【摘要】 控制器局域网(CAN)是为解决控制器之间的数据交换而开发的一种串行数据通信协议。为了满足控制系统的实时需求,设计CAN网络平台需要着重考虑消息的网络延迟时间。为此,需要建立CAN消息延迟时间分析模型和仿真平台。本文利用周期性固定优先级任务不可剥夺调度模型与CAN网络消息发送过程的相似性,建立起CAN网络的消息排队模型作为仿真模型,实现了一个仿真实验平台,并以THECU四节点CAN网络通信平台为对象,进行仿真实验和平台分析,验证了仿真模型的合理性,讨论了消息生成周期和相位对消息延迟的影响。更多还原

【Abstract】 Controller Area Network(CAN) is a serial communication protocol developed for data exchange between controllers. To meet real-time standards of control systems, designing a CAN platform requires due consideration of latency of messages. Therefore, it is necessary to build an analysis model and a simulation platform of CAN message latency. In this paper, a CAN message queueing model and a simulation platform are built according to the cyclic,fixed priority tasks nonpreemptively schedule analysis model used in operation system design and the similarity between this model and the CAN message transferring process. Simulation and analysis on THECU CAN platform with four processing nodes are given. The correctness of the model is verified and the influence of message generation cycles and phases on latency of messages are discussed, too.更多还原