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    • 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
    Key Words:redundant CANopen  schedulability  consistency  process data object(PDO)  max delay time  time window
    Author NameAffiliation
    JIANG Chunyu , JIN Jiangshan, WANG Junhui, DING Qinan, HAN Lin, QIN Ciwei 1.Shanghai Marine Diesel Engine Research Institute, Shanghai 201108, China
     2.National Engineering Laboratory for Marine and Ocean Engineering Power System, Shanghai 201108, China 
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    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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