CN106921530B - Superframe testing method for process automation-oriented industrial wireless network - Google Patents

Superframe testing method for process automation-oriented industrial wireless network Download PDF

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CN106921530B
CN106921530B CN201510993108.XA CN201510993108A CN106921530B CN 106921530 B CN106921530 B CN 106921530B CN 201510993108 A CN201510993108 A CN 201510993108A CN 106921530 B CN106921530 B CN 106921530B
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superframe
data
time
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CN106921530A (en
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王恺
梁炜
张思超
张晓玲
孙浩
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Shenyang Institute of Automation of CAS
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L43/00—Arrangements for monitoring or testing data switching networks
    • H04L43/10—Active monitoring, e.g. heartbeat, ping or trace-route
    • H04L43/106—Active monitoring, e.g. heartbeat, ping or trace-route using time related information in packets, e.g. by adding timestamps
    • 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
    • H04J3/0652—Synchronisation among time division multiple access [TDMA] nodes, e.g. time triggered protocol [TTP]
    • H04J3/0655—Synchronisation among time division multiple access [TDMA] nodes, e.g. time triggered protocol [TTP] using timestamps
    • 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
    • H04J3/0658—Clock or time synchronisation among packet nodes
    • H04J3/0661—Clock or time synchronisation among packet nodes using timestamps
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J3/00—Time-division multiplex systems
    • H04J3/24—Time-division multiplex systems in which the allocation is indicated by an address the different channels being transmitted sequentially
    • H04J3/242—Time-division multiplex systems in which the allocation is indicated by an address the different channels being transmitted sequentially the frames being of variable length
    • 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
    • H04L1/12—Arrangements for detecting or preventing errors in the information received by using return channel
    • H04L1/16—Arrangements for detecting or preventing errors in the information received by using return channel in which the return channel carries supervisory signals, e.g. repetition request signals
    • H04L1/1607—Details of the supervisory signal
    • H04L1/1664—Details of the supervisory signal the supervisory signal being transmitted together with payload signals; piggybacking

Abstract

The invention relates to a wireless network technology oriented to industrial application, in particular to a superframe testing method for a process automation oriented industrial wireless network. The method is mainly used for testing whether the tested equipment (routing equipment or field equipment) can correctly configure the superframe and correctly transmit and receive data according to the superframe information. The method of the invention fully considers the interference of factors such as environmental interference, clock drift and the like to the test, adopts the least square method to estimate the time offset of the superframe, tests the superframe configuration of the tested equipment and the error of the superframe on the premise of not changing the function and communication mode of the tested equipment, and achieves the effects of high efficiency, high precision and easy realization.

Description

Superframe testing method for process automation-oriented industrial wireless network
Technical Field
The invention relates to a process automation-oriented industrial wireless network technology, in particular to a process automation-oriented industrial wireless network superframe testing method.
Background
The industrial wireless network technology oriented to process automation has the advantages of low cost, low energy consumption, easiness in use and the like. With the popularization and application of industrial wireless networks oriented to process automation, an industrial measurement and control system for realizing ubiquitous sensing and full-process optimal control at low cost becomes a hot technology, has wide development prospect, represents one of the development directions of industrial automation system technologies, plays an important role in improving the production efficiency of products, simplifying industrial production processes and the like, and has wide application prospect in high-energy-consumption and high-pollution industries such as petroleum and natural gas exploitation, petrifaction, metallurgy, sewage treatment and the like. Industrial Wireless network WIA-PA (Wireless network for Industrial Automation-Process Automation) is an emerging technology of international level in this field.
In order to guarantee real-time performance and reliability of data transmission, the WIA-PA industrial wireless network adopts an IEEE STD 802.15.4:2006 superframe structure based on beacons. With the expansion of the application scale of the WIA-PA industrial wireless network, whether the superframe of the WIA-PA equipment can be reasonably distributed and correctly executed becomes an important factor for restricting the network performance. The real-time and reliable communication of the tested equipment can be ensured by testing the execution condition of the superframe and the time offset error of the tested equipment. Superframe testing has become a testing link of equal importance as device function testing.
A WIA-PA protocol Conformance test specification (WIA-PA configuration test specification for use in Industrial Process Automation) is a reference basis for testing the WIA-PA standard, provides a standard test specification for the conformity degree of Industrial wireless network equipment, systems and engineering applied to the WIA-PA Industrial wireless communication protocol, and provides guarantee for Industrial wireless product authentication and equipment interconnection between different protocols of a plurality of manufacturers. However, the WIA-PA protocol conformance test specification only gives test procedures and contents, and does not give related test technologies. At present, the research on the consistency test technology aiming at the WIA-PA protocol is just started, and particularly, the test technology aiming at the superframe is not researched. The existing WIA-PA test system and test method have the following problems: 1) only the execution flow of the tested equipment is considered, and the overall execution time test of the system is not carried out from the perspective of a superframe; 2) not testing each influence factor influencing the superframe, and not testing whether the time offset is within the acceptable range of the superframe; 3) some test methods need to modify the message receiving and sending requirements and partial functions of the tested device, so that the test efficiency is reduced.
Disclosure of Invention
The invention provides a superframe testing method facing a process automation industrial wireless network, which aims at the problem that the existing WIA-PA protocol consistency testing method does not consider the influence of superframe execution of a tested device on testing superframe time, so that a larger error exists in the testing of the device, and the superframe execution condition of the tested device cannot be accurately tested.
The technical scheme adopted by the invention for realizing the purpose is as follows: a superframe testing method oriented to a process automation industrial wireless network comprises the following steps:
the testing system and the tested equipment are assembled into a single-hop star structure or a star and mesh combined structure;
the time synchronization command frame is used for synchronizing the tested equipment and the testing system, and the resource allocation command frame is used for setting the superframe information of the tested equipment, so that the tested equipment can continuously receive and transmit;
the test system periodically sends a data request message in each sending time slot and waits for ACK and data response messages;
counting the sending time of the data request message and the response timestamp of the data response message, calculating the receiving time of the data response message according to the regression equation by using a least square method, detecting the significance of the regression equation, and continuing the next step if the regression is significant; if the regression is not significant, the superframe is wrong;
calculating a superframe time offset value by using the receiving time of the data response message and the timestamp of the data response message, and checking whether the superframe time offset value is unbiased estimation of the receiving time of the data response message;
if yes, the unbiased estimation is considered to be valid, the superframe time offset is indicated to be within an acceptable error range, the superframe is accurate, otherwise, the unbiased estimation is considered to be invalid, and the superframe is wrong.
The device under test comprises a routing device and a field device;
wherein the field device is installed in an industrial field and is responsible for connecting or controlling the production process; the routing device is responsible for field device management and message forwarding.
The test system periodically sends a data request message in each sending time slot, waits for ACK and a data response message, and if the test system receives the data response message, the test system considers an effective data access process; if no response message is received, the data access process is considered invalid, and no analysis is performed.
And configuring a plurality of links capable of continuously transmitting and receiving in the superframe of the device to be tested.
The regression equation is a linear regression equation:
Figure BDA0000890875980000031
wherein the content of the first and second substances,
Figure BDA0000890875980000032
a least squares estimate of y, y being the time of receipt of the data response message, x being the time of transmission of the data request message,
Figure BDA0000890875980000033
Figure BDA0000890875980000034
wherein (x)i,yi) In order to be a sample point, the sample point,
Figure BDA0000890875980000035
is sample data x1,x2...xnIs determined by the average value of (a) of (b),
Figure BDA0000890875980000036
is sample data y1,y2...ynN is the number of times of occurrence of the event, i.e. the number of sample points.
The significance of the test regression equation specifically comprises the following steps:
Figure BDA0000890875980000037
when F > Fa(1, n-2), regression is significant, otherwise,the regression is considered to be not significant, wherein α is a quantile point, and F can be known by looking up an F distribution tablea(1, n-2), n is the number of times of event occurrence, i.e. the number of sample points, QeIs the residual sum of squares, U is the regression sum of squares, and
Figure BDA0000890875980000038
Figure BDA0000890875980000039
wherein the content of the first and second substances,
Figure BDA0000890875980000041
Figure BDA0000890875980000042
is the slope of the regression line, (x)i,yi) In order to be a sample point, the sample point,
Figure BDA0000890875980000043
is sample data x1,x2...xnIs determined by the average value of (a) of (b),
Figure BDA0000890875980000044
is sample data y1,y2...ynIs determined by the average value of (a) of (b),
Figure BDA0000890875980000045
is a least squares estimate of y.
The superframe time offset value is the difference between the receiving time of the data response message and the timestamp of the data response message.
The checking whether the superframe time offset value is an unbiased estimation of the receiving time of the data response message, that is, the checking of the validity of the unbiased estimation specifically includes:
Figure BDA0000890875980000046
unbiased estimation if equation (10) holdsCounting is effective; otherwise, unbiased estimation is invalid;
Figure BDA0000890875980000047
is a superframe time offset value, and theta is a response message reception time calculated by the formula (4), i.e.
Figure BDA0000890875980000048
Wherein the content of the first and second substances,
Figure BDA0000890875980000049
is a least-squares estimate of b and,
Figure BDA00008908759800000410
is a desire for x and y;
Figure BDA00008908759800000411
the message transmission delay is the difference between the transmission time of the data message and the receiving time of the ACK.
The invention has the following advantages and beneficial effects:
1. the invention provides a superframe testing method facing a process automation industrial wireless network, which fully considers the actual testing requirements of the industrial wireless network based on process automation, and realizes a superframe testing method with high efficiency and high precision on the basis of not changing the functions of tested equipment and receiving and transmitting special data frames;
2. the invention judges whether the tested equipment can respond to the data request data in the range specified by the superframe by constructing the regression equation consisting of the data request message and the data response message and checking the significance of the regression equation, thereby detecting whether the superframe of the tested equipment operates correctly;
3. the invention calculates the sending time of the data request message and the receiving time of the ACK to obtain the sending time delay of the data message, tests the offset condition of the superframe of the tested equipment by detecting the validity of the superframe time offset relative to the sending time delay, and can effectively avoid the interference of factors such as environment, hardware processing and the like on the test;
4. the invention perfects the test method of the WIA-PA superframe, defines the test method and the test flow of the superframe, leads the WIA-PA consistency test to be more complete, simplifies the test flow, is convenient for testers to execute the test work, and verifies the feasibility in practice.
The invention provides a superframe testing method for a process automation-oriented industrial wireless network, which is used for testing whether superframe execution conditions and superframe time offset errors of a WIA-PA device to be tested meet requirements or not, fully considers the actual testing requirements of the process automation-oriented industrial wireless network, and realizes convenient, high-efficiency and high-precision superframe testing.
A method for judging whether tested equipment correctly executes a superframe is provided by sending periodic data messages facing to WIA-PA wireless network equipment and a TDMA communication mechanism, the method comprises the step of testing the running condition of the superframe and the superframe time offset condition, effectively distinguishing the time offset caused by environment and hardware processing, and the method is beneficial to improving the testing efficiency.
Drawings
FIG. 1 is a diagram of a superframe test system according to the present invention;
FIG. 2 is a diagram illustrating a superframe time test according to the present invention;
FIG. 3 is a flow chart of a superframe testing method according to the present invention;
FIG. 4 is a schematic diagram of a network layer packet structure according to the present invention;
fig. 5 is a schematic diagram of the message transceiving time in the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
FIG. 1 shows a WIA-PA network star topology employed in the present invention, wherein the device under test is a routing device or a field device;
setting the time and superframe information of the tested device by using the resource allocation command frame, so that the tested device can continuously receive and transmit, and the test system is configured into a superframe structure matched with the tested device, as shown in fig. 2;
the test system sends a data request message at the beginning of each sending time slot, waits for ACK and data response messages of the test system, and if correct ACK and data response messages are received, the test system is considered to be an effective data communication process;
as shown in fig. 3, the testing process of the present invention periodically sends a data request command message at the beginning of each sending timeslot according to the format of data message of the WIA-PA protocol network layer, and continuously sends 20 data messages. Recording the transmission Time Lacal _ Data _ Time of the effective Data messageiReception Time Global _ ACK _ Time of ACKiAnd the receiving Time Global _ Data _ Time of the response Data messageiAnd time stamp Data Global _ Data _ Timestamp of the received response Data messageiThe format of the time stamp in the data message is shown in fig. 4;
the sending time x of the data request message and the receiving time y of the data response message should accord with a unary linear relationship, and as the sending time increases, the receiving time should show a linear increasing trend, that is, the formula (1) is satisfied:
Figure BDA0000890875980000061
wherein the content of the first and second substances,
Figure BDA0000890875980000062
least squares estimation for a, b and y;
by using a least square method, a sample regression equation of y relative to x can be calculated;
with 20 independent tests of the device under test, samples were obtained:
(Lacal_Data_Time1,Global_Data_Time1)，
(Lacal_Data_Time2,Global_Data_Time2)，
…，
(Lacal_Data_Time20,Global_Data_Time20)，
a least squares estimate of the parameters a, b can be calculated as shown in equations (2) and (3), respectively:
Figure BDA0000890875980000063
Figure BDA0000890875980000064
wherein the content of the first and second substances,
Figure BDA0000890875980000065
and
Figure BDA0000890875980000066
a least squares estimate of b and a is expressed,
Figure BDA0000890875980000067
and
Figure BDA0000890875980000068
representing the expectation of the sample;
the sample regression equation of the sending time of the data request command message with respect to the receiving time of the data response command message is shown in formula (4):
Figure BDA0000890875980000071
judging that the established linear regression equation is meaningful, otherwise, considering that the sending time or the receiving time of the system is incorrect;
fig. 5 is a diagram showing the situation of two message transceiving times in the present invention, wherein in step 5(a), some points are scattered outside the error range, but most points are in the regression equation, and belong to the normal operation situation of the superframe; 5(b) all points fall within the error range, but are substantially absent from the regression equation, and belong to the superframe time offset; the straight line obtained by using the formula (4) should be the straight line which is best fitted with the sample, and in order to ensure that the regression equation established by using the formula (4) is meaningful, the linear relation between x and y needs to be subjected to significance test;
verify hypothesis (5) if H0If yes, the regression is not obvious, the superframe is not correctly executed, otherwise, the regression is obvious, namely, the superframe is correctly operated;
H0:b＝0,H1:b≠0 (5)
each sample point (x)i,yi) A corresponding point can be obtained by using the formula (4)
Figure BDA0000890875980000072
The residual sum of squares can be calculated by using formula (6), and the regression sum of squares can be calculated by using formula (7);
Figure BDA0000890875980000073
Figure BDA0000890875980000074
wherein the content of the first and second substances,
Figure BDA0000890875980000075
Figure BDA0000890875980000076
is the slope of a regression line, QeIs the residual sum of squares, and U is the regression sum of squares;
the theorem of the regression equation significance test and the definition of F steps can be used to derive, H0When true, equation (8) holds;
Figure BDA0000890875980000077
when alpha is 0.05, F is known by looking up the F distribution table0.05(1,20)＝4.35；
When F > FaWhen (1, n-2) is negative, H0I.e. regression is significant, otherwise, regression is considered insignificant.
The sending delay of the message can be determined by using the formula (9):
Time_Delayi＝Local_Data_Timei-Global_ACK_Timei(9)
the Time Offset value Time _ Offset of the superframe Time can be calculated by using the Time of receiving the data response message and the timestamp of the data response messagei. Theoretically, the superframe time offset value should be an unbiased estimate of the response message reception time;
according to the error requirement of the WIA-PA test standard, if the unbiased estimation of the superframe time deviation value is effective, the superframe is considered to be accurate, otherwise, the superframe of the tested device is considered to be wrong;
Figure BDA0000890875980000081
wherein θ is the response message reception time calculated by the formula (4),
Figure BDA0000890875980000082
is a super-frame time offset value that,
Figure BDA0000890875980000083
is the message transmission delay;
the conclusion from the comparison of the mean square error using equation (10) is not guaranteed, though
Figure BDA0000890875980000084
Ratio of
Figure BDA0000890875980000085
The unbiased character of (A) is better, but the test process is more accurate and can reflect more
Figure BDA0000890875980000086
The degree of offset of (a).

Claims (5)

1. A superframe test method for a process automation-oriented industrial wireless network is characterized by comprising the following steps:
the testing system and the tested equipment are assembled into a single-hop star structure or a star and mesh combined structure; the device under test comprises a routing device and a field device; wherein the field device is installed in an industrial field and is responsible for connecting or controlling the production process; the routing equipment is responsible for the management and message forwarding of the field equipment;
the time synchronization command frame is used for synchronizing the tested equipment and the testing system, and the resource allocation command frame is used for setting the superframe information of the tested equipment, so that the tested equipment can continuously receive and transmit;
the test system periodically sends a data request message in each sending time slot, waits for ACK and a data response message, and if the test system receives the data response message, the test system considers an effective data access process; if the response message is not received, the data access process is considered to be invalid, and analysis is not carried out;
counting the sending time of the data request message and the response timestamp of the data response message, calculating the receiving time of the data response message according to the regression equation by using a least square method, detecting the significance of the regression equation, and continuing the next step if the regression is significant; if the regression is not significant, the superframe is wrong;
the significance of the test regression equation specifically comprises the following steps:
Figure FDA0002432578880000011
when F > Fa(1, n-2), the regression is obvious, otherwise, the regression is not obvious, wherein, α is a quantile point, and F can be known by looking up an F distribution tablea(1, n-2), n is the number of times of event occurrence, i.e. the number of sample points, QeIs the residual sum of squares, U is the regression sum of squares, and
Figure FDA0002432578880000012
Figure FDA0002432578880000013
wherein the content of the first and second substances,
Figure FDA0002432578880000014
Figure FDA0002432578880000015
is the slope of the regression line, (x)i,yi) In order to be a sample point, the sample point,
Figure FDA0002432578880000016
is sample data x1,x2...xnIs determined by the average value of (a) of (b),
Figure FDA0002432578880000017
is sample data y1,y2...ynIs determined by the average value of (a) of (b),
Figure FDA0002432578880000018
a least squares estimate of y;
calculating a superframe time offset value by using the receiving time of the data response message and the timestamp of the data response message, and checking whether the superframe time offset value is unbiased estimation of the receiving time of the data response message;
if yes, the unbiased estimation is considered to be valid, the superframe time offset is indicated to be within an acceptable error range, the superframe is accurate, otherwise, the unbiased estimation is considered to be invalid, and the superframe is wrong.
2. The superframe testing method for the process automation industry wireless network as recited in claim 1, wherein a plurality of continuously transceiving links are configured in the superframe of the device under test.
3. The superframe test method for the process automation industry wireless network as recited in claim 1, wherein the regression equation is a linear regression equation:
Figure FDA0002432578880000021
wherein the content of the first and second substances,
Figure FDA0002432578880000022
a least squares estimate of y, y being the time of receipt of the data response message, x being the time of transmission of the data request message,
Figure FDA0002432578880000023
Figure FDA0002432578880000024
wherein (x)i,yi) In order to be a sample point, the sample point,
Figure FDA0002432578880000025
is sample data x1,x2...xnIs determined by the average value of (a) of (b),
Figure FDA0002432578880000026
is sample data y1,y2...ynN is the number of times of occurrence of the event, i.e. the number of sample points.
4. The method for superframe test of a process automation oriented industrial wireless network as claimed in claim 1, wherein the superframe time offset value is a difference between a reception time of the data response message and a timestamp of the data response message.
5. The superframe test method for process automation oriented industrial wireless networks according to claim 1, wherein the checking whether the superframe time offset value is an unbiased estimation of the reception time of the data response packet, i.e. checking the validity of the unbiased estimation, specifically comprises:
Figure FDA0002432578880000027
if it is notIf the formula (10) is established, unbiased estimation is effective; otherwise, unbiased estimation is invalid;
Figure FDA0002432578880000028
is a superframe time offset value, theta is a response message reception time,
Figure FDA0002432578880000029
the message transmission delay is the difference between the transmission time of the data message and the reception time of the ACK.
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