A QoS management scheme for paralleled networked control systems with CAN bus

Recently, parallel computation has been applied to many areas while there are little examples about its implementation in control systems. Here a parallel computation method for networked control systems is introduced, with an example of pipeline parallelism. The paralleled networked control systems could increase sampling rates and then improve the quality of performance. But such a parallelism would also increase the amount of data, which aggravates network load. In this case, QoS management is necessary to improve the overall utilization of system resources, which is feasible due to applying of smart control devices. So a QoS management scheme called MVTF is presented according to aggravated transmission delay and delay jitter arising within paralleled systems. And a simulation to evaluate the scheme is carried out to paralleled networked control systems closed over a CAN bus. This scheme is also compared to a well known scheme. Simulation results show that the QoS management scheme for the paralleled networked control systems is effective.