基于均匀量化的CAN总线的资源调度研究

Investigation into Resource Constraints CAN-bus Based on Scheduling Strategy of Uniform Quantization

在网络控制系统设计中,最主要目的之一是既要有效地使用资源受限的总线,又要保持良好的闭环系统性能;针对CAN总线的带宽受限问题,提出了使用均匀量化技术的解决方案;首先,建立了具有量化和丢包的多控制回路的网络控制系统模型,分析了闭环系统指数均方稳定;然后根据控制性能最优化要求,讨论了固定优先级的自适应周期量化调度策略;最后通过对3个独立控制回路组成的CAN总线系统对此调度策略进行仿真验证,仿真结果表明,此量化调度策略可有效地管理网络资源。

To use the limited resources of the bus effectively, and maintain good control performance in the network control system, an uniform quantization scheduling strategy used to solve the problem of CAN--bus with bandwidth constraints is studied. First of all, a multi -- loop model with the uniform quantized sampling signal and random packet loss on the network under the Bernoulli model is established. Af- ter that the multi--loop system stable in the exponentially mean--square sense is researched. Then a quantization and sample period scheduling strategy with fixed priority is designed to optimize the control performance. Finally, the quantiaation scheduling strategy is verified by the simulation of CAN bus system with three independent control loops. The results show that the quantization scheduling strategy can effectively manage the network resources.