摘要
分析了CAN总线的最差消息传输模型,提出了一种固定优先级调度算法;针对系统控制实时性的要求及特点,对6自由度平台系统的消息进行调度。实际使用证明,该方法改善了6自由度平台的整体控制性能,提高了网络利用率,消息的截止期得到满足。
Message model in the worst-case for CAN bus is analyzed and a schedule algorithm based on fixed priority is proposed. According to the requirement and characteristic of the real control system, messages which are transferred in the six degree of freedom system are scheduled with the fixed priority algorithm. Through experiments, it is proved that the algorithm improves the performance of the six degree of freedom system and the networks utilization. It is also proved that the messages deadline is satisfied.
出处
《计算机工程》
EI
CAS
CSCD
北大核心
2006年第23期94-96,共3页
Computer Engineering
关键词
CAN总线
固定优先级调度算法
6自由度平台
CAN bus
Fixed priority schedule algorithm（FPA）
Six degree of freedom platform
