CN102611598B - Bus redundancy system of controller local area network and method and device for switching redundancy - Google Patents
Bus redundancy system of controller local area network and method and device for switching redundancy Download PDFInfo
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Abstract
The invention discloses a CAN (controller area network) bus redundancy system of controller local area network and a method and a device for switching redundancy, which is used for increasing transmission efficiency of the CAN bus redundancy system, wherein the CAN bus redundancy system comprises at least two master buses and at least a spare bus; a first master bus is connected with a first port of each first functional node so as to transmit information corresponding to relative functions of each first functional node; a second mater bus is connected with a second port of each second functional node so as to transmit information corresponding to relative functions of each second functional node; the spare bus is connected with a third port of each first functional node and/or is connected with a fourth port of each second functional node so as to transmit information corresponding to relative functions of a functional node which has communication failure when one connected functional and the corresponding master bus have the communication failure.
Description
Technical field
The present invention relates to technical field of network communication, the method and apparatus of particularly a kind of CAN redundant system and redundancy switching.
Background technology
Based in the control system of bus network, system survivability and reliability are one of technological difficulties.At present, Redundancy Design adopts more technology.Common redundancy design technique is generally realize based on redundant processor or redundant channel.Wherein, adopt controller local area network (the Controller AreaNetwork of redundant channel, CAN) bus redundancy system as shown in Figure 1, comprise: primary bus and standby bus, each controller node in this system, and each actuator node is connected with primary bus and standby bus respectively, here, controller node 1, controller node 2 is connected with primary bus and standby bus respectively with actuator node 1.And for only having the sensor node of single port, adopting the mode of dual sensor node, one of them is connected with primary bus, and another is connected with standby bus.Here, redundant sensor node 1 is connected with primary bus, and redundant sensor node 2 is connected with standby bus.
In above-mentioned CAN redundant system, when normally working, carry out communication between node by primary bus, when the communication between certain node and primary bus goes wrong, the communication in the primary bus of whole piece is all transferred on standby bus.Like this, add system survivability, improve the reliability of system.
But during this system worked well, all information all adopts primary bus to transmit, and the communication between node and primary bus is when going wrong, all information all adopts standby bus to carry out transmitting like this, no matter be primary bus, or standby bus, its load is all very high, thus the speed of transmission is slow, the efficiency of transmission is also lower.
Summary of the invention
The method and apparatus that the embodiment of the present invention provides a kind of CAN redundant system and redundancy to switch, in order to improve the efficiency of transmission of CAN redundant system.
The embodiment of the present invention provides a kind of controller local area network CAN redundant system, comprising: at least two primary buses, and, at least one standby bus, wherein,
First primary bus, is connected with the first port of each first functional node, for transmitting the information corresponding with each first functional node correlation function;
Second primary bus, is connected with the second port of each second functional node, for transmitting the information corresponding with each second functional node correlation function;
Standby bus, with the 3rd port of each first functional node, and/or, 4th port of each second functional node connects, for when a connected functional node and corresponding primary bus generation communication failure, the information that transmission is corresponding with the functional node correlation function of generation communication failure; Wherein: the first functional node is controller node, the second functional node is the sensor node treating redundancy.
A kind of method that the embodiment of the present invention provides redundancy to switch, be applied in above-mentioned controller local area network's CAN redundant system, the method comprises:
When determining the connected primary bus generation communication failure of functional node, the port that the functional node broken down described in activation and other bus is connected, and the port that each correlation function node is connected with other bus respectively, wherein, described functional node is the first functional node in described bus redundancy system or the second functional node, and described correlation function node and the described functional node broken down have the functional node of communication relation;
By each port be activated, the functional node to correspondence sends handover trigger instruction, and the functional node broken down described in making and each correlation function node carry out communication by other bus described; Wherein: the first functional node is controller node, the second functional node is the sensor node treating redundancy.
The device that the embodiment of the present invention provides a kind of redundancy to switch, be applied in above-mentioned controller local area network's CAN redundant system, this device comprises:
Activated equipment, for when determining the connected primary bus generation communication failure of functional node, the port that the functional node broken down described in activation and other bus is connected, and the port that each correlation function node is connected with other bus respectively, wherein, described functional node is the first functional node in described bus redundancy system or the second functional node, and described correlation function node and the described functional node broken down have the functional node of communication relation;
Switching device, for by each port be activated, the functional node to correspondence sends handover trigger instruction, and the functional node broken down described in making and each correlation function node carry out communication by other bus described; Wherein: the first functional node is controller node, the second functional node is the sensor node treating redundancy.
In the embodiment of the present invention, CAN redundant system comprises: the primary bus of two or more pieces, and one, two or many standby bus.Like this, there is multiple bus to carry out transmission work, greatly can reduce the offered load rate of left and right, meanwhile, standby bus can be used as the redundant channel of the first primary bus and/or the second primary bus, thus, while increasing system survivability and reliability by redundant channel, maximize mean allocation bus load, and maximization avoids bus because load factor fluctuation causes bus failure odds etc., improves fail safe and the efficiency of transmission of system.
Accompanying drawing explanation
Fig. 1 is the Organization Chart of CAN redundant system in prior art of the present invention;
Fig. 2 is the Organization Chart of CAN redundant system in the specific embodiment of the invention;
Fig. 3 is the Organization Chart of CAN redundant system in the embodiment of the present invention;
Fig. 4 is the flow chart that in the embodiment of the present invention, redundancy switches;
Fig. 5 is the structure chart of redundancy switching device shifter in the embodiment of the present invention.
Embodiment
In the embodiment of the present invention, bus redundancy system comprises: the primary bus of two or more pieces, and one, two or many standby bus.Wherein, the primary bus of every bar can be transmitted identical type or dissimilar information, such as: the information of the first primary bus transfer event trigger type, the information of the second primary bus transfer data type, standby bus can be one, two, or the redundancy of many primary buses is for subsequent use, like this, while increasing system survivability and reliability by redundant channel, reduce the load factor of the primary bus of every bar, avoid the problem such as frequent packet loss, network blockage because too high total inorganic nitrogen causes, improve stability and the efficiency of transmission of bus.
Lower mask body is described for CAN redundant system.See Fig. 2, this CAN redundant system comprises: two primary buses and a standby bus, and wherein, two primary buses are respectively control command bus and sensing data bus.
Certainly, this system also comprises multiple node, and divide by its function, node comprises: controller node, sensor node and actuator node.Wherein, controller node and actuator node have at least two ports can be connected with bus respectively, and sensor node generally only has a port be connected with bus, and, also can be divided into according to its importance the sensor node and general sensor nodes for the treatment of redundancy.Here, treat that the sensor node of redundancy is pair of sensors joint, be respectively the first redundant sensor node and the second redundant sensor node.
Here, control command bus i.e. the first primary bus, is connected with each controller node, is also connected with each actuator node, and as shown in Figure 2, all primary with first bus of controller node 1, controller node 2, controller node 3 and actuator node is connected.
Sensing data bus i.e. the second primary bus, treat that the sensor node of redundancy is connected with each, if when not needing the general sensor nodes of carrying out redundancy in the embodiment of the present invention in addition, then this general sensor nodes also bus primary with second be connected, certainly, the data message obtained due to sensor node will be transferred to controller node, and therefore, controller node also bus primary with second is connected.As shown in Figure 2, controller node 1, controller node 2, controller node 3, general sensor nodes, and treat the first redundant sensor node in the sensor node of redundancy respectively bus primary with second be connected.
Standby bus and each controller node, each sensor node treating redundancy, and each actuator node connects, as shown in Figure 2, controller node 1, controller node 2, controller node 3, the second redundant sensor node treated in the sensor node of redundancy are connected with standby bus respectively with actuator node.
When adopting this system to carry out normal communication work, the information between the first primary bus transfer controller node, and the control information between controller node and actuator node.The control information of this first primary bus transfer is generally the process data object (Process Data Object, PDO) of event trigger type.The PDO of the type needs reaction speed faster, and therefore, the interval time that PDO sends is shorter, and the offered load rate of the first primary bus is general lower but fluctuation is larger.
Data message between second primary bus transfer controller node and the first redundant sensor node, and the data message between controller node and general sensor nodes.The data message of this second primary bus transfer is generally the PDO of sensing data.Generally, the PDO that the second primary bus sends is relatively more frequent, and is circulation transmission, and therefore, but the higher fluctuation of the offered load rate of the second primary bus is little.
When system carries out normal communication work, standby bus can not work, or, also can data message between transmission control unit (TCU) node and the second redundant sensor node, namely controller node can get the redundant sensor node transmission data message of identical function respectively from the second primary bus and standby bus, namely obtains the first redundant sensor node and the second redundant sensor node transmission data message simultaneously.Now, collect two parts of data messages can be compared by controller node, obtain the data message corresponding with this redundant sensor node.
When node a certain in this system and corresponding primary bus generation communication failure, then need the redundancy feature starting standby bus, utilize this standby bus to transmit the information corresponding with this node.Such as: in Fig. 2, controller node 1 is main controller, like this, after controller node 1 there occurs fault by heartbeat timeout determination controller node 2, the port that active controller node 2 is connected with standby bus, and with the port that controller node 2 has other nodes of communication relation to be connected with standby bus, such as, go back active controller node 3, port that actuator node is connected with standby bus.Then, controller node 1 is by each port be activated, and the node to correspondence sends handover trigger instruction, makes controller node 2 carry out communication by standby bus and other node.Wherein, other node, here be controller node 3, after receiving handover trigger instruction, the first communication data packets whether having and mate with the identify label of the controller node 1 carried in handover trigger instruction is searched in the first register corresponding with the first primary bus, if any, this first communication data packets is put into second register corresponding with standby bus.And there is the node of communication failure, i.e. controller node 2, after receiving handover trigger instruction, close the port be connected with the first primary bus, work register is switched to four register corresponding with standby bus from the 3rd register corresponding with the first primary bus.Thus, after controller node 2 and the first primary bus generation communication failure, by the information that standby bus transmission is relevant to controller node 2.
Certainly, before carrying out redundancy switching, each port arrangement be connected with standby bus is also standby condition by main controller node.Generally, during system initialization, main controller node can send the configuration-direct carrying port identities mark, makes corresponding port switch to standby condition from initial condition.
Like this, activated end mouth is specially and port is switched to running status from standby condition.Namely, in the embodiment of the present invention, the state of the port be connected with bus comprises: initial condition, standby condition, running status, or closed condition.
Visible, in the present embodiment, standby bus can be used as the redundant channel of the first primary bus.Certainly, if when system carries out normal communication work, standby bus does not work, during data message namely not between transmission control unit (TCU) node and the second redundant sensor node, now, standby bus also can be used as the redundant channel of the second primary bus.Such as: when communication failure appears in the first redundant sensor node and the second primary bus, then main controlled node activates the port be connected with standby bus with the second redundant sensor node that this first redundant sensor node matches, and, by the port be activated, handover trigger order is sent to the second redundant sensor node, make by standby bus transmission information between the second redundant sensor and controller, the information that namely standby bus transmission is relevant to the second redundant sensor.
Certainly, if when a node and standby bus generation communication failure, in the present embodiment, also the communication relevant with this node can be moved on in the bus be connected with this node.Such as: after controller node 2 and the first primary bus generation communication failure, by information that standby bus transmission is relevant to controller node 2.And the communication failure of device node 2 to be controlled and the first primary bus is got rid of, after the port that device node 2 to be controlled is connected with the first primary bus is in standby condition, if now controller node 2 is with standby bus generation communication failure, then can proceed to switch, by the information that the first primary bus transfer is relevant to controller node 2.Detailed process has just been not repeated.
Therefore, in above-described embodiment, first primary bus transfer be the PDO of event trigger type, the PDO of the loop cycle transmission of the second primary bus transfer, like this, can be different according to the type of the PDO of transmission, the PDO configuring the primary bus of every bar transmits quantity, bandwidth, and speed, and, standby bus can be used as the redundant channel of the first primary bus and/or the second primary bus, thus, while increasing system survivability and reliability by redundant channel, maximize mean allocation bus load, and maximization avoids bus because load factor fluctuation causes bus failure odds etc., the fail safe of raising system and efficiency of transmission.
And, when having a node and a bus generation communication failure, only the communication relevant with this node need be moved on in another bus, and do not need the communication in whole piece bus all to transfer in another bus, like this, each node only has and does not break down with the communication of a bus, and this system just can normally be run, and whole bus redundancy system survivability substantially increases.
In above-described embodiment, when having controller node and the first primary bus and standby bus that communication failure occurs simultaneously, main controller node sends by sensor bus and stops the order of whole electric-control system operation to each controller node, to avoid serious accident occurs.In addition, if because the not high and system requirements of load factor in sensor bus safety is not high, then also can not run by halt system, and switch to by the sensor bus transmission information relevant to failed controller node, the method that its implementation and above-mentioned employing standby bus transmit the information of being correlated with failed controller node is identical, has been not repeated.
Certainly, when having sensor node and the second primary bus and standby bus that communication failure occurs simultaneously, main controller node sends by controller bus and stops the order of whole electric-control system operation to each controller node, to avoid serious accident occurs.
In above embodiment, CAN redundant system only has three-bus, but the embodiment of the present invention is not limited thereto, can many primary buses, and two or more pieces standby bus.Such as: can according to the control information sent to the difference of response speed, control command bus is divided into the first control command bus and the second control command bus, sensing data bus is divided into layer ordinary sensors data/address bus and redundant sensor data/address bus, or also increases a data/address bus be connected with other data equipment nodes.Now, primary bus has four or five, and standby bus can only have one, and this standby bus is the redundant channel of the primary bus of above-mentioned every bar.Or standby bus has two, one is the redundant channel of the first control command bus and the second control command bus, and another is the redundant channel of redundant sensor data/address bus and data/address bus.Or, then segment standby bus further, will not enumerate.
Certainly, above-mentioned system is the bus redundancy system of common CAN network, and other network, as profibus, modbus etc., also can adopt above-mentioned bus redundancy system.
Thus, CAN redundant system in the embodiment of the present invention, see Fig. 3, can comprise: at least two primary buses, and, at least one standby bus, wherein,
First primary bus 100, is connected with the first port of each first functional node 110, for transmitting the information corresponding with each first functional node 110 correlation function.
Second primary bus 200, is connected with the second port of each second functional node 210, for transmitting the information corresponding with each second functional node 210 correlation function.
Standby bus 300, with the 3rd port of each first functional node 110, and/or, 4th port of each second functional node 210 connects, for when a connected functional node and corresponding primary bus generation communication failure, the information that transmission is corresponding with the functional node correlation function of generation communication failure.
Wherein, standby bus 300, is also connected with the 4th port of the second functional node 210 for working as, and when communication failure does not occur for the second functional node 210 and the second primary bus, transmits the information corresponding with the second functional node 210 correlation function.Namely, in the embodiment of the present invention, the second functional node 210 can transmit information corresponding to correlation function by the second primary bus 200 and standby bus 300 simultaneously.
Second primary bus 200, also be connected with the five-port of each first functional node 110 for working as, and when all there is communication failure in the first functional node 110 and the first primary bus 100 and standby bus 300, transmit the halt instruction making system out of service, or, transmit the information corresponding with the first functional node 110 correlation function.Now the second primary bus 200 is according to offered load, and the importance of the first functional node 110 broken down, and carries out concrete work.When offered load rate is higher, when the first functional node 110 broken down is important for systematic comparison, then now the second primary bus 200, also for transmitting the halt instruction making system out of service.And when offered load rate is high and the fail safe of system requirements is not high, then now the second primary bus 200, also for transmitting the information corresponding with the first functional node 110 correlation function.
Wherein, the second functional node 210 comprises: the node having two ports be connected with bus at least, and wherein, a port of node is the second port, and another port is the 4th port; Or at least two nodes only having a port be connected with bus, wherein, the port of first node is the second port, and the port of Section Point is the 4th port.
In the embodiment of the present invention, " first ", " second " or " the 3rd " etc. before relevant title, only for distinguishing, do not represent relative importance.Therefore, the first primary bus and the second primary bus can be exchanged, the first functional node and the second functional node also interchangeable.
When embody rule, when the first functional node is controller node, when second functional node is the sensor node until redundancy, the information corresponding with the first functional node correlation function is control information, and the information corresponding with the second functional node correlation function is data message.Further, treat that the sensor node of redundancy comprises a pair node, be respectively the first redundant sensor node and the second redundant sensor node, each node only has a port can be connected with bus.Like this, in this system,
First primary bus, with each controller node, for transmitting the control information relevant to each controller node, particularly, this the first primary bus and each controller node, and each actuator node connects, for the information between transmission control unit (TCU) node, and the control information between controller node and actuator node;
Second primary bus, treat that in the sensor node of redundancy, the first redundant sensor node is connected with each, for transmitting the data message relevant to each first redundant sensor node, particularly, second primary bus, treat the first redundant sensor node in the sensor node of redundancy with each, and each controller node connects, for the data message between transmission control unit (TCU) node and the first redundant sensor node;
Standby bus, with each controller node, and/or, eachly to treat in the sensor node of redundancy that the second redundant sensor node connects, for when a connected controller node and the first primary bus generation communication failure, transmit the control information relevant to the controller node that communication failure occurs, and/or, when connected one in the sensor node of redundancy, the first redundant sensor node and second is with bus generation communication failure, transmission treats to generation communication failure the data message that in the sensor node of redundancy, the second redundant sensor node is relevant.
In above-mentioned embody rule, standby bus, also be connected with the second redundant sensor node in the sensor node treating redundancy for working as, and when communication failure does not occur for the first redundant sensor node and the second primary bus in the sensor node of redundancy, transmit the data message relevant to the second redundant sensor node.
Second primary bus, also for when communication failure all appears in controller node and the first primary bus and standby bus, transmits the halt instruction making system out of service, or, transmit the information corresponding with controller node correlation function.
In above-mentioned CAN redundant system, when a functional node and a bus generation communication failure, generally by master controller node, the communication corresponding with this functional node is switched in another bus, specifically see Fig. 4, comprises:
Step 401: the connected bus generation communication failure of master controller node determination functional node.
Here, for the functional node of Control Cooling, the connected bus generation communication failure of functional node can be determined by heartbeat timeout, or, for the functional node of data type, determine the whether connected bus generation communication failure of functional node by whether receiving the data message uploaded in setting-up time.Other similar fault functional nodes just no longer one by one class lifted.In the embodiment of the present invention, functional node is the first functional node in above-mentioned bus redundancy system or the second functional node.Like this, the bus be connected with functional node can be primary bus or standby bus.
Step 402: master controller node activates the port that the functional node that breaks down and each correlation function node and other bus are connected.
Namely master controller node activates the port that functional node and other bus of breaking down is connected, and the port that each correlation function node is connected with other bus respectively, and wherein, correlation function node and fault functional node have communication relation.
The port of functional node can be in initial condition, standby condition, running status or closed condition.Before carrying out bus switch, the port that master controller node can make functional node and other bus be connected is in standby condition, generally, during system initialization, main controller node can send the configuration-direct carrying port identities mark, makes corresponding port switch to standby condition from initial condition.The process then activated comprises:
The port that the functional node broken down and other bus is connected is switched to running status from standby condition, and the port that each correlation function node and other bus is connected is switched to running status from standby condition.
Step 403: by each port be activated, the functional node to correspondence sends handover trigger instruction, makes the functional node that breaks down and each correlation function node carry out communication by other bus.
Communication work, according to this handover trigger instruction, is switched to other bus and carries out by the functional node broken down.Specifically comprise: after the functional node that breaks down receives handover trigger instruction, close the port be connected with a bus, work register is switched to four register corresponding with other article of bus from the 3rd register corresponding with one article of bus.
The communication work carried out with fault functional node, also according to this handover trigger instruction, is also switched to other bus and carries out by correlation function node.Specifically comprise: after correlation function node receives handover trigger instruction, when correlation function node finds first communication data packets of mating with the identify label of the functional node broken down carried in handover trigger instruction in the first register corresponding with bus, the first communication data packets is put into second register corresponding with other bus.
By said process, the switching between bus can be carried out.Wherein, the functional node broken down can be the first functional node in above-mentioned CAN redundant system or the second functional node.A corresponding bus can be the first primary bus, the second primary bus or standby bus.
Visible, when having a node and a bus generation communication failure, only the communication relevant with this node need be moved on in another bus, like this, each node only has and does not break down with the communication of a bus, this system just can normally be run, and the fault-tolerant ability of whole CAN redundant system substantially increases.
According to the method that above-mentioned redundancy switches, build the device that a kind of redundancy switches, be also applied in above-mentioned CAN redundant system, see Fig. 5, this device comprises: activated equipment 510 and switching device 520.
Activated equipment 510, for when determining the connected bus generation communication failure of functional node, the port that functional node and other bus that activation is broken down is connected, and the port that each correlation function node is connected with other bus respectively, wherein, described functional node is the first functional node in described bus redundancy system or the second functional node, and described correlation function node and the described functional node broken down have the functional node of communication relation.
Switching device 520, for by each port be activated, the functional node to correspondence sends handover trigger instruction, makes the functional node that breaks down and each correlation function node carry out communication by other bus.
This device also comprises:
Configuration device, for sending to each port be connected with other bus described the configuration-direct carrying port identities and identify, makes corresponding port switch to standby condition from initial condition.
Then, activated equipment 510, port specifically for the functional node broken down and other bus being connected switches to running status from standby condition, and the port that each correlation function node and other bus is connected is switched to running status from standby condition.
The device that this redundancy switches can be applied in above-mentioned CAN redundant system in master controller node.
In the embodiment of the present invention, CAN redundant system comprises: the primary bus of two or more pieces, and one, two or many standby bus.Like this, there is multiple bus to carry out transmission work, the offered load rate of nearly about 2/3 can be reduced, greatly reduce the possibility that bus goes wrong, have very large effect to the stable operation of bus.
And, can be different according to the information type that primary bus is transmitted, configure the bandwidth of the primary bus of every bar, and speed, such as: adopt different transmission rates in bus, transmit the data of each transducer, and the control command of controller, sensing data and control command can be made to transmit in time, then the link that accurately can control to some needs brings the optimization on control effects.
In addition, the information that the primary bus of the every bar of regular allocation that can set according to nodal function, sending mode or transmission rate etc. is transmitted, simultaneously, standby bus can be used as the redundant channel of the first primary bus and/or the second primary bus, thus, while increasing system survivability and reliability by redundant channel, maximize mean allocation bus load, and maximization avoids bus because load factor fluctuation causes bus failure odds etc., improves fail safe and the efficiency of transmission of system.
And, when having a node and a bus generation communication failure, only the communication relevant with this node need be moved on in another bus, and do not need the communication in whole piece bus all to transfer in another bus, like this, each node only has and does not break down with the communication of a bus, and this system just can normally be run, and the fault-tolerant ability of whole CAN redundant system substantially increases.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (8)
1. controller local area network's CAN redundant system, is characterized in that, comprising: at least two primary buses, and, at least one standby bus, wherein,
First primary bus, is connected with the first port of each first functional node, for transmitting the information corresponding with each first functional node correlation function;
Second primary bus, is connected with the second port of each second functional node, for transmitting the information corresponding with each second functional node correlation function;
Standby bus, with the 3rd port of each first functional node, and the 4th port of each second functional node connects, for when a connected functional node and corresponding primary bus generation communication failure, the information that transmission is corresponding with the functional node correlation function of generation communication failure; Wherein: the first functional node is controller node, the second functional node is the sensor node treating redundancy;
Described standby bus, also for when communication failure does not occur for described second functional node and described second primary bus, transmits the information corresponding with described second functional node correlation function;
Described second primary bus, also for being connected with the five-port of each first functional node, and when communication failure all appears in the first functional node and described first primary bus and described standby bus, transmit the halt instruction making described system out of service, or, transmit the information corresponding with described first functional node correlation function.
2. the system as claimed in claim 1, is characterized in that,
Described first primary bus, with each controller node, and each actuator node connects, for the information between transmission control unit (TCU) node, and the control information between controller node and actuator node;
Described second primary bus, treats the first redundant sensor node in the sensor node of redundancy with each, and each controller node connects, for the data message between transmission control unit (TCU) node and the first redundant sensor node;
Described standby bus, with each controller node, and/or, eachly treat the second redundant sensor node in the sensor node of redundancy, and actuator node connects, for when a connected controller node and described first primary bus generation communication failure, transmit the control information relevant to the controller node that communication failure occurs, and/or, when connected one in the sensor node of redundancy when the first redundant sensor node and described second primary bus generation communication failure, transmission treats to generation communication failure the data message that in the sensor node of redundancy, the second redundant sensor node is relevant.
3. system as claimed in claim 2, is characterized in that,
Described standby bus, also treat that in the sensor node of redundancy, the second redundant sensor node is connected for working as with described, and described in when there is not communication failure in the first redundant sensor node and described second primary bus in the sensor node of redundancy, transmit the data message relevant to described second redundant sensor node.
4. a method for redundancy switching, it is characterized in that, be applied in the controller local area network's CAN redundant system in the claims 1-3 described in arbitrary claim, the method comprises:
When determining the connected bus generation communication failure of functional node, the port that the functional node broken down described in activation and other bus is connected, and the port that each correlation function node is connected with other bus respectively, wherein, described functional node is the first functional node in described bus redundancy system or the second functional node, and described correlation function node is the functional node having communication relation with the described functional node broken down;
By each port be activated, the functional node to correspondence sends handover trigger instruction, and the functional node broken down described in making and each correlation function node carry out communication by other bus described; Wherein: the first functional node is controller node, the second functional node is the sensor node treating redundancy.
5. method as claimed in claim 4, is characterized in that, described in make described in the functional node that breaks down and each correlation function node carry out communication by other bus described and comprise:
Described correlation function node is by after handover trigger instruction described in the corresponding port accepts be activated, if described correlation function node finds first communication data packets of mating with the identify label of the functional node broken down carried in described handover trigger instruction in the first register corresponding with a described bus, then described first communication data packets is put into second register corresponding with other bus described;
After the described functional node broken down receives described handover trigger instruction, close the port be connected with a described bus, work register is switched to four register corresponding with other article of bus described from the 3rd register corresponding with described one article of bus.
6. method as claimed in claim 4, is characterized in that, described determine the connected bus generation communication failure of functional node before, also comprise:
Send to each port be connected with other bus described the configuration-direct carrying port identities and identify, make corresponding port switch to standby condition from initial condition;
The port that functional node and other bus broken down described in then activating is connected, and the port that each correlation function node is connected with other bus respectively comprises:
The port that the described functional node broken down and other bus is connected is switched to running status from described standby condition, and the port that each correlation function node and other bus is connected is switched to running status from described standby condition.
7. a device for redundancy switching, it is characterized in that, be applied in the controller local area network's CAN redundant system in the claims 1-3 described in arbitrary claim, this device comprises:
Activated equipment, for when determining the connected bus generation communication failure of functional node, the port that the functional node broken down described in activation and other bus is connected, and the port that each correlation function node is connected with other bus respectively, wherein, described functional node is the first functional node in described bus redundancy system or the second functional node, and described correlation function node and the described functional node broken down have the functional node of communication relation;
Switching device, for by each port be activated, the functional node to correspondence sends handover trigger instruction, and the functional node broken down described in making and each correlation function node carry out communication by other bus described; Wherein: the first functional node is controller node, the second functional node is the sensor node treating redundancy.
8. device as claimed in claim 7, is characterized in that, also comprise:
Configuration device, for sending to each port be connected with other bus described the configuration-direct carrying port identities and identify, makes corresponding port switch to standby condition from initial condition;
Then, described activated equipment, port specifically for the described functional node broken down and other bus being connected switches to running status from described standby condition, and the port that each correlation function node and other bus is connected is switched to running status from described standby condition.
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| CN201210021613.4A CN102611598B (en) | 2012-01-31 | 2012-01-31 | Bus redundancy system of controller local area network and method and device for switching redundancy |
| PCT/CN2012/082360 WO2013113226A1 (en) | 2012-01-31 | 2012-09-28 | Controller area network bus redundancy system and redundancy switching method and device |
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| CN102611598B (en) * | 2012-01-31 | 2015-07-15 | 长沙中联消防机械有限公司 | Bus redundancy system of controller local area network and method and device for switching redundancy |
| CN103543715A (en) * | 2013-10-10 | 2014-01-29 | 上海发电设备成套设计研究院 | Three-plus-one redundancy control communication bus method for triplex redundancy control system |
| CN103941683A (en) * | 2014-04-08 | 2014-07-23 | 深圳市普力特科技有限公司 | Distributed bus control system and method |
| US10003525B2 (en) * | 2014-11-14 | 2018-06-19 | Fisher-Rosemount Systems, Inc. | Methods and apparatus to provide redundancy in a process control system |
| CN106302064B (en) * | 2016-08-16 | 2019-03-08 | 新誉集团有限公司 | The data transfer optimization method and system of binary-channel redundancy CAN bus for electric vehicle |
| CN108205305B (en) * | 2016-12-20 | 2020-05-19 | 比亚迪股份有限公司 | Train network control system and method based on CAN |
| CN109144916A (en) * | 2017-06-16 | 2019-01-04 | 深圳市中兴微电子技术有限公司 | It is a kind of to handle the method and device of data packet, chip |
| CN109795441A (en) * | 2018-12-15 | 2019-05-24 | 阿尔特汽车技术股份有限公司 | A kind of electric car supplementary restraint system control method based on three tunnel CAN bus |
| CN110086699B (en) * | 2019-06-25 | 2019-11-05 | 潍柴动力股份有限公司 | A kind of information transferring method, device and Full Vehicle System |
| CN113791642A (en) * | 2021-09-27 | 2021-12-14 | 广东汇天航空航天科技有限公司 | Flight control unit, aircraft control system and method and aircraft |
| CN114162067B (en) * | 2021-12-16 | 2024-03-15 | 深圳市优必选科技股份有限公司 | Four-foot robot and bus module thereof |
| CN114338264B (en) * | 2021-12-17 | 2023-01-24 | 珠海格力电器股份有限公司 | Bus communication quality control method and system, air conditioning unit and electronic equipment |
| CN114338358B (en) * | 2021-12-28 | 2024-05-14 | 深圳市英维克信息技术有限公司 | Data interaction method, device, storage medium and PLC |
| CN116841241A (en) * | 2023-09-01 | 2023-10-03 | 浙江国利信安科技有限公司 | Industrial control system, control method, and computer-readable storage medium |
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