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 PDFInfo
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Abstract
The present invention discloses an intelligent management apparatus and a management method for a distributed control network. A CAN bus interface unit of the management apparatus receives communication messages on a CAN bus, converts a difference electrical level on the bus to a digital logic level, implements filter, transformation and dispatch processing through CAN messages, and sends data processed to a data converting unit and a PCI bus control unit for data exchange to complete the communication with an upper control machine. The management method is realized through software function modules stored in an ARM chip, and the software function modules respectively complete the functions of network communication management, network performance test, network fault diagnosis, data management among network segments, conversion of CAN and PCI protocols, etc. The present invention can realize the real-time analysis of CAN communication quality inside a management unit without communicating with the upper control machine and repairs node failure already appeared, which greatly improves the real-time performance of the communication quality detection of the entire network and can be used in the technical field of industrial control.
Description
Technical field
The invention belongs to industrial automation control field, specially refer to a kind of Communications Management Units of the distributed control network based on controller local area network CAN fieldbus and the interconnected management method between subnet.
Background technology
The CAN bus is a kind of serial data communications busses of developing in order to solve in the Hyundai Motor exchanges data between control and the testing tool.The CAN bussing technique has high real-time and reliability, has obtained using widely in industry spot.But rising along with the continuous complicated and system scale of the applied Control Network structure of CAN bus, the CAN bus is because the support that lacks the upper layer network agreement own, therefore also there are many difficulties in the imperfection also at the aspects such as detection, diagnosis and management of communication network for interconnected between the control sub-network of isomorphism and isomery.
At present, although external Related product has a stronger detection performance commercial, the DNA Analyzer protocol analyzer of the Contemporary Controls company of the U.S. etc. for example, but often cost an arm and a leg, range of application is narrower, be not suitable in the industry spot of middle and small scale is used, promoting.The domestic Related product and the research and development of technology are for CAN bus communication self networks administrative skill shorter mention also.Publication number is CZ2638142, open day is 20040901, number of patent application is 03208726.8 " USB interface-based portable CAN bus analysis registering instrument ", independently carry out CAN bus analysis and record though can not rely on PC, but it can only detect and show bus state and the current communication data of bus, do not have the function of the bus communication situation being carried out intelligent management, more can not judge the network failure situation.Publication number is CZ1629813, open day is 2005.06.22, number of patent application is 200310109393.1 " a kind of field bus communication failure recording device ", be that the communication failure in the fieldbus is write down and exports, but just carried out a kind of passive judgement for communication failure, can't detect in real time bus running status and signal intelligence, more lack administrative mechanism the CAN network communication quality.
The content of invention
The objective of the invention is to avoid the deficiency of above-mentioned prior art, provide a kind of distributed control network to carry out the assembly unit of intelligent network management based on the CAN bus, to finish data management between network service management, network state analysis, network failure judgement, the network segment, reach the function of bus detection in real time and demonstration.
The technical thought that realizes the object of the invention is: break product in the past only carries out passive monitoring to the CAN bus network communication situation, introducing the network quality service technology replenishes the CAN bus communication protocol, dynamically adjust node priority, network service is managed, solve the communication obstruction of transient network and the problem of part of nodes soft fault; And the self-test by node and bus, bus is communicated state-detection and the network failure classification is judged; Aspect data communication, network administration apparatus is by Date Conversion Unit and pci bus control module, realization communicates to connect with upper PC, operating personnel can rely on upper PC that network administration apparatus is carried out parameter setting easily, check the detection data of the next management devices intuitively, the final realization carried out dynamic communication management and dispatching and quality testing to the CAN bus network.
Hardware circuit of the present invention comprises: CAN Bus Interface Unit, CAN bus communication control module, Date Conversion Unit and pci bus control module.Wherein the CAN Bus Interface Unit is used to receive the communication message on the CAN bus, converts the differential level on the bus to digital logic level; CAN bus communication control module carries out filtering, conversion and scheduling to the CAN message after changing to be handled, and the data after will handling send Date Conversion Unit and pci bus control module to; Data-switching and pci bus control module, the data that are used for receiving send to the exchange of the enterprising line data of pci bus, finish and the communicating by letter of upper control machine.
The method that the present invention utilizes above-mentioned hardware circuit that network service is managed, carry out according to the following procedure:
(1) the CAN interface unit is sampled to the unknown data in the CAN bus, and delivers to CAN communication control unit completion bit rate detection simultaneously, dynamically adjusts priority, the communication check and the management of fault diagnosis three parts,
Described bit rate detects, and is by control module the Frame of sampling to be judged and analysis, interrupts recursive algorithm according to the CAN bus error, detects the current network bit rate and the bit rate that detection obtains is delivered to control module internal register (1) preservation;
Described dynamic adjustment priority is to create a priority management table by communication control unit, and network node is divided into three classes, according to the theoretical dynamic assignment node priority of QoS, and delivers to its internal register (1) and preserves;
Described fault diagnosis is to carry out fault diagnosis and fault restoration by control module according to sampled data, and with abort situation and fault category parameter that judgement obtains, delivers to communication control unit internal register (2) and preserve;
(2) communication control unit is sent to Date Conversion Unit and pci bus control module with the parameter of preserving in register (1) and the register (2), finishes the intelligent management of whole C AN network service.
The method of above-mentioned management, wherein the bit rate measuring ability is finished the bit rate test to the current network transmission, be to interrupt recursive algorithm according to the CAN bus error, at first set a bit rate by CAN bus communication control module, bit rate to this setting reduces gradually then, when being reduced to when equating with current bit rate, CAN bus communication control module will receive a message, detect correct bit rate.
The method of above-mentioned management, the process of wherein dynamically adjusting priority is as follows:
(1) create a priority management table by the network service control module, this admin table has comprised the classification of each node, node communication priority, parameters such as QoS management;
(2) communication control unit is divided three classes network node according to self CAN network service situation, distributes the priority thresholding one by one;
When (3) network blockage taking place, node sends priority to communication control unit and promotes request;
(4) communication control unit receives several above-mentioned requests, will ask to search in the node administration tables of data, and according to the communication queue in the table node request that communication control unit receives be sorted, and produces an interim request communication sequence;
(5) in next communication cycle, if should ask the node of highest level in the communication ordering temporarily, continue to send request to the network service control module, then communication control unit sends the network service administrative message for this node, allows this node to promote the priority of self;
(6) after this node is finished data communication, send the priority recovery request to communication control unit, and directly requesting node is carried out priority by communication control unit and recover according to the priority management table.
The method of above-mentioned management, wherein the process of fault diagnosis is as follows:
(1) sets up a fault management table, the value of storing each node error counter in the CAN controller by communication control unit;
(2) communication control unit is set an error flag value according to self CAN network service requirement, and the node failure value of read failure admin table and this error flag value compare;
(3) relatively the dynamic priority lifting is carried out to each malfunctioning node in the fault management table in the back, and then node failure is made the highest priority of distribution or reparation;
(4) for the malfunctioning node that can not repair, according to priority management table recovery nodes priority, and communication control unit carries out bus to current C AN network and tests oneself;
(5) will test oneself data and fault management table compares and determines final malfunctioning node, and send the fault test frame to this malfunctioning node by transceiver, return situation according to fault test and judge the bug position, and, judge the type of error of node by receiving in the statistics controller of communication control unit inside and sending the error count value;
(6) communication control unit is delivered to abort situation and fault category parameter that judgement obtains the register (2) of communication control unit inside and is preserved.
The method of above-mentioned management, wherein the CAN interface unit is sampled to the unknown data in the CAN bus, be to utilize the CAN transceiver that carries in the microprocessor, with reference to the CAN2.0 basic agreement, intercept the data transmission on the CAN network, and sampled data delivered in the microprocessor, adopt the CAN bus state check algorithm that is added in the processor Frame of sampling is judged and to be analyzed, finish whole data sampling.
Above-mentioned management devices, wherein CAN bus communication control module is made of ARM chip LPC2294 and respective peripheral circuit, inner integrated 4 tunnel the CAN bus controller of LPC2294, the ARM chip is read and write the CAN message in the internal resource scope, handle accordingly according to program setting, the address wire of LPC2294 links to each other with data conversion module with the read and write access control line, and the data of host computer communication are read and write.
The present invention has following advantage:
1. the present invention can utilize its inner CAN module to realize the function of data management between network service management, bus detection and demonstration, network state analysis, network failure judgement, the network segment owing to adopt ARM chip LPC2294 as core processor;
2. the present invention finishes functions such as dynamic adjustment priority and Intelligent Recognition network soft fault owing to utilize the QoS quality services theory that is added on the LPC2294 chip internal that network data communication is managed;
3. the present invention has realized in management devices inside the CAN communication quality being communicated the function of management owing to utilized embedded technology to programme in the ARM controller, has greatly improved the real-time that whole network communication quality detects;
4. the present invention has promoted the cell data processing power under the high load capacity owing to utilize pci bus interface and ARM chip at a high speed.
Test shows that the present invention can manage the CAN network data communication intelligently, detects CAN bus communication state, carries out fault diagnosis, and can communicate by letter with upper PC, makes things convenient for data storage, and man-machine interaction can be widely used in industrial control field.
Description of drawings
Fig. 1 is an intelligent management apapratus theory diagram of the present invention
Fig. 2 is a management devices circuit structure diagram of the present invention
Fig. 3 is a telecommunication management process flow diagram of the present invention
Embodiment
Followingly the present invention is described in further detail with reference to accompanying drawing.
With reference to Fig. 1, the present invention mainly is made up of CAN Bus Interface Unit, CAN bus communication control module, Date Conversion Unit, pci bus control module, passes through data/address wire, the two-way connection of control line between each unit.The CAN Bus Interface Unit is used to receive the communication message on the CAN bus, and converts the differential level on this bus to digital logic level, is transferred to CAN bus communication control module.CAN bus communication control module, CAN message data after the conversion is carried out filtering, conversion and scheduling to be handled, send Date Conversion Unit to, this Date Conversion Unit, CAN bus message information after handling is sent to the pci bus control module carries out exchanges data, finish and the communicating by letter of upper control machine with the pci bus that PC controls.
With reference to Fig. 2; the differential level signal of CAN bus is sent into the input end of CAN bus driver transceiving chip PCA82C250 through protective circuit of diode and filtering circuit; the differential level conversion of signals is become serial number word logic signal, and the CAN bus serial port through delivering to LPC2294 after the isolation of 6N137 photoelectric isolating circuit carries out filtering, conversion and scheduling processing to the CAN message after changing.This 6N137 photoelectric isolating circuit is connected between PCA82C250 and the CAN bus control circuit, to reduce the interference of external bus to the unit internal circuit, improves the quality of communication.This LPC2294 chip internal is integrated 4 tunnel CAN bus controller, its performance is equivalent to single chip integrated SJA1000CAN controller, and programming Control is very convenient.CAN bus serial signal after the isolation can be connected directly to 4 CAN ports of LPC2294.The ARM chip is read and write the CAN message in the internal resource scope, handles accordingly according to program setting.The address wire of LPC2294 links to each other with data conversion module with the read and write access control line, and the data of host computer communication are read and write.Date Conversion Unit is finished by the fpga chip EP1C6 of ALTERA company, and it is sent to pci bus interface as the data buffer between ARM control chip and the pci interface chip with the CAN bus message information after handling.The data line of the PCI9052 of pci bus, address wire and read-write control line also link to each other with the I/O port of the EP1C6 of Date Conversion Unit.Communication data is delivered to EP1C6 at once after the ARM controller is handled, the data of the PCI9052 of EP1C6 control simultaneously read port are carried out exchanges data with the pci bus of PC control.Similarly, when data are passed down by host computer, parallel data is delivered to the I/O port of EP1C6, come reading of data by EP1C6 control LPC2294 again by PCI9052.So fully guarantee real time of data transmission, reduced the resource overhead of controller, improved the stability and the reliability of unit.
With reference to Fig. 3, the present invention carries out intelligent management by the software program that is solidificated in the ARM chip LPC2294 to CAN network service, and its telecommunication management process is as follows:
Unknown data in the CAN bus; sample by CAN interface unit PCA82C250 through protective circuit of diode and filtering circuit; and after isolating, the 6N137 photoelectric isolating circuit delivers to the CAN bus serial port of CAN communication control unit LPC2294; data are after sending into the CAN communication control unit; while completion bit rate detection; dynamically adjust priority, the communication check and the management of fault diagnosis three parts.
1. bit rate detects
Sampled data is delivered to after the communication control unit, and control module is judged the Frame of sampling and analyzed, and interrupts recursive algorithm according to the CAN bus error, detects the current network bit rate.At first communication control unit is set a bit rate, and the current bit rate of this default bit rate and network is different usually.Because can not produce the frame of makeing mistakes only listening pattern can not send message under the CAN controller, it has just produced wrong an interruption like this, bit rate to this setting reduces gradually then, when being reduced to when equating with current bit rate, CAN bus communication control module will receive a message, detect correct bit rate.The bit rate that the CAN communication control unit obtains detection is delivered to control module internal register 1 and is preserved.
2. dynamically adjust priority
After sampled data is delivered to communication control unit, dynamically divide network node priority according to the QoS theory by control module.
At first, communication control unit is created a priority management table, in table, network node is divided into three classes, comes to carry out original allocation, divide 127 priority domain value ranges jointly to the priority of bottom layer node according to node classification, network security alarm and QoS quality services.
Secondly, each node is according to the priority transceive data of original allocation.When stable state network generation temporal variations, second category node need send the message of a large amount of occupied bandwidths, and this moment, network blockage will take place, and two category nodes send priority to communication control unit and promote request, and this promotion request obtains the network limit priority and distributes.Communication control unit receives several above-mentioned requests, will ask to search in the node administration tables of data, according to the communication queue in the table node request that communication control unit receives is sorted, and produces an interim request communication sequence.
Once more, in next communication cycle, if should ask the node of highest level in the communication sequence temporarily, continue to send request to communication control unit, then communication control unit allows this node to promote the priority of self to this node transmission network service administrative message.This node is received after the network service administrative message, promotes communication priority, if communicate by letter successfully, then sends response message to communication control unit, and expression priority is promoted successfully, if not success then continues to send the request of promotion.
At last, this node is finished data communication, sends communication to communication control unit and finishes message, proposes the priority recovery request.This moment, communication control unit directly carried out the priority recovery according to the priority management table to requesting node.Communication control unit is delivered to its internal register 1 preservation with interim request communication sequence in the one-period and priority management table.
3. fault handling
After sampled data is delivered to communication control unit, carry out fault restoration and fault diagnosis according to sampled data by communication control unit.
(1) process of fault restoration is as follows:
At first, communication control unit is created a fault management table, reads the garble value of each node in the sampled data, according to self CAN network service requirement, preestablishes an error flag value.
Secondly, if the improper value of node is greater than predefined error flag value, then communication control unit directly sends the fault diagnosis message to this node, promotes the communication priority of this node, if the error count value of node no longer increases, illustrate that then this fault repairs.After node communication finished, node sent the priority recovery request to communication control unit, and communication control unit correspondingly recovers this node priority; If the error count value continues to increase, then communication control unit is this node assigned highest priority.
At last, when the node that has distributed limit priority,, then repair this node failure if the error count value no longer increases.If its error count value still increases, communication control unit recovers the priority of this node and changes the fault diagnosis process over to according to the priority management table.
(2) failure diagnostic process is as follows:
At first, communication control unit carries out bus to current C AN network tests oneself, be divided into the part test oneself and integral body test oneself.Testing oneself in the part is that individual node is tested, and does not need to come from replying of other nodes.Integral body is tested oneself, and to be that controller is the same with local test under operator scheme carry out identical order, but need replying of CAN bus in operational system.
Secondly, after the end bus was tested oneself, communication control unit carried out the judgement of abort situation and two parameters of fault category to node failure.
Judgement for the node failure position, be according to the fault management table by CAN network service control module, by transceiver the node of appointment in the network is sent the fault test frame, the misjudgment position is come with situation in the position of the communications data frame respective fields by fault test field and malfunctioning node in the fault test frame.
For the judgement of node failure classification, be to pass through the reception in the statistics controller and send the error count value by CAN network service control module, come the type of error of decision node.When sending the error counter value more than or equal to 256 the time, the error condition of node is " bus is closed "; When the count of receive error value between 1 and 127, after successfully receiving message, the value of count of receive error device subtracts 1.When count of receive error device value is 0, then its keeps 0, when count of receive error device value greater than 127, then it sets the value between 119 to 127.When transmission error counter value equals or exceeds 128, or when count of receive error device value equaled or exceeded 128, the error condition of node was " mistake is passive ".
At last, with abort situation and the fault category parameter that judgement obtains, deliver to communication control unit internal register 2 and preserve.
After the detection of finishing CAN network parameters and management, communication control unit is with the parameter of preserving in register 1 and the register 2: the bit rate of current network, ask communication sequence, priority management table, abort situation and fault category to be sent to Date Conversion Unit and pci bus control module temporarily, carry out exchanges data with the pci bus of PC control, with data conversion is upper PC storage data, thereby finishes the intelligent management of whole C AN network service.
Experimental result of the present invention is as follows:
Experiment condition: the traffic rate of CAN bus is 25kbps, the effective rate of utilization of the network bandwidth is 83%, one stylobate is in the host computer of the PCI9810 of Zhou Ligong company card, the CAN network intelligence management devices based on ARM chip LPC2294, ten the next nodes based on CAN controller SJA1000.
Experimentation: this experiment relies on the current experiments platform, utilizes software to pass through ten the next CAN nodes and continues to send long frame message, and the communication extreme case of simulating industry spot is such as network blockage etc.At first by the network intelligence management devices, 16 Frames that test out certain node are received and dispatched average delay and maximum delay, the 3rd row and the 5th row as table 1, dynamically adjust the priority of node then by the intelligent network management devices, test the average delay and the maximum delay of identical 16 Frames transmitting-receiving once more, as the 2nd row and the 4th row of table 1.Relatively the 3rd row and the 2nd row can draw, average delay through the improved CAN bus data transmitting-receiving of intelligent network management devices has reduced by 55.74% at most than the average delay under the general case, as first in table 1 the 6th row, relatively the 5th row and the 4th row can draw, maximum delay through the improved CAN bus data transmitting-receiving of intelligent network management devices has reduced by 40.28% at most than the maximum delay under the general case, as the 5th in table 1 the 7th row.Experiment showed, that the present invention has greatly improved the CAN network communication quality.
Table 1: intelligent network management devices experimental data (ms of unit)
| 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 |
| 6.12 | 6.23 | 6.11 | 6.35 | 6.89 | 7.08 | 6.87 | 6.87 | 7.46 | 6.89 | 7.23 | 7.68 | 7.95 | 7.84 | 8.21 | 10.89 |
| 10.98 | 11.52 | 11.75 | 12.89 | 12.97 | 14.98 | 16.12 | 16.33 | 16.98 | 17.22 | 20.67 | 24.80 | 28.67 | 28.78 | 30.25 | 34.88 |
| 6.92 | 7.45 | 7.27 | 7.50 | 7.92 | 8.41 | 8.29 | 8.98 | 9.45 | 8.63 | 9.67 | 9.86 | 10.20 | 10.36 | 10.14 | 14.99 |
| 17.98 | 18.70 | 19.51 | 20.88 | 19.66 | 23.53 | 24.85 | 26.76 | 28.64 | 29.61 | 30.98 | 32.33 | 30.52 | 35.62 | 34.70 | 40.97 |
| 55.74 | 54.08 | 52.00 | 49.26 | 53.12 | 47.13 | 42.62 | 42.07 | 43.98 | 40.01 | 34.98 | 30.98 | 27.73 | 27.24 | 27.14 | 35.27 |
| 38.49 | 39.84 | 37.26 | 35.92 | 40.28 | 35.74 | 33.36 | 33.56 | 33.00 | 29.16 | 31.21 | 30.50 | 33.42 | 29.08 | 29.22 | 36.69 |
In the table 1 first row is the Property ID of frame, second row is an average delay of dynamically adjusting priority Frame transmitting-receiving later on, the third line is the average delay of Frame transmitting-receiving under the general case, fourth line is dynamically to adjust after the priority, the maximum delay of Frame transmitting-receiving, fifth line is the maximum delay of Frame transmitting-receiving under the general case, and the 6th row is a Frame average delay optimized proportion, and the 7th row is the optimized proportion of Frame maximum delay.
Claims (6)
1. a utilization is carried out according to the following procedure based on the method that the distributed control network intelligent management apapratus of CAN bus manages network:
(1) the CAN interface unit is sampled to the unknown data in the CAN bus, and delivers to CAN communication control unit completion bit rate detection simultaneously, dynamically adjusts priority, the communication check and the management of fault handling three parts,
Described bit rate detects, and is by control module the Frame of sampling to be judged and analysis, interrupts recursive algorithm according to the CAN bus error, detects the current network bit rate and the bit rate that detection obtains is delivered to control module internal register (1) preservation;
Described dynamic adjustment priority is to create a priority management table by communication control unit, and network node is divided into three classes, according to the theoretical dynamic assignment node priority of QoS, and delivers to its internal register (1) and preserves;
Described fault handling is to carry out fault diagnosis and fault restoration by control module according to sampled data, and with abort situation and fault category parameter that judgement obtains, delivers to communication control unit internal register (2) and preserve;
(2) communication control unit is sent to Date Conversion Unit and pci bus control module with the parameter of preserving in register (1) and the register (2), finishes the intelligent management of whole C AN network service.
2. method according to claim 1 is characterized in that the process of bit rate detection is as follows:
(1) interrupts recursive algorithm according to the CAN bus error, at first set a bit rate by CAN bus communication control module;
(2) reduce the bit rate set gradually, when being reduced to when equating with current bit rate, CAN bus communication control module will receive a message, detect correct bit rate.
3. method according to claim 1, the process that it is characterized in that dynamically adjusting priority is as follows:
(1) create a priority management table by the network service control module, this admin table has comprised the classification of each node, node communication priority, parameters such as QoS management;
(2) communication control unit is divided three classes network node according to self CAN network service situation, distributes the priority thresholding one by one;
When (3) network blockage taking place, node sends priority to communication control unit and promotes request;
(4) communication control unit receives several above-mentioned requests, will ask to search in the node administration tables of data, and according to the communication queue in the table node request that communication control unit receives be sorted, and produces an interim request communication sequence;
(5) in next communication cycle, if should ask the node of highest level in the communication ordering temporarily, continue to send request to the network service control module, then communication control unit sends the network service administrative message for this node, allows this node to promote the priority of self;
(6) after this node is finished data communication, send the priority recovery request to communication control unit, and directly requesting node is carried out priority by communication control unit and recover according to the priority management table.
4. method according to claim 1 is characterized in that the process of fault handling is as follows:
(1) sets up a fault management table, the value of storing each node error counter in the CAN controller by communication control unit;
(2) communication control unit is set an error flag value according to self CAN network service requirement, and the node failure value of read failure admin table and this error flag value compare;
(3) relatively the dynamic priority lifting is carried out to each malfunctioning node in the fault management table in the back, and then node failure is made the highest priority of distribution or reparation;
(4) for the malfunctioning node that can not repair, according to priority management table recovery nodes priority, and communication control unit carries out bus to current C AN network and tests oneself;
(5) will test oneself data and fault management table compares and determines final malfunctioning node, and send the fault test frame to this malfunctioning node by transceiver, return situation according to fault test and judge the bug position, and, judge the type of error of node by receiving in the statistics controller of communication control unit inside and sending the error count value;
(6) communication control unit is delivered to abort situation and fault category parameter that judgement obtains the register (2) of communication control unit inside and is preserved.
5. method according to claim 1, it is characterized in that the CAN interface unit samples to the unknown data in the CAN bus, be to utilize the CAN transceiver that carries in the microprocessor, with reference to the CAN2.0 basic agreement, intercept the data transmission on the CAN network, and sampled data delivered in the microprocessor, adopt the CAN bus state check algorithm that is added in the processor Frame of sampling is judged and to be analyzed, finish whole data sampling.
6. method according to claim 4, it is characterized in that in the step (3) that it is that continuation according to the error count value increases and carries out different processing that node failure is made the highest priority of distribution or reparation, it is the read failure admin table, if the node failure value greater than the error flag value, then promotes the priority of this node by dynamic adjustment priority; If the error count value continues to increase, then distribute the highest priority for this node; If the node failure value no longer takes place, then the next cycle after distributing data is reduced the priority of this node, repairs node failure; If the node failure value still continues to increase, then according to the priority management table, recovery nodes priority, communication control unit carries out bus to current C AN network and tests oneself.
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