姜春宇，金江善，王君惠，丁琦楠，韩琳，秦慈伟.船用柴油机冗余CANopen过程数据对象可调度性与一致性问题研究[J].内燃机工程,2019,40(4):78-84.
船用柴油机冗余CANopen过程数据对象可调度性与一致性问题研究
Research on the Schedulability and Consistency of Redundant CANopen's Process Date Object of a Marine Diesel Engine
DOI：10.13949/j.cnki.nrjgc.2019.04.012
关键词:冗余CANopen  可调度性  一致性  过程数据对象  最大延迟时间  时间窗
Key Words:redundant CANopen  schedulability  consistency  process data object(PDO)  max delay time  time window
基金项目:
作者单位
姜春宇，金江善，王君惠，丁琦楠，韩琳，秦慈伟 1.中国船舶重工集团公司第七一一研究所，上海 201108； 2.船舶与海洋工程动力系统国家工程实验室，上海 201108 
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摘要:针对热冗余通讯在增加船用柴油机电子管理系统通讯可靠性时，默认及冗余总线在不同的抖动下存在数据接收方无法接收两路CAN总线报文的问题，提出以时间戳报文统一系统内所有节点的时间信息，以（X+n）/Y×TInhibit的偏移量作为异步通讯周期发送的起始时间，以（X+n）/Y×TInhibit为时间窗长度，将所有过程数据对象（PDOs）放入不同的时间窗内发送，降低瞬时负荷率，增强可调度性；提出最大延迟时间检测方法，提高两路数据的一致性。通过试验对比冗余CANopen的两种传输模式，结果表明，该方法能有效提高数据的可调度性和一致性。
Abstract:For the problem that the default and redundant CAN bus in the hot redundant communication used to improve the reliability of a marine diesel electronic management system couldn’t make the data receiver receive two channel CAN bus messages under different jitters, it was proposed to unify the time information of all nodes in the system according to the timestamp messages, then use the offset of (X+n)/Y×TInhibit as the start time of asynchronous communication cycle, and send all the process data objects after placing them in different window periods of (X+n)/Y×TInhibit in order to reduce the instantaneous load rate and enhance the schedualability. Moreover, the “maximum delay time” detection method was proposed to improve the consistency of two channel data. A comparison of two transmission modes of the redundant CANopen shows that the above mentioned method can effectively improve the schedulability and consistency of data.
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