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ʱ�䴥��CAN����ʵʱ�Է�������������
�ļ�ǿ, Ѧ��ǿ, �����*
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Real-time analysis and assessment method of time-triggered CAN-bus
Xia Jiqiang, Xue Liqiang, Man Qingfeng*
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

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ժҪ ���Ŀǰʱ�䴥��������������(CAN,Controller Area Network)����ȱ��ͳһ������������״,�����һ��ϵͳ��������������.���þ���װ���㷨����ϵͳ���Ⱦ���,ʵ����������Ϣ��ʵʱ����.���CAN���ߵĴ��������ʱ�䴥�����ص�,�Ľ���ʱ�䴥��ϵͳ�з�������Ϣ��ӳٵļ��㷽��.�ڴ˻�������Բ�����ϵͳʵʱ��Ҫ�����Ϣ����˼�����ʧЧ���ʵķ���,������ʱ�䴥��CAN����ϵͳ���������������,�����ϵͳ������������.���������ܹ�������Ч��,������ϢʧЧ�����Լ���ӳٶ�ϵͳʵʱ�Խ��з���,ʹ����������Ӿ�ȷ��ʵ��.
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Abstract�� To solve the problem that time-triggered CAN (controller area network) bus system lacked a unified real-time performance assessment method, a complete system establishment and assessment scheme was proposed. Time-triggered CAN-bus system scheduling matrix was established by using average-loading algorithm and periodic messages were guaranteed to transmit without delay by distributing them independent transmission windows within the system matrix. While considering the traditional CAN-bus transmission mechanism and the time-triggeredness feature, a calculation method was improved to calculate the worst-case delay of event-triggered messages in time-triggered CAN-bus system. The failure probability was calculated for event-triggered messages whose worst-case delay exceeded their deadlines. System design and assessment process was established for CAN-bus transmission system and parameter adjustment was proposed to optimize system real-time performance. This assessment method could improve the design efficiency and the final analysis result is more accurate and practical by considering the effects of the event-triggered messages worst-case delay and failure probability.
Keywords�� time-triggered   CAN-bus   real-time performance   failure probability   assessment method     
Received 2010-10-19;
Fund:����863�ƻ�������Ŀ(2007AA041407,2008AA040207); �����пƼ��ƻ���Ŀ����(CSTC,2009AB2163)
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�ļ�ǿ, Ѧ��ǿ, �����.ʱ�䴥��CAN����ʵʱ�Է�������������[J]  �������պ����ѧѧ��, 2012,V(2): 222-227
Xia Jiqiang, Xue Liqiang, Man Qingfeng.Real-time analysis and assessment method of time-triggered CAN-bus[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2012,V(2): 222-227
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http://bhxb.buaa.edu.cn//CN/     ��     http://bhxb.buaa.edu.cn//CN/Y2012/V/I2/222
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