Message response time distribution analysis for Controller Area Network containing errors

Controller Area Network (CAN) is a widely used fieldbus protocol in various industrial applications. In order to understand the network behaviors under errors for optimal design of the networked control systems, the messages response time (MRT) of the CAN nodes need to be analyzed. This paper presents a novel analysis method to estimate the MRT delay distribution for CAN networks that operating on polling communication mode. Firstly, the MRT distribution of single slave node is analyzed based on given error distribution, then the preliminary analysis result on the multiple nodes scenario is introduced by decomposing complex traffic event sequence into the single node cases. Experiments are conducted to demonstrate the proposed the method, and the results show that the MRT distributions obtained by using proposed method agree well with the actual observations.