As CAN (Controller Atea Network) is increasingly used in real-time control systems,the teal-time performance of CAN bus has a fatal effect on safety and dependency of systems. In this paper .based on the systematic analysis of CAN protocol, provide an improved CAN protocol which can reduce the number of identifiers and extend data bytes. Analyze utilization rate of frame of the improved protocol and apply it to a message set to calculate the worst case response time. The results of experiments indicate that, the improved CAN protocol can provide a higher utilization rate of frame while reducing the worst-case response time, thereby improving the real-time communication based on CAN bus.%目前,CAN总线广泛应用于实时控制系统,其实时性对系统的安全性和可靠性产生很大影响.为了提高CAN总 线的实时性,文中系统分析了CAN总线协议特点,提出减少标识符、增加数据位等改进措施,降低其数据帧自身开销,对CAN协议进行改进.最后对改进型协议的帧利用率进行了分析,并通过将改进型协议应用于一个消息集,得到了消息集的最坏响应时间.实验结果表明,改进型协议在提高帧利用率的同时,缩短了消息的最坏响应时间,从而提高了CAN总线通信的实时性.
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