带宽受限的CAN总线对数量化调度策略

Scheduling strategy for logarithmic quantization under bandwidth constraints based on controller area network bus

研究了使用量化技术解决控制器局域网络(CAN)总线网络控制系统的带宽受限问题.首先,建立了多控制回路的网络控制系统模型,该模型综合考虑了采用对数量化器对采样信号进行量化和Bernoulli随机网络丢包过程.并针对量化误差和数据丢包,设计了控制器和观测器使得闭环系统指数均方稳定.然后根据控制性能最优化要求,设计了在带宽受限情况下的反馈网络调度器,提出了量化反馈调度策略.最后通过对3个独立控制回路组成的CAN总线系统进行仿真实验,验证了此调度策略的有效性和可行性.

A logarithmic quantization strategy for solving bandwidth constraint problems is discussed.A multi-loop model with logarithmic quantized sampling signals and Bernoullian random packet losses on the network is established.To deal with the quantization error and the packet loss,we develop a controller and an observer for stabilizing the multi-loop system in the exponentially mean-square sense.Moreover,a quantization scheduling strategy under bandwidth constraints is presented to optimize the control performance.Finally,the effectiveness and feasibility of the quantization scheduling strategy are tested and validated through simulations of a controller area network（CAN） bus system with three control loops.