Time delay analysis of interconnection network in Unmanned Undersea Vehicles
基于CAN的某水下航行器内部网络时延统计方法研究

With reference to the structure of the network control system in the UUV, the paper analyzed time delay of the network in detail. A math method for message transmission simulation was put forward. Then the simulation of message wait-time delay which is indeterminism was implemented. By the simulation figure, the states of the transmission message can be observed distinctly. Meanwhile the data of the time delay was recorded, which provided the theoretical basis for the design of general performance based on CAN.