio to meet the requirements of unmanned helicopter system.Canauh protocol can promote the application of CAN bus in unmanned helicopter system, to avoid repetitive design, increase interoperability between various systems and reduce development and maintenance costs.