多回路网络化控制系统中采样周期的优化算法研究

研究了具有多个控制回路的网络化控制系统中采样周期的优化确定算法．采用将基本周期划分为时间段的方法，取各控制回路的采样周期为基本周期的2的阶次方倍且不大于相应回路的最大允许网络时延．通过对系统的可调度性进行分析，能够优化确定出各控制回路的采样周期，并且保证实时性周期数据和实时性非周期数据的实时传输以及非实时数据的最小利用率．基于CAN总线控制网络的仿真结果表明了本算法的有效性．

An Optimization Algorithm for Sampling Period in Multi-loop Networked Control Systems

The optimization algorithm for sampling period in multi-loop networked control systems is studied. The basic sampling period is divided into different segments; the sampling period of each loop is adjusted as the multipies of the basic sampling period in the order of 2 and should not exceed the maximum allowable delay bound in the corresponding loop. The system scheduling condition is analyzed and the optimal sampling period of each loop can be optimally determined. The presented, algorithm can realize real-time transmission of the real time periodic and sporadic data, and can minimize the utilization of non-real time message. A simulation example of a networked control system based on the CAN bus illustrates the effectiveness of the presented algorithm.