农业机械学报2025，Vol.56Issue(12)：69-77,9.DOI:10.6041/j.issn.1000-1298.2025.12.005
自主作业氢燃料电池拖拉机通信网络设计与试验
Research and Experiment on Communication Network Design for Autonomous Operation Hydrogen Fuel Cell Tractor
摘要
Abstract
In response to the issue that traditional communication network cabling methods are unable to meet the requirements of high efficiency,stability and functional expansion for information transmission in autonomous hydrogen fuel cell tractors,a multi-rate control area network(CAN)bus architecture was proposed based on the SAE J1939 protocol and ISO 11783 standard.Firstly,the data flow requirements for sensing,positioning,drive control,etc.were analyzed in combination with the autonomous operation process in the field.Then,using the principle of minimum complexity in graph theory,multiple topologies were compared and a gateway plus three-bus structure was determined.The CAN communication network nodes were divided based on the structure of the autonomous operation hydrogen fuel cell tractor and its working conditions,and the functions of each node were defined.For common network topologies,a mathematical model was established based on graph theory,and the total information volume per second N and the node information volume per second Z of each structure were analyzed and compared.A high-speed and low-speed dual-bus structure was adopted to design the communication network of the autonomous operation hydrogen fuel cell tractor,with bus rates selected as 500 kb/s and 250 kb/s.The communication message and system software design were developed based on the SAE J1939 protocol and ISO 11783 standard.The hardware functions and communication effects of the communication system were tested by using CANoe software and verified on the whole vehicle.The test results of the bus load rate were 28.22％,19.20％and 22.85％,all below the 50％requirement.These results verified the feasibility and provided a feasible solution for the design of the communication network of autonomous operation hydrogen fuel cell tractors.关键词
氢燃料电池拖拉机/自主作业/CAN/通信协议Key words
hydrogen fuel cell tractor/autonomous operation/CAN/communication protocol分类
农业科技引用本文复制引用
XU Liyou,SHANG Yuchen,LEI Shenghui,YAN Xianghai,LIU Mengnan..自主作业氢燃料电池拖拉机通信网络设计与试验[J].农业机械学报,2025,56(12):69-77,9.基金项目
中原科技创新领军人才支持计划项目(244200510043)、河南省高校科技创新团队支持计划项目(24IRTSTHN029)、国家自然科学基金面上项目(52572495)和国家重点研发计划项目(2022YFD2001204) （244200510043）
