【正文】 。對(duì)于中斷操作利用單步運(yùn)行調(diào)試無法完成調(diào)試工作，必須采取連續(xù)運(yùn)行方法來調(diào)試。為了準(zhǔn)確的對(duì)錯(cuò)誤進(jìn)行定位，可使用連續(xù)加斷點(diǎn)運(yùn)行方式來調(diào)試這類程序，即利用斷點(diǎn)來逐漸縮小故障范圍，直至最終確定出錯(cuò)誤位置并加以排除[21]。通過對(duì)軟硬件的調(diào)試，系統(tǒng)達(dá)到了預(yù)期效果，現(xiàn)給出各模塊調(diào)試結(jié)果。 從站1溫度采集從站1通過DS18B20將溫度采集并由1602液晶顯示出來，當(dāng)從站1收到主站對(duì)其發(fā)送的輪詢信號(hào)時(shí)，從站1就會(huì)將DS18B20采集到的溫度發(fā)送到CAN網(wǎng)絡(luò)上去。如圖 61所示。 從站4液位測(cè)量從站4采集液位信息，其中液位傳感器用一組超聲波傳感器，將采集的液位信息傳遞到CAN網(wǎng)絡(luò)上去。如圖62所示。 CAN通信測(cè)試CAN網(wǎng)絡(luò)建立以后，通過示波器就能監(jiān)測(cè)到在CAN總線上的一幀幀數(shù)據(jù)信息。如圖63所示。 顯示模塊調(diào)試主站收到從站返回的數(shù)據(jù)信息通過12864進(jìn)行顯示。圖64為主站系統(tǒng)開機(jī)顯示畫面。如圖64所示。 CAN通信網(wǎng)絡(luò)聯(lián)機(jī)調(diào)試通過以上分步調(diào)試，系統(tǒng)各部分運(yùn)行正常，系統(tǒng)聯(lián)調(diào)也達(dá)到了預(yù)期效果。圖65為系統(tǒng)整體聯(lián)調(diào)實(shí)物圖。圖61 1號(hào)從站溫度采集圖62 4號(hào)從站液位測(cè)量圖63 CAN通信數(shù)據(jù)波形 圖64 顯示模塊效果圖圖65 系統(tǒng)整體運(yùn)行效果第七章 結(jié)論與展望隨著汽車上電子控制裝置越來越多，車身布線也愈來愈復(fù)雜，使得運(yùn)行可靠性降低，故障維修難度加大。為了提高信號(hào)的利用率，要求大批量數(shù)據(jù)信息能在不同的電控單元中共享，同時(shí)汽車綜合控制系統(tǒng)中大量的控制信號(hào)也能實(shí)時(shí)進(jìn)行交換，傳統(tǒng)布線已不能滿足這種要求。針對(duì)這個(gè)問題，本文將CAN總線技術(shù)引入到車身控制系統(tǒng)。本文完成了以下主要工作：① 總結(jié)CAN總線技術(shù)在汽車控制系統(tǒng)中的特點(diǎn)和優(yōu)勢(shì)，分析了CAN總線系統(tǒng)的結(jié)構(gòu)原理和通信方式以及CAN總線的通信協(xié)議。闡述了總線控制器SJA1000和收發(fā)器PCA82C250的結(jié)構(gòu)、特點(diǎn)及工作原理。并對(duì)它們?cè)贑AN總線控制系統(tǒng)中的應(yīng)用進(jìn)行了敘述，對(duì)本設(shè)計(jì)中控制器和收發(fā)器的合理選擇進(jìn)行了分析。② 根據(jù)汽車電器的位置和功能，完成對(duì)汽車電器網(wǎng)絡(luò)的設(shè)計(jì)，將汽車電器網(wǎng)絡(luò)合理分塊，并針對(duì)每個(gè)模塊進(jìn)行了功能描述。并給出總線節(jié)點(diǎn)電路的設(shè)計(jì)以及電源電路的設(shè)計(jì)，針對(duì)一些干擾，采取了相應(yīng)措施。同時(shí)設(shè)計(jì)總線接口每一部分的電路，并進(jìn)行仔細(xì)分析。③ 闡述了程序設(shè)計(jì)的思路和方法，并采用模塊化的編程思想對(duì)車身CAN控制系統(tǒng)主要程序進(jìn)行了設(shè)計(jì)。從而簡(jiǎn)化系統(tǒng)軟件開發(fā)過程。文中針對(duì)CAN底層通訊程序進(jìn)行了較詳細(xì)的設(shè)計(jì)，從而保證系統(tǒng)各單元間的正常通訊。并以左前車門模塊為例，闡述了控制軟件設(shè)計(jì)流程。為保證軟件運(yùn)行的可靠性，文中針對(duì)軟件的干擾因素進(jìn)行了分析并提出了相應(yīng)的抗干擾措施。④ 糾正了最初原理圖和電路板上的錯(cuò)誤，通過對(duì)系統(tǒng)軟、硬件的調(diào)試，最終實(shí)現(xiàn)了CAN總線網(wǎng)絡(luò)的通信。⑤ （SAEJ1939），制定了自己的應(yīng)用層協(xié)議；系統(tǒng)經(jīng)過測(cè)試后，在性能方面具實(shí)時(shí)性高、可靠性好、抗干擾行強(qiáng)等優(yōu)點(diǎn)；但是也存在著數(shù)據(jù)傳輸效率低的缺點(diǎn)。在成本方面，本系統(tǒng)采用了獨(dú)立CAN控制器SJA1000+CAN驅(qū)動(dòng)器PCA82C250與微控制器連接，與選用帶CAN接口的微處理器相比，具有成本低、擴(kuò)展靈活等優(yōu)點(diǎn)。CAN總線技術(shù)在以后的車身控制中有良好的應(yīng)用前景。由于本文所研究的CAN總線技術(shù)尚處于初步研究階段，要應(yīng)用到工程實(shí)踐，還有大量的后續(xù)工作。主要包括以下幾個(gè)方面：① 構(gòu)建一個(gè)技術(shù)平臺(tái)，對(duì)汽車CAN總線網(wǎng)絡(luò)進(jìn)行調(diào)試。② 對(duì)系統(tǒng)進(jìn)行全面的穩(wěn)定性分析并提出解決方法。③ 與實(shí)際工業(yè)生產(chǎn)相結(jié)合，滿足成本和性能要求。參考文獻(xiàn)[1] [M]．北京:北京航空航天大學(xué)出版社, 2003[2] User39。s Manual. 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PCA82C250 CAN controller [20]國(guó)兵,[M].天津:天津大學(xué)出版社, 2008[21][M].北京:中國(guó)水利水電出版社, 2007.[22][J].化工自動(dòng)化儀表, 2003,30(4):16[23][D]. 武漢科技大學(xué)，2009[24][D].南京理工大學(xué), 2008附錄1 文獻(xiàn)翻譯A Design of Elevator Positioning Control System ModelZhang Yajun, Chen Long, Fan LingyanSchool of Electronics amp。 Information，Hangzhou Dianzi UniversityHangzhou, Zhejiang, 310018The People’s Republic of Chinazyj16888@ABSTRCTThis paper presents a design of elevator positioning control system model based on the ATmega128 microcontroller. The model mainly includes MCU control module, stepper motor drive module, infrared detection module, LCD display module and keys module. The elevator’s running path is set by keys。 the elevator’s running location is detected by the infrared binate tubes. Stepper motor is the executive ponent. MCU controls the speed and direction of the stepper motor by inputting pulse signals to its drive chip L298. LCD displays the realtime information of elevator’s running status. Key Words: ATmega128 microcontroller, stepper motor, drive chip L298, infrared detection circuit.1. INTRODUCTIONA fourfloor elevator system module is designed in this paper. The object of elevator system module is shown in figure 1. The size of the model and the distance between the layers are shown in the figure. The system model provides an intuitional and thorough description for the construction and action principle of elevator, and gives a platform for the further research of the new elevator control technologies. It has a certain reference in relevant professional experiments teaching. It can be chosen as a teaching model for university teachers when they instruct stepper motor’s drive and control. In addition, the model has a certain value for research and development of highrise elevator control software.2. SYSTEM STRUCTURE AND WORKING PRINCIPLEThe basic structure diagram of the elevator positioning control system model is shown in Figure 2. The model includes MCU control module, stepper motor drive module, infrared detection module, LCD module and keys module. The elevator’s running path is set up by keys。 the realtime information of the elevator’s location is detected by infrared detection circuits and is fed back to the MCU. The speed and direction of the stepper motor are controlled by MCU inputting timing pulse signals to its drive chip L298(internal circuits are Hbridge drive circuits).The elevator stops when the information input by the key and the feedback signals of the infrared detection circuits are the same and the elevator’s realtime running status is displayed by the LCD1602.3. SYSTEM HARDWARE DESIGN Stepper motor drive module designStepper motor drive circuit is shown in Figure 3. L298 integrated chip’s input ports connect with the system MCU I/O ports and its output ports connect with the signal input ports of twophase four wires stepper motor. MCU