Modeling and Simulating CAN-Based Cyber-Physical Systems in Modelica
Chen Liping, Xiaoping Wang, Gong Xiong, Hongchang Zhang, Zhou Fanli, Bin Gu, Wang Lei · 2012
This paper presents a library for modeling and simulating the CAN-based Cyber-Physical Systems. The library is based on modelica language and supports real time task scheduling and CAN-based communication. We describe in detail the implementation of the CAN bus and the real time task scheduling controller. Finally we provide an example of a continuous inverted pendulum model and a CAN-based model to illustrate the simulation features of CPS.