中文摘要：

本文针对电动汽车车门车窗控制系统网络化与智能化的需求，设计了基于CAN总线的电动汽车车门车窗控制系统从站，将CANopen协议应用于该系统，制定了NMT、PDO、SDO报文，并设计了车窗防夹功能。CANopen从站硬件以PXA270处理器为核心，基于WindowsCE操作系统进行了CANopen协议栈的设计，采用霍尔传感器脉冲信号计数的方式判断车窗位置，通过电机电流变化判断是否超过阈值的方法，实现了车窗的防夹功能。实验测试结果表明，本文设计的电动汽车车门车窗控制系统从站与上位机之间NMT、PDO、SDO报文通讯可靠、准确，并且实现了车窗防夹功能。

英文摘要：

Focusing on the needs of internetization and intellectualization of electric vehicle door and window control system, CAN bus-based electric vehicle door and window control system slave station was designed. The CANopen protocol was applied to this system,NMT,PDO,SDO messages was developed, and the function of anti-pinch was designed. CANopen slave station hardware took the PXA270 processor as the core,and the CANopen protocol stack was designed based on the Windows CE operating system,detecting the window position by the Hall sensor pulse signal, achieving the function of anti-pinch by determining whether there is an obstacle with the changes in the motor current. The experimental results showed that the NMT, PDO, SDO packet communication between electric vehicle door and window control system slave station and host computer designed in this paper was reliable,accurate and can realize the function of anti-pinch.