CN104821948B - OpenSAFETY functional safety implementation methods based on POWERLINK - Google Patents
OpenSAFETY functional safety implementation methods based on POWERLINK Download PDFInfo
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- CN104821948B CN104821948B CN201510230965.4A CN201510230965A CN104821948B CN 104821948 B CN104821948 B CN 104821948B CN 201510230965 A CN201510230965 A CN 201510230965A CN 104821948 B CN104821948 B CN 104821948B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The present invention provides the openSAFETY functional safety implementation methods based on POWERLINK, comprise the steps of：A. several function modules are established；B. openSAFTY agreements are blended in by the function module in POWERLINK protocol stacks, replace the CANopen agreements of POWERLINK application layers, the functional safety application of openSAFETY is realized in POWERLINK agreements；Wherein, the function module includes：Safety check module, parameter configuration module and object dictionary mapping block.The present invention is directed to deficiency in the prior art, provide the openSAFETY functional safety implementation methods based on POWERLINK, using high-speed industrial Ethernet Ethernet POWERLINK as the basic communication protocol of openSAFETY, to realize the functional safety application of openSAFETY in POWERLINK agreements.
Description
Technical field
The present invention relates to Industrial Ethernet security fields more particularly to Industrial Ethernet functional safety agreements
A kind of high-performance implementation of openSAFETY.
Background technology
The to the effect that functional safety of Industrial Ethernet security study at present, that is, ensure industrial network electromagnetism, high temperature,
Adaptability, reliability and maintainability under a variety of industrial environment interference such as noise and vibration.The safety of traditional industry safe practice
Both limited by conventional bus consensus standard, cycle duration is limited in a millisecond rank for performance and the scope of application, it is relevant theoretical and
Frame can not be suitable for the real-time industrial ethernet of rapid development.Therefore, in order to meet the net of industrial circle higher performance
Network demand for security, more companies and group have developed corresponding network security association on the basis of being woven in respective industrial Ethernet technology
View.However, the security protocol of these a new generations is also limited by respective basic agreement, generally lack versatility, such as
PROFIsafe security protocols are limited to PROFInet and PROFIbus agreements, and CIPSafety security protocols are limited to SECOS associations
View, Safety EtherCAT security protocols are limited to EtherCAT agreements etc..
For this point, POWERLINK standardization bodies (EPSG) set up openSAFETY committees on July 27th, 2004
Member's meeting, it is intended to research and develop a quick, general open real-time ethernet security protocol openSAFETY and give birth to therefrom.
OpenSAFETY is using open technique of increasing income as characteristic, it is first 100% security protocol increased income in the world, not only in law
Open research and development patent, has also accomplished the open platform independently of bus on technological layer in level.OpenSafety can be answered
For in the scheme of any fieldbus and Industrial Ethernet, or even it can support the protocol scheme of specific customization.Therefore, from length
From the point of view of remote, market potentials of the openSafety in security industry production is very huge.Research and develop openSAFETY technologies
Application, efficient and general solution is provided for Industrial Ethernet safe practice, will there is great theory significance and pole
High practical value.However, for now, although openSafety consensus standards and functional safety performance have been obtained for
The certification of IEC tissues, but the application technology of openSAFETY equipment is not yet ripe at present, lacks actual application case, with it
The solution that his bus and Ethernet scheme combine is also required to further perfect.Meanwhile openSAFETY is operate on network
Application layer, independently of the Functional Safety Communication agreement of bus, bus is independently so that the agreement is not only applicable to Industrial Ethernet such as
EPL, PROFInet etc., and other fieldbus such as CAN, PROFIbus etc. can be suitable for.However, this protocol architecture
Make the network transmission performances such as real-time, shake, time cycle, data frame length, the information security of openSAFETY itself by
The limitation of basic communication protocol.Therefore, it is necessary to realize that suitable basic communication protocol is selected to make for the high-performance of openSAFETY
For strong support.
Invention content
The present invention is directed to deficiency in the prior art, and it is real to provide the openSAFETY functional safeties based on POWERLINK
Existing method, using high-speed industrial Ethernet Ethernet POWERLINK as the basic communication protocol of openSAFETY, to
The functional safety application of openSAFETY is realized in POWERLINK agreements.
In order to solve the above-mentioned technical problem, present invention employs following technical scheme,
OpenSAFETY functional safety implementation methods based on POWERLINK, which is characterized in that comprise the steps of：
A. several function modules are established；
B. openSAFTY agreements are blended in by the function module in POWERLINK protocol stacks, are replaced
The CANopen agreements of POWERLINK application layers realize the functional safety application of openSAFETY in POWERLINK agreements；
Wherein, the function module includes：
1) safety check module is used for the frame check of openSAFETY Shuangzis and CRC check, and is openSAFETY and memory
Interface is provided between controller；
2) parameter configuration module sets relevant parameter for openSAFETY according to the specific implementation of POWERLINK
Configuration；
3) object dictionary mapping block, for establishing POWERLINK object dictionary OD mapping tables and openSAFETY objects
Dictionary SOD mapping tables and map index function.
Preferably, in the safety verification module, user is according to the ginseng of the realization functional configuration header file of openSAFETY
Number.
Preferably, the main body header file of the parameter configuration module is used to be arranged the special parameter of openSAFETY.
Preferably, the special parameter includes：Master/slave station setting, maximum security node number setting, maximum send/connect
Receive data amount check setting, the setting of mapping channel number and the setting of maximum load byte number.
Preferably, two parameters of the map index function be respectively used to description POWRLINK object dictionaries mapping table and
The data structure of openSAFETY object dictionary mapping tables.
Further, the main website and slave station of POWERLINK is configured to safety management by the software tool of openSAFETY
Node or trouble free service node.
The openSAFETY functional safety implementation methods based on POWERLINK of the present invention, use high-speed industrial Ethernet
Basic communication protocols of the Ethernet POWERLINK as openSAFETY, is realized in POWERLINK agreements
The functional safety application of openSAFETY.Since POWERLINK has outstanding networked-induced delay, cycle time minimum reachable
The shake of 200 μ s, period bound can be accurate to 1 μ s of ＜, and support flexible networking, cross-communication, the functions such as more redundancy schemes,
So as to provide the bottom-layer network data transmission that high speed is stablized for openSAFETY.And openSAFETY is as functional safety upper layer
Application protocol has the high performance properties of SIL3 safe classes, the network structure of SCM/SN that can suit the master of POWELRINK
Stand/slave station networking structure, for in POWERLINK networks Industrial Ethernet and other bus communication protocols provide it is unified
Functional safety service, to meet the network security demand of industrial circle higher performance.
Description of the drawings
Fig. 1 is the openSAFETY protocol frame figures 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.
Specific implementation mode
Present invention is further described in detail with embodiment below in conjunction with the accompanying drawings.
The present invention devises the openSAFETY functional safety implementation methods based on POWERLINK, is assisted with openSAFETY
The CANopen agreements of POWERLINK application layers are substituted in view, by the function module of openSAFETY by way of function call
It is blended in POWERLINK protocol stacks, to realize the security function of openSAFETY on POWERLINK.
Specifically, as shown in Fig. 1, Service Data Object, process data object and the network management state of POWERLINK
Machine is serviced for POWERLINK real-time performances inter-node communication and layer protocol data transmission.Wherein：
Process data object is used for synchronous communication for periodically transmission process data.
Service Data Object is communication data object as process data object, and Service Data Object is asynchronous biography
Defeated, i.e. data of aperiodic not timing transmission are used for transmission networking command, Configuration network parameter, and sporadically to other
Node object dictionary accesses.
POWERLINK object dictionaries are used to describe the characteristic of an equipment, and essence is the set of object.So-called object is
One group of characterising parameter；One application apparatus needs multigroup object, i.e., multigroup parameter to describe jointly, including communication object, communication ginseng
Number, manufacturer's information, functions of the equipments information etc..
Network management state machine is used to control the operating status of network node, is responsible for controlling and monitoring the work shape of node
State, the address of distribution node.
Here, it should be pointed out that security process data object, security service data object and secure network management state
Machine is used exclusively for openSAFETY nodes and realizes security function, and provides service for upper layer security application program.
Wherein, security process data object is for periodically transmitting safety-relevant data and time between secure site
Synchrodata can be transmitted by the process data object of POWERLINK synchronous phases, to ensure that openSAFETY pacifies
The full periodic communication for applying data.
Security service data object is mainly responsible for matching for system initialization parameter and object dictionary in the startup stage of network
It sets；And in working stage, security service data object be responsible for the communication of acyclic object dictionary and the download of related data and
It uploads.Security service data object provides the access port of Service Data Object, realizes security service data object server-side and peace
Data interaction between full Service Data Object client.
Secure network management state machine is mainly responsible for the multiple network service that provides, including UDID is verified, node address distributes,
State machine management, Node Protection etc. are the data frames that openSAFETY is specifically used to control network node state.Safety net
Network communication administrative mechanism of the network management state machine as openSAFETY has apparent main website/from station structure.
The core cell of protocol stack control module, that is, application interface program；OpenSAFETY protocol stacks are initialized by function
Protocol stack control module, this is the premise of all protocol stack function calls.After the completion of initialization, protocol stack control module passes through letter
It is several that secure network management state machine and security service data object are handled.
OpenSAFETY object dictionaries：The configuration ginseng of the openSAFETY object dictionaries of transmission access in normal operation
Number is required for the index by openSAFETY object dictionaries to access data.
Since the application layer and openSAFETY of POWERLINK all follow CANopen communication protocol standards, use
The communication structure of CANopen agreements, by process data object, Service Data Object, object dictionary three composition.It therefore can be with
The CANopen agreements that POWERLINK application layers are replaced with openSAFETY agreements, pass through letter by the function module of openSAFETY
The mode that number calls is blended in POWERLINK protocol stacks, to realize the safe work(of openSAFETY on POWERLINK
Energy.Specifically, can be realized by following functions module：
1) safety check module：It is mainly responsible for the frame check of openSAFETY Shuangzis and CRC check in software stack, and is
Interface is provided between openSAFETY and Memory Controller Hub.When the data frame of the data link layer from POWERLINK is identified as
When openSAFETY messages, safety check module will contrast the Shuangzi frame of message, and carry out CRC redundancies school respectively
It tests.In safety check module, user will be according to the parameter of the realization functional configuration header file of openSAFETY.
2) parameter configuration module：Relevant parameter is matched set by specific implementations of the openSAFETY according to POWERLINK
The module set, main body header file are used for being arranged the special parameter of openSAFETY.
3) object dictionary mapping block：Establish the mapping table and openSAFETY object dictionaries of POWERLINK object dictionaries
Mapping table, so that the Security Object dictionary of openSAFETY is embedded into the standard object dictionary of POWERLINK, thus
It can be linked by way of Function Mapping.
As schemed shown in attached 2, first, object dictionary mapping function is established in object dictionary mapping block：Map index.It should
The parameter of function is respectively to describe the data knot of POWRLINK object dictionaries mapping table and openSAFETY object dictionary mapping tables
Structure.Two parameters are same class data structure, wherein it includes data type Type to have, index Index, subindex
The parameter of SubIndex, length Size etc. description objects dictionary entry.The function can be established according to mapping table between respective entries
Link.
As shown in Fig. 3, in communication works, all operations from POWERLINK access requests can all adjust first
With the mapping function, and then corresponding object dictionary entry is mapped in openSAFETY object dictionaries.And similarly, Suo Youshang
When layer external by the openSAFETY object dictionaries transmission data of security application, it is also desirable to mapping function be called to be mapped to entry
In POWRLINK object dictionaries.
As shown in Fig. 4, left side is the protocol stack operational process of POWERLINIK, and right side is the tune of openSAFETY modules
With relationship.It is called in which POWERLINK startup link that dotted arrow in figure has marked openSAFETY modules.
Software Protocol Stack operational process after fusion is as follows：
First, after protocol stack process initiation, it is that priority is arranged in protocol stack that program, which needs calling system function,.To ensure
Real-time when existing POWERLINK is verified inside, and priority should be as high as possible.Then, the peace that protocol stack is write according to user
Full application modification event call-back function and synchronous call back function.Then, protocol stack will carry out initiation parameter configuration, under
The initialization of one link is prepared.Several important member variables of the parameter of configuration in POWERLINK have：
1) AppCbEvent function pointers：The pointer is directed toward event call-back function.When protocol stack is busy in the process of running
When part occurs, the corresponding event call-back function of the event will be called.Event is by Service Data Object (security service data pair
As) and network management state machine (secure network management state machine) triggering, corresponding call back function is used to handle to be led to network
Believe relevant operation.
2) AppCbSync function pointers：The pointer is directed toward synchronous call back function.When protocol stack is in operational process synchronizing cycle
In when having synchronous event generation, such as receive SoC data frames, corresponding synchronous call back function will be called, this is to realize
The main process of journey data object (security process data object) data transmission.
3) POWERLINK object dictionaries initialization function pointer：The pointer is directed toward object dictionary initialization function.
4) node address：The address refers to address of the node in POWERLINK networks, determines that protocol stack enters main website shape
State machine or slave station state machine indicate that node is main controlled node or controlled node.
5) network communication relevant parameter：Such as standard synchronisation working method or only Asynchronous operation mode, data frame it is effectively negative
It carries, call duration time period etc..
While configuring POWERLINK parameters, protocol stack is also required to the parameter configuration module ginseng of configuration openSAFETY
Number, safety verification module parameter, openSAFETY object dictionaries and openSAFETY object dictionary mapping tables etc..
After configuring these initiation parameters, routine call api function completes the initialization of POWERLINK protocol stacks.Agreement
The initialization procedure of stack can also call the protocol stack control module function starting module of openSAFETY, and mould is controlled by protocol stack
The initialization function of other modules of initialization block function call.It also needs to call bursting tube as realization safety management node
Node configuration management module is managed, the initialization of security domain node listing and the configuration of all trouble free service node parameters is carried out.
After the completion of initialization, protocol stack is with the messaging parameter link process variable and communication object according to user configuration.Match
The process for setting messaging parameter is as follows：
First, it needs to define a receipts one hair two in the POWERLINK object dictionary files of communication node respectively at two
Communication object, such as 2 User Defined variables are defined, remember that its call number is respectively 0x6000,0x6200.Then configuration process
Data object network communication parameters and mapping parameters, establish mapping relations between communication object and data frame.Such as cross number of passes
Messaging parameter is received according to object data and indexes 0x1400, and mapping parameters index 0x1600；Process data object data send communication
Parameter reference 0x1800, mapping parameters index 0x1A00.Last call function is by the index and object dictionary of application program variable
In communication object index be connected with each other, can be interrelated by object dictionary by the custom variable in two nodes
.
When communication object is related to the security application of openSAFETY, the communication between node just may require that access
OpenSAFETY object dictionaries.At this moment during link process variable is with communication object, protocol stack needs to call object
Dictionary mapping function：Map index establishes the mapping relations of POWERLINK object dictionaries and openSAFETY object dictionaries.
After completing above-mentioned link, protocol stack will call a function to starting state machine.It should be noted that
The state machine of POWERLINK is responsible for network communication and data transmission, inside the state machine management node of openSAFETY
Safe operation state is distinguishing.Protocol stack can also call the shape of openSAFETY when opening the state machine of POWERLINK
State control module module starts security state machine.
After state machine normal operating conditions, protocol stack has been put into the periodic communication stage, synchronizes inside call back function
Program can be triggered periodically, and event call-back function can then react to the event that state machine is sent out.And protocol stack in order to
It ensures the periodic secure data communications of openSAFETY, status control module can be called to handle frame data, to monitor safety
The operating status of management node and trouble free service node.In this stage, protocol stack control module function can also access security service
Data object module handles security service data object and security process data respectively together with security process data object module
The frame data of object.The assembling and dismantling of data frame are responsible for by frame management module, and CRC check link is then by school safely
Test module completion.
Since POWERLINK application layers and openSAFETY use similar CANopen protocol objects dictionary communication mechanism,
So the two has splendid compatibility, by changing the calling of shared object dictionary and modularization function, openSAFETY
Agreement can substitute the CANopen mechanism of POWERLINK application layers, to provide functional safety service.OpenSAFETY's
The network structure of SCM/SN (safety management node/security node) can suit main website/slave station networking structure of POWERLINK,
For in POWERLINK networks Industrial Ethernet and other bus communication protocols unified functional safety service is provided.
In the POWERLINK networks of integrated openSAFETY security mechanisms, as long as equipment performance allows, with security application
Relevant POWERLINK main websites and slave station can flexibly be configured to safety management section by the software tool of openSAFETY
Point or trouble free service node.Therefore, heretofore described safety management node and trouble free service node platform have identical
Hardware structure, only according to different can need different from specific software function, this makes it possible to realize secure network
Flexible networking and efficiently unified maintenance.
In short, the foregoing is merely presently preferred embodiments of the present invention and is described in detail, it is not intended to limit the invention,
All any modification, equivalent and improvement made by all within the spirits and principles of the present invention etc. should be included in the present invention's
Within protection domain.
Claims (5)
1. the openSAFETY functional safety implementation methods based on POWERLINK, which is characterized in that comprise the steps of：
A. several function modules are established；
B. openSAFTY agreements are blended in by the function module in POWERLINK protocol stacks；
Wherein, the function module includes：
1) safety check module is used for the frame check of openSAFETY Shuangzis and CRC check, and is openSAFETY and Memory control
Interface is provided between device；
2) parameter configuration module sets relevant parameter configuration for openSAFETY according to the specific implementation of POWERLINK；
3) object dictionary mapping block, for establishing POWERLINK object dictionary OD mapping tables and openSAFETY object dictionaries
Two parameters of SOD mapping tables and map index function, the map index function are respectively used to description POWRLINK objects
The data structure of dictionary mapping table and openSAFETY object dictionary mapping tables, and two parameters are same class data structure,
In have include description object dictionary entry parameter, including data type Type indexes Index, subindex SubIndex, long
Spend Size；The function establishes the link between respective entries according to mapping table.
2. the openSAFETY functional safety implementation methods based on POWERLINK as described in claim 1, it is characterised in that：
In the safety check module, user is according to the parameter of the realization functional configuration header file of openSAFETY.
3. the openSAFETY functional safety implementation methods based on POWERLINK as described in claim 1, it is characterised in that：
The main body header file of the parameter configuration module is used to be arranged the special parameter of openSAFETY.
4. the openSAFETY functional safety implementation methods based on POWERLINK as claimed in claim 3, it is characterised in that：
The special parameter includes master/slave station setting, and maximum security node number is set, and maximum transmission/reception data amount check setting is reflected
Penetrate channel number setting and the setting of maximum load byte number.
5. the openSAFETY functional safety implementation methods according to any one of claims 1-4 based on POWERLINK, special
Sign is：The main website and slave station of POWERLINK is configured to safety management node or peace by the software tool of openSAFETY
Full working node.
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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 |
| CN109361653B (en) * | 2018-09-13 | 2021-09-07 | 上海华元创信软件有限公司 | POWERLINK main station |
| 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 |
| 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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