基于FSM的车辆底盘CAN网络建模与仿真

Modeling and Simulation of CAN Network for Vehicle Chassis Based on FSM

简述了CAN(controller area network)网络通信协议的特点,在MATLAB/Simulink/Stateflow仿真环境,运用有限状态机(FSM)理论,建立了用于车辆底盘集成控制的CAN网络通信系统仿真模型。仿真研究了节点优先级、传输速率及单帧信息量对通信延时的影响,并将该网络通信模型应用于车辆4WS控制系统,针对网络通讯延迟对控制效果影响进行了仿真分析,进一步证明了使用该模型研究数据传输延时对控制系统控制影响的可行性。

The characteristic of CAN （controller area network） network communication protocol was briefly introduced and a model of CAN communication system for vehicle chassis integrated control system was constructed based on finite state machine theory in the MATLAB/Simulink/Stateflow. The simulation was conducted to investigate the effect of node＇s priority and transmission rate on communication delay, and then this communication model was applied to 4WS control system. The network communication delay for control system was analyzed. The results show that it is feasible to use this communication model to investigate the effect of communication delay to control system performance.