CN104821948A - Method for realizing openSAFETY function security based on POWERLINK - Google Patents
Method for realizing openSAFETY function security based on POWERLINK Download PDFInfo
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- CN104821948A CN104821948A CN201510230965.4A CN201510230965A CN104821948A CN 104821948 A CN104821948 A CN 104821948A CN 201510230965 A CN201510230965 A CN 201510230965A CN 104821948 A CN104821948 A CN 104821948A
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Abstract
The invention provides a method for realizing openSAFETY function security based on POWERLINK, comprising the following steps: A, establishing a plurality of function modules; and B, fusing an openSAFETY protocol into a POWERLINK protocol stack through the function modules, replacing a CANopen protocol of a POWERLINK application layer, and implementing function security applications of openSAFETY on a POWERLINK protocol, wherein the function modules include a security check module, a parameter configuration module and an object dictionary mapping module. Aiming at the deficiency in the prior art, the invention provides the method for realizing openSAFETY function security based on POWERLINK. A high-speed industrial Ethernet POWERLINK is used as an underlying communication protocol of openSAFETY, and thus, function security applications of openSAFETY are realized on a POWERLINK protocol.
Description
Technical field
The present invention relates to Industrial Ethernet security fields, refer more particularly to a kind of high-performance implementation of Industrial Ethernet functional safety agreement openSAFETY.
Background technology
The to the effect that functional safety of current Industrial Ethernet security study, namely ensures adaptability, the reliability and maintainability of industrial network under the multiple industrial environment interference such as electromagnetism, high temperature, noise and vibration.The security performance of traditional industry safe practice and the scope of application are all limited to conventional bus consensus standard, and cycle duration is limited in a millisecond rank, and its relevant theory and framework cannot be applicable to the real-time industrial ethernet of develop rapidly.Therefore, in order to meet the more high performance network security demand of industrial circle, many companies and be organized in respective industrial Ethernet technology basis on have developed corresponding network security protocol.But, the security protocol of these a new generations is also limited to respective basic agreement, generally lack versatility, such as PROFIsafe security protocol is limited to PROFInet and PROFIbus agreement, CIPSafety security protocol is limited to SECOS agreement, and SafetyEtherCAT security protocol is limited to EtherCAT agreement etc.
For this point, POWERLINK standardization body (EPSG) has set up the openSAFETY committee on July 27th, 2004, is intended to the open real-time ethernet security protocol openSAFETY life therefrom that research and development one are quick, general.OpenSAFETY is with open technique of increasing income for characteristic, and it is first 100% security protocol of increasing income in the world, and not only open research and development patent on legal perspective, technological layer has also been accomplished the open platform independent of bus.OpenSafety can be applied in the scheme of any fieldbus and Industrial Ethernet, even can support the protocol scheme of specific customization.Therefore, in the long run, the market potential of openSafety in security industry is produced is very huge.The application of research and development openSAFETY technology, for Industrial Ethernet safe practice provides efficient and general solution, will have great theory significance and high practical value.But, for now, although openSafety consensus standard and functional safety performance have obtained the certification of IEC tissue, but the application technology of openSAFETY equipment is not yet ripe at present, lack actual application case, the solution be combined with other buses and Ethernet scheme also needs perfect further.Meanwhile, openSAFETY works in network application layer, independent of the Functional Safety Communication agreement of bus, bus independently makes this agreement not only be applicable to Industrial Ethernet as EPL, PROFInet etc., and other fieldbus can be applicable to as CAN, PROFIbus etc.But this protocol architecture also makes the network transmission performances such as the real-time of openSAFETY itself, shake, time cycle, data frame length, information security be subject to the restriction of basic communication protocol.Therefore, the high-performance for openSAFETY is needed to realize selecting suitable basic communication protocol as strong support.
Summary of the invention
The present invention is directed to deficiency of the prior art, provide the openSAFETY functional safety implementation method based on POWERLINK, use high-speed industrial Ethernet Ethernet POWERLINK as the basic communication protocol of openSAFETY, thus in POWERLINK agreement, realize the functional safety application of openSAFETY.
In order to solve the problems of the technologies described above, present invention employs following technical scheme,
Based on the openSAFETY functional safety implementation method of POWERLINK, it is characterized in that, comprise following steps:
A. some functional modules are set up;
B. openSAFTY agreement is blended in POWERLINK protocol stack by described functional module, replaces the CANopen agreement of POWERLINK application layer, POWERLINK agreement realizes the functional safety application of openSAFETY;
Wherein, described functional module comprises:
1) safety check module, for the frame check of openSAFETY Shuangzi and CRC check, and for providing interface between openSAFETY and Memory Controller Hub;
2) parameter configuration module, for the specific implementation setting relevant parameter configuration of openSAFETY according to POWERLINK;
3) object dictionary mapping block, for setting up POWERLINK object dictionary OD mapping table and openSAFETY object dictionary SOD mapping table, and map index function.
Preferably, in described safety verification module, user is according to the parameter of the practical function configured head file of openSAFETY.
Preferably, the main body header file of described parameter configuration module is for arranging the special parameter of openSAFETY.
Preferably, described special parameter comprises: the setting of master/slave station, maximum security node number setting, maximum sending/receiving data amount check setting, the setting of mapping channel number and the setting of maximum load byte number.
Preferably, two parameters of described map index function are respectively used to the data structure describing POWRLINK object dictionary mapping table and openSAFETY object dictionary mapping table.
Further, the master station and follow station of POWERLINK is configured to safety management node or trouble free service node by the Software tool of openSAFETY.
OpenSAFETY functional safety implementation method based on POWERLINK of the present invention, use high-speed industrial Ethernet Ethernet POWERLINK as the basic communication protocol of openSAFETY, POWERLINK agreement realizes the functional safety application of openSAFETY.Because POWERLINK has outstanding networked-induced delay, its cycle time, most I reached 200 μ s, the shake of cycle bound can be accurate to < 1 μ s, and support flexible networking, cross-communication, the functions such as many redundancy schemes, thus the bottom-layer network transfer of data that high speed can be provided stable for openSAFETY.And openSAFETY is as functional safety upper layer application protocol, there is the high performance properties of SIL3 safe class, the network configuration of its SCM/SN can suit the main website/slave station networking structure of POWELRINK, in order to coexist, Industrial Ethernet in POWERLINK network and other bus communication protocols provide unified functional safety service, thus meet the more high performance network security demand of industrial circle.
Accompanying drawing explanation
Fig. 1 is the openSAFETY protocol frame figure based on POWERLINK in the present invention;
Fig. 2 is the mapping process schematic diagram of object dictionary in the present invention;
Fig. 3 is object dictionary mapping table schematic diagram in the present invention;
Fig. 4 is security stack of protocols operational flow diagram in the present invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the present invention is described in further detail.
The present invention devises the openSAFETY functional safety implementation method based on POWERLINK, the CANopen agreement of POWERLINK application layer is substituted for by openSAFETY agreement, the functional module of openSAFETY is blended in POWERLINK protocol stack by the mode of function call, thus on POWERLINK, achieves the safety function of openSAFETY.
Concrete, as shown in Figure 1, the Service Data Object of POWERLINK, process data object and network management state machine are POWERLINK real-time performance inter-node communication and layer protocol data transmission and serve.Wherein:
Process data object is used for periodically transmitting procedure data, for synchronous communication.
Service Data Object is the same with process data object is communication data object, and Service Data Object is asynchronous transmission, i.e. the data of not timing transmission aperiodic, for transmission network order, configuration network parameter, and sporadically other node object dictionary is conducted interviews.
POWERLINK object dictionary is for describing the characteristic of an equipment, and its essence is the set of object.So-called to liking one group of characterising parameter; An application apparatus needs many group objects, and namely many group parameters describe jointly, comprise communication object, messaging parameter, manufacturer's information, functions of the equipments information etc.
Network management state machine is used for the running status of control network nodes, is responsible for controlling and the operating state of monitor node, the address of distribution node.
At this, need it is noted that, security process data object, security service data object and secure network management state machine be specifically designed to openSAFETY node to realize safety function, and provide service for upper layer security application program.
Wherein, security process data object is for the safety-relevant data periodically between transmission security website and time synchronized data, can be transmitted by the process data object of POWERLINK synchronous phase, thus ensure the periodic communication of openSAFETY safety application data.
Security service data object network startup stage, the configuration of primary responsibility system initialization parameter and object dictionary; And at working stage, security service data object is responsible for the download of acyclic object dictionary communication and related data and is uploaded.Security service data object provides the access port of Service Data Object, realizes the data interaction between security service data object service end and security service data object client.
Secure network management state machine primary responsibility provides multiple network service, comprises UDID checking, node address distribution, state machine management, Node Protection etc., is that openSAFETY is used for the Frame of control network nodes state specially.Secure network management state machine, as the network service administrative mechanism of openSAFETY, has distinct main website/from station structure.
The core cell of protocol stack control module and application interface program; OpenSAFETY protocol stack is by function initializtion protocol stack control module, and this is the prerequisite of all protocol stack function calls.After initialization completes, protocol stack control module is processed secure network management state machine and security service data object by function.
OpenSAFETY object dictionary: the configuration parameter of the openSAFETY of transmission access in normal operation object dictionary all needs to carry out access data by the index of openSAFETY object dictionary.
Because the application layer of POWERLINK and openSAFETY follow CANopen communication protocol standard, use the communication structure of CANopen agreement, by process data object, Service Data Object, object dictionary three forms.Therefore the CANopen agreement of POWERLINK application layer can be replaced by openSAFETY agreement, the functional module of openSAFETY is blended in POWERLINK protocol stack by the mode of function call, thus on POWERLINK, realizes the safety function of openSAFETY.Concrete, realize by following functions module:
1) safety check module: primary responsibility openSAFETY Shuangzi frame check and CRC check in software stack, and for providing interface between openSAFETY and Memory Controller Hub.When the Frame of the data link layer from POWERLINK is identified as openSAFETY message, safety check module will be contrasted the Shuangzi frame of message, and carries out CRC redundancy check respectively.In safety check module, user will according to the parameter of the practical function configured head file of openSAFETY.
2) module of parameter configuration module: openSAFETY relevant parameter configuration set by the specific implementation of POWERLINK, its main body header file is used for arranging the special parameter of openSAFETY.
3) object dictionary mapping block: set up the mapping table of POWERLINK object dictionary and the mapping table of openSAFETY object dictionary, enable the Security Object dictionary of openSAFETY be embedded in the standard object dictionary of POWERLINK, thus can be linked by the mode of Function Mapping.
As schemed shown in attached 2, first, in object dictionary mapping block, set up object dictionary mapping function: map index.The parameter of this function is respectively the data structure describing POWRLINK object dictionary mapping table and openSAFETY object dictionary mapping table.Two parameters are same class data structure, wherein have and include data type Type, index Index, subindex SubIndex, the parameter of the description object dictionary entries such as length Size.This function can set up link between respective entries according to mapping table.
As shown in Figure 3, in communication works, first all operations from POWERLINK access request all can call this mapping function, and then by corresponding object dictionary entry map in openSAFETY object dictionary.And in like manner, when all upper layer security application externally send data by openSAFETY object dictionary, also need to call mapping function by entry map in POWRLINK object dictionary.
As shown in Figure 4, left side is the protocol stack running of POWERLINIK, and right side is the call relation of openSAFETY module.Dotted arrow in figure has marked openSAFETY module and in which POWERLINK startup link has been called.
Software Protocol Stack operational process after fusion is as follows:
First, after protocol stack process initiation, program needs calling system function to be that protocol stack arranges priority.For ensureing the real-time during POWERLINK realized at kernel, priority should be high as far as possible.Then, the security application that protocol stack is write according to user revises event call-back function and synchronous call back function.Then, protocol stack will carry out initiation parameter configuration, for the initialization of next link is prepared.The several important member variablees of parameter in POWERLINK of configuration have:
1) AppCbEvent function pointer: this pointed event call-back function.When event occurs in running for protocol stack, event call-back function corresponding to this event will be called.Event is triggered by Service Data Object (security service data object) and network management state machine (secure network management state machine), and its corresponding call back function is for the treatment of the operation relevant to network service.
2) AppCbSync function pointer: the synchronous call back function of this pointed.When protocol stack is when having synchronous event to occur in running synchronizing cycle, such as, receive SoC Frame, corresponding synchronous call back function will be called, and this is the main process of implementation procedure data object (security process data object) transfer of data.
3) POWERLINK object dictionary initialization function pointer: this pointed object dictionary initialization function.
4) node address: this address refers to the address of node in POWERLINK network, determines that protocol stack enters main website state machine or slave station state machine, namely indicates that node is main controlled node or controlled node.
5) network service relevant parameter: such as standard synchronisation working method or only Asynchronous operation mode, Frame pay(useful) load, call duration time cycle etc.
While configuration POWERLINK parameter, protocol stack also needs the parameter configuration module parameter configuring openSAFETY, safety verification module parameter, openSAFETY object dictionary and openSAFETY object dictionary mapping table etc.
After configuring these initiation parameters, routine call api function completes the initialization of POWERLINK protocol stack.The initialization procedure of protocol stack also can call the protocol stack control module function startup module of openSAFETY, is called the initialization function of other modules by protocol stack control module initialization function.Also needing to call safety management Joint Enterprise administration module as realizing safety management node, carrying out the initialization of security domain node listing and the configuration of all trouble free service node parameters.
After initialization completes, protocol stack is followed according to user configured messaging parameter link process variable and communication object.The process of configuration communication parameter is as follows:
First, need in the POWERLINK object dictionary file of communication node, to define receipts two communication objects respectively at two, such as, define 2 User Defined variablees, remember that its call number is respectively 0x6000,0x6200.Then layoutprocedure data object network communication parameters and mapping parameters, for setting up mapping relations between communication object and Frame.Such as process data object data received communication parameter reference 0x1400, mapping parameters index 0x1600; Process data object data sends messaging parameter index 0x1800, mapping parameters index 0x1A00.The index of the communication object in the index of application program variable and object dictionary is interconnected by last call function, just can be interrelated by object dictionary by the custom variable in two nodes.
When communication object relates to the safety applications of openSAFETY, internodal communication will need access openSAFETY object dictionary.At this moment at link process variable with in the process of communication object, protocol stack needs allocating object dictionary mapping function: map index, sets up the mapping relations of POWERLINK object dictionary and openSAFETY object dictionary.
After completing above-mentioned link, protocol stack will carry out starting state machine by call function.It should be noted that the state machine of POWERLINK is in charge of network service and transfer of data, is distinguishing with the state machine management node internal security running status of openSAFETY.Protocol stack is when opening the state machine of POWERLINK, and the status control module module also calling openSAFETY starts security state machine.
After state machine normal operating conditions, protocol stack just enters the periodic communication stage, and the program of synchronous call back function inside can periodically trigger, and event call-back function then can be reacted to the event that state machine sends.And protocol stack is in order to ensure the periodic secure data communication of openSAFETY, status control module processed frame data can be called, thus the running status of monitoring safety management node and trouble free service node.In this stage, protocol stack control module function also can access security Service Data Object module, processes the frame data of security service data object and security process data object together with security process data object module respectively.The assembling of Frame and disassembling is responsible for by frame administration module, and CRC check link is then completed by safety check module.
Because POWERLINK application layer and openSAFETY use similar CANopen protocol object dictionary communication mechanism, so both have splendid compatibility, by revising calling of shared object dictionary and modularization function, openSAFETY agreement can substitute the CANopen mechanism of POWERLINK application layer, thus provides functional safety service.The network configuration of the SCM/SN (safety management node/security node) of openSAFETY can suit the main website/slave station networking structure of POWERLINK, and in order to coexist, Industrial Ethernet in POWERLINK network and other bus communication protocols provide unified functional safety service.
In the POWERLINK network of integrated openSAFETY security mechanism, as long as equipment performance allows, the POWERLINK master station and follow station relevant to safety applications all can be configured to safety management node or trouble free service node by the Software tool of openSAFETY flexibly.Therefore, safety management node described in the present invention and trouble free service node platform have identical hardware structure, just can need to distinguish to some extent according to difference in concrete software function, this makes it possible to realize the flexible networking of secure network and efficiently unified maintenance.
In a word; the foregoing is only preferred embodiment of the present invention and describe in detail; not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1., based on the openSAFETY functional safety implementation method of POWERLINK, it is characterized in that, comprise following steps:
A. some functional modules are set up;
B. openSAFTY agreement is blended in POWERLINK protocol stack by described functional module;
Wherein, described functional module comprises:
1) safety check module, for the frame check of openSAFETY Shuangzi and CRC check, and for providing interface between openSAFETY and Memory Controller Hub;
2) parameter configuration module, for the specific implementation setting relevant parameter configuration of openSAFETY according to POWERLINK;
3) object dictionary mapping block, for setting up POWERLINK object dictionary OD mapping table and openSAFETY object dictionary SOD mapping table, and map index function.
2., as claimed in claim 1 based on the openSAFETY functional safety implementation method of POWERLINK, it is characterized in that: in described safety verification module, user is according to the parameter of the practical function configured head file of openSAFETY.
3., as claimed in claim 1 based on the openSAFETY functional safety implementation method of POWERLINK, it is characterized in that: the main body header file of described parameter configuration module is for arranging the special parameter of openSAFETY.
4. as claimed in claim 3 based on the openSAFETY functional safety implementation method of POWERLINK, it is characterized in that: described special parameter comprises the setting of master/slave station, maximum security node number setting, maximum sending/receiving data amount check setting, the setting of mapping channel number and the setting of maximum load byte number.
5. as claimed in claim 1 based on the openSAFETY functional safety implementation method of POWERLINK, it is characterized in that: two parameters of described map index function are respectively used to describe the data structure of POWRLINK object dictionary mapping table and openSAFETY object dictionary mapping table.
6. the openSAFETY functional safety implementation method based on POWERLINK as described in any one of claim 1-5, is characterized in that: the master station and follow station of POWERLINK is configured to safety management node or trouble free service node by the Software tool of openSAFETY.
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| CN114584302A (en) * | 2022-03-08 | 2022-06-03 | 中国人民解放军国防科技大学 | Data encryption communication method of real-time Ethernet bus type industrial control system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106027671A (en) * | 2016-07-05 | 2016-10-12 | 深圳前海大数点科技有限公司 | Cloud computing based industrial data bus and data service system |
| CN109361653A (en) * | 2018-09-13 | 2019-02-19 | 上海华元创信软件有限公司 | A kind of POWERLINK main website |
| CN110398943A (en) * | 2019-07-17 | 2019-11-01 | 上海电机学院 | A kind of multi-layer three-dimensional experiment platform of control system and its building method |
| CN114584302A (en) * | 2022-03-08 | 2022-06-03 | 中国人民解放军国防科技大学 | Data encryption communication method of real-time Ethernet bus type industrial control system |
| CN114584302B (en) * | 2022-03-08 | 2023-09-19 | 中国人民解放军国防科技大学 | Data encryption communication method of real-time Ethernet bus type industrial control system |
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