CN101877697A - Method for dispatching rail traffic vehicle grade network based on CANopen (Controller Area Networkopen) protocol - Google Patents

Method for dispatching rail traffic vehicle grade network based on CANopen (Controller Area Networkopen) protocol Download PDF

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Publication number
CN101877697A
CN101877697A CN2009102368549A CN200910236854A CN101877697A CN 101877697 A CN101877697 A CN 101877697A CN 2009102368549 A CN2009102368549 A CN 2009102368549A CN 200910236854 A CN200910236854 A CN 200910236854A CN 101877697 A CN101877697 A CN 101877697A
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network
cycle
data
basic cycle
rail traffic
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CN101877697B (en
Inventor
梅樱
刘志刚
王磊
刁利军
牟富强
张钢
林文立
孙大南
客金坤
姜学东
邱瑞昌
路亮
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BEIJING LIANYI TONGYI RAILWAY TRAFFIC TECHNOLOGY Co Ltd
Beijing Jiaotong University
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BEIJING LIANYI TONGYI RAILWAY TRAFFIC TECHNOLOGY Co Ltd
Beijing Jiaotong University
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Abstract

The invention discloses a method for dispatching a rail traffic vehicle grade network based on CANopen (Controller Area Networkopen). A dispatching method is designed for easily realizing the protocol open and development of a rail traffic vehicle grade network. The method comprises the following steps of: (a) confirming a rail traffic vehicle grade network cycle parameter; (b) confirming a data identifier; (c) establishing a network dispatching table according to the network cycle parameter and the data identifier; (d) deciding whether corresponding cycle data is transmitted or not after all nodes of the network receive a network synchronous frame signal; and transmitting accidental data at random during data change. The method achieves the aims of balanced network load, reasonable configuration, high reliability, good network performance optimization, strong instantaneity and large data volume, provides an open, reliable and easily developed network platform for a rail traffic vehicle grade equipment producer and easily realizes the interconnection of rail traffic vehicle grade equipment on the vehicle grade network.

Description

Rail traffic vehicle grade network dispatching method based on the CANopen agreement
Technical field
The present invention relates to a kind of dispatching method, refer in particular to the dispatching method that is used for rail traffic vehicle grade network and other big data quantities and high real-time network application based on the CANopen agreement.
Background technology
Field of track traffic is the important industry that involves the interests of the state and the people that present country greatly develops, the vehicle grade network provides the information sharing passage for each distributed apparatus on the vehicle, be an important step in the whole vehicle control, in the track traffic modernization development, important role arranged.At present, the vehicle grade bus of track traffic mainly adopts MVB.MVB is international standard IEC61375---(TrainCommunication Networks, the TCN) part in are exactly to be specifically designed to rail vehicle level network in it is formulated to the TCN standard.This bus standard has history decades so far, and still be in leading low level, its biggest advantage is fast, the total line use ratio height of traffic rate, but it is also obvious day by day to the restriction of the track traffic development of country: its hardware configuration complexity, procotol are underground etc.Network communicating system exploitation difficulty cause country to the exploitation of the network control system of communication Network Based be difficult to more to realize, other vehicle arrangements of national independent development can't insert serious consequences such as vehicle network operation.Current, the rail traffic vehicles network remains the biggest obstacle of country in the development of car load vehicle.
Summary of the invention
Technical problem to be solved by this invention is: a kind of rail traffic vehicle grade network dispatching method based on the CANopen agreement is provided, make the agreement of rail traffic vehicle grade network open, exploitation is easy to realize, rail traffic vehicle grade device fabrication person is provided open, reliable, as to be easy to a develop network platform, easily realizes rail traffic vehicle grade equipment interconnected on the vehicle grade network.
In order to solve the problems of the technologies described above, the rail traffic vehicle grade network dispatching method based on the CANopen agreement that the present invention proposes may further comprise the steps:
(a) determine rail traffic vehicle grade network cycle parameter;
(b) specified data identifier;
(c) formulate the network scheduling table by network cycle parameter and data identifier;
(d) each node of network is after receiving the Network Synchronization frame signal, according to the fixed respective cycle data that whether send of network scheduling voting; Accidental data send when data variation at any time.
Further, said method can also have following characteristics: the cycle parameter of determining in the described step (a) is to determine network basic cycle, grand cycle and other cycle parameters according to network equipment quantity, device data, cycle data real-time property, accidental data and performance index requirements.
Further, said method can also have following characteristics: described network basic cycle, grand cycle and other cycle parameters need satisfy condition into:
T _ other(m i) mod T _ base=0, and T _ largeMod T _ other(m i)=0
Wherein, T _ baseThe expression network basic cycle, T _ other(m i) expression other cycles of network, m iRepresent i kind period type, T _ lareThe expression network macros cycle.
Further, said method can also have following characteristics: the established data identifier is to determine according to the cycle of CANopen agreement and data in the described step (b), the data in the same node, and the cycle is more little, and priority is high more, and identifier is more little.
Further, said method can also have following characteristics: the formulation step of network dispatch list is as follows in the described step (c): (i) the network macros period T _ largeBe equally divided into N=T _ large/ T _ basePart; (ii) the current not cycle data of the identifier minimum of scheduling is dispatched Time_Left (n remaining time of the basic cycle that is scheduled i) deduct the time that this Frame sends to be needed, should new remaining time of basic cycle after obtaining dispatching, n iRepresent the n in the grand cycle iThe individual basic cycle; (iii) with basic cycle T _ baseThe data of transmission, each basic cycle all must dispatch; (IV) with other period T _ other(m i) data of transmission, search in the current grand cycle each of Time_Left (n remaining time basic cycle i) the longest basic cycle, in this basic cycle, dispatch, and with this basic cycle be benchmark, every M=T _ other(m i)/T _ baseThe scheduling of individual basic cycle once, grand periodic scheduling P=N/M time; (IIV) with grand period T _ largeThe data of transmission are searched in the current grand cycle each of Time_Left (n remaining time basic cycle i) the longest basic cycle, in this basic cycle, to dispatch, each grand periodic scheduling is once.
Further, said method can also have following characteristics: the Network Synchronization frame has the valid data byte in the described step (d), and its effective byte numerical value is 1, or 2, or 3, or 4, or 5, or 6, or 7, or 8.
Further, said method can also have following characteristics: whether transmitting data in the described step (d) is to determine according to the network scheduling table of formulating, if there is the Frame of this node transmission the basic cycle of effective byte numerical value indication in the synchronization frame in dispatch list, then this node transmits corresponding data frame.
Beneficial effect of the present invention is as follows: on the basis of CANopen agreement, carry out network scheduling, rail traffic vehicle grade device fabrication person is provided open, reliable, as to be easy to a develop network platform, easily realizes rail traffic vehicle grade equipment interconnected on the vehicle grade network.Respectively from node after receiving synchronization frame, according to the voting of synchronization frame effective byte value and network scheduling settled before the transmission of data.The scheduling of macroscopic view make the rail traffic vehicle grade network based on CANopen reach Network Load Balance, configuration rationally, reliability is high, optimization of network performance good, real-time and purpose that data volume is big, satisfies different rail traffic vehicles in the requirement of different occasions to vehicle grade network service.
Description of drawings
Fig. 1 is the network communication models schematic diagram based on the CANopen agreement;
Fig. 2 is the network dispatching method flow chart of the embodiment of the invention based on the CANopen agreement;
Fig. 3 is the network scheduling table algorithm flow chart in the embodiment of the invention dispatching method.
Embodiment
When rail traffic vehicle grade network using CANopen agreement during as bus protocol, by the embodiment of the invention can make network reach Network Load Balance, all cycle datas by predetermined period transmission, accidental data the grace time transmission is arranged, network is clog-free, network utilization is high, the performances such as real-time requirement of big data quantity.
The present invention will be further described below in conjunction with accompanying drawing.
As shown in Figure 1, sync frame transmission began in each basic cycle among the figure, each network node transmits corresponding data in this cycle according to synchronization frame valid data value and network scheduling table after receiving synchronization frame, all data are transmitted in the transfer of data district in this cycle and are finished, the priority of data frame transfer depends on the delivery time and the data frame identifier size of Frame.Basic cycle T among the figure _ base, grand period T _ largeWith other period T _ other(m i) will divide network time, be used for the formulation of network scheduling table.Wherein grand period T _ largeComprise a plurality of other period T _ other(m i) and basic cycle T _ base, other period T _ other(m i) comprise a plurality of basic cycle T _ base, and satisfy T _ ther(m i) mod T _ base=0, T _ largeModT _ other(m i)=0.T wherein _ other(m i) can begin the arbitrary basic cycle from the grand cycle to calculate.The network of realizing by network scheduling among the figure, load balancing, network utilization height, real-time, configuration is the traffic model of whole network optimization rationally.
Present embodiment provides a kind of rail traffic vehicle grade network dispatching method based on the CANopen agreement, by statistics to all data messages of network, the configuration network parameter, thereby formulate network scheduling table based on this network parameter, make each network node all carry out network service according to the network scheduling table, reach thus and optimize network performance, increase network utilization and the purpose of real-time, make the CANopen agreement in the rail traffic vehicle grade network of high real-time and big data quantity, obtain high-performance, use reliably.
As shown in Figure 2, present embodiment adopts the rail traffic vehicle grade network dispatching method based on the CANopen agreement, may further comprise the steps:
Step 110, the rail traffic vehicle grade network designer, the data message that is connected all devices on the vehicle network is added up, comprise network node quantity, node data, cycle data real-time property, accidental data and performance index requirements etc., according to the data communication requirement of rail traffic vehicle grade network, determine the basic cycle T of network _ base, grand period T _ largeWith other period T _ other(m i).
Wherein, all cycles of Que Dinging must meet the following conditions:
T _ other(m i) modT _ base=0, and T _ largeModT _ other(m i)=0.
Step 120, the rail traffic vehicle grade network designer, according to cycle of CANopen agreement and data be each network node specified data identifier, the data in the same node, the cycle is more little, priority is high more, identifier is more little.The Frame that identifier is more little has high more preferential transmission route when network arbitration, can guarantee the real-time of the data that the real cycle is little.
Step 130, the rail traffic vehicle grade network designer is formulated the network scheduling table according to each cycle parameter of network and network data identifier.
Step 140, the rail traffic vehicle grade network designer offers rail traffic vehicles equipment manufacturers with the network scheduling table of formulating.Each node of network is after receiving the Network Synchronization frame signal, whether the scheduling rule decision according to this device node network data in the network scheduling table sends the respective cycle data, if there is the Frame of this node transmission the basic cycle of effective byte numerical value indication in the synchronization frame in dispatch list, then this node transmits corresponding data frame.Accidental data send when data variation at any time.
The Network Synchronization frame has the valid data byte, and its effective byte numerical value is 1, or 2, or 3, or 4, or 5, or 6, or 7, or 8.
The formulation of network scheduling table can be adopted the flow chart as Fig. 3 in the present embodiment, and step is as follows:
Step 210, the rail traffic vehicle grade network designer is according to network cycle information, the network macros period T _ largeBe equally divided into N=T _ large/ T _ basePart;
Step 220 selects the cycle data of identifier minimum to dispatch Time_Left (n remaining time of the basic cycle that is scheduled in the data of not scheduling i) deduct the time that this Frame sends to be needed, should new remaining time of basic cycle after obtaining dispatching, n iRepresent the n in the grand cycle iThe individual basic cycle;
Step 230 is with basic cycle T _ baseThe data of transmission are dispatched according to the rule that each basic cycle all must dispatch;
Step 240 is with other period T _ other(m i) data of transmission, according in the current grand cycle of search each remaining time basic cycle Time_Left (n i) the longest basic cycle, in this basic cycle, dispatch, and with this basic cycle be benchmark, every M=T _ other(m i)/T _ baseThe scheduling of individual basic cycle once, the rule that grand periodic scheduling is P=N/M time is carried out;
Step 250 is with grand period T _ largeThe data of transmission, according in the current grand cycle of search each remaining time basic cycle Time_Left (n i) the longest basic cycle, in this basic cycle, to dispatch, each grand periodic scheduling rule is once carried out.
Step 260, whether all data have all been dispatched finishes in inquiry, dispatch list generates if scheduling is finished, otherwise repeating step 220 is proceeded dispatch list and is formulated.

Claims (7)

1. based on the rail traffic vehicle grade network dispatching method of CANopen agreement, may further comprise the steps:
(a) determine rail traffic vehicle grade network cycle parameter;
(b) specified data identifier;
(c) formulate the network scheduling table by network cycle parameter and data identifier;
(d) each node of network is after receiving the Network Synchronization frame signal, according to the fixed respective cycle data that whether send of network scheduling voting; Accidental data send when data variation at any time.
2. the method for claim 1 is characterized in that, the cycle parameter of determining in described step (a) comprises basic cycle, grand cycle and other cycles.
3. method as claimed in claim 2 is characterized in that, described network cycle parameter meets the following conditions:
T _ other(m i) mod T _ base=0, and T _ largeMod T _ other(m i)=0
Wherein, T _ baseThe expression basic cycle, T _ other(m i) represent other cycles, m iRepresent i kind period type, T _ largeRepresent the grand cycle.
4. the method for claim 1 is characterized in that, the established data identifier is to determine according to the cycle of CANopen agreement and data in described step (b), the data in the same node, and the cycle is more little, and priority is high more, and identifier is more little.
5. the method for claim 1 is characterized in that, the formulation step of network scheduling table is as follows in described step (c): (i) the network macros period T _ largeBe equally divided into N=T _ large/ T _ basePart; (ii) the current not cycle data of the identifier minimum of scheduling is dispatched Time_Left (n remaining time of the basic cycle that is scheduled i) deduct the time that this Frame sends to be needed, should new remaining time of basic cycle after obtaining dispatching, n iRepresent the n in the grand cycle iThe individual basic cycle; (iii) with basic cycle T _ baseThe data of transmission, each basic cycle all must dispatch; (IV) with other period T _ other(m i) data of transmission, search in the current grand cycle each of Time_Left (n remaining time basic cycle i) the longest basic cycle, in this basic cycle, dispatch, and with this basic cycle be benchmark, every M=T _ other(m i)/T _ baseThe scheduling of individual basic cycle once, grand periodic scheduling P=N/M time; (IIV) with grand period T _ largeThe data of transmission are searched in the current grand cycle each of Time_Left (n remaining time basic cycle i) the longest basic cycle, in this basic cycle, to dispatch, each grand periodic scheduling is once.
6. the method for claim 1 is characterized in that, the Network Synchronization frame has the valid data byte in described step (d), and its effective byte numerical value is 1, or 2, or 3, or 4, or 5, or 6, or 7, or 8.
7. method as claimed in claim 6 is characterized in that, there is the Frame of this node transmission the basic cycle of effective byte numerical value indication in the synchronization frame in the network scheduling table, then this node transmission corresponding data frame.
CN 200910236854 2009-11-04 2009-11-04 Method for dispatching rail traffic vehicle grade network based on CANopen (Controller Area Networkopen) protocol Expired - Fee Related CN101877697B (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102035707A (en) * 2010-12-08 2011-04-27 成电汽车电子产业园(昆山)有限公司 Communication real-time guaranteeing method of vehicle-mounted CAN (Controller Area Network)
CN102315997A (en) * 2011-08-25 2012-01-11 株洲南车时代电气股份有限公司 Multifunctional vehicle bus network communication method and system
CN103001977A (en) * 2013-01-06 2013-03-27 李兆玺 Method for safely transmitting email
CN103269383A (en) * 2013-06-14 2013-08-28 苏州海葵电子科技有限公司 Method for realizing communication of train network
CN103825676A (en) * 2014-02-21 2014-05-28 株洲南车时代电气股份有限公司 MVB device status word transmission method based on load balance
CN103841212A (en) * 2014-03-25 2014-06-04 武汉理工大学 Vehicle signal encapsulation method for automobile CAN bandwidth consumption optimization
CN103841213B (en) * 2014-03-25 2017-01-11 武汉理工大学 Vehicle signal encapsulation method for automobile CAN message number optimization

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CN201159853Y (en) * 2007-11-23 2008-12-03 中国北车股份有限公司 CANopen-RS485 gateway for industry on-site control
CN101478451A (en) * 2009-01-19 2009-07-08 中国北车股份有限公司大连电力牵引研发中心 PCI interface type CANOPEN network data analyzer and control method thereof

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102035707A (en) * 2010-12-08 2011-04-27 成电汽车电子产业园(昆山)有限公司 Communication real-time guaranteeing method of vehicle-mounted CAN (Controller Area Network)
CN102315997A (en) * 2011-08-25 2012-01-11 株洲南车时代电气股份有限公司 Multifunctional vehicle bus network communication method and system
CN103001977A (en) * 2013-01-06 2013-03-27 李兆玺 Method for safely transmitting email
CN103001977B (en) * 2013-01-06 2013-08-07 李兆玺 Method for safely transmitting email
CN103269383A (en) * 2013-06-14 2013-08-28 苏州海葵电子科技有限公司 Method for realizing communication of train network
CN103825676A (en) * 2014-02-21 2014-05-28 株洲南车时代电气股份有限公司 MVB device status word transmission method based on load balance
CN103825676B (en) * 2014-02-21 2016-03-23 株洲南车时代电气股份有限公司 A kind of method that MVB device status word based on load balancing transmits
CN103841212A (en) * 2014-03-25 2014-06-04 武汉理工大学 Vehicle signal encapsulation method for automobile CAN bandwidth consumption optimization
CN103841213B (en) * 2014-03-25 2017-01-11 武汉理工大学 Vehicle signal encapsulation method for automobile CAN message number optimization
CN103841212B (en) * 2014-03-25 2017-01-11 武汉理工大学 Vehicle signal encapsulation method for automobile CAN bandwidth consumption optimization

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