Real-time communication protocol for CAN based on node transfer

According to the different demand on realtime of periodic and non-periodic data, the improved real time communication protocol CSMA/NT is presented with node transfer based on non-destroyed priority bit-by-bit arbitration. The performance analysis shows that it decreases the probability of data collision effectively, ensures a limited transmission time and makes maximum delay time adjustable, leads a highly-channel-utilized, and solves the problem of non-determined improves the real-time of the data communication. The paper describes the realtime protocol transmission delay.