A New Real-time Message Scheduling Tool for Control Networks

Purpose of this paper- The development of a new software tool for the scheduling of real-time control messages in a time-triggered control network is described. 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 TTCAN (Time-triggered Controller Area Network) is developed. The design is validated against an SAE 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 to other research solutions, which have been applied in the past to simple periodic schedulers, as opposed to time-triggered networks. Research 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