CAN网络控制系统的网络时延分析与检测  

Analysis and Measurement of Network Delay in CAN Control Systems

作　　者：王俊波[1] 胥布工[1] 王清阳[1] 

机构地区：[1]华南理工大学自动化科学与工程学院,广州510640

出　　处：《化工自动化及仪表》2006年第5期29-32,36,共5页Control and Instruments in Chemical Industry

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);广东省电动汽车研究重点实验室开放基金;华南理工大学博士启动基金

摘　　要：针对CAN总线的实时特性,分析CAN网络控制系统的网络时延模型。结合CAN报文延迟时间在错误帧影响下的数学模型,分析了影响报文延迟时间的主要因素。通过所设计的CAN网络实验平台,在线检测CAN报文延迟时间,分析报文实际传输时延与理论分析的差异。实验表明错误帧及网络负载是造成较大网络时延的直接原因,进而验证了网络时延分析的有效性。According to the CAN real-time performances, the network delay in networked control systems based on the CAN bus is analyzed. Based on the mathematic model of CAN message delay time under the influence of the error frames, the primary impact on message delay time is analyzed. According to the experimental platform based on CAN, the CAN message delay time is online examined. The difference between theoretical analysis and actual transmission delay is also analyzed. The experimental results show that the error frame and network load is the immediate cause of larger network delay and verify accordingly the validity of the analysis of network delay.

关 键 词：网络时延 延迟时间 网络负载 位填充 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]