It is quite evident that busses with time-triggered operation modes like TTCAN and FlexRay will play a major role in the future. The use of time-triggered communication strongly influences the time behaviour of the distributed control system and thus also the design and the performance of such systems. This paper outlines some properties of control systems with distributed architecture. Especially the different origins of latencies and jitter in the corresponding communication process and calculation procedure are described. Furthermore, the schedule in a time-triggered architecture is discussed. The resulting latency in this environment is constant as long as all parts of the distributed control system are synchronized to a giobal time base. Delays in a control application almost always decrease the control performance - unless counteractive measures are taken. In addition two model based methods and a procedure for a modell free parameter adjustment to prevent negative latency effects are presented. In case of a digital control the constant latency can be modelled in an extended state space representation, This allows the well known standard application of a state controller. This method is used to control the laboratory plant 'Floating Ball1. The distributed control architecture is established by a TTCAN communication. Finally, some experimental results are given.
Control design in systems with time-triggered communication like TTCAN and FlexRay
Regelungsentwurf in Systemen mit zeitgetriggerter Kommunikation wie TTCAN und FlexRay
Embedded World Conference, 2005 ; 50-61
2005
12 Seiten, 12 Bilder, 17 Quellen
Conference paper
English
TTCAN: Time Triggered Communication on CAN
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