6DD008622-361

6DD008622-361

：/，

修正算法由时钟同步算法和CAN总线中特定的协商协议组成，只需要在两个阶段进行
消息的互换。提供了更高的时钟精确度，而且。在*个阶段需要传输大量的消息，通过分
析可以知道该时钟同步算法需要传输的消息数为n(n＋1)(n表示网络中的节点数目)。第二阶
段是所有节点进行协商选择作为下一次同步的时钟主节点。
该算法*是分布式实现，为了达到容错的目的，不再在总线中时钟主节点，这样
可以避免单点失效，网络中的所有节点均可以发送“同步”消息，zui终通过协商选择具有zui
高时钟精确度与时钟准确度的节点成为下一次重同步的时钟主节点。图1为该算法的流
程图。
4 实验部分
在采用容错性“后期协商”同步算法时，时钟精确度与总线波特率以及重同步之间关系
的实验采用如下方案：
1) 建立一个由一个时间主节点和3和从节点组成的CAN总线网络，4个节点均以单片机的定时器作为本节点的时钟基准。

图1 “后期协商”同步算法流程图
2) 时间主节点以一定的波特率每隔一个基本周期发出一个同步帧给网络上的各个从节点，并通过单片机的定时器实现，因为在单片机的6DD008622-361后台程序循环中没有其他任务，因此可以认为同步帧的发送是等间隔的。
3) 各个从节点接收到同步帧后纪录当时定时器的值并存储到存储空间，每相邻两个值的差即为该节点的一个基本周期的长度。然后随机取10个基本周期的值，然后分别与主节点的基本周期相减取差值，再求该10个值的平均值取整作为该从节点在特定波特率和特定。基本周期下的偏差，用同样的方法将所有节点的偏差取平均值取整后作为相应的波特率和基本周期下的从节点的偏差。时钟精确度与网络波特率以及重同步周期试验数据如表2所示。

5 结束语
从实验数据可以看出：当随着重同步周期的增加，其时钟同步的偏差越大，由实验方案可以知道重同步周期的长度即为时钟同步的周期，其周期越小，说明时钟同步的频率越大，则可以取得更小的时钟同步偏差，但是时钟同步的频率不可以无限小，否则会造成时钟同步的额外开销增大，影响网络中其他消息的传输。并且当随着总线波特率的增加，其时钟偏差逐渐减小，这是因为波特率越大，则同步消息在总线上传输造成的节点之间的总线延时会进一步减小，造成了时钟同步偏差的减小。基于上述实验数据可以为重同步周期与总线波特率的设定奠定基础。

Moeller 11 DIL E

emecanique ZB2-BE101 (single)

Bussmann Fusetron FRS-R-15 600V

SMC NVZ1120 Solenoid Valve

Festo 162837

Wilkerson RRP-95-151 Valve Repair Kit 

AB SLC 500 Card Slot Filler 1746-N2 WIN(21)P0KX9SZ Series A

Siemens Circuit Breaker 3VU1300-1MJ00

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Allen Bradley 1492-GH010 Ser B 

GFD Precision Tips 5114-B (50pc count) 

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Omron MY2N-D2 24vdc relay control

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Allen Bradley Overload Element Heater W31

Allen Bradley Overload Element Heater W33

Allen Bradley Overload Element Heater W37

GE PV-VL-13.8-500-?2 Power Vac Circuit Breaker 1200A 5 Cycles ! RFB !

Reliance Electric DC Motor 37KW 4 Pole 220V with Centrifugal Fan FF-ST ! 

IBM 7545 AML Manufacturing System Robot Assembly ! 

Mitsubishi MDS-A-CSP-450 AC Spindle Drive 3Ph 152A 200-230V 45kW 50/60Hz ! 

Allis Chalmers MA-250A Power Circuit Breaker 4160V 1200A 60 Cycles ! RFB !

Siemens SHPD69160 Circuit Breaker 1600 Amps ! 

ITE CND63B120H Circuit Breaker 1200 Amps ! 

Roche Cobas 372026 Integra 400 System ! 

Indramat RAC2.3-250-460-?AP0-W1 Servo Drive ! 

Siemens SND69100ANGTH Circuit Breaker 3p 1000A 600V ! 

GE AM-4.16-250-8C Magne Blast Circuit Breaker 4.76KV 1200A 60 Cycles ! RFB !

GE AM-4.16-250-9C Magne Blast Circuit Breaker 4.76KV 1200A 5 Cycles ! RFB !

GE AM-4.16-250-9H Magne Blast Circuit Breaker 4.76KV 1200A 5 Cycles ! RFB !

GE AM-13.8-500H-4 Magne Blast Circuit Breaker 13800V 1200A 60 Cycles ! RFB !

GE AM 2.4/4.16 150/250-3 Magne Blast Circuit Breaker 4160V 1200A 60 Cycle ! RFB!

GE AM 13.8-500-3 Magne Blast Circuit Breaker 13800V 1200A 60 Cycle ! RFB !

GE AM-2.4/4.16 150/250-2 Magne Blast Circuit Breaker 4160V 1200A 60 Cycle ! RFB!

GE AM-13.8-500-7S Magne Blast Circuit Breaker 15KV 1200V 5 Cycle ! RFB !

Hypertherm (Motoman) CMD-0001436 Plasma Cutting System ! 

Allen Bradley 1394-SJT10-A Servo Drive Module 10Kw 380/460V ! 

Siemens 6SN1130-1DB13 Simodrive Module ! 

GE AM-2 4/4.16-150/250-?3 Magne Blast Circuit Breaker 4160V 2000A 60 Cycle ! WOW!

GE AM 4.16-250-4 Magne Blast Circuit Breaker 4160V 2000A 60 Cycles ! 

Allis Chalmers MA-250A Power Circuit Breaker 4160V 1200A 60 Cycles ! 

Siemens 6SE7027-2ED10-Z Simovert FC AC Drive ! 

Indramat RAC2.3-250-460-?APO-W1 AC Main Spindle Drive 400A 460V 60Hz ! 

ABB ACS800-U1-0070-?7+N650 Drive 525-690V ! 

Allen Bradley 1326AB-B740C-S2?L Servo Motor 460V 2200RPM ! 

Siemens HRD63F200 Circuit Breaker 2000 Amps ! 

Nordson P7,2H,FULFILL Hot Melt System ProBlue 750/60HZ 200-240V 27A ! 

GE TKL8S Circuit Breaker 800 Amps ! 

GE TKL12S Circuit Breaker 1200 Amps ! 

Ajax Tocco Magnethermic PACER-S10 Solid State Power Supply 1kHz - 10kHz ! 

Siemens 3RW4446-6BC35 Soft Start 356 Amp 600V ! 

Vickers Servo Controller AC BRM45-70 ! 

Phoenix Contact IBS-IP-500-PS-2?-BS Power Supply Unit 480V ! 

Siemens 6SE7026-0ED10 Simovert FC AC Drive ! 

Siemens 6SE7023-4EC10-Z Simovert FC AC Drive ! 

Atlas Copco ETD S9-600-20-CTADS?T Electric Nutrunner Torque Wrench ! 

PARKER C3S150V2F12 Servo Motor Drive 208-240VAC ! B

Indramat MAC115B-0-GS-3-?C/130-B-0/S001 Servo Motor 66A 2000RPM ! 

Omron FZ-305 Operator Panel 2 CAM LCD-HMI ! 

Schneider MM-PMD2400C Display Panel ! 

Allen Bradley 1326AB-C3E-11-2?287B Servo Motor 3000RPM 7.5kW 310Nm ! RFB !

GE AM 2.1/1.16 150/250-3 Magne Blast6 Circuit Breaker 4160V 1200A ! 

GE AM2.4/4.16 150/250-3 Magne Blast Circuit Breaker 4160V 1200A 60 Cycle ! 

YASKAWA CACR-UIR101010F?D AC Servo Drive ! 

Mitsubishi SJ-45-BP AC Spindle Servo Motor 1150-3450RPM 37kW 200V 228A ! RFB !

Leybold SV65-95007 Vaccuum Pump 3.0HP 3Phase 1440-1760RPM 50/60Hz ! 

Indramat MAC115B-0-GS-3-?C/130-A-0/S001 Servo Motor ! 

Enerpac SQD-100I Square Drive Torque Wrench 7361ft-Lbs 800 Bar 11,600 PSI ! WOW!

Allweiler SNF940ER42-U3-W?1 Screw Pump 30/247V 10 Bar ! 

Atlas Copco ETV S9-450-20-CTADS Electric Nutrunner Torque Wrench ! 

Atlas Copco ETD S9-450-20-CTADS?T Electric Nutrunner Torque Wrench ! 

Cutler-Hammer 55PTHX PanelMate Series 500 ! 

Siemens 6AV7613-0AB12-0?CJ0 Simatic PC670 Panel 115-230V 12" P3/.5M ! 

Marposs 3415 Thruvar 5 9246ARG Gauging Head ! 

Kuka Type KC1 00104262 Robot Interface Controller 19-30V ! 

Indramat RAC3.5-150-460-?A00-W1 256105 Servo Drive ! 

Emerson SK6405-14-2 Motor 1/10HP 1630RPM 115V 1.8A w/ MPB6905-12 Actuator! 

Rexroth/Bosch HDS04.2-W200N-H?S76-01 Servo Drive ! 

Rexroth/Bosch HDS03.2-W075N-H?A01-01-FW Servo AC Drive ! 

Rexroth/Bosch HDS03.2-W075N-H?S12-0 Servo AC Controller ! 

Rexroth/Bosch HDS04.2-W200N-H?A11-0 Servo Drive ! 

Allen Bradley 1336F-8020-AN-E?N Enclosed 1336 Plus II AC Drive 20HP 460V ! RFB !

Xenon COOLCUREXL-DVD Bonding System 1000W/cm2 ! 

Namco ER800-00600 Fiber Optic Cable 2 Meters ! 

KUKA PM6-600 Servo Control 800VDC ! REFURB !

Reliance DSA-MTR-40DA-2 AC Drive DDS-TLII 40 Amp ! 

Albany Door Systems 001197-28323/00?1198-28363 Safety Curtain Pairs ! 

Allen Bradley 1326AD-B1E-11-0?65 High Performance Rare Earth Servo Motor ! 

Weber 5200 Printer Applicator Model-5200 ! 

Indramat RAC3.5-150-460-?A-00-W1-220 Servo Drive ! 

Fanuc A06B-0858-B100#?3000 Servo Motor 3 Phase 159-215V 50/60HZ ! 

Powis PC-6000 Industrial Oven Control ! 

General Electric 3N2100FA104D1 PWM Servo Drive ! 

Vickers KAFDG5V833C270 Directional Pneumatic Valve ! 

Mitsubishi FR-SF-18.5KP-C Servo Drive ! REFURB !

Allen Bradley 1394C-SJT05-L-R?L Servo Controller 3Ph 380/460V ! 

Allen Bradley 8600-2567P Operator Panel *AS IS * ! 

Allen Bradley 8520-CPUX1 Adapter Module 8520 Series ! 

Proview Multisystems NF-848F Operator Panel ! 

Atlas Copco ETV S9-370-20-CTADS?T Electric Nutrunner Torque Wrench ! 

Allen Bradley 8510A-A11-A2 Drive Spindle 230V ! 

Mitsubishi MDS-B-SP-150 AC Spindle Drive 15.0kW 58A 270-311VDC 220-230VAC ! WOW!

Reliance DC Motor 50HP 500V 1150RPM frame MC2812ATZ ! Complete w/ Blower ! 

Teknor TEK-950 Passive Backplane 115V ! 

Control Techniques M25-14ICD Mentor II Drive 10HP ! 

McQuay 055104401 MicroTech Open Protocol Control Board 0.40A 120V 60HZ ! 

Siemens 3RW3472-0DC35 SIKOSTART 300HP 460VAC 361 Amp ! 

Reliance Electric 801429-21VF MaxPak Plus Spindle Drive 480VAC 3Ph 60hp ! 

Camco Ferguson 512RA4H40-90 Right Angle Indexing Drive ! 

Camco Ferguson 6SFM Gear Reducer 60:1 1800rpm 1507lb-in ! 

Camco Ferguson WBD101-1X4 Walking Beam AC Drive ! 

Sandex 7AD-08158R-L3VW?5 Indexing Drive (Alpha Series) 0-200rpm ! 

Sandex 7AD-08277R-S3VW?5 Indexing Drive (Alpha Series) 0-200rpm !