Analysis and Optimization of Message Scheduling Based on the CANopen Protocol

As a kind of CAN-based application layers, the CANopen protocol has been widely adopted for distributed control system. While the introduction of network gives the system some advantages, the jitter problem of system variables is induced and degrades the performance of systems. The optimal algorithm can be used to reduce the jitter of system variables. According to the CANopen transmission features, the real-time communication problems in CANopen are analyzed. The genetic algorithm is used to optimize the synchronous message scheduling. A multiple sensor network is simulated using the CANoe software. The result shows that the jitter problem in the network can be effectively reduced and the performance of the system can be improved.