基于CANbus的分布式实时系统仿真平台

分布式实时系统的理论分析沿用了实时任务调度理论中的结果，但在分布式实时系统中，为了满足系统中事务的实时性要求，不仅要合理分配每个结点中的任务的优先级，而且还要考虑网络数据帧的优先级。在对分布式实时系统进行研究中，软件的模拟忽略了实际中的不确定性，因此有局限性。本文着重介绍基于CAN总线的分布式实时系统仿真平台，包括其硬件和软件，并且介绍了一个利用此仿真平台所作的关于节点之间时钟差异的仿真实例。

Simulation Platform of Distributed Real Time Systems Based on CANbus

The theoretical analysis in the distributed real time systems uses the results from the real time scheduling theory. To satisfy the timing requirements, the distributed real time systems, need to not only assign proper priorities to the tasks running in a single processor, but also concern with the time consumptions in the data communication links. For improving research to meet with the realistic world, we design a simulation system based on CANbus, which is composed of six CANbus nodes and the relevant software for recording and processing data, and a simulation instance is presented, in which the differences between the realistic situation and the usual assumptions about timing issue are shown.