控制器局域网在错误状态下的报文延时分布研究

张雷鸣; 孙毅超; 雷勇

doi:10.1631/FITEE.1700815

Your Location：

Home >

Browse articles >

控制器局域网在错误状态下的报文延时分布研究

常规文章 | Updated：2022-05-19

- 控制器局域网在错误状态下的报文延时分布研究
- Message delay time distribution analysis for controller area network under errors
- 信息与电子工程前沿（英文） 2019年20卷第6期页码：760-772
- Affiliations：
  
  State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- Author bio：
  
  Yong LEI, E-mail: ylei@zju.edu.cn
- Funds：
  
  Project supported by the National Natural Science Foundation of China (Nos. 51475422 and 51521064)
- DOI：10.1631/FITEE.1700815
  中图分类号： TP277
- 收稿：2017-12-08，
  
  修回：2019-;6-11，
  
  纸质出版：2019-06
- Accepted：
Scan QR Code
张雷鸣, 孙毅超, 雷勇. 控制器局域网在错误状态下的报文延时分布研究[J]. 信息与电子工程前沿（英文）, 2019,20(6):760-772.

Lei-ming ZHANG, Yi-chao SUN, Yong LEI. Message delay time distribution analysis for controller area network under errors[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(6): 760-772.
张雷鸣, 孙毅超, 雷勇. 控制器局域网在错误状态下的报文延时分布研究[J]. 信息与电子工程前沿（英文）, 2019,20(6):760-772. DOI： 10.1631/FITEE.1700815.

Lei-ming ZHANG, Yi-chao SUN, Yong LEI. Message delay time distribution analysis for controller area network under errors[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(6): 760-772. DOI： 10.1631/FITEE.1700815.

摘要

控制器局域网（CAN）是一种广泛应用于各类工业场景的现场总线协议。为深入理解错误发生时的网络行为并优化网络控制系统设计，需分析CAN网络报文响应时间。本文在考虑错误的基础上，提出一种新颖的CAN网络报文延时分布分析方法，将复杂报文序列分解为典型报文模式和情形。首先开发随机故障模型并定义概率因子计算错误的分布形式，其次基于错误分布分析单个子节点布局下报文的延时分布。然后基于典型报文模式和情形的延时分布，开发多子节点布局下报文延时分布的分析框架。最后搭建实验平台，在不同网络设置下进行多组实验，展示和验证该方法。结果表明该方法计算出的报文延时分布与实际观测值一致。

Abstract

Controller area network (CAN) is a widely used fieldbus protocol in various industrial applications. To understand the network behavior under errors for the optimal design of networked control systems

the message response time of the CAN network needs to be analyzed. In this study

a novel delay time distribution analysis method for the response messages is proposed when considering errors. In this method the complex message queues are decomposed into typical message patterns and cases. First

a stochastic fault model is developed

and the probability factor is defined to calculate the error distribution. Then the message delay time distribution for the single slave node configuration is analyzed based on the error distribution. Next

based on the delay time distribution analysis of typical patterns and cases

an analysis framework of message delay time distribution for the master/slave configuration is developed. The testbed is constructed and case studies are conducted to demonstrate the proposed methodology under different network configurations. Experimental results show that the delay time distributions calculated by the proposed method agree well with the actual observations.

关键词

Keywords

references

R Bosch . . CAN Specification Version 2.0 . . Technical Report, Rober Bousch GmbH , , 1991 . . http://esd.cs.ucr.edu/webres/can20.pdf http://esd.cs.ucr.edu/webres/can20.pdf , , . .

I Broster , , , A Burns , , , G Rodríguez-Navas . . Timing analysis of real-time communication under electromagnetic interference . . Real-Time Syst , , 2005 . . 30 ( ( 1-2 ): ): 55 - - 81 . . DOI: 10.1007/s11241-005-0504-z http://doi.org/10.1007/s11241-005-0504-z . .

X Chen , , , LY Liu , , , WJ Lü , , , 等 . . Modeling and analysis of response time of CAN bus based on queueing theory . . J Tianjin Univ , , 2012 . . 45 ( ( 3 ): ): 228 - - 235 . . DOI: 10.3969/j.issn.0493-2137.2012.03.007 http://doi.org/10.3969/j.issn.0493-2137.2012.03.007 . .

RI Davis , , , N Navet . . Controller area network (CAN) schedulability analysis for messages with arbitrary deadlines in FIFO and work-conserving queues . . Proc 9 th IEEE Int Workshop on Factory Communication Systems , , 2012 . . p.33 - - 42 . . DOI: 10.1109/WFCS.2012.6242538 http://doi.org/10.1109/WFCS.2012.6242538 . .

RI Davis , , , A Burns , , , RJ Bril , , , 等 . . Controller area network (CAN) schedulability analysis: refuted, revisited and revised . . Real-Time Syst , , 2007 . . 35 ( ( 3 ): ): 239 - - 272 . . DOI: 10.1007/s11241-007-9012-7 http://doi.org/10.1007/s11241-007-9012-7 . .

RI Davis , , , S Kollmann , , , V Pollex , , , 等 . . Controller area network (CAN) schedulability analysis with FIFO queues . . Proc 23 rd Euromicro Conf on Real-Time Systems , , 2011 . . p.45 - - 56 . . DOI: 10.1109/ECRTS.2011.13 http://doi.org/10.1109/ECRTS.2011.13 . .

RI Davis , , , S Kollmann , , , V Pollex , , , 等 . . Schedulability analysis for controller area network (CAN) with FIFO queues priority queues and gateways . . Real-Time Syst , , 2013 . . 49 ( ( 1 ): ): 73 - - 116 . . DOI: 10.1007/s11241-012-9167-8 http://doi.org/10.1007/s11241-012-9167-8 . .

M Farsi , , , K Ratcliff , , , M Barbosa . . An overview of controller area network . . Comput Contr Eng J , , 1999 . . 10 ( ( 3 ): ): 113 - - 120 . . DOI: 10.1049/cce:19990304 http://doi.org/10.1049/cce:19990304 . .

HA Hansson , , , T Nolte , , , C Norström , , , 等 . . Integrating reliability and timing analysis of CAN-based systems . . IEEE Trans Ind Electron , , 2002 . . 49 ( ( 6 ): ): 1240 - - 1250 . . DOI: 10.1109/TIE.2002.804970 http://doi.org/10.1109/TIE.2002.804970 . .

M Kumar , , , A Kumar , , , VA Srividya . . Response-time modeling of controller area network (CAN) . . In: Garg V, Wattenhofer R, Kothapalli K (Eds.), Distributed Computing and Networking, Springer Berlin Heidelberg , , 2009 . . p.163 - - 174 . . DOI: 10.1007/978-3-540-92295-7_20 http://doi.org/10.1007/978-3-540-92295-7_20 . .

Y Lei , , , Y Yuan , , , JZ Zhao . . Model-based detection and monitoring of the intermittent connections for CAN networks . . IEEE Trans Ind Electron , , 2014 . . 61 ( ( 6 ): ): 2912 - - 2921 . . DOI: 10.1109/TIE.2013.2272277 http://doi.org/10.1109/TIE.2013.2272277 . .

Y Lei , , , H Xie , , , Y Yuan , , , 等 . . Fault location for the intermittent connection problems on CAN networks . . IEEE Trans Ind Electron , , 2015 . . 62 ( ( 11 ): ): 7203 - - 7213 . . DOI: 10.1109/TIE.2015.2442518 http://doi.org/10.1109/TIE.2015.2442518 . .

S Mubeen , , , J Mäki-Turja , , , M Sjödin . . Extending worst case response-time analysis for mixed messages in controller area network with priority and FIFO queues . . IEEE Access , , 2014 . . 2 365 - - 380 . . DOI: 10.1109/ACCESS.2014.2319255 http://doi.org/10.1109/ACCESS.2014.2319255 . .

S Mubeen , , , J Mäki-Turja , , , M Sjödin . . Integrating mixed transmission and practical limitations with the worst-case response-time analysis for controller area network . . J Syst Softw , , 2015 . . 99 66 - - 84 . . DOI: 10.1016/j.jss.2014.09.005 http://doi.org/10.1016/j.jss.2014.09.005 . .

N Navet , , , YQ Song , , , F Simonot . . Worst-case deadline failure probability in real-time applications distributed over controller area network . . J Syst Archit , , 2000 . . 46 ( ( 7 ): ): 607 - - 617 . . DOI: 10.1016/S1383-7621(99)00016-8 http://doi.org/10.1016/S1383-7621(99)00016-8 . .

YC Sun , , , F Yang , , , Y Lei . . Message response time distribution analysis for controller area network containing errors . . Chinese Automation Congress , , 2015 . . p.1052 - - 1057 . . DOI: 10.1109/CAC.2015.7382654 http://doi.org/10.1109/CAC.2015.7382654 . .

K Tindell , , , A Burns . . Guaranteed Message Latencies for Distributed Safety-Critical Hard Real-Time Control Networks . . Technical Report, Real-Time System Research Group, Department of Computer Science, University of York, England. , , 1994 . . .

K Tindell , , , A Burns , , , AJ Wellings . . An extendible approach for analyzing fixed priority hard real-time tasks . . Real-Time Syst , , 1994 . . 6 ( ( 2 ): ): 133 - - 151 . . DOI: 10.1007/BF01088593 http://doi.org/10.1007/BF01088593 . .

K Tindell , , , A Burns , , , AJ Wellings . . Analysis of hard real-time communications . . Real-Time Syst , , 1995a . . 9 ( ( 2 ): ): 147 - - 171 . . DOI: 10.1007/BF01088855 http://doi.org/10.1007/BF01088855 . .

K Tindell , , , A Burns , , , AJ Wellings . . Calculating controller area network (CAN) message response times . . Contr Eng Pract , , 1995b . . 3 ( ( 8 ): ): 1163 - - 1169 . . DOI: 10.1016/0967-0661(95)00112-8 http://doi.org/10.1016/0967-0661(95)00112-8 . .

PM Yomsi , , , D Bertrand , , , N Navet , , , 等 . . Controller area network (CAN): response time analysis with offsets . . Proc 9 th IEEE Int Workshop on Factory Communication Systems , , 2012 . . p.43 - - 52 . . DOI: 10.1109/WFCS.2012.6242539 http://doi.org/10.1109/WFCS.2012.6242539 . .

HB Zeng , , , M di Natale , , , P Giusto , , , 等 . . Using statistical methods to compute the probability distribution of message response time in controller area network . . IEEE Trans Ind Inform , , 2010 . . 6 ( ( 4 ): ): 678 - - 691 . . DOI: 10.1109/TII.2010.2050143 http://doi.org/10.1109/TII.2010.2050143 . .

浏览量

Downloads

CSCD

文章被引用时，请邮件提醒。

Submit

工具集

关联资源

Availability evaluation of controller area networks under the influence of intermittent connection faults