摘要： 根据煤矿监控系统中周期数据和非周期数据对时间的不同要求，在CAN总线非破坏性优先权逐位仲裁规则的基础上，提出一种节点传递法则，有效地减小数据碰撞的概率，解决帧传输延时的不确定性，提高信道的使用率和传输数据的实时性，介绍该实时通信协议，给出例外事件的处理方法，讨论并分析帧最大传输延时的具体计算方法。

关键词: 节点传递法则, 最大传输延时, CAN总线, 实时通信协议

Abstract: According to the different demands of periodic and aperiodic data, the regulation of node transfer is presented based on non-destroyed priority bit-by-bit arbitrate regulation. The probability of data collision is minished effectually, and a limited transmission time is ensured. The maximum delay time is made adjustable and the real-time of the data communication is improved. The real-time protocol is described detailedly and the method of exception is given. View of the new protocol, the calculating methods of maximum transmitting delay is discussed and analyzed.

Key words: node transfer rule, maximum transmission delay, CAN bus, real-time communication protocol

中图分类号: 

• N945