Research on Automotive Ethernet Clock Synchronization Algorithm Based on Variable Gain PID Controller
In vehicle mounted Ethernet,communication of control or critical burst information such as motor torque and collision detection requires high real-time requirements and the use of Time Sensitive Network(TSN)protocols,especially flow reservation mechanisms,to ensure real-time performance or bandwidth.To achieve these protocols,high-precision clock synchronization between network nodes is the foundation.By designing a root trajectory based PID con-troller,the clock synchronization process running on the slave clock node is controlled,and the controller gain coefficient is adaptively processed based on error changes.The experimental results show that compared with the controller without a gain coefficient link,the controller with adaptive gain coefficient adjustment reduces the mean absolute value of steady-state error during synchronization by 45%and the standard deviation of steady-state error by 41%.Compared with using smaller gain coefficients,the synchronization process with adaptive gain coefficient adjustment reduces steady-state tran-sition time by 75%.The experimental results confirm that this scheme can effectively balance the steady-state transition time and steady-state synchronization accuracy of the synchronization process.
time sensitive networkautomotive Ethernetclock synchronizationvariable gain PID
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