# Home > Communications-Protocols > Controller Area Network CAN

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**Topic under **Controller Area Network CAN

**Source:** www.scielo.br

**File size:** **355.79 KB**

**File type:** **pdf**

**Last download on:**
Sun Jan 15, 2017 12:34:28 AM

__Short Desciption__:

1Recent applications of distributed control systems demonstrate a new approach for the use of industrial networks. In this approach,called Networked Control Systems (NCS), the controller and the plant are physically separated and connected through a communication network (Yang, 2006). Network control systems can replace the traditional centralized and point-to-point control systems
and provide several benefits such as reduced amount of wiring,increased reliability, improved capacity for system reconfiguration and ease of maintenance (Moyne and Tilbury, 2007).

__Summary__:

A current trend in distributed control systems is the application of communication network
technologies such as CAN – Controller Area Network. A recent utilization approach of
these technologies is the networked control systems (NCS). The fundamental challenges in
the development of NCS are the analysis of the network delay effects and the prediction of
the timing behavior of the distributed control system. The common parameters that impact
the performance of NCS include response time, network utilization and network delays
induced by the communication of messages between the devices. In addition, the
performance of a NCS is highly dependent on these messages sampling times. A significant
emphasis has been put on development and application of methodologies to handle the
network delay effect in these systems and improve their performances. This paper presents
a detailed timing analysis and a mathematical model to calculate these network delays in
CAN-based networks. With the results of this model, the application of a methodology is
proposed to minimize the effects of these delays and to achieve the optimization (network
operation and utilization) of a CAN-based network. A case study of a CAN-based
distributed control system in a mobile robot is described to demonstrate the application of
the optimization methodology and the utilization of the CAN mathematical model
systemized.
Keywords: CAN protocol, mathematical model, network time delays, optimization
methodology

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