为解决CAN网络化运动控制系统中静态带宽分配算法无法有效利用有限带宽资源的问题,基于反馈控制原理提出了两种动态带宽分配算法.首先,根据网络实际情况和控制需求,通过调整采样周期来实现带宽的按需分配,但采样周期的大幅度波动可能会造成系统失稳和资源过度消耗等问题,为此,通过预设3种采样周期,在3种采样周期间切换以实现带宽动态分配.仿真结果表明,该动态带宽分配算法的性能明显优于固定带宽分配算法.

As the existing static bandwidth allocation algorithms cannot effectively utilize the limited bandwidth in networked motion control systems based on CAN,two dynamic bandwidth allocation algorithms based on feedback control are proposed.In these algorithms,bandwidth is reasonably allocated in accordance with the actual network state and control requirements through adjusting the sampling period.Moreover,as the wide fluctuation of sampling period may result in system instability and excessive resource consumption,three typical sampling periods are preset to realize the bandwidth allocation by switching.Simulated results show that the proposed dynamic bandwidth allocation algorithm is superior to the fixed one.