Controller area network node reliability assessment based on observable node information#

Lei-ming ZHANG; Long-hao TANG; Yong LEI

doi:10.1631/FITEE.1601029

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Controller area network node reliability assessment based on observable node information#

Regular Papers | Updated：2022-05-19

- Controller area network node reliability assessment based on observable node information#
- 基于可观测节点信息的控制器局域网节点可靠性评估
- Frontiers of Information Technology & Electronic Engineering Vol. 18, Issue 5, Pages: 615-626(2017)
- Affiliations：
  
  State Key Laboratory of Fluid Power Transmission and Mechatronics, Zhejiang University, Hangzhou 310027, China
- Author bio：
  
  E-mail:lmzhang@zju.edu.cn
  E-mail:tlh123@yeah.net
  E-mail:ylei@zju.edu.cn
- Funds：
- DOI：10.1631/FITEE.1601029
  CLC： TP277
- Received：26 February 2016，
  
  Accepted：14 September 2016，
  
  Published：2017-05
- Accepted：
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Lei-ming ZHANG, Long-hao TANG, Yong LEI. Controller area network node reliability assessment based on observable node information#[J]. Frontiers of Information Technology & Electronic Engineering, 2017, 18(5): 615-626.
DOI：

Lei-ming ZHANG, Long-hao TANG, Yong LEI. Controller area network node reliability assessment based on observable node information#[J]. Frontiers of Information Technology & Electronic Engineering, 2017, 18(5): 615-626. DOI： 10.1631/FITEE.1601029.

摘要

基于控制器局域网的总线技术广泛应用于网络化制造系统。网络作为系统的信息通道，其可靠性对系统的吞吐量、产品质量以及工作人员的安全至关重要。然而，由于节点内部状态的不可访问性，因此使用节点内置的错误计数器值直接评估控制器局域网节点的可靠性是难以进行的。本文提出一种新颖的控制器局域网节点可靠性评估方法，该方法使用节点脱离总线时间作为可靠性测度。基于网络错误日志和错误计数器值可访问的可观测节点信息，该方法可以估计网络中节点的发送错误计数器值。首先，本文基于分段马尔科夫链建立了估计节点发送错误计数器值的模型，该模型考虑了网络中错误分布的稀疏特性。其次，通过学习可观测节点的模型估计值和实际测量值之间的偏差，建立了贝叶斯网络以表述可观测节点的模型估计值更新机制。然后，将该更新机制应用到网络中发送错误计数器值不可访问的节点，完成其模型估计值的更新。最后，建立了节点可靠性评估方法以预测节点的脱离总线时间。为表明文中方法的有效性，进行了多组实验。实验结果表明由文中方法得到的估计值与实际观测值相一致。

Abstract

Controller area network (CAN) based fieldbus technologies have been widely used in networked manufacturing systems. As the information channel of the system

the reliability of the network is crucial to the system throughput

product quality

and work crew safety. However

due to the inaccessibility of the nodes' internal states

direct assessment of the reliability of CAN nodes using the nodes' internal error counters is infeasible. In this paper

a novel CAN node reliability assessment method

which uses node's time to bus-off as the reliability measure

is proposed. The method estimates the transmit error counter (TEC) of any node in the network based on the network error log and the information provided by the observable nodes whose error counters are accessible. First

a node TEC estimation model is established based on segmented Markov chains. It considers the sparseness of the distribution of the CAN network errors. Second

by learning the differences between the model estimates and the actual values from the observable node

a Bayesian network is developed for the estimation updating mechanism of the observable nodes. Then

this estimation updating mechanism is transferred to general CAN nodes with no TEC value accessibility to update the TEC estimation. Finally

a node reliability assessment method is developed to predict the time to reach bus-off state of the nodes. Case studies are carried out to demonstrate the effectiveness of the proposed methodology. Experimental results show that the estimates using the proposed model agree well with actual observations.

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references

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