网络化无人水下航行器CAN总线调度方法

传感器时间驱动,控制器和执行器均为事件驱动的网络控制系统节点驱动方式,已在众多的网络控制系统研究中被采用。在此种节点驱动方式下,依据各控制回路传感信息的不同时间性质将网络化无人水下航行器各控制回路划分为周期性控制回路和随机性控制回路来进行处理。采用时分复用原理对系统总线传输时间进行划分,通过递归遍历寻优方法对系统周期性控制回路信息传输需求进行优化调度;基本周期最小时间余量最大的寻优指标确保了总线负载均衡和随机性控制回路信息传输需求得到及时满足,这样有效地减少了低优先级控制回路(节点)信息传输的延迟等待时间。利用M ATLAB/T uretim e工具进行仿真试验,仿真结果说明了调度方法的有效性。

Research on the Scheduling Algorithm for CAN Bus Used in Networked Unmanned Underwater Vehicle

’Clock-driven sensors,event-driven controllers and actuators’ are all Node driven mode in Networked Control Systems(NCSs),which has been widely used in many studies of the NCSs.Scheduling algorithm for CAN bus in Networked unmanned underwater vehicle with above node driven mode is considered in the paper.According to the different time characteristics of sensors information in every control loop,all control loops in networked unmanned underwater vehicle are divided into periodic control loops and stochastic control loops.The bus transmitting time is divided on the basis of the principle of Time Division Multiplexing(TDM),and information transmitting requirements in periodic control loops are scheduled with recursive traversal optimization method.The optimization target that maximized the minimum of remaining time in all basic periods has ensured the load balance of the CAN bus,and also helped to satisfy the information transmitting requirements in stochastic control loop,and reduced the information transmitting delay for control loops and nodes with lower priority.The simulation system is built by using MATLAB/Turetime toolbox,and simulation results illustrate the effectiveness of the proposed scheduling algorithm.