CAN控制系统的时延分析及混合算法  

Delay Analysis of CAN Control System and Hybrid Algorithm

作　　者：张庭芳[1] 黄海林 郭劲林 曹铭[1] ZHANG Tingfang;HUANG Hailin;GUO Jinlin;CAO Ming(School of Mechanical and Electrical Engineering,Nanchang University,Nanchang 330031,China)

机构地区：[1]南昌大学机电工程学院,南昌330031

出　　处：《计算机工程》2020年第5期305-311,共7页Computer Engineering

基　　金：江西省科技支撑计划项目(20151BBE50027)。

摘　　要：在车载控制器局域网络(CAN)总线的通信中,消息之间的碰撞及低优先级消息的等待时延过长严重影响了通信的稳定性和实时性。通过对CAN控制系统中的消息时延分析,确定排队等待时间是影响通信的关键因素,结合改进的共享时钟算法和动态ID序列算法,提出一种共享ID序列混合算法。将节点消息按ID序列发送,减少消息在同一时刻碰撞,消除消息的排队等待时延,从而提高网络的实时性和稳定性。仿真结果表明,该算法能够避免消息的碰撞,增强消息的确定性,有效改善网络性能。In the communication of the in-vehicle CAN bus,the collision between messages and the waiting delay of low-priority messages seriously affect the stability and real-time performance of the communication.Through the message delay analysis in CAN control system,this paper determines that queuing waiting time is the key factor affecting communication,and combined with the idea of the improved shared clock algorithm and dynamic ID sequence algorithm,it proposes a Shared ID Sequence(SIDS)hybrid algorithm.Node messages are sent according to the ID sequence,avoiding the collision of messages at the same time,eliminating the queue waiting time of the messages,thereby improving the real-time and stability of the network.Simulation results show that the algorithm can avoid the collision of messages,enhance the certainty of messages,and effectively improve network performance.

关 键 词：控制器局域网络总线 网络控制系统 时延 SIDS混合算法 实时性 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]