Design and scheduling of networked control systems based on CAN bus

According to the real time characteristics of networked control systems, a typical system architecture based on CAN network is proposed. Software and hardware architectures are implemented. In terms of priority scheduling theory, dynamic priority scheduling strategies is researched. Moreover, a new dynamic priority scheduling of CAN messages is proposed. Response time and network payload under static and dynamic priority scheduling are compared. The test results show that design and scheduling methods based networked control systems can efficiently improve the flexibility of system and guarantee the real-time performance of system.