摘要
结合CAN总线的位填充机制和最坏情况下的报文延迟时间的数学模型,针对周期性报文,提出基于主节点的报文调度方式,给出了该调度方式下的报文响应时间数学模型.通过CAN总线系统实验平台,对CAN报文的实际长度进行检测和分析,并对符合SAE标准的报文实时性进行了分析和评估.实验表明,基于主节点的调度方式保证了CAN报文的实时性,使得系统具有可调度性.
According to the bit stuffing mechanism of the CAN bus and the worst-case message response time models, a master-based message scheduling method is presented for periodic messages. The message response time model based on this method is given. By using the experiment platform based on the CAN system, the actual length of CAN messages is measured and analyzed. The real-time performance of the messages based on the SAE benchmark is analyzed and evaluated. The experiments show that the master-based scheduling method ensures the real-time performance of the CAN messages and makes the system schedulable.
出处
《控制与决策》
EI
CSCD
北大核心
2007年第4期448-452,共5页
Control and Decision
基金
国家自然科学基金重点项目(60334010)
国家自然科学基金项目(60474047)
高等学校博士学科点专项基金项目(20030561013)
广东省自然科学基金项目(31406)
关键词
CAN
延迟时间
位填充
报文调度
CAN
Latency time
Bit stuffing
Message scheduling
