A new real‐time message scheduling tool for control networks

Abstract

Purpose

This paper aims to describe the development of a new software tool for the scheduling of real‐time control messages in a time‐triggered control network. The prime application area for such a solution is in real‐time robotic controllers and other similar machine control systems.

Design/methodology/approach

The design of a scheduling tool, called SMART‐Plan, is described. The tool is based on a “least slack time” scheduling policy. A prototype tool for the time‐triggered controller area network (TTCAN) is developed. The design is validated against Society of Automotive Engineers Benchmark and a formal verification of the message schedule is also proposed.

Findings

The research findings show that it is feasible to develop such a message scheduling tool and the performance of the tool is comparable with other research solutions, which have been applied in the past to simple periodic schedulers, as opposed to time‐triggered networks.

Research limitations/implications

Although the prototype solution assumes a TTCAN control network, the concept will also be feasible for other types of time‐triggered control networks. The availability of such a tool might encourage developers of robotic equipment to adopt the time‐triggered network approach for the architectural development of such control systems. To date, the problems associated with the message scheduling of such time‐triggered systems have been an inhibitor to such developments.

Originality/value

This is a new scheduling approach to the message scheduling of time‐triggerred control networks.

Citation

Naughton, M. and Heffernan, D. (2007), "A new real‐time message scheduling tool for control networks", Industrial Robot, Vol. 34 No. 3, pp. 188-194. https://doi.org/10.1108/01439910710738818