CN100424605C - Intelligent management apparatus and management method for distributed control network based on CAN bus - Google Patents

Intelligent management apparatus and management method for distributed control network based on CAN bus Download PDF

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CN100424605C
CN100424605C CN 200610042622 CN200610042622A CN100424605C CN 100424605 C CN100424605 C CN 100424605C CN 200610042622 CN200610042622 CN 200610042622 CN 200610042622 A CN200610042622 A CN 200610042622A CN 100424605 C CN100424605 C CN 100424605C
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node
control unit
communication
network
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CN1838011A (en )
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宁 吕
堃 方
王昌明
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西安电子科技大学
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

本发明公开了一种分布式控制网络智能管理装置及管理方法。 The present invention discloses a distributed intelligent control network management apparatus and management method. 该管理装置的CAN总线接口单元接收CAN总线上的通信报文,将总线上的差分电平转换成数字逻辑电平,通过CAN报文进行滤波、转换和调度处理,并将处理后的数据传送给数据转换单元和PCI总线控制单元进行数据交换,完成与上位控制机的通信。 CAN bus interface unit of the management apparatus receives a communication message on the CAN bus, to convert the differential level on the bus into digital logic level, filtering, and conversion by the CAN message scheduling process, and transmits the processed data the data conversion unit and the PCI bus control unit for data exchange, communicating with the complete control of the host machine. 该管理方法是通过储存在ARM芯片中的软件功能模块来实现,这些软件功能模块分别完成网络通信管理、网络性能检测、网络故障诊断、网段间数据管理以及CAN与PCI协议转换等功能。 This management method is implemented by software modules stored in the function ARM chip, these software function modules respectively, to complete the network communications manager, network performance testing, network fault diagnosis, and management data between network CAN and the PCI protocol conversion. 本发明无需通过和上位控制机的通信,就可实现在管理单元内部对CAN通信质量的实时分析,并对已经出现的节点故障进行修复,极大地提高了整个网络通信质量检测的实时性,可用于工业控制领域。 The present invention does not require control by the host machine and the communication, real-time analysis can be achieved in the interior of the CAN communication quality management unit, and a node failure has occurred to repair, greatly improved the quality of real-time detection of the entire communication network, available in the field of industrial control.

Description

基于CAN总线的分布式控制网络智能管理装置及管理方法技术领域本发明属于工业自动化控制领域,特别涉及到一种基于控制器局域网CAN现场总线的分布式控制网络的通信管理装置及子网间的互联管理方法。 Based on CAN Bus intelligent distributed control network management apparatus and method for managing Technical Field The present invention belongs to the field of industrial automation and control, and particularly relates to a control apparatus and a communication management network subnets Controller Area Network CAN based distributed fieldbus Internet management. 背景技术C緒总线是为了解决现代汽车中控制与测试仪器之间的数据交换而开发的一种串行数据通信总线。 BACKGROUND thread C bus to solve the data exchange between the modern automobile control and test equipment the development of a serial data communication bus. CAN总线技术具有高的实时性和可靠性,在工业现场中已经得到了广泛的使用。 CAN bus technology with high real-time performance and reliability in the industrial field has been widely used. 但随着C緒总线所应用的控制网络结构的不断复杂化和系统规模的上升,CAN 总线由于本身缺乏对高层网络协议的支持,因此在通信网络的检测、诊断和管理等方面还不完善,对于同构和异构的控制子网络之间的互联也存在许多困难。 But constantly rising complexity and size of the control system network structure with the C-threaded applications bus, CAN bus because of their lack of support for high-level network protocols, and therefore is not perfect in terms of detection, diagnosis and management of communication networks, for interconnection between homogeneous and heterogeneous network control sub there are many difficulties. 目前,国外的相关产品尽管在商业上具有较强的检测性能,例如美国的Contemporary Controls公司的DNA Analyzer协议分析器等,但往往价格昂贵、应用范围较窄,不适合在中小规模的工业现场应用中推广。 At present, foreign-related products despite having a strong commercial performance testing, such as the United States Contemporary Controls company's DNA Analyzer protocol analyzer, etc., but often expensive, narrow range of applications, not suitable for small and medium-sized industrial field in the promotion. 国内的相关产品和技术的研发, 对于CAN总线通信自身的网络管理技术还较少涉及。 Domestic-related products and technology research and development for CAN bus communication technology has its own network management less involved. 公丌号为CZ2638142,公开日为20040901,专利申请号为03208726. 8的"基于USB接口的便携式C細总线分析记录仪", 虽然能够不依赖PC机独立进行CAN总线分析和记录,但是它只能对总线状态和总线当前通信数据进行检测与显示,并不具备对总线通信情况进行智能化管理的功能,更不能对网络故障情况进行判断。 No. well Ji CZ2638142, Publication date 20040901, Patent Application No. "C on thin portable bus logger USB interface Analysis", even though it can not rely on the PC and analyzed independently CAN bus recording 03208726.8, but only can be detected and displayed, the situation does not have the bus communication intelligent management function, not the network fault condition is determined and the current state of the bus data communications bus. 公开号为CZ1629813,公开円为2005.06.22,专利申请号为200310109393. 1的"一种现场总线通信故障记录装置",是对现场总线中的通信故障进行记录和输出,但是对于通信故障只是进行了一种被动的判断,无法对总线运行状态和通信情况进行实时检测,更缺少对CAN网络通信质量的管理机制。 Publication No. CZ1629813, as disclosed yen 2005.06.22, Patent Application No. "fault record a field bus communication apparatus" 200310109393.1, the communication failure is recorded in the field bus and an output, but only for communication fault were a passive judgment, can not be real-time detection of the bus operating and communications situation, but the lack of management mechanism for CAN network communication quality. 发明的内容本发明的目的在于避免上述已有技术的不足,提供一种基于CAN总线的分布式控制网络进行智能网络管理的组件单元,以完成网络通信管理、网络状态分析、网络故障判断、网段间数据管理,及总线实时检测与显示的功能。 SUMMARY OF THE INVENTION The object of the present invention is to avoid the above deficiencies of the prior art, there is provided a CAN bus based intelligent distributed control network components of network management unit, to complete the network communications manager, network state analysis, network fault diagnosis, network inter-segment data management, and real-time bus detection and display function. 实现本发明目的的技术思路是:打破以往产品仅对CAN总线网络通信进行被动监测的状况,引入网络质量服务技术对CAN总线通信协议进行补充,动态调整节点优先级, 对网络通信进行管理,解决暂态网络的通信堵塞以及部分节点软故障的问题;并通过节点和总线的自测试,对总线进行通信状态检测及网络故障类别判断;在数据通信方面,网络管理装置通过数据转换单元和PCI总线控制单元,实现与上位PC机的通信连接, 操作人员可方便地依托上位PC机对网络管理装置进行参数设定,直观地査看下位管理装置的检测数据,最终实现对CAN总线网络进行动态通信管理调度和质量检测。 Technology ideas to achieve the purpose of the present invention are: to break the previous CAN bus network communication products only passive monitoring of the situation, the introduction of network quality of service technology to complement CAN bus communication protocol, node dynamically adjusts the priority of network traffic management to address transient communication network and clogging problems of loose failed node; and, on the bus, and the communication state detection network nodes and fault type is determined by the self-test bus; in data communication, the network management apparatus through the data conversion unit and the PCI bus the communication connection control unit, realized with the host PC, the operator can easily rely on the host PC to the network management device parameter settings, to visualize the lower detection data management device, and ultimately to the dynamic communication network cAN bus manage scheduling and quality control. 本发明的硬件电路包括:CAN总线接口单元、CAN总线通信控制单元、数据转换单元和PCI总线控制单元。 The hardware circuit of the invention comprises: CAN bus interface unit, CAN bus communication control unit, the data conversion unit and the PCI bus control unit. 其中CAN总线接口单元用于接收CAN总线上的通信报文,将总线上的差分电平转换成数字逻辑电平;CAN总线通信控制单元对转换后的C緒报文进行滤波、转换和调度处理,并将处理后的数据传送给数据转换单元和PCI总线控制单元; 数据转换和PCI总线控制单元,用于将接收到的数据发送到PCI总线上进行数据交换, 完成与上位控制机的通信。 Wherein the CAN bus interface unit for receiving a communication message on the CAN bus, to convert the differential level on the bus to a digital logic level; CAN bus communication control unit C thread converted packet filtering, conversion and scheduling process and transmits the processed data to the data conversion unit and the PCI bus control unit; data conversion and PCI bus control unit for transmitting the received data to the data exchange on the PCI bus, the completion of the communication control with the host machine. 本发明利用上述硬件电路对网络通信进行管理的方法,按如下过程进行:(1) CAN接口单元对CAN总线中的未知数据进行采样,并送至CAN通信控制单元同时完成位速率检测,动态调整优先级,故障诊断三部分的通信检测和管理,所述的位速率检测,是通过控制单元对采样的数据帧进行判断与分析,根据CAN 总线错误中断递归算法,检测当前网络位速率并将检测得到的位速率送至控制单元内部寄存器(1)保存;所述的动态调整优先级,是由通信控制单元创建一个优先级管理表,将网络节点分成三类,按照QoS理论动态分配节点优先级,并送至其内部寄存器(1)保存;所述的故障诊断,是由控制单元根据采样数据进行故障诊断与故障修复,并将判断得到的故障位置和故障类别参数,送至通信控制单元内部寄存器(2)保存;(2) 通信控制单元将寄存器(1)和寄存器(2) The present invention utilizes the above-described hardware communication network management method, performed according to the following procedure: (1) CAN CAN bus interface unit of the unknown data is sampled and fed to the CAN communication control unit while the bit rate detection is completed, the dynamic adjustment priority, fault diagnosis and management communication detection of three parts, the bit rate detection is performed by the control unit the data frames of the determination and analysis of samples, according to the CAN bus error interrupt recursive algorithm, and the detected current network bit rate detection the resulting bit rate to the internal register control unit (1) preservation; dynamically adjusting the priority is a priority management table created by the communication control unit, the network node into three categories, according to the theory of dynamic allocation QoS node priority and sent to the internal register (1) preservation; the fault diagnosis, fault diagnosis is performed by the control unit and the fault repair according to the sampling data, fault location and fault category and the parameters obtained judgment, to the internal communication control unit register (2) preservation; (2) register the communication control unit (1) and a register (2) 中保存的参数发送至数据转换单元和PCI总线控制单元,完成整个CAN网络通信的智能管理。 Stored parameters sent to the data conversion unit and the PCI bus control unit, complete intelligent management of the entire network communication CAN. 上述管理的方法,其中位速率检测功能完成对当前网络传输的位速率测试,是根据CAN总线错误中断递归算法,由CAN总线通信控制单元首先设定一个位速率,然后对该设定的位速率逐渐减小,当减小到与当前的位速率相等时,CAN总线通信控制单元将接收到一个报文,检测到正确的位速率。 The management method, wherein the bit rate of the bit rate detection is completed to test the current network transmission interrupt error recursive algorithm according to the CAN bus, CAN bus communication by the control unit sets a first bit rate, then the bit rate setting decreases, when the current is reduced to be equal to the bit rate, CAN bus communication control unit receives a packet, to detect the correct bit rate. 上述管理的方法,其中动态调整优先级的过程如下:(1) 由网络通信控制单元创建一个优先级管理表,该管理表包括了各节点的类别, 节点通信优先级,QoS管理等参数;(2) 通信控制单元按照自身CAN网络通信情况,将网络节点分为三类,逐个分配优先级域值;(3) 发生网络堵塞时,节点向通信控制单元发送优先级晋升请求;(4) 通信控制单元接收到若干个上述请求,将请求在节点管理数据表中进行査找, 并按照表中的通信队列对通信控制单元接收的节点请求进行排序,产生一个临时请求通信序列;(5) 在下个通信周期内,如果该临时请求通信排序中最高级别的节点,持续给网络通信控制单元发送请求,则通信控制单元给该节点发送网络通信管理报文,允许该节点提升自身的优先级;(6) 当该节点完成数据通信以后,向通信控制单元发送优先级恢复请求, The management method, wherein dynamically adjusting the priority of the process is as follows: (1) by a network communication control unit creates a priority management table, the management table includes the categories of each node, the node communication priority, QoS management parameters; ( 2) the communication control unit according to its own situation CAN network communication, the network nodes are divided into three categories, assigning a priority field value by one; (3) network congestion occurs, the node sends a request to the priority communication control unit promoted; (4) communication the control unit receives a plurality of said request, the request to find the node management data table, and per-node communication queue table of the communication control unit receives the request sorting, generating a temporary request communication sequence; (5) next communication cycle, if the temporary request communication ordering the highest level node continues to send the request to the network communication control unit, the communication control unit transmits the network communication management message to the node, allowing the node to enhance their priority; (6 ) after the completion of the data communication node transmits a recovery request to the priority communication control unit, 由通信控制单元直接依照优先级管理表对请求节点进行优先级恢复。 Directly by the communication control unit in accordance with priority management table of the requesting node prioritize recovery. 上述管理的方法,其中故障诊断的过程如下:(1) 由通信控制单元建立一个故障管理表,存储各节点在CAN控制器中错误计数器的值;(2) 通信控制单元根据自身CAN网络通信要求,设定一个错误标志值,读取故障管理表的节点故障值与该错误标志值进行比较;(3) 比较后对故障管理表中的各故障节点进行动态优先级提升,进而对节点故障作出分配最高的优先级或修复;(4) 对于不能修复的故障节点,按照优先级管理表恢复节点优先级,并通信控制单元对当前CAN网络进行总线自测;(5) 将自测数据与故障管理表进行比较确定最终的故障节点,并通过收发器向该故障节点发送故障测试帧,根据故障测试返回情况判断出故障错误位置,并由通信控制单元内部的统计控制器中接收与发送错误计数值,判断出节点的错误类型;(6) 通信控制单元将判断得到的故障位置和 The management method, wherein the fault diagnosis process is as follows: (1) establishing a fault management table by the communication control unit which stores the error counter in the CAN controller nodes; (2) The communication control unit according to their own CAN network communication requirements set an error flag value is read node failure fault management table value is compared with the error flag value; node failure for each failure management table is dynamic priority lift (3) comparison, and further to the fault node assigned the highest priority or repair; (4) for the failure node can not be repaired, restoration nodes priority is priority management table, the control unit and the current communication network cAN bus self-test; (5) self-test and fault data determined by comparing the final management table of the failed node, and transmits a test frame to the failure node through the transceiver failure, the return is judged according to the position error fault fault test, the internal control unit by the communication controller receives and transmits the statistical error count error type value, it is determined that node; (6) the communication control unit determines the position of the fault and obtained 障类别参数,送至通信控制单元内部的寄存器(2)保存。 Barrier category parameter, the communication control unit to the internal register (2) save. 上述管理的方法,其中CAN接口单元对CAN总线中的未知数据进行采样,是利用微处理器中自带的CAN收发器,参照CAN2.0基本协议,侦听CAN网络上的数据传输,并将采样数据送至微处理器中,采用添加在处理器中的CAN总线状态检验算法对采样的数据帧进行判断与分析,完成整个数据采样。 The management method, wherein the CAN interface unit CAN bus unknown sample data, is built using a microprocessor in the CAN transceiver, reference CAN2.0 basic protocol, listening to the data transmission on the CAN network, and sampled data to the microprocessor, a CAN bus status check algorithm in the processor to add the sampled data frame determination and analysis, complete the data samples. 上述管理装置,其中CAN总线通信控制单元由ARM芯片LPC2294及相应外围电路构成,LPC2294内部集成了4路的CAN总线控制器,ARM芯片在内部资源范围内对CAN 报文进行读写,按照程序设定进行相应的处理,LPC2294的地址线与读写访问控制线和数据转换模块相连,对上位机通信的数据进行读写。 The management device, wherein the communication control unit CAN bus is constituted by the corresponding ARM chip and peripheral circuit LPC2294, LPC2294 internal integrated CAN bus controller 4, the CAN message ARM chip read and write in the internal resources, according to the procedure provided given appropriate treatment, LPC2294 read and write access address lines and control lines and data conversion module connected to the data communication host computer to read and write. 本发明具有如下优点:1. 本发明由于采用A體芯片LPC2294作为核心处理器,可利用其内部的CAN模块实现网络通信管理、总线检测与显示、网络状态分析、网络故障判断、网段间数据管理的功能;2. 本发明由于利用添加在LPC2294芯片内部的QoS质量服务理论对网络数据通信进行管理,完成动态调整优先级和智能识别网络软故障等功能;3. 本发明由于利用了嵌入式技术在ARM控制器中进行编程,实现了在管理装置内部对CAN通信质量进行通信管理的功能,极大地提高了整个网络通信质量检测的实时性;4. 本发明由于利用高速的PCI总线接口和ARM芯片,提升了高负荷下的单元数据处理能力。 The present invention has the following advantages: 1. Since the present invention employs A LPC2294 as the core processor chips, may utilize its internal CAN network communication management module, bus detection and display, analysis of network status, network failure is determined, the data network between management functions; 2 invention, since the quality of service QoS theory LPC2294 added inside the chip to manage data communication network, dynamically adjusting priorities and complete intelligent network software failure identification function; 3. Since the present invention utilizes the embedded ARM controller technology in the programming, the communication management function of the CAN communication quality inside the management apparatus, greatly improves the overall quality of the real-time detection of the communication network; 4 of the present invention since the high-speed PCI bus interface and ARM chip, to enhance the data processing unit at a high load. 试验表明,本发明能够智能地管理CAN网络数据通信,检测CAN总线通信状态, 进行故障诊断,并能和上位PC机通信,方便数据存储,人机交互,可广泛用于工业控制领域。 Tests showed that the present invention intelligently manages the data communication network CAN, CAN bus communication state detection, fault diagnosis, and can communicate with the host PC and to facilitate data storage, interactive, and can be widely used in industrial control applications. 附图说明图1是本发明的智能管理装置原理框图图2是本发明管理装置电路结构图图3是本发明通信管理流程图具体实施方式以下参照附图对本发明作进一步详细描述。 BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is a block diagram of the intelligent management apparatus of the present invention FIG. 2 is a circuit configuration diagram of the management apparatus according to the present invention, FIG. 3 is a flowchart of the communication management of the present invention with reference to the accompanying drawings DETAILED DESCRIPTION The present invention will be described in further detail. 参照图l,本发明主要由CAN总线接口单元、CAN总线通信控制单元、数据转换单元、PCI总线控制单元组成,各单元之间通过数据/地址线、控制线双向连接。 Referring to FIG. L, the present invention is mainly composed of a CAN bus interface unit, a communication control unit CAN bus, the data conversion unit, PCI bus control units, between the respective units through the data / address lines, control lines bidirectional connection. CAN 总线接口单元,用于接收CAN总线上的通信报文,并将该总线上的差分电平转换成数字逻辑电平,传输给CAN总线通信控制单元。 CAN bus interface unit for receiving a communication message on the CAN bus, and converts the differential level on the bus to a digital logic level, is transmitted to the communication control unit CAN bus. CAN总线通信控制单元,对转换后的CAN报文数据进行滤波、转换和调度处理,传送给数据转换单元,该数据转换单元, 将处理后的CAN总线报文信息传送至PCI总线控制单元与PC控制的PCI总线进行数据交换,完成与上位控制机的通信。 CAN bus communication control unit, the CAN message converted data filtering, conversion and scheduling process, transmit to the data conversion unit, the data conversion unit, the CAN bus messages transmitted to the information processed PCI bus control unit and the PC controlling data exchange with the PCI bus, the completion of the communication with the host controller. 参照图2,CAN总线的差分电平信号经过二极管保护电路和滤波电路送入CAN总线驱动收发芯片PCA82C250的输入端,将差分电平信号转换成串行数字逻辑信号,并经6N137光电隔离电路隔离后送至LPC2294的CAN总线串行端口对转换后的CAN报文进行滤波、转换和调度处理。 Referring to FIG. 2, the signal level of the differential CAN bus via a diode protection circuit and the filter circuit into the input terminal of bus driver CAN transceiver chip PCA82C250, converts the differential signal into a serial digital level logic signal, and by the optical isolation circuit isolating 6N137 after the serial port to the CAN bus of CAN message LPC2294 converted filtering, conversion and scheduling process. 该6N137光电隔离电路连接在PCA82C250和CAN总线控制电路之间,以减少外部总线对单元内部电路的干扰,提高通信的质量。 The 6N137 optical isolation circuit coupled between the CAN bus and the control circuit PCA82C250 to reduce interference to the external bus to the internal circuit unit, to improve the quality of communication. 该LPC2294芯片内部集成了4路的CAN总线控制器,其性能相当于单片集成的SJA1000CAN控制器,编程控制非常方便。 The LPC2294 chip integrates four CAN bus controller, its performance is equivalent SJA1000CAN monolithically integrated controller, program control is very easy. 隔离后的CAN总线串行信号可以直接连接至LPC2294的4个C緒端口。 CAN bus may be connected to a serial signal directly after isolation LPC2294 4 C thread ports. ARM 芯片在内部资源范围内对CAN报文进行读写,按照程序设定进行相应的处理。 ARM chip CAN message in the internal read and write resources, performs corresponding processing according to a program set. LPC2294 的地址线与读写访问控制线和数据转换模块相连,对上位机通信的数据进行读写。 LPC2294 read and write access address lines and control lines and data conversion module connected to the data communication host computer to read and write. 数据转换单元由ALTERA公司的FPGA芯片EP1C6完成,它作为ARM控制芯片和PCI接口芯片之间的数据缓冲区,将处理后的CAN总线报文信息传送至PCI总线接口。 The data conversion unit performed by FPGA IC ALTERA EP1C6, CAN bus message information to the PCI bus interface as a data buffer between the ARM and the control chip PCI interface chip, the process. PCI总线的PCI9052的数据线、地址线和读写控制线也和数据转换单元的EP1C6的1/0端口相连。 PCI9052 PCI bus data lines, address lines and control lines to read and write data conversion unit and also connected to the 1/0 port EP1C6. 通信数据经ARM控制器处理之后立刻送至EP1C6,同时EP1C6控制PCI9052读取端口的数据,与PC控制的PCI总线进行数据交换。 After ARM controller via the data communication processing immediately sent EP1C6, while the control EP1C6 PCI9052 read data port, data exchange with the PC control PCI bus. 类似的,当数据由上位机下传时,由PCI9052 将并行数据送至EP1C6的I/O端口,再由EP1C6控制LPC2294来读取数据。 Similarly, when the data transfer by the host computer, sent to a parallel data PCI9052 EP1C6 the I / O port, then the data is read by the control EP1C6 LPC2294. 这样充分保证了数据传输的实时性,减小了控制器的资源开销,提高了单元的稳定性和可靠性。 Such fully ensure real-time data transmission, reducing the resource overhead of the controller to improve the stability and reliability of a cell. 参照图3,本发明通过固化在ARM芯片LPC2294里的软件程序对CAN网络通信进行智能管理,其通信管理过程如下-CAN总线中的未知数据,经过二极管保护电路和滤波电路由CAN接口单元PCA82C250进行采样,并经6N137光电隔离电路隔离后送至CAN通信控制单元LPC2294 的CAN总线串行端口,数据在送入CAN通信控制单元以后,同时完成位速率检测,动态调整优先级,故障诊断三部分的通信检测和管理。 Referring to Figure 3, the present invention is the intelligent management of the CAN network communication software program curing LPC2294 ARM chip in which the communication management process is as follows -CAN unknown data bus, through the diode protection circuit and a filter circuit by the CAN interface unit PCA82C250 sample, and after isolation 6N137 optical isolation circuit to the CAN communication control unit LPC2294 CAN bus serial port, after the data into CAN communication control unit, while the bit rate detection is completed, dynamically adjust the priority, the three-part troubleshooting detection and management of communications. 1. 位速率检测采样数据送至通信控制单元以后,控制单元对采样的数据帧进行判断与分析,根据CAN总线错误中断递归算法,检测当前网络位速率。 1. After the sample data bit rate detection to the communication control unit, the control unit of the data frame determined sampling and analysis, the interrupt recursive algorithm according to the CAN bus error detection of a current network bit rate. 首先通信控制单元设定一个位速率, 通常这个预设的位速率与网络当前的位速率不同。 First, the communication control unit sets a bit rate different from the predetermined bit rate is generally the current network bit rate. 因为CAN控制器下在仅听模式不能发送报文也不能产生出错帧,这样它就产生了一个错误中断,然后对该设定的位速率逐渐减小,当减小到与当前的位速率相等时,CAN总线通信控制单元将接收到一个报文, 检测到正确的位速率。 Because only in the CAN controller can not send packets listening mode can not produce an error frame, so that it generates an error interrupt, and then gradually decreases the bit rate set, when the current is reduced to be equal to the bit rate when, CAN bus communication control unit receives a packet, to detect the correct bit rate. CAN通信控制单元将检测得到的位速率送至控制单元内部寄存器l保存。 CAN communication control unit detects the bit rate obtained to the control unit an internal storage registers l. 2. 动态调整优先级采样数据送至通信控制单元后,由控制单元根据QoS理论动态划分网络节点优先级。 2. dynamically adjust the priority of the sample data to the communication control unit, the control unit dynamically partitioning the network node according to QoS priority theory. 首先,通信控制单元创建一个优先级管理表,在表中将网络节点分成三类,依照节点类别、网络安全报警和QoS质量服务来给底层节点的优先级进行初始分配,共同划分127位优先级域值范围。 First, the communication control unit creates a priority management table, the table in the network node will be divided into three categories, for initial priority assigned to the bottom node in accordance with node type, network quality of service QoS and security alarm, priority of the common dividing 127 threshold range. 其次,各节点按照初始分配的优先级收发数据。 Secondly, each node transmitting and receiving data according to an initial priority allocation. 当稳态网络发生暂态变化时,第二类节点需要发送大量占用带宽的报文,此时就会发生网络堵塞,二类节点向通信控制单元发送优先级晋升请求,该晋升请求得到网络最高优先级分配。 When steady state transient change occurs in the network, a second type node needs to transmit a large amount of packet bandwidth, network congestion occurs at this time, two types of node sends a request to the priority communication control unit for promotion, the promotion request is the highest network priority assignment. 通信控制单元接收到若干个上述请求,将请求在节点管理数据表中进行查找,按照表中的通信队列对通信控制单元接收的节点请求进行排序,产生一个临时请求通信序列。 The communication control unit receives a plurality of said request, the request in the node management data lookup table, according to the communication node queue table for the communication control unit receives a sort request, generate a request for temporary communication sequence. 再次,在下个通信周期内,如果该临时请求通信序列中最高级别的节点,持续给通信控制单元发送请求,则通信控制单元给该节点发送网络通信管理报文,允许该节点提升自身的优先级。 Again, during the next communication cycle, if the temporary request communication sequence in the highest level node continues to send the request to the communication control unit, the communication control unit transmits the network communication management message to the node, allowing the node to enhance their priority . 该节点收到网络通信管理报文以后,提升通信优先级,如果通信成功, 则向通信控制单元发送应答报文,表示优先级晋升成功,如果没有成功,则继续发送晋升请求。 After the node receives the packet network communications manager, a communication priority upgrade, if the communication is successful, the response message is sent to the communication control unit, it indicates the priority promoted successful, if not successful, it continues to send a request for promotion. 最后,该节点完成数据通信,向通信控制单元发送通信完成报文,提出优先级恢复请求。 Finally, the node completes data communication, the communication complete message transmitted to the communication control unit, a recovery request made priority. 此时通信控制单元直接依照优先级管理表对请求节点进行优先级恢复。 At this time, the communication control unit directly in accordance with the priority management table of the requesting node prioritize recovery. 通信控制单元将--个周期内的临时请求通信序列与优先级管理表送至其内部寄存器1保存。 The communication control unit - a communication sequence in the temporary request cycle and priority management table 1 its internal registers to the save. 3.故障处理采样数据送至通信控制单元后,由通信控制单元根据采样数据进行故障修复与故障诊断。 3. Troubleshooting sampled data to the communication control unit, fault diagnosis and fault repair by the communication control unit according to the sampling data. (1)故障修复的过程如下:首先,通信控制单元创建一个故障管理表;读取采样数据中各节点的通信错误值, 根据自身CAN网络通信要求,预先设定一个错误标志值。 (1) fault repair process is as follows: First, the communication control unit creates a fault management table; Read the nodes of a communication error value sample data, according to their communication requirements CAN network, a predetermined error flag value. 其次,如果节点的错误值大于预先设定的错误标志值,则通信控制单元直接向该节点发送故障诊断报文,提升该节点的通信优先级,如果节点的错误计数值不再增加,则说明该故障已经修复。 Secondly, if the error is greater than the value of the node error flag value set in advance, the communication control unit transmits directly to node failure diagnosis packet, to enhance communication priority of the node, if the node count value of the error is no longer increasing, then the fault has been repaired. 在节点通信完毕后,节点向通信控制单元发送优先级恢复请求, 通信控制单元相应地恢复该节点优先级;如果错误计数值继续增加,则通信控制单元为该节点分配最高优先级。 After the completion of the communication node, the communication node sends a priority request to resume the control unit, the communication control unit with a recovery priority of the node; if the error count value continues to increase, the communication control unit for the node is assigned the highest priority. 最后,当分配了最高优先级的节点,如果错误计数值不再增加,则修复该节点故障。 Finally, when the highest priority node is assigned, if the error count value does not increase, the node failure is repaired. 如果其错误计数值仍然增加,通信控制单元依照优先级管理表,恢复该节点的优先级并转入故障诊断进程。 If it still increases the error count value, the communication control unit in accordance with the priority management table, restoration priority and transferred to the troubleshooting process node. (2)故障诊断过程如下:首先,通信控制单元对当前CAN网络进行总线自测,分为局部自测和整体自测。 (2) Fault diagnosis is as follows: First, the communication control unit of the network CAN bus current self-test, self-test is divided into local and global self-test. 局部自测是对单个节点进行测试,不需要来自于其他节点的应答。 Local self-test is to test the individual nodes, no response from other nodes. 整体自测是在操作模式下控制器与局部测试一样执行相同的命令,但是在运行系统中需要CAN总线的应答。 It is the same as the overall self-test in order to perform the same operation mode and the local test controllers, but requires operation in response to the CAN bus system. 其次,在结束总线自测以后,通信控制单元对节点故障进行故障位置和故障类别两项参数的判断。 Then, after the self-test at the end of the bus, the communication control unit determines a node fault location and fault fault category two parameters. 对于节点故障位置的判断,是由CAN网络通信控制单元依照故障管理表,通过收发器对网络中指定的节点发送故障测试帧,通过故障测试帧中故障测试场和故障节点的通信数据帧相应场的位与情况来判断错误位置。 For determination node position of a fault, it is transmitted by the CAN network communication control unit in accordance with the fault management table by the transceiver in the network node specified fault test frame, via communication data fault testing frame fault test field and the failed node corresponding to a frame field the bits in the case of an error position is determined. 对于节点故障类别的判断,是由CAN网络通信控制单元通过统计控制器中的接收与发送错误计数值,来判断节点的错误类型。 For node failure category is determined, by the CAN network by the communication control unit receives the transmission error count statistics controller to determine the error type node. 当发送错误计数器值大于或等于256时,节点的错误状态为"总线关闭";当接收错误计数值介于1和127之间,在成功地接收到报文后,接收错误计数器的值减l。 When the transmission error counter value is greater than or equal to 256, the error status of the node is "bus-off"; when the reception error counter value between 1 and 127, upon successfully receiving the message, the reception error counter value minus l . 当接收错误计数器值为0,则它保持0,当接收错误计数器值大于127,则它设定一个介于119到127之间的值。 When the reception error counter value is 0, it remains 0, when the reception error counter value is greater than 127, then it is set to a value between 119 to 127 nm. 当发送错误计数器值等于或超过128时,或当接收错误计数器值等于或超过128时,节点的错误状态为"错误被动"。 When the error state of the transmission error counter value equals or exceeds 128, or when the reception error counter value equals or exceeds 128, the node is "error passive." 最后,将判断得到的故障位置和故障类别参数,送至通信控制单元内部寄存器2 保存。 Finally, the determined fault location and fault category obtained parameters, to the communication control unit 2 internal registers saved. 在完成CAN网络各项参数的检测和管理后,通信控制单元将寄存器1和寄存器2 中保存的参数:当前网络的位速率、临时请求通信序列、优先级管理表、故障位置和故障类别发送至数据转换单元和PCI总线控制单元,与PC机控制的PCI总线进行数据交换,将数据转化为上位PC存储数据,从而完成整个CAN网络通信的智能管理。 After completion of the CAN network detection and management of the parameters, the communication control unit 1 and the register stored in the register 2 parameters: the current bit rate of the network, requesting a temporary communication sequence, priority management table, the fault location and fault category is transmitted to data conversion unit and the PCI bus control unit, and the PC control the PCI bus for data exchange, the data is stored into the host PC data, thereby completing the intelligent management of the whole network communication CAN. 本发明的实验结果如下:实验条件:CAN总线的通信速率是25kbps,网络带宽的有效利用率是83%, 一台基于周立功公司PCI9810卡的上位机,一个基于ARM芯片LPC2294的CAN网络智能管理装置,十个基于CAN控制器SJA1000的下位节点。 The results of the present invention are as follows: Experimental Conditions: CAN bus communication rate is 25kbps, the effective utilization of network bandwidth is 83%, based on a ZLG PCI9810 PC card, a CAN network based intelligent management of the ARM chip LPC2294 means ten lower nodes based on the CAN controller SJA1000. 实验过程:本实验依托现有的实验平台,利用软件通过十个下位CAN节点持续发送长帧报文,模拟工业现场的通信极端情况,比如网络堵塞等。 Experimental procedure: The experiment relies on existing experimental platform, using software continuously transmits frame length packets ten lower CAN node, in extreme cases simulated industrial field communication, such as network congestion and the like. 首先通过网络智能管理装置,测试出某个节点的十六条数据帧收发平均延时和最大延时,如表1的第3行和第5 行,然后通过智能网络管理装置动态调整节点的优先级,再次测试相同十六条数据帧收发的平均延时和最大延时,如表l的第2行和第4行。 First intelligent management apparatus via the network, a node test the sixteen data frame transmitter mean delay and maximum delay, as shown in Table 3, line 1 and line 5, and then dynamically adjusts the priority of the intelligent network node management apparatus level tested again the same mean delay and maximum delay sixteen data frames transmitted and received, as in the second row and the fourth row of table l. 比较第3行和第2行可以得出, 经过智能网络管理装置改进的CAN总线数据收发的平均延时比普通情况下的平均延时最多降低了55. 74%.如表1第6行中的第一项,比较第5行和第4行可以得出,经过智能网络管理装置改进的CAN总线数据收发的最大延吋比普通情况下的最大延时最多降低了40.28%,如表1第7行中的第五项。 Comparison 3, line 2 and line can be drawn through the average delay means improved intelligent network management CAN bus data transceiver is reduced by up to 55.74% than the average delay in the normal case as one line in Table 6 the first, Comparative 5 line 4 and line can be drawn through the maximum delay inch improved intelligent network management apparatus cAN bus data transceiver is reduced by up to 40.28% than the maximum delay in the normal case, as in table 1 the fifth in a row 7. 实验证明,本发明极大地改进了CAN网络通信质量。 Experiments show that the present invention greatly improve the communication quality CAN network. 表l: 智能网络管理装置实验数据(单位肥)<table>table see original document page 11</column></row> <table>表1中的第一行是帧的属性ID,第二行是动态调整优先级以后数据帧收发的平均延时, 第三行是普通情况下数据帧收发的平均延时,第四行是动态调整优先级以后,数据帧收发的最大延时,第五行是普通情况下数据帧收发的最大延时,第六行是数据帧平均时延优化比例, 第七行是数据帧最大延时的优化比例。 Table l: intelligent network management apparatus of experimental data (in fat) <table> table see original document page 11 </ column> </ row> <table> The first row in Table 1 is the attribute ID of the frame, the second line is dynamically adjusting the average delay after the priority data frames transmitted and received, the third line is the average delay of data frames transmitted and received normal case, after the fourth row is dynamically adjust the priority of the data frame transmitted and received the maximum delay, the fifth line is the common case the maximum delay of the data frame transmitter, the sixth row is the average delay optimization data frame ratio, the seventh row is to optimize the ratio of the maximum delay data frame.

Claims (6)

  1. 1. 一种利用基于CAN总线的分布式控制网络智能管理装置对网络进行管理的方法,按如下过程进行: (1)CAN接口单元对CAN总线中的未知数据进行采样,并送至CAN通信控制单元同时完成位速率检测,动态调整优先级,故障处理三部分的通信检测和管理, 所述的位速率检测,是通过控制单元对采样的数据帧进行判断与分析,根据CAN总线错误中断递归算法,检测当前网络位速率并将检测得到的位速率送至控制单元内部寄存器(1)保存; 所述的动态调整优先级,是由通信控制单元创建一个优先级管理表,将网络节点分成三类,按照QoS理论动态分配节点优先级,并送至其内部寄存器(1)保存; 所述的故障处理,是由控制单元根据采样数据进行故障诊断与故障修复,并将判断得到的故障位置和故障类别参数,送至通信控制单元内部寄存器(2)保存; (2)通信控制单元将 A CAN bus using distributed control based on intelligent network management apparatus managing the network method, performed according to the following procedure: (1) CAN CAN bus interface unit of the unknown data is sampled and fed to the CAN communication control bit rate detecting unit while completing dynamically adjust the priority, troubleshooting and management communication detection of three parts, the bit rate is detected, the frame is judged by the control unit and analysis of the sampled data, according to the CAN bus error interrupt recursive algorithm detecting a current network bit rate and the bit rate detector resulting internal register to the control unit (1) preservation; dynamically adjusting the priority is a priority management table created by the communication control unit, network node into three categories , according to the theory of dynamic QoS priority distribution node, and sent to the internal register (1) preservation; the fault handling, a fault diagnosis and fault repair based on data sampled by the control unit, and determines the fault location and fault obtained category parameter, the communication control unit to the internal register (2) preservation; (2) the communication control unit 存器(1)和寄存器(2)中保存的参数发送至数据转换单元和PCI总线控制单元,完成整个CAN网络通信的智能管理。 Stored in memory (1) and a register (2) the parameters sent to the data conversion unit and the PCI bus control unit, complete intelligent management of the entire network communication CAN.
  2. 2. 根据权利要求1所述的方法,其特征在于位速率检测的过程如下-(1) 根据CAN总线错误中断递归算法,山CAN总线通信控制单元首先设定一个位速率;(2) 逐渐减小设定的位速率,当减小到与当前的位速率相等时,CAN总线通信控制单元将接收到一个报文,检测到正确的位速率。 2. The method according to claim 1, characterized in that the bit rate detection process is as follows - (1) according to the CAN bus error interrupt recursive algorithm, hill CAN bus communication control means set a first bit rate; (2) gradually decreases the bit rate is set small, when the current is reduced to be equal to the bit rate, CAN bus communication control unit receives a packet, to detect the correct bit rate.
  3. 3. 根据权利要求1所述的方法,其特征在于动态调整优先级的过程如下:(1) 山网络通信控制单元创建一个优先级管理表,该管理表包括了各节点的类别,节点通信优先级,QoS管理等参数;(2) 通信控制单元按照自身CAN网络通信情况,将网络节点分为三类,逐个分配优先级域值;(3) 发生网络堵塞时,节点向通信控制单元发送优先级晋升请求;(4) 通信控制单元接收到若干个上述请求,将请求在节点管理数据表中进行查找, 并按照表中的通信队列对通信控制单元接收的节点请求进行排序,产生一个临时请求通信序列;(5) 在下个通信周期内,如果该临时请求通信排序中最高级别的节点,持续给网络通信控制单元发送请求,则通信控制单元给该节点发送网络通信管理报文,允许该节点提升自身的优先级;(6)当该节点完成数据通信以后,向通信控制单元发送优 3. The method according to claim 1, wherein dynamically adjusting the priority of the process is as follows: (1) Mount a network communication control unit creates a priority management table, the management table includes the categories of each node, the communication node priority level, QoS management parameters; (2) the communication control unit according to its own situation CAN network communication, the network nodes are divided into three categories, assigning a priority field value by one; (3) network congestion occurs, the node transmits the priority to the communication control unit level promotion request; (4) the communication control unit receives a plurality of said request, the request to find the node management data table, and per-node communication queue table of the communication control unit receives the request sorting, generating a temporary request communication sequence; (5) during the next communication cycle, if the temporary request communication ordering the highest level node continues to send the request to the network communication control unit, the communication control unit to the node transmits the network communication management packet, allowing the node enhance their priority; (6) after the completion of the data communication node, the communication control unit transmits preferably 级恢复请求,并由通信控制单元直接依照优先级管理表对请求节点进行优先级恢复。 Level restoration request, the communication control unit directly by the requesting node in accordance with the priority restoration priority management table.
  4. 4. 根据权利要求1所述的方法,其特征在于故障处理的过程如下-(1) 由通信控制单元建立一个故障管理表,存储各节点在CAN控制器中错误计数器的值;(2) 通信控制单元根据自身CAN网络通信要求,设定一个错误标志值,读取故障管理表的节点故障值与该错误标志值进行比较;(3) 比较后对故障管理表中的各故障节点进行动态优先级提升,进而对节点故障作出分配最高的优先级或修复;(4) 对于不能修复的故障节点,按照优先级管理表恢复节点优先级,并通信控制单元对当前CAN网络进行总线自测;(5) 将自测数据与故障管理表进行比较确定最终的故障节点,并通过收发器向该故障节点发送故障测试帧,根据故障测试返回情况判断出故障错误位置,并由通信控制单元内部的统计控制器中接收与发送错误计数值,判断出节点的错误类型;(6) 通信控制单元将判断 4. The method according to claim 1, characterized in that the troubleshooting procedure is as follows - (a) establishing a communication control unit by the fault management table, the error counter is stored in the CAN controller nodes; (2) Communication the control unit according to their communication requirements CAN network, set an error flag value is read node failure fault management table value is compared with the error flag value; (3) after each comparison failure node failure management table is dynamic priority enhance the level, and thus to assign the highest priority node failure or repair; (4) for the failure node can not be repaired in accordance with the priority management table restoration nodes priority, the communication control unit and the current network cAN bus self-test; ( 5) the self-test and fault management table data determined by comparing the final node failure, the failure and transmits a test frame to the failure node through the transceiver returns to the position where the error is determined according to the fault test failure by internal communication control unit statistics the controller receives the transmission error counter value, it is determined that the wrong type of node; (6) the communication control unit determines the 到的故障位置和故障类别参数,送至通信控制单元内部的寄存器(2)保存。 The fault location and fault category parameter, the internal register to the communication control unit (2) save.
  5. 5. 根据权利要求1所述的方法,其特征在于CAN接口单元对CAN总线中的未知数据进行采样,是利用微处理器中自带的CAN收发器,参照CAN2.0基本协议,侦听CAN网络上的数据传输,并将采样数据送至微处理器中,采用添加在处理器中的CAN 总线状态检验算法对采样的数据帧进行判断与分析,完成整个数据采样。 5. The method according to claim 1, characterized in that the CAN interface unit CAN bus unknown sample data, is built using a microprocessor in the CAN transceiver, reference CAN2.0 basic protocol CAN listens data transmission on the network, and the sampled data to the microprocessor, a CAN bus status check algorithm in the processor to add the sampled data frame determination and analysis, complete the data samples.
  6. 6. 根据权利要求4所述的方法,其特征在于歩骤(3)中对节点故障作出分配最高的优先级或修复是按照错误计数值的继续增加而进行不同的处理,即读取故障管理表,如果节点故障值大于错误标志值,则通过动态调整优先级提升该节点的优先级;如果错误计数值继续增加,则为该节点分配最高的优先级;如果节点故障值不再发生,则在发完数据后的下个周期还原该节点的优先级,修复节点故障;如果节点故障值还是继续增加,则按照优先级管理表,恢复节点优先级,通信控制单元对当前CAN网络进行总线自测。 6. The method according to claim 4, characterized in that ho or repair step to the highest priority assignment (3) of the node failure continues to increase in accordance with the error count being different processing, i.e., reading Fault Management table, if the node failure flag value is greater than the error value, by dynamically adjusting the priority of the priority boost node; if the error counts continue to increase, compared with the node is assigned the highest priority; if the value is no longer a node failure occurs, reduction of the node in the next cycle after the finished data priority, repairing node failure; if the node failure value or continues to increase, then in accordance with the priority management table, the recovery node priority, the communication control unit of the current CAN network bus from Measurement.
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