TTCAN协议静态调度算法的研究与仿真
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摘要
TTCAN协议在CAN协议基础之上将事件触发机制与实时性更高的时间触发机制相结合,提高了网络实时性,满足对安全性要求苛刻的实时系统以及总线日益增长的信息负载的需求。CAN总线技术的研究为TTCAN协议总线技术研究奠定了很好的软硬件基础。
文章介绍了TTCAN协议较CAN协议的改进、协议的基本要素及调度算法的研究现状。针对TTCAN协议调度算法研究不足的现状,以汽车控制系统为应用实例,首先结合遗传算法和一维装箱算法对TTCAN协议的静态调度表进行了研究和改进。其次为了克服静态调度算法在实际应用中灵活性差的问题,通过在线生成矩阵周期的方法实现了TTCAN协议的动态调度算法。最后利用Matlab中的Stateflow工具对该算法进行仿真研究,并按照ISO11898—4标准的要求,利用现有的硬件资源,搭建TTCAN网络通信的硬件平台。
仿真结果较好的验证了TTCAN协议在通信实时性和带宽利用率方面的优势,并且有效的提高了在实际应用中的灵活性。仿真模型的成功建立为TTCAN协议应用在通信可靠性要求较高的硬实时通讯环境中提供了重要的参考价值。
Based on the CAN protocol, TTCAN protocol combines event-triggered with time-triggered which improves the real-time performance of the network and makes the communication meet the demand of security critical real-time system and the increasing bus load;At the same time, the research on CAN makes good software and hardware environment for TTCAN.
This paper introduces the improvements of the protocol TTCAN than CAN, the basic elements of the protocol and the research condition of scheduling algorithm. In order to deal with the insufficient research condition of TTCAN scheduling algorithm, as an example in automobile control system, firstly, combined with the characteristics of one-dimensional packing algorithm and genetic algorithm, the TTCAN static scheduling of the table were studied and improved.Secondly,in order to overcome the poor flexibility that the static scheduling algorithm used in the practical application, carry out TTCAN dynamic scheduling algorithm through creating matrix cycle online. Finally, the simulation model of the scheduling algorithm is implemented in the state flow tools of Matlab. And according to ISO11898-4, makes use of the existing hardware resources, and then structures the hardware platforms of the TTCAN communication network.
The simulation results prove that the algorithm of TTCAN has the advantage of real-time transmission of signal and bandwidth utilization ratio, and also enhance the flexibility of practical application effectively. The successful establishment of simulation model provides an important reference value for TTCAN protocol which is applied in the hard real-time communication environment requiring higher communication reliability.
文章介绍了TTCAN协议较CAN协议的改进、协议的基本要素及调度算法的研究现状。针对TTCAN协议调度算法研究不足的现状,以汽车控制系统为应用实例,首先结合遗传算法和一维装箱算法对TTCAN协议的静态调度表进行了研究和改进。其次为了克服静态调度算法在实际应用中灵活性差的问题,通过在线生成矩阵周期的方法实现了TTCAN协议的动态调度算法。最后利用Matlab中的Stateflow工具对该算法进行仿真研究,并按照ISO11898—4标准的要求,利用现有的硬件资源,搭建TTCAN网络通信的硬件平台。
仿真结果较好的验证了TTCAN协议在通信实时性和带宽利用率方面的优势,并且有效的提高了在实际应用中的灵活性。仿真模型的成功建立为TTCAN协议应用在通信可靠性要求较高的硬实时通讯环境中提供了重要的参考价值。
Based on the CAN protocol, TTCAN protocol combines event-triggered with time-triggered which improves the real-time performance of the network and makes the communication meet the demand of security critical real-time system and the increasing bus load;At the same time, the research on CAN makes good software and hardware environment for TTCAN.
This paper introduces the improvements of the protocol TTCAN than CAN, the basic elements of the protocol and the research condition of scheduling algorithm. In order to deal with the insufficient research condition of TTCAN scheduling algorithm, as an example in automobile control system, firstly, combined with the characteristics of one-dimensional packing algorithm and genetic algorithm, the TTCAN static scheduling of the table were studied and improved.Secondly,in order to overcome the poor flexibility that the static scheduling algorithm used in the practical application, carry out TTCAN dynamic scheduling algorithm through creating matrix cycle online. Finally, the simulation model of the scheduling algorithm is implemented in the state flow tools of Matlab. And according to ISO11898-4, makes use of the existing hardware resources, and then structures the hardware platforms of the TTCAN communication network.
The simulation results prove that the algorithm of TTCAN has the advantage of real-time transmission of signal and bandwidth utilization ratio, and also enhance the flexibility of practical application effectively. The successful establishment of simulation model provides an important reference value for TTCAN protocol which is applied in the hard real-time communication environment requiring higher communication reliability.
引文
[1]刘鲁源,李芳,吕伟杰.TTCAN协议的分析与展望[J].天津理工大学学报,2005,21(3):15-18
[2]Fuhrer T,Muller B,Dieterle W.Time-Triggered Communication on CAN[R],Amsterdam Netherlands,2000:24-25
[3]Roman Obermaisser Member,IEEE.CAN Emulation in a Time-Triggered Environment[R].Institute for Technical Information,TU Vienna,Australia.2004
[4]Lawrenz W.CAN system engineering from theory to practical application[M].NewYork:Spring-Verlag,1997
[5]Livani M,Kaiser J,Jia M.Scheduling hard and soft real-time communication in the controller area network[J].Control Engineering,1999,7(12):1515-1523
[6]Tindell K,BurnsA.Calculating controller area network(CAN)message response times[J].Controller Engineering Practice,1995,3(8):1163-1169
[7]王欢.电动汽车TFCAN总线技术研究[D].北京:中国科学院研究生院,2007
[8]ISO 11898-4,Road Vehicles-Controller Area Network:Time triggered communication[S]
[9]王庆祥,陈家琪.利用遗传算法优TTCAN网络的时间调度矩阵周期[J].北京:航空计算技术,2004,34(1):24-27
[10]朱智林,刘晓华.TTCAN周期性任务的优化调度算法[J].兰州大学学报(自然科学版),2005,73-76
[11]史久根,张陪仁,陈真勇.CAN现场总线系统设计技术[M].北京:国防工业出版社,2004,21-22
[12]沈君,方凯.在CAN中植入时间触发机制的研究[J].汽车工程,2006,379-382
[13]饶运涛,邹继军,王进宏.现场总线CAN原理与应用技术[M].北京:北京航空航天大学出版社,2007:430-431
[14]周震,杨正林.时间触发CAN--TTCAN[J].汽车电器,2005:3-7
[15]王欢,王立芳.TTCAN通信网络实时性分析[J].高技术通信,2006,16(8):830-833
[16]史久根,张培仁.CAN总线在实时系统中应用的研究[J].中国科学技术大学学报,2005,195-201
[17]Seung Ho Hong.Scheduling algorithm of data sampling times in the integrated communication and control systems[J].Control Systems Technology,1995,3(2):225-230.
[18]朱智林,时晨,韩俊刚.周期性任务调度的装箱算法[J].计算机应用,2005.26(3):679-680
[19]周贤周.时间触发系统(TFCAN)的设计以及在智能压路机上的应用[D].上海:同济大学,2007
[20]邬宽明.CAN总线原理和应用系统殴计[M].北京:北京航空航天大学出版社,2001:18-19
[21]阳宪惠.现场总线技术及其应用[M].北京:清华大学出版社,1999:309-310
[22]宋国民,欧阳明高.TTCAN系统及其在分布式车辆网络中的应用[J].汽车工程,2005:665-669
[23]吕伟杰,刘鲁源.CAN总线时间触发机制的实现[J].中国工程科学,2005:40-43
[24]夏泽中,雷志雄.基于CAN总线的时间触发分布控制系统的设计[J].仪表技术,2005:22-23
[25]张广斌,方凯.电动汽车网络协议应用的研究.微计算机信息,2005:111-115
[26]牛德青,岳曾敬.时间触发的CAN协议[J].兵工自动化,2005:44-46
[27]邬宽明.CAN总线原理和应用系统设计[M].北京航空航天大学出版社,2001:18-19
[28]冯谦,郭万林.CAN总线的时间触发调度方法设计及实验研究[J].信息与控制,2005:209-213
[29]王庆祥,陈家琪.TTCAN系统及其在分布式车辆网络中的应用[J].汽车工程,2005:665-669
[30]刘鲁源,万仁君,李斌.TTCAN调度算法及其在汽车控制系统中的应用[J].控制与决策,2005:60-63
[31]G.Leen,D.Heffemanb.TFCAN a new time-triggered controller area network[J].Microprocessors and Microsystems.2002,77-94
[32]周亦敏,张生.TTCAN协议软件仿真模型的建立与实现.计算机仿真,2005:159-163
[33]孟庆栋.MCP2515在TFCAN协议Level 1节点中应用[J].汽车电子,2007,203-204
[34]吴旭光,唐苗.基于TTCAN和NCS的鱼雷制导系统结构.西北工业大学学报,2005:750-753
[2]Fuhrer T,Muller B,Dieterle W.Time-Triggered Communication on CAN[R],Amsterdam Netherlands,2000:24-25
[3]Roman Obermaisser Member,IEEE.CAN Emulation in a Time-Triggered Environment[R].Institute for Technical Information,TU Vienna,Australia.2004
[4]Lawrenz W.CAN system engineering from theory to practical application[M].NewYork:Spring-Verlag,1997
[5]Livani M,Kaiser J,Jia M.Scheduling hard and soft real-time communication in the controller area network[J].Control Engineering,1999,7(12):1515-1523
[6]Tindell K,BurnsA.Calculating controller area network(CAN)message response times[J].Controller Engineering Practice,1995,3(8):1163-1169
[7]王欢.电动汽车TFCAN总线技术研究[D].北京:中国科学院研究生院,2007
[8]ISO 11898-4,Road Vehicles-Controller Area Network:Time triggered communication[S]
[9]王庆祥,陈家琪.利用遗传算法优TTCAN网络的时间调度矩阵周期[J].北京:航空计算技术,2004,34(1):24-27
[10]朱智林,刘晓华.TTCAN周期性任务的优化调度算法[J].兰州大学学报(自然科学版),2005,73-76
[11]史久根,张陪仁,陈真勇.CAN现场总线系统设计技术[M].北京:国防工业出版社,2004,21-22
[12]沈君,方凯.在CAN中植入时间触发机制的研究[J].汽车工程,2006,379-382
[13]饶运涛,邹继军,王进宏.现场总线CAN原理与应用技术[M].北京:北京航空航天大学出版社,2007:430-431
[14]周震,杨正林.时间触发CAN--TTCAN[J].汽车电器,2005:3-7
[15]王欢,王立芳.TTCAN通信网络实时性分析[J].高技术通信,2006,16(8):830-833
[16]史久根,张培仁.CAN总线在实时系统中应用的研究[J].中国科学技术大学学报,2005,195-201
[17]Seung Ho Hong.Scheduling algorithm of data sampling times in the integrated communication and control systems[J].Control Systems Technology,1995,3(2):225-230.
[18]朱智林,时晨,韩俊刚.周期性任务调度的装箱算法[J].计算机应用,2005.26(3):679-680
[19]周贤周.时间触发系统(TFCAN)的设计以及在智能压路机上的应用[D].上海:同济大学,2007
[20]邬宽明.CAN总线原理和应用系统殴计[M].北京:北京航空航天大学出版社,2001:18-19
[21]阳宪惠.现场总线技术及其应用[M].北京:清华大学出版社,1999:309-310
[22]宋国民,欧阳明高.TTCAN系统及其在分布式车辆网络中的应用[J].汽车工程,2005:665-669
[23]吕伟杰,刘鲁源.CAN总线时间触发机制的实现[J].中国工程科学,2005:40-43
[24]夏泽中,雷志雄.基于CAN总线的时间触发分布控制系统的设计[J].仪表技术,2005:22-23
[25]张广斌,方凯.电动汽车网络协议应用的研究.微计算机信息,2005:111-115
[26]牛德青,岳曾敬.时间触发的CAN协议[J].兵工自动化,2005:44-46
[27]邬宽明.CAN总线原理和应用系统设计[M].北京航空航天大学出版社,2001:18-19
[28]冯谦,郭万林.CAN总线的时间触发调度方法设计及实验研究[J].信息与控制,2005:209-213
[29]王庆祥,陈家琪.TTCAN系统及其在分布式车辆网络中的应用[J].汽车工程,2005:665-669
[30]刘鲁源,万仁君,李斌.TTCAN调度算法及其在汽车控制系统中的应用[J].控制与决策,2005:60-63
[31]G.Leen,D.Heffemanb.TFCAN a new time-triggered controller area network[J].Microprocessors and Microsystems.2002,77-94
[32]周亦敏,张生.TTCAN协议软件仿真模型的建立与实现.计算机仿真,2005:159-163
[33]孟庆栋.MCP2515在TFCAN协议Level 1节点中应用[J].汽车电子,2007,203-204
[34]吴旭光,唐苗.基于TTCAN和NCS的鱼雷制导系统结构.西北工业大学学报,2005:750-753