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L’equip E3-Team, fundat al 2014 i participant de la competició internacional MotoStudent Electric, necessita implementar una xarxa de comunicacions al seu prototip de motocicleta elèctrica per reduir els problemes del cablejat i millorar els resultats de la competició. Al 2022 es comença a desenvolupar una xarxa CAN i al 2023 sorgeix aquest projecte per continuar amb el procés i definir l’arquitectura de xarxa. En primer lloc, aquest projecte pretén estudiar totes les possibles vies d’implementació de la xarxa i les necessitats de l’equip. Per una banda, es defineix quins sistemes han de formar part de la xarxa i s’estudia el hardware que els pot compondre. Per altre, s’estudien les possibles característiques de la xarxa així com els protocols que es poden utilitzar. De tota la informació obtinguda, es filtren les opcions que no es poden implementar. A partir del resultat d’aquest estudi previ, es proposen varies arquitectures i, d’acord amb el líder de l’equip, s’escull el model que millor s’adapta a les seves necessitats. D’aquest model s’extreuen les característiques de la xarxa i dels dispositius participants. Seguidament, es dissenyen els esquemes elèctrics, es construeix la xarxa, es programen els dispositius participants i es valida el funcionament. La validació es du a terme abans d’instal·lar la xarxa a la motocicleta. Finalment, es presenten els resultats obtinguts, les conclusions, els pressuposts i les línies futures. E3-Team is a motorsport competition team of the international MotoStudent Electric competition since 2014. It would like to implement a communication network to reduce wiring issues and improve the competition results. On 2022, it began the development of a CAN network and in 2023 this project was created to continue this process and to define the network architecture. On the first place, this project pretends to study all the implementable options of the communications network, as well as the needs of the team. On one side, all the systems and devices that will be part of the network are defined. Also, the hardware available in the market that can compound the motorcycle devices is studied. On the other side, the network characteristics are studied, like the available communication protocols. All the options that are not implementable are filtered out. Based on the results of this study, different network architectures models are proposed and, considering the team leader’s opinion, one is chosen. The network characteristics and the hardware of the devices are obtained from the chosen model. Then, the electrical drawings are designed, the network is built, the devices are programmed, and the network is validated. The validation takes place before the final installation on the motorcycle. Finally, the implementation results are shown as well as the conclusions, the budget and the possible future developments.

We consider a system architecture where the communication between the remote devices and a central controller is done using a custom application protocol on top of CAN. CANopen is a communication protocol based on CAN that has proven to be open source and easily customizable for specific applications. The goal of this project is to replace the existing custom application protocol with CANopen to evaluate its feasibility and performance. The project has been divided into three different blocks to achieve the main objective. In the first one, the CANopen advantages against the custom protocol characteristics are exposed. The description of the firmware implementation and its validation is done in the second part. In the third block of the thesis, a comparison between the CANopen theoretical, the legacy protocol and the calculated throughput from the implementation is carried out. The CANopen feasibility in the application under study has been demonstrated considering that the protocol has been implemented and validated in an engine and in a custom remote device. Additionally, the performance evaluation indicates that CANopen outstands the legacy protocol, since it permits having a higher maximum throughput.

En el presente documento se expone el desarrollo del firmware de una centralita de control con aplicación quickshifter (cambio rápido o cambio manual sin embrague) para una motocicleta eléctrica de competición. El firmware es ejecutado por un microcontrolador i.Mx RT1020 de la familia ARM Cortex-M7, y fabricado por NXP, montado en una placa de evaluación comercial, en lenguaje C y haciendo uso de las librerías oficiales que permiten la aplicación de FreeRTOS (Free Real Time Operating System), un sistema operativo a tiempo real de uso gratuito y enfocado para sistemas embebidos. Las funciones generales de este sistema son la lectura y procesado de las señales del acelerador, el indicador de cambio de marchas y algunos pulsadores, para posteriormente transmitir y recibir la información necesaria al bus de CAN, del cual también penderá el controlador del motor eléctrico o inversor. Se explica, también, de forma técnica como se han configurado y programado los tres periféricos, utilizados, del microcontrolador: CAN (Controller Area Network), ADC (Analog to Digital Converter) y GPIO (General Propose Input/Output). Por otro lado, se expondrán las nociones básicas del protocolo de comunicaciones CANbus, en concreto del protocolo oficial CANOpen, que permitan seguir el hilo del proyecto sin inconvenientes. También se introducirán las bases necesarias acerca de los FreeRTOS y más en detalle de los recursos utilizados, así como las task, timers, queues o notifiers. Tanto a nivel firmware como hardware se explicarán las distintas medidas de seguridad que se han adoptado en cuanto a la posible ruptura o fallo del cableado. Para finalizar se presentará el montaje funcional en entorno de laboratorio, donde se podrá observar como la consigna de par enviada por CANbus varía según la señal leída del acelerador, los parámetros de configuración cambiados mediante los pulsadores o por la petición de cambio de marchas, haciendo prescindible el montaje de un sistema de embrague en una motocicleta con distintas marchas de accionamiento manual. Esta aplicación marca la diferencia en entornos de competición, donde la diferencia de tiempos entre los clasificados es de pocos milisegundos.

This project has as purpose generate didactic material for Higher Level Training Cycle (CFGS) of industrial automation. The point of item, they are the equipments that are available in the center of Formative Cycles. On the basis of the possibilities of these equipments, and after examining the trends of market in the area of the industrial communications, one seeks to design and to implement a model that allows to show the functioning of an industrial plant in networking. For example the communication between the controllers and the devices to controlling or the remote monitoring with SCADA or web. After seeing the possibilities of the equipments and of the trends of the market, it is designed and there is implemented a model of regulation and control in industrial plant, where it is controlled in level and the flow as example of application. The model is designed and is implemented to level of technical office, doing a planning of the phases of implementation and a budget of the materials and of the workforce, for it later assembly. It is done with human resources of the own center. There are done a few practices of configuration and programming of the different elements of the Model. These practices include the basic configurations of the communications between the screen and the PC of supervision. Afterwards, emphasis is done in the communications of an industrial network, doing a series of practices related to this aim. First a few practices are done to verify the functioning of the protocols of communication that are in use in the model. Then, there is done a practice that simulates an external network for the remote control with a PC with SCADA. Later, another is done to access the PLC's web server from an external PC in order to monitor the data of the model in a simple way or through a display screen published on its website. Also, a practice is done to be able to apply the technology OPC (client-server) for interconnection of elements that don't have direct connection. Finally, after the results of the practices, the possibilities of the model and the automatons used, there are described the future lines of action and extension of the model.