【作者】 李晶；

【导师】 雷勇；

【作者基本信息】 浙江大学 ， 机械电子工程， 2017， 硕士

【摘要】 本论文受国家自然科学基金项目(51475422)资助,经过对总线协议、容错机制、故障的选择性样本特性与空闲时间的准确认知后,提出了在有错误情况下总线故障建模的方法并用于预测新节点的发送状态。控制器局域网(Controller Area Network,CAN)是一种总线协议,已经被广泛地应用在各种工业领域。为了对尚未加入的新节点在报文响应状态方面做出预测与估计以便提前掌握网络带宽特征与性能;另外为了能更好地分析故障情况下的网络行为以便优化网络控制系统的设计,我们必须分析清楚有故障的CAN总线上存在的故障模型以及该情况下加入新报文的可能状态。本论文共分五章,各章内容分述如下。论文第一章介绍了有关CAN总线消息帧响应时间的国内外研究现状,由此总结了目前在总线故障与响应时间结合方面存在的待研究问题以及研究的目标及意义;之后系统地概述了本论文的研究目标、研究内容以及总体的研究手段。论文第二章对基于错误事件的总线故障进行了原理阐述和定义,识别错误事件为选择性样本,根据选择性样本的两步模型对非随机缺失的数据建立了先通过错误事件数插补获得全数据再对故障建模的方案,并对之进行实验验证。论文第三章通过蒙特卡罗模拟缺失数据量以及参数辨识对故障总体建立泊松过程模型并进行分布推断和假设检验,最终通过实验验证了整个流程的可靠性。论文第四章结合得到的故障模型对报文响应以及被中断情况进行分析,然后拓展到空闲时间分析,即对不同的总线系统进行基于分布和最坏情况的两种不同方法的分析计算,然后结合新报文响应预测新报文发送状态,最终通过实验验证这个分析过程。论文第五章对本论文的工作做了全面的总结,阐明了本论文的研究结果与特色之处,同时也对本课题所研究的不足与未来的工作做出了展望。更多还原

【Abstract】 This paper is supported by the National Natural Science Foundation of China(51475422).After understanding the bus protocol,mechanism of fault tolerance,selective sample character-istics of fault and accurate cognition of idle time,we proposed a method of bus fault modeling in the presence of errors and to predict the sending state of the new node.Controller Area Network(CAN)is a widely used fieldbus protocol in various industrial applications.In order to predict and estimate the response state message of the new nodes that has not been set up,so that we can grasp the network bandwidth characteristics and performance in advance.At the same,in order to understand the network behaviors under errors for optimal design of the networked control systems,we must analyze the fault model that exists on the faulty CAN bus and the possible state of the new message in this case.This paper is divided into five chapters,the contents of which are described as follows:In chapter 1,the domestic and overseas research status of the CAN bus message frame response time is introduced in detail,from this the problem which still requires for further study about response time and its realistic significance of the research is summarized,and then the research objectives,study contents and overall research methods are explained systematically.In Chapter 2,the principle of bus fault based on error events is expatiated and defined,and the identification error event is selected as the selective sample,then according to the two-step model of the selective sample,the scheme of the non-random missing data is established by first obtaining the whole data by interpolating the error event number and then modeling the fault,and the experiment was carried out.In Chapter 3,the Monte-Carlo simulation of missing data and parameter identification is used to establish the Poisson process model for the whole fault,and the distribution inference and hypothesis test are carried out.Finally,the reliability of the whole process is verified by experiments.In Chapter 4,the resulting fault model is used to analyze the response of a message and the interruption,and then the model is extended to analyze the idle time,that is,the analysis and calculation of the different types of bus systems which are based on distribution and the worst case these two different methods,and the state of the new message is predicted by the response of the new message,finally,this analysis is verified by experiments.In chapter 5,the paper summarizes the research work,expounds the research results and characteristics of this paper,and also makes a prospect for the shortcomings and future work of this topic.更多还原