CN106603367A - CAN bus communication method for time synchronization - Google Patents
CAN bus communication method for time synchronization Download PDFInfo
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- CN106603367A CN106603367A CN201710109838.8A CN201710109838A CN106603367A CN 106603367 A CN106603367 A CN 106603367A CN 201710109838 A CN201710109838 A CN 201710109838A CN 106603367 A CN106603367 A CN 106603367A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L7/00—Arrangements for synchronising receiver with transmitter
- H04L7/0008—Synchronisation information channels, e.g. clock distribution lines
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
Abstract
The invention discloses a CAN (Controller Area Network) bus communication method for time synchronization. One node in a node group is configured as a major node, the remaining nodes performs time synchronization by taking synchronizing information sent by the major node as a benchmark, and the time synchronization of the nodes does not need participation of an upper computer, so that the requirement on real-time performance of the upper computer is reduced, and the flexibility and operation efficiency of the upper computer are further ensured. The other aspects of the invention are as follows: the time synchronization precision is greatly improved by adopting time stamp information; the communication efficiency of a bus and the real-time performance of each node are ensured by virtue of a data feedback mode of time slot time-division transmission; and by setting the same buffer rule in the nodes, the requirement of the upper computer on real-time performance of acquiring buffering information of a single node is reduced, and the communication frequency fed back by the state of a single node is effectively reduced.
Description
Technical field
The present invention relates to the communications field, more particularly to a kind of CAN communication means for time synchronized.
Background technology
A kind of communication network of CAN (Controller Area Network, the controller local area network) buses as control system
Network develops in distributed network control system comparatively fast, is a kind of multi-line network communicating system.Existing kinetic control system
Mostly using the network communication mode based on CAN.The high-performance and reliability of CAN is accepted, relatively low cost
With high bus utilization so as to be widely used in the aspects such as industrial automation, ship, armarium, industrial equipment.
But in the multinode CAN communication higher to requirement of real-time, there is problems with：
1.CAN buses are Multi-master sendings, and each website can send data at any time at random, using without destructiveness
Arbitration mechanism, the multiple nodes even in bus send data simultaneously, and the arbitration of the node with high priority packets is won,
Can continue to send data, and the node of other arbitration failures will move out transmission state and switch to receiving node, this bandwidth point
May fail in repeatedly competing with the relatively low website of priority in uneven " out of order to seize " pattern, cause information timely
Transmission, or generation conflict is sent sometimes, then smoothly send sometimes, cause the uncertainty of forward delay interval, what system communicated can
By property and less efficient.
2. in the CAN communication process of the multiaxis real time kinematics control system such as numerical control, robot, in order to ensure each axle
One of the synchronous operation of movement instruction, key problem are exactly each node time stationary problem, and prior art is as shown in figure 1, general
It is, by running real time operating system in host computer, to send synchronizing information to each node one by one on time in stipulated time point, it is each to save
Point receives synchronizing information successively and completes 1 couple 1 order-answer-mode of the synchronous and feedback status information to host computer, synchronizing cycle
Long efficiency is low, operation real time operating system is required to host computer and occupancy is high, and the communication efficiency of CAN is relatively low.
Although 3. existing time synchronizing method host computer sends synchronizing information on time in stipulated time point, as CAN leads to
Letter sends and receives usually FIFO interrupts, and data are not to be sent after programmed instruction is assigned immediately, connect in practical communication
, there is FIFO and postpone and interrupt response latency in program response immediately after receipts, i.e., transmission delay is generally there are when host computer sends inclined
Difference, exists during node reception and receives delay distortion, causes synchronous actually most uneven, time synchronized that each node is formed
Precision is not high, requires for synchronization accuracy requires that higher application is difficult to meet.
The content of the invention
One purpose of the present invention, is to provide a kind of CAN communication means for time synchronized, by by a node
Being set to host node carries out the time synchronized of all nodes, reduces the requirement to host computer real-time, further ensures upper
The motility of machine and operation efficiency.
One purpose of the present invention, is to provide a kind of CAN communication means for time synchronized, by node time
Synchronous, each node is improve the work efficiency of CAN, and ensure that CAN using time sharing transmissions successively feedback data
Real-time.
One purpose of the present invention, is to provide a kind of CAN communication means for time synchronized, by adopting the time
Stamp information substantially increases timing tracking accuracy carrying out each node time synchronization.
One purpose of the present invention, is to provide a kind of CAN communication means for time synchronized, by each node
Identical data buffering rule is set, makes the data buffering information that host computer obtains any node be regarded as being owned
The data buffering state of node, reduces the requirement of real-time that host computer is obtained to individual node buffer information, effectively reduces
The communication frequency of requirement of real-time and individual node feedback of status to host computer.
To achieve these goals, the present invention provides technical scheme below：
A kind of CAN communication means for time synchronized, includes at least two nodes, arranges in the CAN
One node is host node, and remaining node carries out time synchronized on the basis of host node.By in node is set to master
Node without the need for the intervention of host computer, reduces the requirement to host computer real-time, enters one carrying out the time synchronized of all nodes
Step ensure that motility and the operation efficiency of host computer, and especially in kinetic control system, the next each node is usually embedded
The control node of formula core, runs real time operating system, and host computer is usually common computer, operation it is usually non real-time
Windows systems, by the communication means of the present invention, can both ensure the real-time of time synchronized, be reduced to host computer again
The requirement of real-time.
Preferably, the host node timing sends time synchronization information to remaining node, and remaining node is sent out according to host node
Between sending, synchronizing information to be adjusting respective local zone time, to reach time synchronized.Time is actively sent by host node timing
Synchronization message making remaining node obtain time calibration information to realize time synchronized, especially in kinetic control system, respectively
The clock frequency of individual node can not possibly be completely the same, and running a period of time deviation after synchronous calibration will be increasing, affects system
System performance, at this moment carries out time synchronized calibration with greater need for continuous timing.
Preferably, the host node timing sends time synchronization information to remaining node and includes sending timestamp information.It is logical
Cross host node and send the timestamp information of oneself as absolute or relative time reference to remaining node, remaining node as
Basis carries out time synchronized.
Preferably, the timestamp information that the host node sends is the host node timing for sending the message frame starting SOF moment
Device value, remaining node is according to the timestamp information and the local timing at corresponding reception message frame starting SOF moment for receiving
Device value adjusting respective local zone time, to reach time synchronized.By the timestamp information correspondence message for sending host node
The host node timer value at frame starting SOF moment realizes accurate timestamp, reading system in a program compared to existing technology
The mode sent after clock write Frame, overcomes programmed instruction delay, FIFO and postpones and actual CAN transmission operating lag bands
The error come, can be as accurate as a position transmission time (timer can adopt the frequency of CAN baud rates) in theory, such as right
It is 1us when answering 1Mbps speed.Further, in recipient, remaining node it is corresponding receiving the message frame starting SOF moment
Local timer value as the master time stamp corresponding local zone time of information, it is real so as to carry out local zone time adjustment accordingly
When now with accurate pair of host node, due to the message frame starting SOF with the almost identical moment, (line transmission postpones typically may be used as ns levels
Ignore) as time synchronized benchmark, overcome program read access time after prior art node receives synchronizing information and stab information and repair
Correction data receives programmed instruction delay, the error that FIFO postpones and actual CAN reception operating lags bring brought by the time, reason
By can above be accurate to a position transmission time, that is to say, that the timing tracking accuracy of all nodes can be as accurate as one in theory
Individual position transmission time, can meet the accurate time synchronized demand of system.For implementing the message frame starting SOF moment
Timer value sends as timestamp information and reads the local timer value at reception message frame starting SOF moment, existing
Corresponding function is had been provided with the built-in CAN controller hardware of STM32 embedded microcontroller products, or base may also be employed
Corresponding function is realized in the soft core of the CAN controller of the PLDs such as FPGA, belongs to the state of the art, here
Do not repeat.
Preferably, in the CAN also include at least one host computer, all nodes after deadline synchronization, institute
Stating host computer and data being sent to each node, each node carries out data to host computer using time sharing transmissions mode according to priority order
Feedback.Data are carried out to host computer according to the time sharing transmissions mode of priority order holding time groove in turn by each node anti-
Feedback, so as to the node for ensureing each priority is capable of the right to use of the acquisition bus of equality, makes the information of each node can be suitable
Profit timely sends, and substantially increases communication efficiency, reduces the generation of conflict.For kinetic control system is often multiple controls
Cycle continuously performs, and each controlling cycle will perform host computer and send data, such as position command etc., and the next each node is successively
Feedback states data, initiate as controlling cycle typically sends data by host computer, after obtaining the next node corresponding data feedback
Complete, the synchronic command of the next node performs the participation for being not required for host computer, thus between host computer and the next node when
Between synchronously require relatively low, host computer can arrange controlling cycle according to the system clock of oneself, need certainly whole be
During system precise synchronization, host computer also further can carry out time synchronized on the basis of host node, adopt and remaining node identical
The method of synchronization.
Preferably, the time sharing transmissions mode is that duration and priority order are led to according to needed for the transmission of each node data
The letter time distributes, and each node carries out data transmission in the time of distribution successively.By being carried out more according to each node practical situation
Careful specific call duration time distribution, due to synchronized in all node times, can accomplish that accurately distributing each node exists
The time point of regulation uses bus, and each node is continuous using the time point of bus but does not intersect (when removing host computer transmission data
Between), bus communication efficiency is further improved, the generation of conflict is reduced.
Preferably, each node buffers the data that host computer sends according to identical fifo mode, and each node is according to FIFO time
Sequence takes out corresponding data, and all nodes synchronize operation in time to the corresponding data for taking out.By arranging in each node
FIFO is buffered, and is reduced the transmitting-receiving of the real time data between host computer and each node and is matched requirement, the synchrodata behaviour of all nodes
Make more stable accurate, solve the problems, such as because the node that causes not in time for sending or receiving cannot synchronous data operation.It is slow
The quantity for rushing data can be configured according to system traffic rate and node response speed etc., be traditionally arranged to be 2-4.
Preferably, each node includes respective FIFO buffer status to the feedback data of host computer.By obtaining node
FIFO buffer status, host computer can be appreciated that the running status of each node, if FIFO is not full state host computer can continue
Data are sent, FIFO is full then to be needed to suspend transmission data.
Preferably, the host computer is transmitted to the data that each node sends for broadcast type, and packing data includes institute
The data having needed for node, each node unification take out each self-corresponding data after receiving packing data.Beaten by host computer broadcast
Bag sends data, and all nodes unify the synchronous mode for receiving, and the order-response mode of 1 pair 1 can be further compared to existing technology
Communication efficiency is improved, synchronization has been also carried out to the moment of each node receiving data, if when number of nodes is few, data are less more
Communication efficiency is further improved during a Frame can be bundled to and real-time (can be by the standard frame of CAN Frames or extension
ID positions in frame increase the valid data amount in a Frame as data transfer), if corresponding each node is provided with
Data fifo is buffered, then the buffer status of any node can represent the buffer status of all nodes, and now host computer only needs to obtain
The data buffering information of one node can obtain the data buffering information of all nodes, without the need for the slow of all nodes of real-time detection
State is rushed, the communication frequency of the requirement of real-time to host computer and individual node feedback of status is reduced.
Preferably, the host node priority is set to highest, and host computer priority is set to minimum.By by host node
Priority is set to highest, so as to host node can ensure that preferential execution to the time synchronized of remaining node, host computer is preferential
Level is set to minimum, preferential guarantee data feedback of the host node to the time synchronized and each node of remaining node, so in the time
Preferable balance has been obtained in the real-time of synchronous efficiency, the communication efficiency of bus and each node.
Compared with prior art, beneficial effects of the present invention：
1. one aspect of the present invention, sends synchronize information to remaining section by arranging a node on the basis of host node
Point carry out time synchronized, compared in prior art by host computer run real time operating system, by host computer regulation when
Between put on time to each node send synchronizing information, reduce the requirement to host computer real-time, further ensure host computer
Motility and operation efficiency.
2. one aspect of the present invention, by node time synchronization, each node adopts the time to the data feedback of host computer
Groove time sharing transmissions, out of order compared to general CAN are seized, and the order-answer-mode of 1 pair 1, and which ensures well
The real-time of the communication efficiency of bus and each node.
3. one aspect of the present invention, carries out each node time synchronization by using timestamp information, controls using CAN
It is same that device hardware timer processed carries out the time to the host node transmission time and remaining node reception time of sync message frame starting SOF
Step pair when, compared to existing technology in program is sent and received read system clock pair when mode substantially increase time synchronized
Precision.
4. one aspect of the present invention, by identical data fifo buffering rule is arranged in each node, reduces
Real time data transmitting-receiving between position machine and each node matches requirement, and the synchronous data operation of all nodes is more stable accurate, together
Seasonal host computer obtains the data buffering information of any node and is regarded as having obtained the data buffering information of all nodes, nothing
The buffer status of all nodes of real-time detection are needed, so as to reduce the requirement of real-time obtained to individual node buffer information, is had
Effect reduces the communication frequency of individual node feedback of status.
Description of the drawings
Fig. 1 is Time Synchronizing schematic diagram of the prior art based on host computer；
Fig. 2 is Time Synchronizing schematic diagram of the present invention based on host node；
CAN control system architecture schematic diagrams of the Fig. 3 for the embodiment of the present invention 1；
Node time sharing transmissions communication schemes of the Fig. 4 for the embodiment of the present invention 2；
Host computer instruction buffering scheme schematic diagrams of the Fig. 5 for the embodiment of the present invention 3.
Specific embodiment
With reference to test example and specific embodiment, the present invention is described in further detail.But this should not be understood
Scope for above-mentioned theme of the invention is only limitted to below example, and all technologies realized based on present invention belong to this
The scope of invention.
As shown in Fig. 2 the CAN communication means for time synchronized of the present invention, by multiple nodes in CAN
One be set to host node, remaining node is set to from node, carries out time synchronized, main section from node on the basis of host node
Point timing sends time synchronization information to remaining node, and the time synchronization information that remaining node is sent according to host node is each to adjust
From local zone time, to reach time synchronized.On the basis of the temporal information sent by host computer compared to each node of prior art
Time synchronized is carried out, the method for synchronization is participated in without the need for host computer, is reduced the requirement to host computer real-time, is further ensured
The motility of host computer and operation efficiency.
Embodiment 1：
The present embodiment is the CAN control system using communication means of the present invention, system structure as shown in figure 3, including：
Host computer, multiple nodes and CAN, host computer are connected by CAN with node.Multiple nodes generally run real-time
The embedded system of operating system, host computer are generally PC, notebook, panel computer, mobile terminal etc., run non real-time behaviour
Make system.More specifically in the multi-shaft motion control systems such as numerical control, robot, it is real-time that multiple nodes are generally each axle operation
The embedded Control circuit module of operating system, core circuit and system program it is essentially identical, host computer is by CAN to each
Node sends control instruction and receives the feedback data of each node, realizes the function control to node and state-detection.This reality
Example is applied in CAN communication process, specifies a certain node to be host node first in systems, from host node timing to respectively from section
Point sends synchronizing information, respectively from node according to the clock of host node adjusting respective local clock, it is synchronous to reach clock
Effect.
More specifically, the timestamp information of oneself is sent as the absolute or relative time to remaining node by host node
Benchmark, remaining node carry out time synchronized based on this.During for more accurate pair, the timestamp information that host node sends can
Think the host node timer value for sending the message frame starting SOF moment, remaining node is according to the timestamp information and phase for receiving
The corresponding local timer value for receiving the message frame starting SOF moment adjusting respective local zone time, to reach time synchronized.
Specific hardware is implemented can be using STMicw Electronics STM32 series embedded microcontrollers as Node Controller, the series
The built-in CAN controller hardware of controller is had been provided with the timer value at message frame starting SOF moment as timestamp information
The function of the local timer value for receiving the message frame starting SOF moment is sent and read, may also be employed to compile based on FPGA etc.
Realizing corresponding function, this belongs to the state of the art to the soft core of CAN controller of journey logical device, will not be described here.
Embodiment 2：
In the system-based of embodiment 1, each node adopts time sharing transmissions mode to the present embodiment.All nodes are in time
After synchronization, just can be with transceiving data, after node receives the data of host computer transmission between host computer and node, needs will be from
Oneself receives the feedback of status of data to host computer, due to feedback of status can only point-to-point transmission, in order to ensure that each node can
Oneself state is fed back after receiving the data in time can to host computer, node adopts the time to the feedback of status of host computer
Groove time sharing transmissions.As shown in figure 4, each node is after the data for receiving host computer transmission, sequentially in the time for specifying using total
Line carries out feedback of status, and each node is continuous using the time point of bus but does not intersect, so as to ensure the node energy of each priority
The right to use of the acquisition bus of enough equality, makes the information of each node smoothly timely can send.Compared to general CAN
It is out of order seize, and the order-answer-mode of 1 pair 1, which ensure that the reality of the communication efficiency of bus and each node well
Shi Xing.Priority setting generally host computer is minimum, and host node highest, remaining node are arranged on demand, so as to preferentially ensure main section
The time synchronized task and the first data feedback of point, remaining node carry out time synchronized and follow-up by ordinal number on the basis of host node
According to feedback etc..
Specifically for kinetic control system, often multiple controlling cycles are continuously performed, each controlling cycle will be held
Row host computer sends data, such as position command etc., the next each node feedback states data successively.Host computer can be according to oneself
System clock further can be carried out on the basis of host node arranging controlling cycle not synchronous with master time, also it is accurate
Time synchronized, adopts and remaining node identical method of synchronization.
According to practical situation, when the real-time without the need for each controlling cycle feedback data of all nodes or node feeding back
When less demanding, can be with by the way of being fed back according to order successively in continuous multiple cycles, such as 8 nodes, each
2 node feeding backs of cycle, 4 cycles complete wheel feedback, so can further shorten controlling cycle or reduce bus accounting for
With increase control motility.
In order to improve communication efficiency, host computer can be transmitted for broadcast type to the data that each node sends, packing data
Include that the data needed for all nodes, each node unification take out each self-corresponding data after receiving packing data.Compare existing
Order-response mode that technology is 1 pair 1 can further improve communication efficiency, and the moment of each node receiving data has been also carried out together
Step, if further improving communication efficiency and reality during a Frame can be more bundled to when number of nodes is few, data are less
ID positions in the standard frame of CAN Frames or extension frame specifically can also be increased a data by Shi Xing as data transfer
There are 11 ID in valid data amount in frame, such as standard frame format Frame, in Extended Superframe Format Frame, there are 29 data
Frame, it is assumed that have 8 nodes, 3 or 4 ID are used as address ID identification, and remaining ID position can be used for actual data transfer.Can be with
By host computer using extension frame, the next each node by the way of standard frame is distinguished host computer and node, is at this moment gone up
The Frame of position machine can be without the need for ID positions as Address Recognition, so as to can be by+29 ID=in maximum data position in CAN Frames 64
93 carry out data communication as valid data position, are identified using a small amount of ID positions during multiple host computers.
Embodiment 3：
On the basis of embodiment 2, host computer reduces the requirement to real-time to the present embodiment by instruction buffer.As schemed
Shown in 5, in node according to the pattern buffer four instructions of FIFO, while the node sequentially instruction of runtime buffer, host computer
Whether buffer status as relief area can be overflowed by detection node instruction buffer, when buffer overflow, host computer
Stop sending instruction, when detecting relief area and having vacant position, host computer continues to send instruction.The buffering rule phase of other each node
Together, when being sent using all node datas unifications of host computer packing, the buffer status of any node just represent all nodes
Buffer status, at this moment logically, each node can be considered as a node, and individual node feedack represents whole section
The position command buffer information of point group.Therefore, the position command buffer information of host computer acquisition any node is regarded as
The position command buffer information of all nodes has been arrived, and without the need for the buffer status of all nodes of real-time detection, it is right so as to reduce
The requirement of real-time that individual node buffer information is obtained, effectively reduces the communication frequency of individual node feedback of status.
For example when CAN baud rates 500Kbps, node is at least 1 to the position command buffer status feedback of host computer
Byte needs 8 data, therefore once feedback CAN communication Frame at least wants 44+8=52 positions, takes 104 microseconds, if 6
Individual node (such as hexaxial reference system) needs feedback communication then at least to need 624 microseconds, and using the mechanism of the present invention, it is only necessary to one
Secondary communication, i.e. 104 microseconds.
Further, host computer can terminate and change the instruction that will send at any time, such as node buffered data
Analysis instruction, is press-in relief area or is immediately performed according to the species decision for instructing, if position command is this pressing simultaneously
Relief area is put into then according to what continuous controlling cycle order was performed, until the controlling cycle specified carries out time synchronized execution, such as
Fruit is the order such as to cancel, suspend, terminating moving then to make an immediate response execution and do not consider relief area deposit instruction, such node energy
The change of enough quick response host computers, it is excessive without having to worry about buffered instructions, and cause node out of control.
Claims (10)
1. a kind of CAN communication means for time synchronized, includes at least two nodes, its feature in the CAN
It is that a node is set for host node, remaining node carries out time synchronized on the basis of host node.
2. the CAN communication means for time synchronized according to claim 1, it is characterised in that the host node
Timing sends time synchronization information to remaining node, and the time synchronization information that remaining node is sent according to host node is respective to adjust
Local zone time, to reach time synchronized.
3. the CAN communication means for time synchronized according to claim 2, it is characterised in that the host node
Timing sends time synchronization information to remaining node to be included sending timestamp information.
4. the CAN communication means for time synchronized according to claim 3, it is characterised in that the host node
The timestamp information of transmission is the host node timer value for sending the message frame starting SOF moment, and remaining node should according to what is received
The local timer value at timestamp information and corresponding reception message frame starting SOF moment adjusting respective local zone time,
To reach time synchronized.
5. according to the arbitrary described CAN communication means for time synchronized of claim 1-4, it is characterised in that described
Also include at least one host computer in CAN, after deadline synchronization, the host computer sends all nodes to each node
Data, each node carry out data feedback to host computer using time sharing transmissions mode according to priority order.
6. the CAN communication means for time synchronized according to claim 5, it is characterised in that the timesharing is passed
Defeated mode is that duration and priority order according to needed for the transmission of each node data carries out call duration time distribution, and each node is dividing successively
The time matched somebody with somebody carries out data transmission.
7. the CAN communication means for time synchronized according to claim 5, it is characterised in that each node according to
The data that identical fifo mode buffering host computer sends, each node take out corresponding data, all nodes pair according to FIFO order
The corresponding data of taking-up synchronizes operation in time.
8. the CAN communication means for time synchronized according to claim 7, it is characterised in that each node is to upper
The feedback data of position machine includes respective FIFO buffer status.
9. according to the arbitrary described CAN communication means for time synchronized of claim 6-8, it is characterised in that described
Host computer is transmitted to the data that each node sends for broadcast type, and packing data includes the data needed for all nodes, respectively
Node unification takes out each self-corresponding data after receiving packing data.
10. the CAN communication means for time synchronized according to claim 5, it is characterised in that the host node
Priority is set to highest, and host computer priority is set to minimum.
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| CN111641635B (en) * | 2020-05-28 | 2022-05-27 | 北京经纬恒润科技股份有限公司 | Method and device for lossless transmission of CAN data |
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| CN112000042B (en) * | 2020-08-26 | 2024-03-12 | 中国石油化工集团有限公司 | Equal network control system and method for multi-electric fracturing device |
| CN112000042A (en) * | 2020-08-26 | 2020-11-27 | 中石化四机石油机械有限公司 | Multi-electric fracturing device equal network control system and method |
| CN112130565A (en) * | 2020-09-14 | 2020-12-25 | 贵州翰凯斯智能技术有限公司 | Self-walking robot platform control system and communication method thereof |
| CN112532496A (en) * | 2020-11-30 | 2021-03-19 | 西安爱生技术集团公司 | CAN bus communication network design method for avoiding conflict |
| CN112566087A (en) * | 2020-12-07 | 2021-03-26 | 南京航空航天大学 | Multi-agent ZigBee communication method supporting MavLink protocol |
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| CN113655331A (en) * | 2021-01-26 | 2021-11-16 | 青岛鼎信通讯股份有限公司 | Medium-voltage carrier feeder fault detection system |
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