基于CAN总线的EDF调度算法改进与仿真  

Improvement and Simulation of EDF Scheduling Algorithm Based on CAN Bus

作　　者：游达章[1] 杨舟 李存靖 熊新 YOU Da-zhang;YANG Zhou;LI Cun-jing;XIONG Xin(School of Mechanical Engineering,Hubei University of technology,Wuhan Hubei 430068,China;Hubei 3611 Emergency Equipment Co.,Ltd.,Wuhan Hubei 430056,China;Hubei Srida HEAVY-DUTY Engineering Machinery Co.,Ltd.,Xiangyang Hubei 441000,China)

机构地区：[1]湖北工业大学机械工程学院,湖北武汉430068 [2]湖北三六一一应急装备有限公司,湖北武汉430056 [3]湖北时瑞达重型工程机械有限公司,湖北襄阳441000

出　　处：《计算机仿真》2025年第3期410-416,共7页Computer Simulation

基　　金：国家自然科学基金资助项(51875180)。

摘　　要：针对传统的最早截止时间优先(Earliest Deadline First)算法在CAN总线中出现的截止期编码能力有限、优先级反转等造成传输任务传递延迟问题,提出一种基于指数-指数函数分区的EDF调度算法,对任务截止期区间进行精细化分区处理,防止优先级反转导致系统响应时间过长;同时引入量化误差的概念,分析在上述方法下消息可调度的判定条件,最后给出优先级的量化模型。采用Truetime工具箱进行仿真,结果表明与传统的EDF调度算法相比,改进后的算法将超调量减小了11.47%,调节时间减少了0.12s,峰值时间减少了0.02s,绝对积分误差减小了28.9%。上述方法扩大了截止期编码的范围,改善了优先级反转现象,降低了系统的平均时延,提高了CAN网络通讯的平稳性。Aiming at the problems of transmission task delivery delay caused by limited deadline coding ability and priority reversal in CAN bus of the traditional Earliest Deadline First algorithm,an EDF scheduling algorithm based on exponential-exponential function partitioning is proposed to refine the partition processing of the task deadline interval to prevent the system response time from being too long due to priority reversal.At the same time,the concept of quantization error is introduced,the judgment conditions of message scheduling under this method are analyzed,and finally the quantization model of priority is given.Compared with the traditional EDF scheduling algorithm,the improved algorithm reduces the overshoot by 11.47%,the adjustment time by 0.12s,the peak time by 0.02s,and the absolute integration error by 28.9%.This method expands the range of deadline coding,improves the priority inversion phenomenon,reduces the average delay of the system,and improves the smoothness of CAN network communication.

关 键 词：总线 网络控制系统 动态调度 截止期编码 双指数分区 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]