![]() The model has five nodes: a node located at the steering wheel, which is responsible for transmitting steering angle information and controlling the feedback force to the driver and other four nodes each node located close to one road wheel, which are responsible for actuating in the road drivers according to information sent by the steering node. Faults in the bus architecture were not included. ![]() The simulation was performed at the MAC level of the protocols in order to take into account the collision resolution control mechanism. With objective to compare the temporal behaviours of a CAN and a TTP/C system, steer-by-wire model was simulated using the Matlab/Simulink with the TrueTime simulator. The next section explores this characteristic of regular behavior of control traffic by means of simulation where a CAN and a TTP/C system were simulated in the Simulink environment. Furthermore, considering that arbitration is priority based, the lowest priority message would be delayed by at least the amount of time needed to transmit all higher priority messages. This is possible due to the fact that the nodes are not synchronized (the host’s time primitives are derived from the local clock source) so the periods Pmsg1, Pmsg2 and Pmsg4 run freely one from another at runtime. undesirable situation is for instance when all messages are ready to be transmitted at the same time.
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