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Optimal Scheduling of the Sensor Network Based on the CANopen Protocol

The CANopen protocol based on embedded control applications has been widely applied into networked control systems. The jitter problem of system variables induced by the network transmission becomes a primary aspect of the current research on networked control systems. To reduce the jitter of system variables, the genetic algorithm is introduced to optimize the synchronous message scheduling based on the CANopen transmission feature. The message scheduling is implemented using the application hardware. The response time of messages can be measured and tested using the CANalyzer. Based on the practical application, the optimal scheduling algorithm is validated. The result shows that the jitter problem in this network can be effectively reduced