A New Experimental Platform for Networked Control Systems based on CAN and Switched-Ethernet

摘要

In this study, a new experimental platform is designed and implemented to verify theoretical results of Networked Control Systems (NCS), in which three types of data (control, video, ftp/web) and two classes of network (CAN and switched-Ethernet) are considered. The main functions of a powerful NCS experimental platform, such as scheduling, high-accurate timer, flexible algorithm-embedding, multi-communicative protocol, multi-control structure and friend-interface have been carried out. The advantage and efficiency of the experimental platform are demonstrated by three contrasting experimental results, which include those relations between MEF (maximum error first) scheduling and FP (fixed priority) scheduling, timing sampling mode and jittering sampling mode, as well as direct control mode and supervisory control mode.