Health monitoring of controller area network in hybrid excavator based on the message response time

The work environment of the controller area network (CAN) in hybrid excavator is very harsh. Health monitoring of the CAN is of great importance. This work proposes a method to assess the performance of CAN and identify the faults base on the statistical characteristics of the message response time. This method can be easily embedded into a node to on-line monitor the health condition of CAN without using a special device. Firstly, we use the message response time to generate a feature to assess the health condition of CAN by comparing the difference between feature´s probability density functions under different conditions base on the Bhattacharyya distance. Then, we propose a method to detect the fault on CAN and determine the fault type and fault duration. Finally, experiments are carried out on a hybrid excavator to verify the effectiveness of the proposed method, and the results show that the proposed method is applicable for the health monitoring of CAN.