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ÇѱÛÁ¦¸ñ(Korean Title) |
CANopen ³×Æ®¿öÅ© ÀÌ¿ë·ü °¨¼Ò¸¦ À§ÇÑ PDO ÆÐÅ· ¸ÞÄ¿´ÏÁò |
¿µ¹®Á¦¸ñ(English Title) |
PDO Packing Mechanism for Reducing CANopen Network Utilization |
ÀúÀÚ(Author) |
°¹Î±¸
¹Ú±âÁø
±èÁ¾Ã¶
Minkoo Kang
Kiejin Park
Jongcheol Kim
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¿ø¹®¼ö·Ïó(Citation) |
VOL 36 NO. 02 PP. 0124 ~ 0133 (2009. 04) |
Çѱ۳»¿ë (Korean Abstract) |
ÃÖ±Ù °¢±¤¹Þ°í ÀÖ´Â Â÷·® ³»ºÎ ³×Æ®¿öÅ©(In-Vehicle Network)ÀÇ ÀÏÁ¾ÀÎ CANopen ÇÁ·ÎÅäÄÝÀº ´Ù¾çÇÑ º¥´õÀÇ Çϵå¿þ¾î Ư¼º¿¡ ÀÇÁ¸ÀûÀÎ CAN(Controller Area Network) ±â¹Ý ÀÀ¿ë ÇÁ·Î±×·¥ °³¹ßÀÇ ¹®Á¦Á¡À» ÇØ°áÇÏ°íÀÚ Á¦¾ÈµÇ¾úÀ¸¸ç, ÇÁ·ÎÆÄÀϸµ(Profiling) °³³äÀ» »ç¿ëÇÏ¿© CAN°ú ÀÌÀÇ ÀÀ¿ë °èÃþÀÎ CAL(CAN Application Layer)¿¡¼ µ¿ÀÛÇÏ´Â ¸ðµç Çϵå¿þ¾î ÀåÄ¡¸¦ Áö¿øÇÔ¿¡ µû¶ó CAN ±â¹Ý ÀÀ¿ë ½Ã½ºÅÛÀÇ °³¹ß ±â°£ÀÇ ´ÜÃàÀÌ °¡´ÉÇÏ´Ù. ¸Þ½ÃÁö ó¸® ¼º´É(¿¹: ÃÖ¾Ç ÀÀ´ä ½Ã°£)À» ³ôÀ̱â À§Çؼ´Â CANopen ³×Æ®¿öÅ© ÀÌ¿ë·ü(Utilization)À» °¨¼Ò½Ãų Çʿ伺ÀÌ ÀÖÀ¸¸ç, À̸¦ À§ÇØ °¡´ÉÇÑ ¸¹Àº ¸Þ½ÃÁö¸¦ ÆÐÅ·(Packing)ÇÏ¿© Àü¼ÛÇÔÀ¸·Î½á, ¸Þ½ÃÁö Àü¼Û ½Ã ¹ß»ýÇÏ´Â ¸Þ½ÃÁö ÇÁ·¹ÀÓÀÇ ¿À¹öÇìµå¸¦ ÁÙÀÌ´Â °ÍÀÌ ¹Ù¶÷Á÷ÇÏ´Ù. ÀÌ¿¡ º» ³í¹®¿¡¼´Â CANÀÇ ÀÀ¿ë °èÃþ¿¡¼ µ¿ÀÛÇÏ´Â CANopenÀÇ OD(Object Dictionary) ¹× PDO(Process Data Object) Åë½Å ¼ºñ½º¸¦ ÀÌ¿ëÇÏ´Â PDO ÆÐÅ· ¸ÞÄ¿´ÏÁòÀ» Á¦¾ÈÇÏ¿´´Ù. SAE(The Society of Automotive Engineers)¿¡¼ Á¦°øÇÏ´Â º¥Ä¡¸¶Å©(Benchmark) ÀڷḦ ÀÌ¿ëÇÏ¿©, º» ³í¹®¿¡¼ Á¦¾ÈÇÑ ¸ÞÄ¿´ÏÁòÀÇ ¼º´ÉÀ» Æò°¡ÇÏ¿´À¸¸ç, ¼±Çà ¿¬±¸¿¡ ºñÇØ CANopen ³×Æ®¿öÅ© ÀÌ¿ë·üÀÌ ¾à 10% °¡·® °¨¼ÒÇÏ´Â °ÍÀ» È®ÀÎÇÏ¿´´Ù.
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¿µ¹®³»¿ë (English Abstract) |
CANopen which is one of the in-vehicle network (IVN) protocols is adopted to solve the hardware dependency problem of the CAN-based application. CANopen makes different CAN devices interoperable each others. By the advantage of the device profiling concept, it can make the period of developing CAN-based application system shorten. The utilization of CANopen network must be reduced to improve the communication performance (e.g. worst-case response time). For reducing network utilization, messages need to be packed as many as possible so that message frame overhead can be decreased. In this paper, we suggested a PDO packing mechanism using object dictionary (OD) and process data object (PDO) communication service in CANopen. Through experiments, the performance of the mechanism is evaluated with SAE benchmark. As a result, network utilization is decreased about 10% compared to the result of the previous works.
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Å°¿öµå(Keyword) |
CAN
CANopen
PDO
³×Æ®¿öÅ© ÀÌ¿ë·ü
ÃÖ¾Ç ÀÀ´ä ½Ã°£
Controller Area Network(CAN)
CANopen
Process Data Object(PDO)
Network Utilization
Worst-Case Response Time(WCRT)
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ÆÄÀÏ÷ºÎ |
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