文中在分析CAN(controller area network)总线通信控制协议的基础上，运用有限状态机理l论，在MATLAB/Simulink软件Stateflow仿真环境中建立了CAN总线通信系统的仿真模型。通过运行此仿真模型，求取了如网络传输数据和不同优先级信息平均传输时延等性能指标。最后，文中还研究了CAN总线系统中字节量和传输速度对上述性能指标的影响，充分分析了CAN总线的高实时性。仿真分析结果进一步证明此种仿真方法对于研究总线是可行的。

CAN (Controller Area Network) fieldbus communication protocol was briefly reviewed, and the finite state machines model of CAN protocol was described. A simulation model of CAN communication control system was designed by using the tool of Stateflow in MATLAB/Simulink. From the results given by the model, the network performances of CAN such as message's transmitting delay time network throughput were acquired. The effect of the load and the transmission rate on the performance of CAN communication control system was considered. These analytical results validate that this simulation is feasible.