基于CAN总线的分布式容错系统实现

Distributed fault-tolerant system based on CAN bus

针对一种基于控制器局域网(controller areanetwork,CAN)总线的多冗余计算机构成的实时控制网络,设计并实现了分布式容错计算系统。该系统采用软总线保证数据可靠传输,使用数据表决屏蔽节点计算与传感故障,通过同步保证数据一致,利用成员关系管理维护动态成员关系。该系统完全独立于控制应用程序,包括了分布式容错计算的典型功能,充分利用分布式系统的优势和CAN总线传输的特点,在保证系统实时性的基础上为应用程序提供容错计算服务。测试结果表明,在性能指标上能够满足某实时控制系统的要求。

A distributed fault-tolerant computing system based on the control area network （CAN） bus was implemented for a real-time control network. The system includes a soft bus that guarantees reliable data transmission, software voting that isolates the faults of computing units and sensors, data synchronization that ensures data consistency, and member relationship management that maintains the dynamic membership. The system is transparent to the control application program and integrates the typical functions of a fault-tolerant computing system, makes full use of the advantages of distributed systems and the CAN bus transmission characteristics, and provides fault-tolerant computing services for applications with guaranteed real-time performance. Tests show that the overall system performance is sufficient for use in real-time control systems.