CN100556044C - Protocol control method towards wireless industrial control network - Google Patents
Protocol control method towards wireless industrial control network Download PDFInfo
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- CN100556044C CN100556044C CNB2006101191389A CN200610119138A CN100556044C CN 100556044 C CN100556044 C CN 100556044C CN B2006101191389 A CNB2006101191389 A CN B2006101191389A CN 200610119138 A CN200610119138 A CN 200610119138A CN 100556044 C CN100556044 C CN 100556044C
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Abstract
The present invention relates to a kind of protocol control method towards wireless industrial control network.Its communication model is made up of physical layer, data link layer and application layer, described physical layer and application layer adopt international standards respectively physical layer and the application layer of network interconnection model OSI, it is characterized in that described data link layer is divided into two layers: following sublayer uses traditional carrier sense multiple access to insert the CSMA agreement as the wireless channel access control protocol; A kind of control protocol based on token is used in top sublayer, sets up a token logic box in totally interconnected wireless distribution system, thus the CSMA agreement of sublayer below the control; A token logic box self-healing mechanism is set, avoids making the token logic box lose efficacy because of losing of token; And determine a token logic box expansion and contractile mechanism, make system can adapt to the adding of each mobile site automatically and withdraw from variation.The present invention can avoid the collision in the communication transmission, satisfies the requirement of real-time control at industrial object.
Description
Technical field
The present invention relates to a kind of network protocol stack, particularly a kind of protocol stack towards wireless industrial control network.
Background technology
In the industry spot control move or target rotation on transducer, hand-held data gathering equipment, need interim installed device etc., the use of cable is difficulty even can't realize.In extremely cold and hot, dangerous, moist environment, use wired physical medium to connect the reliability that also will reduce communication system simultaneously.Along with development of wireless communication devices and reaching its maturity, wireless communication technology is applied to industrial control network, constituting wireless industrial control network WICN (Wireless Industrial Control Network) becomes possibility.
The research that major issue is exactly a data link layer protocol in its correlative study, the agreement problem of its data link layer is very big to the real-time performance and the unfailing performance influence of WICN network.The data link layer protocol that how to design a suitable wireless industrial control network that is applicable to industry spot control usefulness is a present international important research direction.
The real-time of WLAN depends primarily on the medium of data link layer and gets involved control, the research of this problem for some time, but it still is limited to traditional CSMA (access of carrier sense multiple access) method of using at present basically.This method based on contention is the agreement that a kind of decision commonly used is weighed media interviews.Although people have used various corrective measures, as increasing CA (collision is avoided) function etc., the communication collision in can not fundamentally avoiding transmitting can not guarantee in the industrial control system deterministic requirement of response time.
There is different shortcomings in the agreement that several general WLAN (wireless local area network) are used.For example: 1, MACA (MultipleAccess with Collision Avoidance) is an agreement that designs for WLAN (wireless local area network) in the early time.Its basic thought is, transmit leg stimulates recipient, allows short frame of its output, and therefore, near the station of recipient can detect this frame, thereby they have no longer sent data in subsequent data frame transfer process.Owing to adopted the RTS-CTS handshake mechanism, MACA has reduced the conflict of packet.But, in MACA, still there is conflict, and after conflict, adopts the BEB avoidance mechanism, so the fairness that channel inserts is very poor, real-time can not get guaranteeing.2, MACAW (MACA for Wireless) agreement is improved on the basis of MACA, and it has increased the carrier wave detection, and it is except using the RTS/CTS handshake in addition, also used other control signal (DS, ACK RRTS), has further improved the throughput of network.MACAW has also adopted the MILD back off algorithm to replace the BEB avoidance mechanism, has improved the fairness that channel inserts.But its too much handshake has increased its network overhead and propagation delay time.MACA-P is in order to adapt to the demand of multi-hop ad-hoc net, and a kind of improvement on the MACA basis has strengthened the RTS/CTS function based on 802.11, can allow transmitting-receiving simultaneously, but itself and improper WICN net.3, the IEEE802.11 agreement is supported two kinds of operator schemes.A kind of pattern is called DCF (Distributed CoordinationFunction), and another kind of pattern is called PCF (Point Coordination Function).Wherein the DCF pattern is the Basic Access Mode of nodes sharing wireless channel, it combines CSMA/CA (CSMA with Collision Avoidance) technology and affirmation (ACK) technology, and used pseudo channel monitoring mechanism and frame to divide chip technology, thereby improved the throughput of whole network.But 802.11 agreements still adopt the BEB avoidance mechanism, so can't guarantee the fairness that wireless channel inserts.Go back the suitable special agreement of neither one at present towards the wireless industrial Control Network.
Summary of the invention
The object of the present invention is to provide a kind of protocol control method, can avoid the collision in the communication transmission, satisfy requirement of real-time control at industrial object towards wireless industrial control network.
In order to achieve the above object, the present invention adopts following technology side scheme:
A kind of protocol control method towards wireless industrial control network, its communication model is made up of physical layer, data link layer and application layer, described physical layer and application layer adopt international standards respectively physical layer and the application layer of communication model OSI, it is characterized in that described data link layer is divided into two layers: following sublayer uses traditional carrier sense multiple access to insert the actual access control protocol of CSMA agreement as wireless channel; A kind of control protocol based on token is used in top sublayer, sets up a token logic box in totally interconnected wireless distribution system, thus the CSMA agreement of sublayer below the control; A token logic box self-healing mechanism is set, avoids making the token logic box lose efficacy because of losing of token; And determine a token logic box expansion and contractile mechanism, make network system can adapt to the adding of each mobile site automatically and withdraw from variation.
Above-mentioned use is based on the control protocol of token, and the step of setting up the token logic in totally interconnected wireless distribution system is as follows:
When (1) initial, each site STA at first enters reset mode, intercepts channel then, waits for that the invitation of main website adds;
(2) main website gets and resets earlier after electric, generates a token Token then;
(3) token Token transmits successively along logic box, up to etc. the website of Frame to be sent be that STA receives it, its sends and reads to ask frame Solicit_successor then, invites other slave station to add;
(4) after other slave station listens to Solicit_Successor, keep out of the way one and send successor at random behind the time slot frame Set_successor is set, competing successful website becomes the successor of main website;
(5) successor is set to its successor in the previous follow-up station of main website again, and concerning the slave station of first adding, the previous successor of main website is exactly a main website itself, constitutes an initial token logic box that contains 2 websites thus;
(6) be that token holding time THT did not also exhaust after sky or Frame transmission disposed as if task queue, main website just sends Solicit_successor again, invites other slave station to add;
(7) according to step (1)～(6) mechanism, after experience a period of time, each website in the wireless distribution system will be set up into a token logic box automatically, thereby forms a network system.
The self-healing step of above-mentioned token logic box self-healing mechanism is as follows:
(1) main website generates a token and transmits on ring after setting up the token logic box, and each token that slave station sends is intercepted by main website then;
(2) in main website, set a token and recover and maximum latency TRMWT, hear a token, just TRMWT is resetted when the main website frame;
(3) also do not listen to next token after the TRMWT of main website exhausts, it just thinks token lost, and the connection table information according to storage in advance generates a new token and sends to the website of losing token then.
Above-mentioned expansion of token logic box and contractile mechanism, determine the adding of slave station STA and withdraw from process as follows:
(1) adition process of slave station:
1. by main website control, main website sends Solicit_Successor when formation is sky;
What 2. desire added system is made as its predecessor with main website from standing in after receiving Solicit_Successor, and the successor of main website is made as its station of continuing, and sends Set_Sucessor to main website;
3. after Set_sucessor receives in main website, this slave station is made as its successor, and sending predecessor to its previous successor, frame is set is Set_Predecessor;
4. the previous successor of main website is made as its predecessor with this slave station after receiving Set_Predecessor, and sends acknowledgement frame Ack to main website;
5. main website just passes token to this initiate slave station after receiving the Ack frame, and so far the adition process of slave station is finished.
(2) process that withdraws from of slave station:
That 1. wants to withdraw from sends Set_Successor to its predecessor from standing in after receiving token;
2. its predecessor is received behind the Set_Successor successor that the successor of this slave station is made as it, and sends Set_Successor to the successor of this slave station;
3. the successor of this slave station is received behind the Set_Successor to this slave station loopback Ack frame;
4. slave station is received and token is passed to its successor behind the Ack frame and withdraw from.
Above-mentioned token frame, claim frame, successor are provided with frame, predecessor, and that the form of frame, Ack frame and Frame is set is as follows:
(1) form of token frame Token: contain frame type FC, logic number Seq successively, build table information SucA, this station address LA, predecessor address PreA and token period TRC;
(2) form of claim frame Set_Successor: contain frame type FC, broadcasting Br, the successor address HSuoA of main website and the address HA of main website successively;
(3) successor is provided with the form of frame Set_Successor: contain frame type FC, destination address DA, successor address SucA and this frame source address successively;
(4) predecessor is provided with the form of frame Set-Predecessor: contain frame type FC, destination address DA, this frame source address SA, predecessor address PreA and Ack frame successively and return destination address;
(5) form of Ack frame: contain frame type FC, destination address DA and this frame source address SA successively;
(6) form of Frame: priority level PC, the data Data and the cyclic redundancy check (CRC) code CRC that contain expectation time limit Duration, destination address DA that frame type FC, notebook data frame transmit, this frame source address SA, data successively.
The present invention compared with prior art, have following conspicuous outstanding substantive distinguishing features and remarkable advantage: the data link layer in the protocol stack provided by the invention has been set up top sublayer, use a kind of CSMA agreement of controlling following sublayer based on the control protocol of token, the transmission of channel is not bumped, satisfy requirement of real-time control at industrial object; Be provided with a token logic box self-healing mechanism, avoid making the token logic box lose efficacy reliable operation because of token lost; And determine a token logic box expansion and contractile mechanism, and making system can adapt to the adding of each mobile site automatically and withdraw from variation, the raising system uses flexibility.
Description of drawings
Fig. 1 is a communication structure of models schematic diagram of the present invention.
Fig. 2 is the form schematic diagram of token frame.
Fig. 3 is the form schematic diagram of Solicit_Successor frame.
Fig. 4 is the form schematic diagram of Set_Successor frame.
Fig. 5 is the form schematic diagram of Set_Predecessor frame.
Fig. 6 is the form schematic diagram of Ack frame.
Fig. 7 is the form schematic diagram of Frame.
Fig. 8 is the adding schematic diagram from website.
Fig. 9 is the schematic diagram that withdraws from from website.
Embodiment
Details are as follows in conjunction with the accompanying drawings for a preferred embodiment of the present invention:
Referring to Fig. 1, this towards the protocol control method of wireless industrial control network is: for requirement of real time with reduce cost, its traffic model is simplified on the basis of OSI (open interconnected model).It has only adopted 3 layers in the osi model, i.e. physical layer, data link layer and application layer.
Data link layer in this protocol stack is divided into 2 layers.The wireless channel access control protocol of CSMA as reality still used in the following sublayer of data link layer.The top sublayer of data link layer uses a kind of controlling mechanism based on token to control the CSMA of lower floor.Its basic operation process is as follows: 1. set up a token logic box in totally interconnected wireless distribution system, all STA with the work of reception/sending mode (website) will add this logic box in the system, after STA obtains token, thereby the CSMA agreement of control lower floor is monopolized wireless channel and is come specific implementation to send Frame, with this collision of having avoided the each point disorderly competition in the CSMA agreement to cause.2. for fear of make the token logic box lose efficacy because of losing of token, be provided with self-healing mechanism in the system, guarantee to recover within a certain period of time the token logic box.3. also defined the expansion and the contractile mechanism of this token ring, made system can adapt to the adding of each mobile site automatically and withdraw from variation.
Meaning of the present invention is the requirement at the WICN network, having designed one can be compatible and utilize present widely used CSMA agreement, avoided the data link layer protocol of its defective again, can use in the application of networks such as WLAN widely as ZigBee.
Below explain in detail the foundation and the implementation process of the Token Control mechanism that this uses in the data link layer of the protocol stack of wireless industrial control network.
1, the process of setting up of token ring
When (1) initial, each slave station does not all add logic box, and each website at first enters reset mode, intercepts the invitation adding that channel is waited for main website (linking to each other with cable network) then.(2) main website gets and also resets earlier after electric, and main website generates a token Token then.(3) token transmits successively along logic box, up to etc. the site STA of Frame to be sent receive it.It sends claim frame Solicit_Successor then, invites other slave station to add.(4) after other slave station listens to Solicit_Successor, keep out of the way one at random time slot send successor frame Set_Successor be set, competing successful website becomes the successor of main website.(5) successor the more previous successor of main website be set to its successor.Concerning the slave station of first adding, the previous successor of main website is exactly a main website itself.Constituted the logic box of 2 initial websites thus.(6) get back to main website when token along the token logic box, the data in elder generation of the main website processing queue transmit task (its Frame is seen Fig. 7).As if formation is that token holding time THT did not also exhaust after sky or Frame disposed, and main website just sends Solicit_Successor once more, invites other slave station to add.(7) according to step (1)～(6) mechanism, experience one section grace time after, the website in the wireless distribution system will be set up into a token logic box automatically, thereby forms a system.
2, system self-healing mechanism
(1) main website generates a token and transmits on ring after setting up the token logic box, and each token that slave station sends is intercepted by main website then.(2) in main website, set the maximum latency TRMWT (TokenResume Max Wait Time) that a token recovers, just TRMWT is resetted whenever main website listens to a token.(3) also do not listen to next token after the TRMWT of main website exhausts, it just thinks token lost, and the connection table according to storage in advance generates a new token and sends to the website of losing token then.
For the real-time that guarantees to respond, each website in wireless industrial control network all is provided with a fixing maximum token and holds time MTHT (Max Token Hold Time).When the MTHT of website exhausts, promptly token is passed to next STA.So go round and begin again.
For after the token lost phenomenon takes place, can recover normal automatically within a certain period of time, to guarantee the normal operation of this agreement, need reasonably to set the maximum latency TRMWT that token recovers.
The maximum latency TRMWT that token recovers is defined as follows:
TRMWT＝THT+MTTTD
Wherein, THT (Token Holding Time) holds the time for the STA maximum token, and MTTTD (Max TokenTransmit Time Delay) is that token is in the maximum of transmitting required time on the logic box between any two STA.
If after token retransmitted twice, main website did not also listen to the token that this slave station spreads out of, and just concludes that this slave station breaks down.Main website is just deleted this slave station from logic box, and token is passed to the successor of this slave station.
3, the adding of slave station STA and withdraw from process
(1) adition process of slave station: 1. by main website control, the formation of main website sends Solicit_Successor when being empty; What 2. desire added system is made as its predecessor with main website from standing in after receiving Solicit_Successor, and the successor of main website is made as its station of continuing, and sends Set_Sucessor to main website; 3. after Set_sucessor receives in main website, this slave station is made as its successor, and sending predecessor to its previous successor, frame is set is Set_Predecessor; 4. the previous successor of main website is made as its predecessor with this slave station after receiving Set_Predecessor, and sends acknowledgement frame Ack to main website; 5. main website just passes token to this initiate slave station after receiving the Ack frame, finishes to the adition process at this person station.Respectively as shown in Figure 8 from the adition process of website.
(2) process that withdraws from of slave station: simpler than adition process, that 1. wants to withdraw from sends Set_Successor to its predecessor from standing in after receiving token; 2. its predecessor is received behind the Set_Successor successor that the successor of this slave station is made as it, and sends Set_Successor to the successor of this slave station; 3. the successor of this slave station is received behind the Set_Successor to this slave station loopback Ack frame; 4. slave station is received and token is passed to its successor behind the Ack frame and withdraw from.The process that withdraws from of each slave station as shown in Figure 9.
4,6 kinds of special frame formats in the present embodiment are as follows:
1). the form of token frame
As shown in Figure 2, wherein FC (Frame Control) indicates the type (token of frame, Token Control frame etc.), Seq (Sequence) is the logic number of STA, PreA (Predecessor Address) is the predecessor address, and LA (LocalAddress) is the local station address, and SucA (Successor Address) is the successor address, the number of times that TRC (Token RotateCounter) circulates in ring for token, Res (Reserve) is a reserved field.
PreA in the token frame, LA, SucA provides information for the table that connects.After main website listened to token frame, the information of PreA, LA, SucA field of taking out was wherein compared with the information in being connected table.Upgrade the connection table if information changes, otherwise simply abandon.Wherein SucA has also indicated the destination address of token frame.
The operation of Seq is finished jointly by main website and slave station, and the sequence number of main website is always 0, and whenever slave station is received token, it just adds 1 to the Seq field in the token.When token was got back to main website, main website was the zero clearing of Seq field.Sequence number Seq can make main website clearly know the number of slave station in the current logic ring.
TRC is controlled by main website, and whenever token is received by main website, it just adds one to TRC, so moves in circles.
2) form of .Solicit_Successor frame
As Fig. 3, wherein FC indicates the type of frame, and HA is the address of main website, and HSucA is the address of main website successor, and Br represents that this frame is used for broadcasting.
3) form of .Set_Successor frame
As Fig. 4, wherein FC indicates the type of frame, and SA is the source address of this frame, and DA is the destination address of this frame, the successor address of SucA for being provided with.
4) form of .Set_Predecessor frame
As Fig. 5, wherein FC indicates the type of frame, and SA is the source address of this frame, and DA is the destination address of this frame, the predecessor address of PreA for being provided with, and AA indicates the destination address of Ack frame loopback.
5) form of .Ack frame
As Fig. 6, wherein FC indicates the type of frame, and SA is the source address of this frame, and DA is the destination address of this frame.
6). the form of Frame
As Fig. 7, wherein FC indicates the type of frame, the expectation time limit Duration that Duration transmits for the notebook data frame, and SA is the source address of this frame, and DA is the destination address of this frame, and PC is that priority of data packets is other, and Data is a data field, CRC is a cyclic redundancy check (CRC) code.
Claims (2)
1. protocol control method towards wireless industrial control network, its communication model is made up of physical layer, data link layer and application layer, described physical layer and application layer adopt international standards respectively physical layer and the application layer of communication model OSI, it is characterized in that described data link layer is divided into two layers: following sublayer uses traditional carrier sense multiple access to insert the CSMA agreement as the wireless channel access control protocol; A kind of control protocol based on token is used in top sublayer, sets up a token logic box in totally interconnected wireless distribution system, thus the CSMA agreement of sublayer below the control; A token logic box self-healing mechanism is set, avoids making the token logic box lose efficacy because of losing of token; And determine a token logic box expansion and contractile mechanism, make network system can adapt to the adding of each mobile site automatically and withdraw from variation; Described use is based on the control protocol of token, and the step of setting up the token logic box in totally interconnected wireless distribution system is as follows:
When (1) initial, each site STA at first enters reset mode, intercepts channel then, waits for that the invitation of main website adds;
(2) main website gets and resets earlier after electric, generates a token Token then;
(3) token Token transmits successively along logic box, up to etc. the site STA of Frame to be sent receive it, its sends and reads to ask frame Solicit_successor then, invites other slave station to add;
(4) after other slave station listens to Solicit_Successor, keep out of the way one and send successor at random behind the time slot frame Set_successor is set, competing successful website becomes the successor of main website;
(5) successor is set to its successor in the previous follow-up station of main website again.Concerning the slave station of first adding, the previous successor of main website is exactly a main website itself, constitutes an initial token logic box that contains 2 websites thus;
(6) be that token holding time THT did not also exhaust after sky or Frame transmission disposed as if the wait task formation, main website just sends Solicit_successor again, invites other slave station to add;
(7) according to step (1)～(6) mechanism, after experience a period of time, each website in the wireless distribution system will be set up into a token logic box automatically, thereby forms a network system;
The self-healing step of described token logic box self-healing mechanism is as follows:
(1) main website generates a token and transmits on ring after setting up the token logic box, and each token that slave station sends is intercepted by main website then;
(2) in main website, set a token and recover and maximum latency TRMWT, hear a token, just TRMWT is resetted when the main website frame;
(3) also do not listen to next token after the TRMWT of main website exhausts, it just thinks token lost, and the connection table information according to storage in advance generates a new token and sends to the website of losing token then;
Described token logic box expansion and contractile mechanism, determine the adding of slave station STA and withdraw from process as follows:
(1) adition process of slave station:
1. by main website control, main website sends Solicit_Successor when formation is sky;
What 2. desire added system is made as its predecessor with main website from standing in after receiving Solicit_Successor, and the successor of main website is made as its station of continuing, and sends Set_Sucessor to main website;
3. after Set_sucessor receives in main website, this slave station is made as its successor, and sending predecessor to its previous successor, frame is set is Set_Predecessor;
4. the previous successor of main website is made as its predecessor with this slave station after receiving Set_Predecessor, and sends acknowledgement frame Ack to main website;
5. main website just passes token to this initiate slave station after receiving the Ack frame, and so far, the adition process of slave station is finished;
(2) process that withdraws from of slave station:
That 1. wants to withdraw from sends Set_Successor to its predecessor from standing in after receiving token;
2. its predecessor is received behind the Set_Successor successor that the successor of this slave station is made as it, and sends Set_Successor to the successor of this slave station;
3. the successor of this slave station is received behind the Set_Successor to this slave station loopback Ack frame;
4. slave station is received and token is passed to its successor behind the Ack frame and log off.
2. the protocol control method towards wireless industrial control network according to claim 1, it is characterized in that described token frame, claim frame, successor frame, predecessor being set, that the form of frame, Ack frame and Frame is set is as follows:
(1) form of token frame Token: contain frame type FC, logic number Seq successively, build table information SucA, this station address LA, predecessor address PreA and token period TRC;
(2) form of claim frame Set_Successor: contain frame type FC, broadcasting Br, the successor address HSuoA of main website and the address HA of main website successively;
(3) successor is provided with the form of frame Set_Successor: contain frame type FC, destination address DA, successor address SucA and this frame source address successively;
(4) predecessor is provided with the form of frame Set-Predecessor: contain frame type FC, destination address DA, this frame source address SA, predecessor address PreA and Ack frame successively and return destination address;
(5) form of Ack frame: contain frame type FC, destination address DA and this frame source address SA successively;
(6) form of Frame: priority level PC, the data Data and the cyclic redundancy check (CRC) code CRC that contain expectation time limit Duration, destination address DA that frame type FC, notebook data frame transmit, this frame source address SA, data successively.
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| US11323153B2 (en) | 2019-07-29 | 2022-05-03 | Enphase Energy, Inc. | Protocol for multi-master communication coordination on shared media channel |
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| CN101729231B (en) * | 2009-12-03 | 2013-05-29 | 北京和利时系统工程有限公司 | Industrial Ethernet in distributed control system |
| CN104468302B (en) * | 2014-10-16 | 2018-03-30 | 深圳市金证科技股份有限公司 | A kind of processing method and processing device of token |
| CN113162868B (en) * | 2021-02-24 | 2023-10-03 | 宏晶微电子科技股份有限公司 | Data transmission method, data transmission station and communication system of Ethernet |
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| 基于RFieldbus的Token-Passing协议实时性能建模. 侯维岩，费敏锐，汪敏，陈伯时.系统仿真学报，第17卷第2期. 2005 |
| 基于RFieldbus的Token-Passing协议实时性能建模. 侯维岩，费敏锐，汪敏，陈伯时.系统仿真学报，第17卷第2期. 2005 * |
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| US11323153B2 (en) | 2019-07-29 | 2022-05-03 | Enphase Energy, Inc. | Protocol for multi-master communication coordination on shared media channel |
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