A new error handling algorithm for controller area network in networked control system

A new error handling algorithm for controller area network in networked control system

•Modeling of task and error model per sample in controller area network (CAN).•Per-sample-error-counter (PSeC) method is proposed to replace native error handling of CAN.•Online error counter for sensor and control data is used to parameterize optimized sample time of NCS applied to control closed l...

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Bibliographic Details
Published in:Computers in industry Vol. 64; no. 8; pp. 984 - 997
Main Authors: Shah, M.B. Nor, Husain, A.R., Punekkat, S., Dobrin, R.S.
Format: Journal Article
Language:English
Published: Kidlington Elsevier B.V 01-10-2013
Elsevier
Elsevier Sequoia S.A
Subjects:
Adaptative systems
Algorithms
Applied sciences
Bandwidths
Computer science; control theory; systems
Computer systems and distributed systems. User interface
Control theory. Systems
Controller area network (CAN)
Controllers
Data transmission
Dynamical systems
Error analysis
Error handling
Exact sciences and technology
Fundamental areas of phenomenology (including applications)
Network control system
Physics
Process control. Computer integrated manufacturing
Software
Solid dynamics (ballistics, collision, multibody system, stabilization...)
Solid mechanics
Studies
Network control system
Error handling
Controller area network (CAN)
Stability
Data handling
Measurement sensor
Transmission protocol
Feedback regulation
Data transmission
Dynamical system
Communication network
Local network
Upper bound
Burst error
Mechanism synthesis
Bandwidth
Distributed control
Robustness
Error correction
Reliability
Simulator
Counting
Transmission error
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Description
Summary:•Modeling of task and error model per sample in controller area network (CAN).•Per-sample-error-counter (PSeC) method is proposed to replace native error handling of CAN.•Online error counter for sensor and control data is used to parameterize optimized sample time of NCS applied to control closed loop dynamic system.•Algorithm is verified on linear 4th order system with superior performance. An effective error handling mechanism plays an important role to ensure the reliability and robustness of the application of controller area network (CAN) in controlling dynamic systems. This paper addresses a new online error handling approach or named per-sample-error-counting (PSeC) technique that tends to replace native error handling protocol in controller area network (CAN). The mechanism is designed to manage transmission errors of both sensor and control data in networked control system (NCS) used in controlling dynamic system such that the stability of the feedback system is preserved. A new parameter denoted as maximum allowable number of error burst (MAEB) is introduced in which MAEB is selected based on available bandwidth of the CAN network. MAEB serves as the maximum number of attempt of re-transmission of erroneous data per sample which allows the maximum transmission period to be known and guaranteed for time-critical control system. The efficacy of the proposed method is verified by applying the algorithm on the fourth order inverted pendulum system simulated on Matlab/Truetime simulator and the performance is benchmarked with the existing CAN error management protocol. The simulation run under various systems conditions demonstrate that the proposed method results in superior system performance in handling data transmission error as well as meeting control system requirement.
ISSN:0166-3615
1872-6194
1872-6194
DOI:10.1016/j.compind.2013.05.008