CN106452870A - Redundancy control method for primary device of CANopen network - Google Patents
Redundancy control method for primary device of CANopen network Download PDFInfo
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- CN106452870A CN106452870A CN201610894666.5A CN201610894666A CN106452870A CN 106452870 A CN106452870 A CN 106452870A CN 201610894666 A CN201610894666 A CN 201610894666A CN 106452870 A CN106452870 A CN 106452870A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
- H04L41/0654—Management of faults, events, alarms or notifications using network fault recovery
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/22—Arrangements for detecting or preventing errors in the information received using redundant apparatus to increase reliability
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
- H04L41/0654—Management of faults, events, alarms or notifications using network fault recovery
- H04L41/0663—Performing the actions predefined by failover planning, e.g. switching to standby network elements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/2866—Architectures; Arrangements
- H04L67/30—Profiles
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention discloses a redundancy control method for a primary device of a CANopen network. The method comprises the following steps that a CANopen device is powered-on and started, and reads a configuration file; the CANopen device obtains a device mode of the CANopen device according to the configuration file; if the device mode is a CANopen main mode, the CANopen device becomes the primary device of the CANopen network and enters a CANopen NMT network management main state to manage the whole CANopen network; if the device mode is a CANopen standby main mode, the CANopen device becomes a master-standby device of the CANopen network and enters a monitoring state to receive data of the whole CANopen network; and if the device mode is a CANopen slave mode, the CANopen device becomes a slave device of the CANopen network and enters a CANopen NMT network management slave state to start a PDO communication mechanism to carry out data communication. According to the method, the reliability of the CANopen network is improved.
Description
Technical field
The present invention relates to CANopen networking technology area, more particularly to a kind of CANopen network master Redundant Control
Method.
Background technology
At present, the redundancy of train network system key equipment is to embody the important indicator of this Network System Reliability.
CANopen is a kind of high-rise communications protocol on control area net（CAN） road (Controller Area Network, CAN) for framework.
In the train network control system based on CANopen agreement, realize NMT manage main equipment redundancy scheme mostly in reference to
The flying master that Cia302 standard specifies realizing, in the CANopen network only supporting Cia301 agreement, if
Realize flying master function, then need increase Cia302 agreement support, so will certainly increase exploitation difficulty and
Cost.But the premise realizing flying master is to realize Cia302 agreement.In most CANopen network system
System does not have supports Cia302 agreement, only supports Cia301 agreement, but whole CANopen system is necessary in this case
Realize the main redundancy backup of NMT management.At present on the premise of based on CANopen Cia301 agreement, not a kind of
CANopen network master redundancy control method, the reliability of CANopen network is relatively low, therefore, how to provide one kind
CANopen network master redundancy control method is problem demanding prompt solution.
Content of the invention
It is an object of the invention to provide a kind of CANopen network master redundancy control method, to realize CANopen network
Manage main redundancy backup, improve the reliability of CANopen network.
For solving above-mentioned technical problem, the present invention provides a kind of CANopen network master redundancy control method, the method
Including：
CANopen device power starts, and reads configuration file；
Described CANopen equipment obtains the equipment mode of described CANopen equipment according to described configuration file；
If described equipment mode is CANopen holotype, described CANopen equipment becomes the main equipment of CANopen network,
Enter into CANopen NMT network management major state, whole CANopen network is managed；
If described equipment mode is the standby holotype of CANopen, described CANopen equipment becomes the master of CANopen network
Stand-by equipment, enters into a listening state, receives the data of whole CANopen network；
If described equipment mode be CANopen from pattern, described CANopen equipment become CANopen network from equipment,
Enter into CANopen NMT network management from state, start PDO communication mechanism and enter row data communication.
Preferably, described configuration file includes equipment mode, node ID and the object dictionary configuration of described CANopen equipment
?；Described equipment mode includes CANopen holotype, the standby holotype of CANopen or CANopen from pattern.
Preferably, when described equipment mode is CANopen holotype or the standby holotype of CANopen, described configuration
File also includes the dummy node ID of described CANopen equipment.
Preferably, described CANopen network is the CANopen network based on Cia301 agreement.
Preferably, described enter into CANopen NMT network management major state, whole CANopen network is managed
Afterwards, also include：
Described CANopen equipment sends life signal with 1ms for the cycle to the primary/standby devices of CANopen network.
Preferably, described enter into a listening state, after receiving the data of whole CANopen network, also include：
The life signal sending when the main equipment that described CANopen equipment is not received by CANopen network in 10ms,
Described CANopen equipment enters to whole CANopen network automatically into master status, the main equipment as CANopen network
Line pipe is managed.
Preferably, described enter into a listening state, after receiving the data of whole CANopen network, also include：Prohibit
Only send any CANopen data.
A kind of CANopen network master redundancy control method provided by the present invention, CANopen device power starts,
Read configuration file；Described CANopen equipment obtains the equipment mode of described CANopen equipment according to described configuration file；If
Described equipment mode is CANopen holotype, and described CANopen equipment becomes the main equipment of CANopen network, enters into
CANopen NMT network management major state, is managed to whole CANopen network；If described equipment mode is that CANopen is standby
With holotype, described CANopen equipment becomes the primary/standby devices of CANopen network, enters into a listening state, receives whole
The data of individual CANopen network；If described equipment mode is CANopen from pattern, described CANopen equipment becomes CANopen
Network from equipment, enter into CANopen NMT network management from state, start PDO communication mechanism and enter row data communication.Can
See, only on the CANopen network foundation based on Cia301, design a kind of new redundancy scheme, to realize CANopen network
The main redundancy backup of NMT, improves the reliability of CANopen network.And only supporting the CANopen network of Cia301 agreement
In, flying master function need not be realized to increase the support of Cia302 agreement, reduce cost.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Have technology description in required use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing providing obtains other accompanying drawings.
Fig. 1 is a kind of flow chart of CANopen network master redundancy control method provided by the present invention；
Fig. 2 is the CANopen network topological diagram based on Cia301 agreement；
Fig. 3 is host node and standby host node Booting sequence figure in CANopen network.
Specific embodiment
The core of the present invention is to provide a kind of CANopen network master redundancy control method, to realize CANopen network
Manage main redundancy backup, improve the reliability of CANopen network.
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Accompanying drawing, is clearly and completely described to the technical scheme in the embodiment of the present invention it is clear that described embodiment is only
The a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment being obtained under the premise of not making creative work, broadly falls into the scope of protection of the invention.
Term is explained：
CANopen：It is a kind of high level on control area net（CAN） road (Controller Area Network, CAN) for framework
Communications protocol, often uses in embedded systems including communication son agreement and equipment agreement, is also that Industry Control is commonly used
A kind of fieldbus.More than the Internet that CANopen achieves in the osi model agreement of (inclusion Internet).CANopen standard
Including addressing scheme, several little communication son agreement and application layer defined in equipment agreement.CANopen supports network pipe
Communication between reason, monitoring of tools and node, including an easy transport layer, can process segmentation transmission and its group of data
Close.Generally speaking Data Link Layer and physical layer can be with CAN come implementations.In addition to CANopen, also there are other communications protocols
The equipment agreement of (as EtherCAT) implementation CANopen.CANopen is by nonprofit organization CiA (CAN in Automaion)
Carry out drafting and examination of standard, basic CANopen equipment and the sub- contracting definition of communication are in CAN in Automation
(CiA) in draft standard 301..Son agreement for individual plants is expanded based on CiA 301 again.As pin
CiA401 to the I/O module and CiA402 for motion control.
NMT：Network management, Network management NMT defines the Status Change order of (device interior) state machine
(as starting device or arrestment), sensing far-end equipment bootup and failure situations.
PDO：Process data object (PDO) communication mechanism defined in Cia301 agreement.PDO be used for comply with the producer-
Consumer's principle rapidly exchange process data.PDO is divided into two kinds, one kind be TPDO for transmitting PDO data, another is
RPDO is used for receiving PDO data.Transmitting procedure data object (TPDO) supports many kind trigger conditions, and event triggers, and the cycle touches
Send out or long-range application (RTR).The behavior (transport-type, time etc.) of TPDOs is completely by configuring the ginseng of the communication in object dictionary
Manifold is realized.In object dictionary, 1400h-1500h is the index range of RPDO, and 1800h-19FFh is the index range of TPDO.
Fig. 1 is a kind of flow chart of CANopen network master redundancy control method provided by the present invention, the method bag
Include：
S11：CANopen device power starts, and reads configuration file；
S12：CANopen equipment obtains the equipment mode of CANopen equipment according to configuration file；
S13：If equipment mode is CANopen holotype, CANopen equipment becomes the main equipment of CANopen network, enters
To CANopen NMT network management major state, whole CANopen network is managed；
S14：If equipment mode is the standby holotype of CANopen, CANopen equipment becomes the standby usage of CANopen network
Equipment, enters into a listening state, receives the data of whole CANopen network；
S15：If equipment mode is CANopen from pattern, CANopen equipment become CANopen network from equipment, enter
To CANopen NMT network management from state, start PDO communication mechanism and enter row data communication.
It can be seen that, only on the CANopen network foundation based on Cia301, design a kind of new redundancy scheme, to realize
The main redundancy backup of CANopen network N MT, improves the reliability of CANopen network.And only supporting Cia301 agreement
In CANopen network, flying master function need not be realized to increase the support of Cia302 agreement, reduce cost.
Based on said method, specifically, configuration file includes equipment mode, node ID and the object word of CANopen equipment
Allusion quotation configuration item.
Wherein, equipment mode includes CANopen holotype, the standby holotype of CANopen or CANopen from pattern.
Wherein, when equipment mode is for CANopen holotype or the standby holotype of CANopen, configuration file also includes
The dummy node ID of CANopen equipment.
Further, in step S13, enter into CANopen NMT network management major state, to whole CANopen network
After being managed, also include：CANopen equipment sends life letter with 1ms for the cycle to the primary/standby devices of CANopen network
Number.
Further, in step S14, enter into a listening state, after receiving the data of whole CANopen network,
Also include：The life signal sending when the main equipment that CANopen equipment is not received by CANopen network in 10ms,
CANopen equipment enters line pipe automatically into master status, the main equipment as CANopen network to whole CANopen network
Reason.
Further, in step S14, enter into a listening state, after receiving the data of whole CANopen network,
Also include：Forbid sending any CANopen data.
Specifically, CANopen equipment is the node that the equipment connecting on CANopen network is in CANopen network.
The equipment mode of CANopen equipment be CANopen holotype when, CANopen equipment as the main equipment of CANopen network,
CANopen equipment enters into CANopen NMT network management major state, and whole CANopen network is managed；CANopen
The equipment mode of equipment be CANopen standby holotype when, CANopen equipment as the primary/standby devices of CANopen network,
CANopen equipment enters into a listening state, receives the data of whole CANopen network；The equipment mode of CANopen equipment
During for CANopen from pattern, as CANopen network from equipment, CANopen equipment enters into CANopen to CANopen equipment
NMT network management, from state, starts PDO communication mechanism and enters row data communication.
Specifically, CANopen network is the CANopen network based on Cia301 agreement, and it is total that CANopen network includes CAN
Line, be connected with CAN a main equipment, be connected with CAN primary/standby devices and be connected with CAN
Multiple from equipment.CANopen network topology based on Cia301 agreement is as shown in Figure 2.
In Fig. 2, M1, M2 are mutually redundant as the management main equipment of this network, M1 and M2 equipment, and S1 ... S2 is
CANopen from equipment.All of equipment is all linked in CAN, and each equipment has uniquely in CAN
CAN ID.Assume that the CANID of M1 is IDm1, the CANID of M2 is IDm2, the CANID of other from nodes Sn is IDsn.We are also
Two host nodes for being mutually redundant distribute a virtual CAN ID IDvm.Others are S1 ... S2 from equipment and
Speech, this network only one of which main equipment, and also the CAN ID of this host node is IDvm.Host node and standby host node Booting sequence
Figure is as shown in Figure 3.
Detailed, the particular content of the redundancy scheme of this method is as follows：
(1) there is a configuration file in CANopen node, this configuration file comprises (main to CANopen equipment mode
Pattern, standby holotype, from pattern), dummy node ID, node ID (NodeID), object dictionary configuration item.The standby master that advocates peace joins
Put file and differ only in equipment mode and node ID configuration, other preserve consistent.For dummy node ID, dummy node ID this
Individual configuration item only just effectively just exists under node is configured to advocate peace standby holotype, and the virtual of standby main configuration of advocating peace
Node ID is consistent.
(2) CANopen device power starts, and after the completion of startup, CANopen equipment goes to read configuration file, and according to joining
Put option to enter in different states.
(3) be currently configured as CANopen main when：Node can enter into CANopen NMT network management major state, can be according to
Cia 301 standard regulation is started and whole CANopen network is managed.After the completion of starting, main equipment can be with 1ms
Send life signal for the cycle to back-up master, and send heartbeat message to from node.
(4) be currently configured as CANopen standby main when：A listening state can be entered into, standby master can be as main equipment
Equally receive the data of whole network, but back-up master can forbid sending any CANopen data.When CANopen is standby
Main equipment be not received by within the 10ms time CANopen main equipment transmission life signal, standby main can automatically into master set
Standby state, now back-up master as main equipment, whole network can be managed.
(5) it is currently configured as CANopen and execute the function that Cia301 standard specifies when state.
By this redundancy scheme, to from node, this network only one of which network management master, and this node CAN ID
It is exactly the virtual CAN ID of configuration.
The present invention only on the basis of Cia301, design a kind of new redundancy scheme, to realize CANopen network
The main redundancy backup of NMT.In the CANopen network only supporting Cia301 agreement, if flying master work(will be realized
Can, then need to increase the support of Cia302 agreement, so will certainly increase difficulty and the cost of exploitation.
To sum up, a kind of CANopen network master redundancy control method provided by the present invention, CANopen device power
Start, read configuration file；CANopen equipment obtains the equipment mode of CANopen equipment according to configuration file；If equipment mode
For CANopen holotype, CANopen equipment becomes the main equipment of CANopen network, enters into CANopen NMT network management
Major state, is managed to whole CANopen network；If equipment mode is the standby holotype of CANopen, CANopen equipment becomes
For the primary/standby devices of CANopen network, enter into a listening state, receive the data of whole CANopen network；If equipment
Pattern be CANopen from pattern, CANopen equipment become CANopen network from equipment, enter into CANopen NMT network
Management, from state, starts PDO communication mechanism and enters row data communication.It can be seen that, only in the CANopen network foundation based on Cia301
On, design a kind of new redundancy scheme, to realize the main redundancy backup of CANopen network N MT, improve the reliability of CANopen network
Property.And in the CANopen network only supporting Cia301 agreement, flying master function need not be realized to increase
The support of Cia302 agreement, reduces cost.
Above a kind of CANopen network master redundancy control method provided by the present invention is described in detail.
Specific case used herein is set forth to the principle of the present invention and embodiment, and the explanation of above example is to use
Understand the method for the present invention and its core concept in help.It should be pointed out that for those skilled in the art,
Under the premise without departing from the principles of the invention, the present invention can also be carried out with some improvement and modify, these improve and modify
Fall in the protection domain of the claims in the present invention.
Claims (7)
1. a kind of CANopen network master redundancy control method is it is characterised in that include：
CANopen device power starts, and reads configuration file；
Described CANopen equipment obtains the equipment mode of described CANopen equipment according to described configuration file；
If described equipment mode is CANopen holotype, described CANopen equipment becomes the main equipment of CANopen network, enters
To CANopen NMT network management major state, whole CANopen network is managed；
If described equipment mode is the standby holotype of CANopen, described CANopen equipment becomes the standby usage of CANopen network
Equipment, enters into a listening state, receives the data of whole CANopen network；
If described equipment mode is CANopen from pattern, described CANopen equipment become CANopen network from equipment, enter
To CANopen NMT network management from state, start PDO communication mechanism and enter row data communication.
2. the method for claim 1 is it is characterised in that described configuration file includes the equipment of described CANopen equipment
Pattern, node ID and object dictionary configuration item；Described equipment mode include CANopen holotype, the standby holotype of CANopen or
Person's CANopen from pattern.
3. method as claimed in claim 2 it is characterised in that when described equipment mode be CANopen holotype or
During the standby holotype of CANopen, described configuration file also includes the dummy node ID of described CANopen equipment.
4. the method for claim 1 is it is characterised in that described CANopen network is based on Cia301 agreement
CANopen network.
5. the method for claim 1 is it is characterised in that described enter into CANopen NMT network management major state, right
After whole CANopen network is managed, also include：
Described CANopen equipment sends life signal with 1ms for the cycle to the primary/standby devices of CANopen network.
6. the method for claim 1, it is characterised in that described enter into a listening state, receives whole CANopen
After the data of network, also include：
The life signal sending when the main equipment that described CANopen equipment is not received by CANopen network in 10ms, described
CANopen equipment enters line pipe automatically into master status, the main equipment as CANopen network to whole CANopen network
Reason.
7. the method for claim 1, it is characterised in that described enter into a listening state, receives whole CANopen
After the data of network, also include：Forbid sending any CANopen data.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108540326A (en) * | 2018-04-17 | 2018-09-14 | 广东水利电力职业技术学院（广东省水利电力技工学校） | A kind of Industrial Embedded Control System based on CANopen buses |
| WO2018233645A1 (en) * | 2017-06-21 | 2018-12-27 | 比亚迪股份有限公司 | Method and system for transmitting train network data based on canopen protocol, and apparatus therefor |
| WO2018233644A1 (en) * | 2017-06-21 | 2018-12-27 | 比亚迪股份有限公司 | Gateway rotation method and system and apparatus thereof in data transmission based on canopen protocol |
| CN109104351A (en) * | 2017-06-21 | 2018-12-28 | 比亚迪股份有限公司 | Train network node and train network node monitoring method based on CANopen agreement |
| CN109104348A (en) * | 2017-06-21 | 2018-12-28 | 比亚迪股份有限公司 | Train network data transmission method, system and its apparatus based on CANopen agreement |
| CN109104325A (en) * | 2017-06-21 | 2018-12-28 | 比亚迪股份有限公司 | Train network data transmission method, system and its apparatus based on CANopen agreement |
| CN109104346A (en) * | 2017-06-21 | 2018-12-28 | 比亚迪股份有限公司 | Train network data transmission method, system and its apparatus based on CANopen agreement |
| CN109343453A (en) * | 2018-11-02 | 2019-02-15 | 合肥保得工业自动化有限公司 | A kind of method of data synchronization of CANopen |
| CN109450757A (en) * | 2018-11-02 | 2019-03-08 | 合肥保得工业自动化有限公司 | A kind of the starting method and its overall management device of CANopen main website |
| CN111724790A (en) * | 2020-05-22 | 2020-09-29 | 华帝股份有限公司 | Redundancy control method based on multiple intelligent voice devices |
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| CN109104325B (en) * | 2017-06-21 | 2020-10-23 | 比亚迪股份有限公司 | Train network data transmission method, system and device based on CANopen protocol |
| CN109104351A (en) * | 2017-06-21 | 2018-12-28 | 比亚迪股份有限公司 | Train network node and train network node monitoring method based on CANopen agreement |
| US11316712B2 (en) | 2017-06-21 | 2022-04-26 | Byd Company Limited | Canopen-based data transmission gateway changeover method, system and apparatus thereof |
| CN109104347A (en) * | 2017-06-21 | 2018-12-28 | 比亚迪股份有限公司 | Gateway shift process, system and its apparatus based on CANopen agreement transmission data |
| US11018895B2 (en) | 2017-06-21 | 2021-05-25 | Byd Company Limited | Method and system for transmitting train network data based on CANopen protocol, and apparatus thereof |
| CN109104348A (en) * | 2017-06-21 | 2018-12-28 | 比亚迪股份有限公司 | Train network data transmission method, system and its apparatus based on CANopen agreement |
| CN109104325A (en) * | 2017-06-21 | 2018-12-28 | 比亚迪股份有限公司 | Train network data transmission method, system and its apparatus based on CANopen agreement |
| CN109104347B (en) * | 2017-06-21 | 2020-09-15 | 比亚迪股份有限公司 | Gateway rotation method, system and device for transmitting data based on CANopen protocol |
| WO2018233644A1 (en) * | 2017-06-21 | 2018-12-27 | 比亚迪股份有限公司 | Gateway rotation method and system and apparatus thereof in data transmission based on canopen protocol |
| WO2018233645A1 (en) * | 2017-06-21 | 2018-12-27 | 比亚迪股份有限公司 | Method and system for transmitting train network data based on canopen protocol, and apparatus therefor |
| CN109104346A (en) * | 2017-06-21 | 2018-12-28 | 比亚迪股份有限公司 | Train network data transmission method, system and its apparatus based on CANopen agreement |
| CN109104346B (en) * | 2017-06-21 | 2020-10-23 | 比亚迪股份有限公司 | Train network data transmission method, system and device based on CANopen protocol |
| CN108540326A (en) * | 2018-04-17 | 2018-09-14 | 广东水利电力职业技术学院（广东省水利电力技工学校） | A kind of Industrial Embedded Control System based on CANopen buses |
| CN109450757B (en) * | 2018-11-02 | 2020-11-20 | 合肥保得工业自动化有限公司 | Method for starting CANopen master station and overall management device thereof |
| CN109450757A (en) * | 2018-11-02 | 2019-03-08 | 合肥保得工业自动化有限公司 | A kind of the starting method and its overall management device of CANopen main website |
| CN109343453A (en) * | 2018-11-02 | 2019-02-15 | 合肥保得工业自动化有限公司 | A kind of method of data synchronization of CANopen |
| CN111724790A (en) * | 2020-05-22 | 2020-09-29 | 华帝股份有限公司 | Redundancy control method based on multiple intelligent voice devices |
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