【作者】 王毅新；

【导师】 刘鲁源；

【作者基本信息】 天津大学 ， 控制理论与控制工程， 2004， 硕士

【摘要】 CAN总线是一种广泛用于工业控制领域的现场总线。CAN总线中所有节点共享物理传输介质,各个节点只有在竞争得到网络访问权时才能发送消息,基于此必须对网络中的消息进行调度管理。本文主要研究基于CAN总线的静态调度算法并开发相应的实验系统。设计和完成了双总线结构的CAN总线实验系统,完成了CAN节点模块软硬件、上位机系统管理软件、CAN控制器SJA1000的嵌入式驱动程序以及CAN总线性能分析软件的开发,为调度算法的研究搭建了一个通用的实验平台。在详细分析CAN总线固定优先级静态调度(FPS)算法的基础上,设计了FPS算法性能分析软件。进而详细分析了时间触发机制的引入,给出了基于表的静态调度算法以及基于时间触发机制的固定优先级调度(TT-FPS)算法,设计了TT-FPS算法性能分析软件,实现了CAN总线分布式系统时钟同步。此外,还分别对FPS算法和TT-FPS算法的实施提出了调度器的设计思想。以纯电动汽车消息模型为背景,在实验系统上进行了FPS算法和TT-FPS算法的实施性研究,不仅验证了所开发的性能分析软件的实用性,而且证明了TT-FPS算法使总线负荷分布均匀,消息传输具有一定的确定性和可管理性,有效的避免了总线的拥塞。由于CAN总线静态调度算法的广泛应用性,本文的研究内容具有普遍的意义。更多还原

【Abstract】 CAN bus is a field bus which is widely used in industry control field. In CAN busphysical medium is shared by all the nodes, each node with message to be transmittedmust get the privilege of access to the medium. So the network communication shouldbe scheduled and managed. In this thesis the static scheduling algorithm based onCAN bus is analyzed mainly and the experiment system is developed.Experiment system based on double field bus architecture is designed anddeveloped. Software and hardware of CAN node, system administrative software inhost computer, embedded program on SJA1000 and CAN bus performance analysissoftware is developed. All is experiment environment for the research of staticscheduling algorithm.Based on careful analysis of fixed priority static scheduling algorithm in CANbus, FPS algorithm performance analysis software is developed. Moreover, thetime-triggered architecture is introduced. The static scheduling algorithm based ontable and fixed priority scheduling algorithm based on time-triggered architectureis carefully analyze. TT-FPS algorithm performance analysis software andsynchronization clock in CAN distributed system is designed and developed. Inaddition, embedded scheduler is proposed for the implementation of FPS and TT-FPS.Based on Electric Vehicle message model, the research about the implementationof FPS and TT-FPS is carried out in the experiment system. The experiment resultsnot only prove the practicability of all performance analysis softwares but also testifythat the bus load is distributed averagely and message communication is managed.Because the static scheduling algorithm is widely used, the research results of thisthesis establish the basis for the future research.更多还原