Communications jitter influence on control loops using protocols for distributed real-time systems on can bus

Abstract: The paper focuses on the behaviour of distributed control loops affected by the jitter derived from the communication latencies of CAN. The work uses a hybrid communication protocol between a pure TTP (Time Triggered Protocol) and ETP (Event Triggered Protocol), a reasonable choice for distributed real-time systems, as a reactive mobile robot. This hybrid protocol shares the time-slots to reduce the jitter ef-fects. This guarantees fixed transmissions latencies for periodic messages, allowing also sporadic messages transmission, as is the case of alarms, or in long data blocks, by means of using shared TTP slots. The protocol assigns private time slots for real-time messages, and shared time slots for non real-time messages. Also, the protocol uses only a simple and static table. The implementation is validated by means of a quantitative comparison, using the data obtained from a simulation of a typical distrib-uted control system consisting of an industrial process and a remote controller forming a closed control loop that uses CAN as its communication channel. In the simulation, the effect of the jitter introduced into the control loop is measured for the above men-tioned communication protocols, and the obtained results from this simulation are also discussed