面向安全关键系统的CAN总线应用研究综述

摘要

控制器局域网适合小型安全关键系统的现场总线控制要求,能够以最大1 Mbps速率发送和接收实时短消息.分析了CAN总线的结构、特点、协议仲裁机制、接口设计方法、实时特性和错误处理机制.为了支持任务关键网络,比较了事件触发协议与时间触发协议的特性,讨论了时间触发CAN协议的研究进展.%Controller area network (CAN) is a field-bus network suitable for small-scale safety critical systems (SCS), being appropriate for sending and receiving short real-time messages at speeds up to 1 Mbps.This paper gave a survey of bus structure, protocol arbitration, real-time characteristics of CAN, studied on how to guarantee the real-time requirements of CAN messages and process the bus errors.It compared the event-triggered protocol with time-triggered protocol for mission critical networks, discussed the research contents of time-triggered controller area network protocol.