CN100382522C - Method for realizing deterministic communication dispatch of ethernet - Google Patents
Method for realizing deterministic communication dispatch of ethernet Download PDFInfo
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- CN100382522C CN100382522C CNB031420400A CN03142040A CN100382522C CN 100382522 C CN100382522 C CN 100382522C CN B031420400 A CNB031420400 A CN B031420400A CN 03142040 A CN03142040 A CN 03142040A CN 100382522 C CN100382522 C CN 100382522C
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Abstract
The present invention relates to a method for realizing deterministic communication dispatch of an ethernet. Information in a network is divided into periodic information and non-periodic information. For the periodic information, a control mode of time slot visitat is adopted, and periodic data exchange is carried out in fixed time slot. For the non-periodic information, a centralized dispatching mode on the basis of a token is adopted, and operation is carried out in an interval of the communication of the periodic information, namely in the period of the communication of the non-periodic information. The dispatching method of the present invention defines at least one main device, and one auxiliary device or a plurality of auxiliary device on the network. After the auxiliary device obtains a token from the main device, the auxiliary device can send the non-periodic information. Simultaneously, the network is provided with at least one clock server used for leading clocks of the devices (including the main device and the auxiliary device) to be synchronous. The present invention reasonably dispatches the periodic information and the non-periodic information in the ethernet, realizes real-time and deterministic communication in an industrial control network on the basis of ethernet +UDP/IP, and satisfies the requirements for the real time and the determinacy of communication from the industrial control network.
Description
Technical field
The present invention relates to the dispatching method of ethernet communication, relate in particular to the dispatching method that carries out deterministic communication in a kind of industrial control network between a plurality of network nodes based on Ethernet+UDP/IP.
Background technology
Ethernet has plurality of advantages such as cost is low, stable and reliable as a kind of network technology of maturation, has obtained extensive use in office automation and industrial control field, becomes one of current most popular communication network.The present ethernet standard that uses, adopt the CSMA/CD agreement of csma/cd mostly at MAC (medium access control) layer, its workflow is: when the some nodes on the network need send data, it is monitor channel at first, if channel busy just continues to wait for, when in a single day it listen to channel idle, just data are sent.If two or more nodes all monitor and etc. data to be sent, when listening to channel idle, each node (almost simultaneously) just immediately begins to send data, at this moment just clashes.If a node detects conflict during the transmission, then stop transmission immediately, and send " a crowding " signal to channel, also find this conflict to guarantee all other nodes on the network.In communication system based on Ethernet, for avoiding conflict, each node adopts the 1 binary exponential backoff (BEB that adheres to, Binary Exponential Back-Off) algorithm process conflict, but this method has the uncertain defective of conflict time delay, can't effectively be used in real-time networks such as industrial control network.
Industrial control network is a kind of typical application system in real time, and task wherein (as the execution of functional block) triggers according to certain time interval usually, and the task executions time is had the off period requirement, and this task is called periodic task.Also has a kind of task in the application system in real time, this task only just occurs under specific Event triggered, the for example upload/download of equipment disposition, failure diagnosis, program, log, warning processing etc., this generic task is called the aperiodicity task, and the aperiodicity task triggers at random.These two kinds of tasks are reflected in the communication of industrial control network, are exactly the two class communication informations: the periodical communication information and the aperiodicity communication information.Periodical information is real time information, and aperiodic, information was non-real time information, and periodical communication information has different time responses with the aperiodicity communication information.In case system configuration is finished, the transmission of periodical communication information just has the time certainty.But not periodical communication information burst information often is uncertain in time.
For real-time and the certainty that improves ethernet communication, people have done many researchs, propose the whole bag of tricks and improve CSMA/CD, the division of improving one's methods according to CSMA/CD mainly contains: improve the ethernet mac agreement, increase transmission controlling mechanism etc. on the Ethernet upper strata.CSMA/DCR (DeterministicCollision Resolution) is that the most representative a kind of MAC agreement is improved one's methods.When conflict takes place, adopt deterministic binary tree addressing method, CSMA/DCR takes the mode of preorder traversal to manage conflict according to node address.When conflict took place, the node stop of low priority was to the competition of channel, and the node of high priority continues competitive channel, up to successfully transmission.Though the mode of this modification ethernet mac agreement can be improved the deterministic problem of ethernet communication greatly, be cost but with change Ethernet firmware (ethernet controller hardware and software), be difficult to the commercial Ethernet compatibility with standard, and increased development cost.
Most typical a kind of method is that time-division multiplex obtains (TDMA) strategy in Ethernet upper strata increase transmission controlling mechanism, TDMA distributes certain bandwidth for each node, each node is the interior transmission information of sheet at a fixed time, has definite transmitting time with the information that guarantees each node.Because TDMA does not need to transmit extra control information, makes utilization of network bandwidth than higher.But TDMA is based on the method for node, can not reflect the actual bandwidth demand of each node, can't guarantee that aperiodic, information in time sent.Another method that increases transmission control on the Ethernet upper strata is a master-slave mode transmission control mode, and this is a kind of centralized transmission control mode, has a main equipment and a plurality of slave unit in the network at least.Slave unit only after receiving the control message of autonomous device, just can send data.The advantage of this master-slave mode transmission control mode is to guarantee that each slave unit all has the chance that sends data, but shortcoming is the bursty communication that can't handle in the industrial control network, for example the warning message in the industrial control network.
Therefore, although said method has all improved the real-time and the certainty of Ethernet transmission to a certain extent, but be or be cost (as CSMA/DCR) to change the Ethernet structure, perhaps realize at lower network layer (as the upper strata of MAC layer), the maximum deficiency of these methods is to realize that difficulty is big, often relate to hardware, can't be compatible with the Ethernet of traditional standard, and can't satisfy in the industrial control network two category informations---cycle information (being real time information) and information aperiodic (being generally non real-time information) are carried out simultaneously treated specific (special) requirements.
Summary of the invention
The objective of the invention is under the condition that does not change the Ethernet original structure, provide a kind of dispatching method of deterministic communication being positioned at client layer on the UDP, with the cycle in the rational management industrial control network and aperiodic information, on based on the industrial control network of Ethernet+UDP/IP, realize real-time and deterministic communication, to satisfy real-time and the deterministic requirement of industrial control network to communicating by letter based on the traditional ethernet standard.
In order to achieve the above object, the present invention adopts following technical scheme:
A kind of dispatching method of realizing the Ethernet deterministic communication is characterized in,
At least one main equipment of definition and one or more slave unit are provided with at least one clock server on described Ethernet on described Ethernet;
With the information in the described Ethernet be divided into cycle information and aperiodic information, described cycle information is adopted the control mode of time slot visit, carry out periodic exchanges data at a fixed time in the sheet; To the centralized dispatching mode of described information employing aperiodic, be information communication stage aperiodic to carry out exchanges data in the gap of described cycle information communication based on token;
May further comprise the steps:
A. before the system start-up, described main equipment is responsible for whole system is carried out configuration, comprises the size in given transmission cycle; Specify each slave unit in a transmission cycle, to send the time span of cycle information; The time deviation of the initial moment of each slave unit transmission cycle information in transmission cycle with respect to the initial moment of transmission cycle is set; And with these download of information in each slave unit;
B. after system powered on, all main equipments and all slave units at first carried out clock synchronization with described clock server;
C. after transmission cycle begins, described main equipment adopts the control mode of time slot visit to cycle information, each slave unit sends cycle information in the predetermined moment, each slave unit is after sending cycle information in ensuing a period of time, send assert packet to main equipment, notify described main equipment its whether have aperiodic information to send, if there is aperiodic information to send, described main equipment is with the IP address of corresponding slave unit, information priority level and expected information transmitting time are kept in the aperiodic information transmit queue, and slave unit is waited for the aperiodic message schedule token in ensuing information communication stage aperiodic;
D. in the information communication stage aperiodic of a transmission cycle, described main equipment carries out following operation:
D1. scan information transmit queue aperiodic, judge that whether formation is empty, if formation is not empty, changes d2; Otherwise, finish;
D2. according to the information in the described formation, send the aperiodic message schedule token to the slave unit with limit priority information aperiodic, start timer simultaneously, the timer size is a token holding time;
D3. wait for that slave unit discharges token;
D4. judge whether to receive affirmation,, change d1 if receive from slave unit; Otherwise, change d5;
D5. judge whether timer overflows,, change d3 if do not overflow; Otherwise, change d1;
After information communication stage aperiodic finished, described main equipment stopped aforesaid operations, preserves also untreated information in information transmit queue aperiodic simultaneously;
E. in the information communication stage aperiodic of a transmission cycle, described slave unit carries out following operation:
E1. wait for described aperiodic message schedule token;
E2. judge whether to receive the aperiodic message schedule token,, change e1 if also do not receive; Otherwise, change e3;
E3. judge whether the information priority level is not less than the priority of token,, change e4 if be true; Otherwise, change e6;
E4. judge whether token holding time is not less than the access time,, change e5 if be true; Otherwise, change e6;
E5. send information aperiodic;
E6. send confirmation to described main equipment, discharge described aperiodic message schedule token, finish then.
Whole network latency is divided into a unlimited isometric described transmission cycle, each described transmission cycle comprises cycle information stage of communication and information communication stage aperiodic, all slave units in each described transmission cycle, send and receive described cycle information and described aperiodic information.
Among the described step c, described main equipment adopts the control mode of time slot visit to cycle information communication: each equipment on the network, comprise that main equipment and slave unit all keep clock synchronization with described clock server, described main equipment determines that when step a system configuration each slave unit sends the side-play amount of the zero-time of the time span of cycle information and slave unit transmission cycle information with respect to the zero-time of transmission cycle in a transmission cycle.
In described step c cycle information stage of communication, each slave unit is after predetermined instant sends cycle information, also leave a period of time, be used for sending an assert packet to main equipment, notify described main equipment it in the ensuing time, whether also have aperiodic information to send; If have, also to indicate the needed transmitting time of this information aperiodic, and the priority of information, after main equipment is received this message, will there be the IP address of the equipment that aperiodic, information will send, the priority of information and the expection transmitting time of information to be kept in the formation; If described main equipment is not received the assert packet from certain slave unit in continuous three cycles, so just think that this slave unit lost efficacy.
Described steps d, e information communication aperiodic are based on the centralized dispatching mode of token, be that information aperiodic in the network is divided into different priority, which slave unit described main equipment determines at first send according to the height of information priority level aperiodic, the information of high priority will at first obtain described token, have preferential transmission route.
Described clock synchronization mode is by realizing by SNTP (SNTP, Simple Network Time Protocol) between equipment and the described clock server.
Owing to adopted technique scheme, the cycle in the dispatching method rational management industrial control network of the present invention and aperiodic information, on industrial control network, realized real-time and deterministic communication based on Ethernet+UDP/IP.
Description of drawings
Fig. 1 is the division schematic diagram of the transmission cycle of network latency;
Fig. 2 is the schematic diagram of information communication process in the transmission cycle;
Fig. 3 is a kind of form of the aperiodic message schedule token that uses among the embodiment of dispatching method of the present invention;
Fig. 4 be among the embodiment of dispatching method of the present invention main equipment to information processing aperiodic flow process;
Fig. 5 be among the embodiment of dispatching method of the present invention slave unit to information processing aperiodic flow process;
Fig. 6 is a schematic diagram of realizing clock synchronization with SNTP.
Embodiment
Further specify technical scheme of the present invention below in conjunction with drawings and Examples.
Dispatching method of the present invention defines at least one main equipment and one or more slave unit on Ethernet, and is being provided with at least one clock server on Ethernet;
And with the information in the Ethernet be divided into cycle information and aperiodic information, cycle information is adopted the control mode of time slot visit, carry out periodic exchanges data at a fixed time in the sheet; To the centralized dispatching mode of information employing aperiodic, be information communication stage aperiodic to carry out exchanges data in the gap of cycle information communication based on token;
May further comprise the steps:
A. before the system start-up, main equipment is responsible for whole system is carried out configuration, comprises the size in given transmission cycle; Specify each slave unit in a transmission cycle, to send the time span of cycle information; The time deviation of the initial moment of each slave unit transmission cycle information in transmission cycle with respect to the initial moment of transmission cycle is set; And with these download of information in each slave unit;
Fig. 1 is the division schematic diagram of the transmission cycle of network latency, and network latency as shown in Figure 1 is divided into a unlimited isometric transmission cycle.Each transmission cycle was made of cycle information transmit stage and message transmission stage aperiodic, as shown in Figure 2.
Fig. 2 is the schematic diagram of information communication process in the transmission cycle, has 6 slave units to communicate in the example network of Fig. 2.The time span that each slave unit sends cycle information is determined when the system configuration by main equipment; Shown in each slave unit zero-time of sending cycle information be different with respect to the side-play amount of the zero-time of transmission cycle, thereby the possibility of having avoided a plurality of equipment to clash during the accesses network resource simultaneously.Simultaneously, each equipment sends cycle information and has certainty in time, in case promptly equipment is sending one-period information sometime, this equipment transmission next time can be calculated in the following manner with a kind of time of cycle information and be obtained so:
The NextSendTime=CurrentTime+ transmission cycle
Wherein, NextSendTime is the time of equipment transmission next time same period information, and CurrentTime is the moment of current transmission cycle information.
B. after system powered on, all main equipments and all slave units at first carried out clock synchronization with clock server;
Fig. 6 is a schematic diagram of realizing clock synchronization with SNTP.Clock synchronization strict between each equipment of maintenance of the present invention is to realize by the SNTP agreement based on UDP, as shown in Figure 6.Utilize the clock synchronization between the SNTP realization equipment, in fact be exactly allow each equipment regularly with clock server by exchanging the SNTP message, the equipment that calculates is with the time difference between the clock server, thereby the adjustment local clock remains in the scope that can allow the time difference between equipment local clock and the clock server.To use four timestamp: T during time difference between computing equipment and clock server
1, T
2, T
3And T
4, its meaning is as follows:
T
1: the local time stamp during equipment tranmitting data register synchronization request;
T
2: the timestamp when clock server receives the clock synchronization request (standard time);
T
3: the timestamp (standard time) the during syn ack of clock server tranmitting data register;
T
4: equipment receives the local time stamp of clock synchronization when replying.
SNTP realizes that clock synchronization based on a supposition, is exactly that equipment equates to the transmission delay between the field apparatus to clock server and clock server.Based on this hypothesis, we are by the time deviation T between following algorithm computation field apparatus and the clock server
d
T
2-(T
1+T
d)＝(T
4+T
d)-T
3
Just can calculate time deviation T between equipment and the clock server according to following formula
d:
Td＝((T2-T1)+(T3-T4))/2
Equipment can be according to time deviation T
dAdjust local clock, thereby realize synchronously with clock server.After all main equipments on the network and all slave units are realized synchronously by identical mode and clock server, mean on the network also be synchronous in time between all main equipments and all slave units.
C. after transmission cycle begins, described main equipment adopts the control mode of time slot visit to cycle information, each slave unit sends cycle information in the predetermined moment, each slave unit is after sending cycle information in ensuing a period of time, send assert packet to main equipment, notify described main equipment its whether have aperiodic information to send, if there is aperiodic information to send, described main equipment is with the IP address of corresponding slave unit, information priority level and expected information transmitting time are kept in the aperiodic information transmit queue, and slave unit is waited for the aperiodic message schedule token in ensuing information communication stage aperiodic;
In the cycle information stage of communication, each equipment also leaves a period of time, shown in dashed rectangle among Fig. 2 after the predetermined moment sends cycle information.During this period of time, slave unit sends assert packet to main equipment, and whether the notice main equipment it also have aperiodic information to send in the ensuing time.If have, also to indicate the needed transmitting time of this information aperiodic, and the priority of information, after main equipment is received this message, will there be the IP address of the equipment that aperiodic, information will send, the priority of information and the expection transmitting time of information to be kept in the formation.In this way, main equipment just can know in a transmission cycle, and whether each slave unit has aperiodic information to send, and simultaneously, main equipment also can be monitored the state of each slave unit.If main equipment is not received the assert packet from certain slave unit in continuous three cycles, so just think that this equipment lost efficacy.
D. in the information communication stage aperiodic of a transmission cycle, described main equipment carries out following operation, Fig. 4 be among the embodiment of dispatching method of the present invention main equipment to information processing aperiodic flow process:
D1. scan information transmit queue aperiodic, judge that whether formation is empty, if formation is not empty, changes
D2; Otherwise, finish;
D2. according to the information in the described formation, send the aperiodic message schedule token, start timer (the timer size is token holding time) simultaneously to slave unit with limit priority information aperiodic;
D3. wait for that slave unit discharges token;
D4. judge whether to receive affirmation,, change d1 if receive from slave unit; Otherwise, change d5;
D5. judge whether timer overflows,, change d3 if do not overflow; Otherwise, change d1;
After information communication stage aperiodic finished, described main equipment stopped aforesaid operations, preserves also untreated information in information transmit queue aperiodic simultaneously;
In information communication stage aperiodic, main equipment is realized the transmission of aperiodic message schedule token according in the information of the slave unit that the cycle information stage of communication obtained (IP address of equipment that information will send that includes aperiodic, the priority of information and the expection transmitting time of information etc.) by special control message by the scheduler in the main equipment.
Fig. 3 is a kind of realization form of aperiodic message schedule token among this embodiment.Whether the type of message field of 1 byte is used to identify this type of message, be an aperiodic message schedule token promptly, and for example 0 represents the aperiodic message schedule token, and other value is then represented the common message of other type.The priority of 1 byte precedence field identity tokens.Last 4 bytes are used for representing token holding time.
The duration of token is determined according to access time aperiodic that equipment provided that will send information aperiodic, generally is not less than information sending duration aperiodic, to guarantee that aperiodic, information completely sent.The sending duration of information can be estimated in the following manner:
Information sending duration (s)=message length (the bit)/network bandwidth (Mbps)
Wherein, message length is made of following components: the length of valid data, UDP header length, IP header length and ethernet frame head length.
After slave unit received the aperiodic message schedule token of autonomous device, it was sent the right of information aperiodic within a certain period of time, and time span is specified in token.In order to guarantee the normal transmission of cycle information, token holding time (token holding time is meant that slave unit is from obtaining token to discharging the time that token experienced) can not surpass in information communication stage aperiodic shared total time.If when slave unit is sent completely or arrives the time (promptly surpassing in information communication stage aperiodic shared total time) of maximum permission transmission, then send a confirmation, discharge token simultaneously to main equipment.
E. in the information communication stage aperiodic of a transmission cycle, described slave unit carries out following operation, Fig. 5 be among the embodiment of dispatching method of the present invention slave unit to information processing aperiodic flow process:
E1. wait for described aperiodic message schedule token;
E2. judge whether to receive the aperiodic message schedule token,, change e1 if also do not receive; Otherwise, change e3;
E3. judge whether the information priority level is not less than the priority of token,, change e4 if be true; Otherwise, change e6;
E4. judge whether token holding time is not less than the access time,, change e5 if be true; Otherwise, change e6;
E5. send information aperiodic;
E6. send confirmation to described main equipment, discharge described aperiodic message schedule token, finish then.
In order to guarantee that important and urgent information aperiodic (as warning message) can in time send, each, information had different priority equally aperiodic.With three grades of priority is example, is respectively 0 grade, and 1 grade, 2 grades, wherein, 0 grade of priority is limit priority, and 2 grades of priority are lowest priorities, and 1 grade of priority is between the two.The aperiodic message schedule token also is divided into the identical priority class of information aperiodic.After slave unit is received token, relatively send the information and the priority of token aperiodic in the buffering area, have only the priority of working as information aperiodic to be not less than the priority of token, and, when token holding time is not less than the access time, just send information aperiodic, otherwise, directly discharge token to main equipment.
Owing to adopted technique scheme, the present invention provides a kind of dispatching method of deterministic communication being positioned at client layer on the UDP, with the cycle in the rational management industrial control network and aperiodic information, on based on the industrial control network of Ethernet+UDP/IP, realize real-time and deterministic communication, to satisfy real-time and the deterministic requirement of industrial control network to communicating by letter based on the traditional ethernet standard.
Claims (6)
1. a dispatching method of realizing the Ethernet deterministic communication is characterized in that,
At least one main equipment of definition and one or more slave unit are provided with at least one clock server on described Ethernet on described Ethernet;
With the information in the described Ethernet be divided into cycle information and aperiodic information, described cycle information is adopted the control mode of time slot visit, carry out periodic exchanges data at a fixed time in the sheet; To the centralized dispatching mode of described information employing aperiodic, be information communication stage aperiodic to carry out exchanges data in the gap of described cycle information communication based on token;
May further comprise the steps:
A. before the system start-up, described main equipment is responsible for whole system is carried out configuration, comprises the size in given transmission cycle; Specify each slave unit in a transmission cycle, to send the time span of cycle information; The time deviation of the initial moment of each slave unit transmission cycle information in transmission cycle with respect to the initial moment of transmission cycle is set; And with these download of information in each slave unit;
B. after system powered on, all main equipments and all slave units at first carried out clock synchronization with described clock server;
C. after transmission cycle begins, described main equipment adopts the control mode of time slot visit to cycle information, each slave unit sends cycle information in the predetermined moment, each slave unit is after sending cycle information in ensuing a period of time, send assert packet to main equipment, notify described main equipment its whether have aperiodic information to send, if there is aperiodic information to send, described main equipment is with the IP address of corresponding slave unit, information priority level and expected information transmitting time are kept in the aperiodic information transmit queue, and slave unit is waited for the aperiodic message schedule token in ensuing information communication stage aperiodic;
D. in the information communication stage aperiodic of a transmission cycle, described main equipment carries out following operation:
D1. scan information transmit queue aperiodic, judge that whether formation is empty, if formation is not empty, changes
D2; Otherwise, finish;
D2. according to the information in the described formation, send the aperiodic message schedule token to the slave unit with limit priority information aperiodic, start timer simultaneously, the timer size is a token holding time;
D3. wait for that slave unit discharges token;
D4. judge whether to receive affirmation,, change d1 if receive from slave unit; Otherwise, change d5;
D5. judge whether timer overflows,, change d3 if do not overflow; Otherwise, change d1;
After information communication stage aperiodic finished, described main equipment stopped aforesaid operations, preserves also untreated information in information transmit queue aperiodic simultaneously;
E. in the information communication stage aperiodic of a transmission cycle, described slave unit carries out following operation:
E1. wait for described aperiodic message schedule token;
E2. judge whether to receive the aperiodic message schedule token,, change e1 if also do not receive; Otherwise, change e3;
E3. judge whether the information priority level is not less than the priority of token,, change e4 if be true; Otherwise, change e6;
E4. judge whether token holding time is not less than the access time,, change e5 if be true; Otherwise, change e6;
E5. send information aperiodic;
E6. send confirmation to described main equipment, discharge described aperiodic message schedule token, finish then.
2. a kind of dispatching method of realizing the Ethernet deterministic communication as claimed in claim 1, it is characterized in that, whole network latency is divided into a unlimited isometric described transmission cycle, each described transmission cycle comprises cycle information stage of communication and information communication stage aperiodic, all slave units in each described transmission cycle, send and receive described cycle information and described aperiodic information.
3. a kind of dispatching method of realizing the Ethernet deterministic communication according to claim 1, it is characterized in that, among the described step c, described main equipment adopts the control mode of time slot visit to cycle information communication: each equipment on the network, comprise that main equipment and slave unit all keep clock synchronization with described clock server, described main equipment determines that when step a system configuration each slave unit sends the side-play amount of the zero-time of the time span of cycle information and slave unit transmission cycle information with respect to the zero-time of transmission cycle in a transmission cycle.
4. a kind of dispatching method of realizing the Ethernet deterministic communication according to claim 1, it is characterized in that, in described step c cycle information stage of communication, each slave unit is after predetermined instant sends cycle information, also leave a period of time, be used for sending an assert packet to main equipment, notify described main equipment it in the ensuing time, whether also have aperiodic information to send; If have, also to indicate the needed transmitting time of this information aperiodic, and the priority of information, after main equipment is received this message, will there be the IP address of the equipment that aperiodic, information will send, the priority of information and the expection transmitting time of information to be kept in the formation; If described main equipment is not received the assert packet from certain slave unit in continuous three cycles, so just think that this slave unit lost efficacy.
5. a kind of dispatching method of realizing the Ethernet deterministic communication as claimed in claim 1, it is characterized in that, described steps d, e information communication aperiodic are based on the centralized dispatching mode of token, be that information aperiodic in the network is divided into different priority, which slave unit described main equipment determines at first send according to the height of information priority level aperiodic, the information of high priority will at first obtain described token, have preferential transmission route.
6. a kind of dispatching method of realizing the Ethernet deterministic communication according to claim 1 is characterized in that, described clock synchronization mode is by realizing by SNTP between equipment and the described clock server.
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| CN1581815A (en) | 2005-02-16 |
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