CAN 기반 분산 제어시스템의 종단 간 지연 시간 분석과 온라인 글로벌 클럭 동기화 알고리즘 개발

End-to-end Delay Analysis and On-line Global Clock Synchronization Algorithm for CAN-based Distributed Control Systems

In this paper, the analysis of practical end-to-end delay in worst case is performed for distributed control system considering the implementation of the system. The control system delay is composed of the delay caused by multi-task scheduling of operating system, the delay caused by network communication, and the delay caused by the asynchronous between them. Through simulation tests based on CAN(Controller Area Network), the proposed end-to-end delay in worst case is validated. Additionally, online clock synchronization algorithm is proposed here for the control system. Through another simulation test, the online algorithm is proved to have better performance than offline one in the view of network bandwidth utilization.