Message delay time distribution analysis for controller area network under errors

作     者：Lei-ming ZHANG Yi-chao SUN Yong LEI 

作者机构：State Key Laboratory of Fluid Power & Mechatronic Systems Zhejiang University Hangzhou 310027 China 

出 版 物：《Frontiers of Information Technology & Electronic Engineering》 (信息与电子工程前沿（英文版）)

年 卷 期：2019年第20卷第6期

页      面：760-772页

核心收录：

学科分类：08[工学] 080401[工学-精密仪器及机械] 0804[工学-仪器科学与技术] 080402[工学-测试计量技术及仪器] 0838[工学-公安技术] 

基　　金：the National Natural Science Foundation of China (Nos. 51475422 and 51521064) 

主　　题：Cont roller area network Message delay Probability dist ribution Errors 

摘      要：Controller area network(CAN) is a widely used fieldbus protocol in various industrial *** 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.