随着CAN总线控制网络的复杂化，单段网络上的控制节点数目增多而且网络带宽利用率要求日益提高，这使得总线上优先级属性低的数据传输延时增加。提出“取模增加”法动态改变站点优先级，使优先级较低的站点可以动态地提高优先级，通过动态改变各站点优先级，保证各站点有均等机会获得总线控制权，实现数据实时传输。与TTCAN（时间触发CAN）协议方式进行实验比较，得出了网络延时特征。在较大网络负载的情况下，对于事件型消息，采用动态优先级调度算法可以比CAN方式的网络传输延时降低10％，对于周期型消息，TTCAN方式比采用CAN方式降低网络传输延时20％。 Abstract: With the more complexity of CAN-NCS，the number of control nodes in single bus became increased and the utility of the bandwidth are required improvement. this made more delay of the PRI information.This paper proposes a solution named “module increase” to update station priorities to increase some low priority of stations dynamically. By dynamic updating station priorities，all stations have same opportunities to get buses to transmit data in real time. Obtained the network delay characteristics compare with TTCAN. In the case of a larger network load for event-based messages，using dynamic priority scheduling method than the CAN network transmission delay reduced by 10%，for cycle-type news，TTCAN way than the CAN network transmission delay reduced by 20 %.
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