Controller Area Network Modeling and Its Application in Cyber-Physical Power System Co-Simulation

As a mainstream communication bus, the controller area network (CAN) is widely applied in automobiles, ships, trains and power systems. In this paper, based on the application of CAN in power system control, a simulation model of CAN bus is built in network simulator OPNET, including the corresponding node model, process model, packet model and link model. The effectiveness of the model is validated through simulations. A cyber-physical power system co-simulation platform based on OPNET and PSCAD is also proposed in this paper. The interfaces between the two simulators and the time synchronization method of the co-simulation platform are designed. And the CAN model is modified with OPNET ESYS module to be integrated in the co-simulation.