CAN Bus Application Layer Protocol Design for Space Manipulator Communication System
With the development of space technology,more and more space manipulators are put to use.Control methods of Space manipulator are also increased,from original analog control,digital control gradual transforms to distributed control which using field bus.In order to meet the needs of distributed control for space manipulators,with comparison on the basis of a variety of field bus communication protocol,we have chosen CAN-bus as space manipulator control system bus.CAN bus communication system is designed based on the analysis requirement of manipulator control system.According to the task of space manipulator system requirements,application layer protocols are defined.Communication nodes are determined by the definition of arbitration ID0 to ID2 and each message is defined by arbitration layer ID3 and data frame,which given a detailed definition of each data frame bit.
CAN bus application layer protocol space manipulator field bus communication message
Liu Tianming
Shanghai Key Laboratory of Spacecraft Mechanism,Aerospace System Engineering Shanghai,Shanghai,China
国际会议
重庆
英文
1627-1630
2017-03-25（万方平台首次上网日期，不代表论文的发表时间）