【摘要】 通过反复实验,捕获了大量由于CAN网络而引起的网络时延。通过对这些时延数据分析,归纳出基于CAN网络的网络时延统计特性。利用得到的网络时延统计特性,设计相应的控制系统。实验结果证明,在不同的网络负载下,网络控制系统设计需要采用不同的控制算法。尤其是在网络负载很重的情况下,现有的控制器设计已经不能保证系统的稳定性。更多还原

【Abstract】 By repeating experiment,a lot of network delays induced by CAN-bus are taken.Through analyzing these delays,their statistical characteristics are summed up.Based on this,the control scheme is presented.The experiment results show that the system has to be designed by different control algorithms under different network load.Especially when there exist heavy load in CAN-bus,the existing controller cannot well guarantee the system stability.更多还原