实时控制系统中CAN总线丢帧及延时的补偿研究

Research on Compensation of CAN Bus Frame Loss and Delay in Real-time Control System

摘要:

针对控制器局域网络(Controller Area NetWork,CAN)总线系统进行通信丢帧及延时的补偿是近几年的研究热点,对于CAN总线系统而言,在有限带宽约束的前提下最大限度的提升补偿效果有着非常重要的研究意义。本研究首先对通信丢帧及延时发生的具体机理进行了分析,同时对其特点进行归纳,并对其如何影响CAN总线控制系统进行了研究；基于CAN总线高负载敏感度和通信丢帧及延时具有随机性这两个特点,给出了一种分布式补偿方案,同时针对补偿器设计所存在的一些共性问题进行了详细的探讨；接下来研究了线性单输入单输出(Single Input Single Output,SISO)系统的补偿方法；最后仿真验证了在不同丢帧和延时情况下该补偿方法的补偿效果,结果显示,本文所提出的补偿方法具有一定的可行性和有效性。

Abstract:

Compensation for the communication frame loss and delay of CAN bus system is a research hotspot in recent years. For CAN bus system, it is very important to improve the compensation effect under the limited bandwidth constraints. In this paper, the mechanism of communication frame loss and delay is analyzed, its characteristics are summarized, and how it affects the CAN bus control system is studied; Based on the characteristics of high load sensitivity of CAN bus and randomness of communication frame loss and delay, a distributed compensation scheme is proposed, and some common problems existing in the design of compensator are discussed in detail; In addition, the compensation method of SISO system is studied; Finally, the effect of the compensation method is simulated under different frame loss and delay conditions, and simulation results show that the compensation method proposed in this paper is feasible and effective.