Response-time analysis of a CAN network used for supervisory control and diagnostic systems

• Autorzy: Werewka J. , Dach M.
• Języki publikacji: EN

Abstrakty

EN

This paper refers to construction methods of Supervisory Control and Diagnostic Systems (SCDS) based on a CAN bus. Emphasis is put on the construction of such systems. Meeting real time constraints has become one of major aspects of this elaboration. The study enumerates possibilities of using various communication mechanisms of CAN, applicable for real-time systems. Proposed solutions are especially suitable for general-purpose SCDS. Principles of real-time analysis for CAN bus based systems are discussed as well. An example of SCDS implementation for a Swiss Light Source (SLS) large scale accelerator project is given. Time analysis is made for the constructed system with real-time conditions met. Experiments performed in the SLS confirm the results of the analysis.

Słowa kluczowe

EN

real-time systems; scheduling; distributed systems; fieldbus; real time analysis; CAN; CANopen

• Wydawca: Systems Research Institute, Polish Academy of Sciences
• Czasopismo: Control and Cybernetics
• Rocznik: 2010
• Tom: Vol. 39, no 4
• Strony: 1135--1157
• Opis fizyczny: Bibliogr. 28 poz., rys.

Twórcy

autor

Werewka J.

autor

Dach M.

• AGH University of Science and Technology Departament of Automatics, Computer Science Laboratory Kraków, Poland,

Bibliografia

• CANopen Application Layer and Communication Profile (2000) CiA (Can in Automation) Draft Standard 301, www.can-cia.org.
• CAN Specification (1991) Version 2.0. Robert Bosch GmbH, Stuttgart 1991, www.semiconductors.bosch.de.
• CAVALIERI, S. (2005) Meeting Real-Time Constraints in CAN. IEEE Trans, on Ind. Informatics 1 (3), 124-135.
• CLOUTIER, P. (2000) DIAPM-RTAI Position Paper. Dipartamento di Ingegneria Aerospaziale, Politecnico di Milano.
• DACH, M. (2004) Construction Issues of the Supervisory Control and Diagnostic Real-Time Systems Based on CAN Bus. PhD thesis. AGH University of Technology, Kraków.
• DACH, M., KORHONEN, T. and PAL, T. (2003) Interfacing Canbus to EPICS at the Swiss Light Source. Proceedings of ICALEPPS2003, Gyeongju, Korea, 506-508.
• DACH, M. and WEREWKA, J. (2008) Accelerator’s Supervisory Control System Based on CANbus. Archives of Control Sciences 18 (LIV) (3), 357-383.
• DAVIS, R.I., BURNS, A., BRIL, R.J. and LUKKIEN, J.L. (2007) Controller Area Network (CAN) schedulability analysis: Refuted, revisited and revised. Real Time Syst. 35, 239-272.
• KLEIN, M.H., LEHOCZKY, L.P. and RAJKUMAR, R. (1994) Rate-Monotonic Analysis for Real-Time Industrial Computing. Computer 27 (1), 24-33.
• LIU, L. and LAYLAND, J. (1973) Scheduling algorithms for multiprograming in a hard real-time environment. J. Assoc. Comput. Mach. 20 (1), 46-61.
• MEINERT, G. 1995 Openness for Automation Networks. InTech 42 (10), 29-32.
• NOLTE, T. (2003) Reducing Pessimism and Increasing Flexibility in the Controller Area Network. Malardalen Real-Time Research Centre, Department of Computer Engineering, Malardalen University, Vasteras Sweden http://www.mrtc.mdh.se.
• NOLTE, T., NOLIN, M. and HANSSON, H. (2005) Real-Time Server-Based Communication with CAN. IEEE Trans, on Ind. Informatics I (3), 192-201.
• NOLTE, T., SJODIN, M. and HANSSON, H. (2003) Server-Based Scheduling of the CAN Bus. Proc. 9th IEEE Conf. Emerging Technologies and Factory Automation (EFTA’03), Lisbon Portugal, Sep. 169-176.
• PEDREIRAS, P. and ALMEIDA, L. (2000) A Practical Approach to EDF Scheduling on Controller Area Network. IEEE Workshop, Porto, Portugal.
• PFEIFFER, O. (1994) Feldbusse CAN, InterBus-S und PROFIBUS. Design & Elektronik 24.
• RTAI - the Real Time Application Interface for Linux from DIAPM (2006) Dipartamento di Ingegneria Aerospaziale Politecnico di Milano, official website www.rtai.org.
• SHA, L., RAJKUMAR, R. and SATHAYE, S. (1994) Generalized Rate-Monotonic Scheduling Theory: A Framework for Developing Real Time Systems. Proc. of the IEEE 82 (1), 68-82.
• SINITEAN, R.F. (1996) Controller Area Network. MET DST 1996.
• Synchrotron Lichtquelle Schweiz SLS. (1999) PSI Publishers, Villigen, www.sls.web.psi.ch.
• THOMESSE, J.-P. (2005) Fieldbus Technology in Industrial Automation. Proceedings of the IEEE 93 (6), 1073-1101.
• TINDEL, K.W. and BURNS, A. (1994) Guaranteed Message Latencies for Distributed Safety-Critical Hard Real-Time Control Networks. Technical Report YCS 229, University of York, England.
• TINDEL, K.W., BURNS, A. and WELLINGS, A.J. (1995) Calculating Controller Area Network (CAN) Message Response Times. Control Engineering Practice 3 (8), 1163-1169.
• TINDEL, K.W., HANSSON, H. and WELLINGS, A.J. (1994) Analysing Real-Time Communications: Controller Area Network (CAN). Proceedings of 15th IEEE Real-Time Systems Symposium. Puerto Rico 1994, 259-263.
• WEREWKA, J. and SZMUC, T., eds. (2001) Analysis and Design of Real-Time Computer systems (in Polish). PTI, Krakow.
• VME(1992) VXI, Futurebus+ compatible products directory. VITA, VFEA, International Trade Association.
• ZUBERI, K.M. and SHIN, K.G. (1996) Real-Time Decentralized Control with CAN. IEEE Conference on Emerging Technologies and Factory Automation. EFTA 96, 1, 93-99.
• ZUBERI, K.M. and SHIN, K.G. (1995) Non-Preemptive Scheduling of Messages on Controller Area Network for Real-Time Control Applications. Proc. 1st IEEE Real Time Technology and Application Symposium (RTAS ‘95), Chicago, 240-249 .