CN107026703A - A kind of tandem type method for synchronizing time in hybrid network - Google Patents
A kind of tandem type method for synchronizing time in hybrid network Download PDFInfo
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- CN107026703A CN107026703A CN201710357135.7A CN201710357135A CN107026703A CN 107026703 A CN107026703 A CN 107026703A CN 201710357135 A CN201710357135 A CN 201710357135A CN 107026703 A CN107026703 A CN 107026703A
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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
Abstract
The invention discloses the tandem type method for synchronizing time in a kind of hybrid network, comprise the following steps：(1), the time synchronized of father's layer network controls website to send time synchronized message to shared adaptation website；(2), share after adaptation website time of receipt (T of R) synchronization message, progress, which is parsed, obtains current time father layer time system time Tsyn, while recording the local zone time T that time synchronized message receives the momentlocal_syn；(3) adaptation website, is shared according to the sublayer time system time T of itselflocal, time synchronized is carried out to other websites in sub- layer network；(4) what, other any websites that shared adaptation website is received in sublayer network were sent marks t with the sublayer time system timesubTime mark message after, by tsubBe converted to the time value T in father's layer networkafterSyn, feed back to father's layer network and realize time synchronized between hybrid network.The present invention is not on the basis of father's layer network and sublayer network time synchronization is influenceed, by each website time synchronized in two layers of communication network.
Description
Technical field
The present invention relates to the tandem type method for synchronizing time in a kind of hybrid network, it is mainly directed towards automatic industrial control
System, for the time of each sub- equipment in synchronous intelligent equipment, large automatic system, makes all devices in whole system equal
Run with unified time reference.
Background technology
In the design of large-scale intelligent equipment or industrial automation system, the synchronism of usual each equipment work is to system
The correctness of operation is particularly important.In order to enable each sub- equipment in system to be transported according to same timeticks
OK, making the action sequencing of each equipment has certainty, while making test data have comparativity, it is necessary to in system
Each equipment carries out time synchronized.Modularization, the stratification design philosophy of system substantially increase the scalability of system, but
Simultaneously difficulty is brought to time synchronization process.The time delay of communication process and the serial property of communication etc. can all influence synchronous essence
True property.
In homotype communication network, each Site synch in communication network can be by broadcasting the message with current system time value
To realize, and in special-shaped communication network, it is impossible to carry out time synchronized by the way of broadcast message.It is related to time synchronized at present
In system, accordingly it will usually be desirable to which synchronous website is directly articulated in bus, when bus station point quantity is restricted, such as 1553B buses,
This bus form can only be just yielded, the high reliability for also having 1553B buses abandoned of having to therewith.
The content of the invention
The technology of the present invention solves problem：Overcome the deficiencies in the prior art, propose the tandem type in a kind of hybrid network
Method for synchronizing time, by solving the time synchronization problem of father's layer network and sublayer website in trunk mixed network, extension
Father's layer network can carry out the website quantity of time synchronized.
The present invention technical solution be：A kind of tandem type method for synchronizing time in hybrid network, the hybrid network
Network includes father's layer network and sublayer network, each independent according to it between internal each website between father's layer network and sublayer network
Mode carries out time synchronized, and shared adaptation website is set between father's layer network and sublayer network, adaptation website is shared simultaneously
Using father's layer network time system time and sublayer network time system time timing, any website is used as the time in father's layer network
Synchronization Control website, by shared adaptation website, other any websites carry out the method for time synchronized including as follows with sublayer network
Step：
(1), the time synchronized of father's layer network controls website to send time synchronized message, the time to shared adaptation website
Synchronization message includes father's layer time system time T that the shared adaptation website estimated receives the time synchronized message momentsyn；
(2), share after adaptation website time of receipt (T of R) synchronization message, progress, which is parsed, obtains current time father layer time system
Time Tsyn, while recording the local zone time T that time synchronized message receives the momentlocal_syn；
(3) website, is controlled using shared adaptation website as sublayer network time synchronization, adaptation website is shared according to the son of itself
Layer time system time Tlocal, time synchronized is carried out to other websites in sub- layer network；
(4), shared adaptation website receives when the carrying sublayer time system of other any websites transmission in sublayer network
Between mark tsubTime mark message after, father's layer time system time T obtained using newestsyn, and its corresponding time
Synchronization message receives the local zone time T at momentlocal_syn, by tsubBe converted to the time value T in father's layer networkafterSyn, form father
The layer network time marks message, and is fed back to father's layer network and realize time synchronized between hybrid network.
Father's layer network is 1553B bus network.
The time synchronized of father's layer network controls website when being BC, and the time synchronized of father's layer network controls website to shared
Adaptation website sends time synchronized message in real time, father's layer time when shared adaptation website is expected to receive the time synchronized message
System time TsynThe current time father layer time system time described in website is controlled for time synchronized.
When the time synchronized control website of father's layer network is RT with shared adaptation website, the time of father's layer network is same
Step control website sends time synchronized message and shared adaptation time synchronized control of the website to father's layer network to shared adaptation website
The specific method that website processed sends father's layer network time synchronized message is：
(1.1), sender is first by time synchronized message or corresponding transmission of father's layer network time synchronized message deposit
In address；
(1.2) the specific subaddressing for, defining each RT website in network is communication request subaddressing, and sender will communicate
Request message is put in communication request subaddressing, and the communication request message includes sending the RT addresses of data, needs to send message
Transmission subaddressing, the word number of transmission, receive data RT addresses, receive subaddressing, the word number of reception；
(1.3), BC carries out periodicity inspection to the communication request subaddressing of each RT website in network, when BC is in inspection
During when finding that the request subaddressing of any one RT website has new communication request message, will be sent in communication request message
The message sent the need for the corresponding word number of the corresponding transmission subaddressings of RT of data, which is forwarded in communication request message, receives number
According to RT it is corresponding receive subaddressing in.
Father's layer time system time T when the shared adaptation website is expected to receive the time synchronized messagesynFor future
Corresponding father's layer time system time at the last BC inspections RT communication request subaddressing moment.
Adaptation website is shared in the step (3) according to the sublayer time system time T of itselflocal, in sub- layer network
Other websites carry out time synchronized specific method be：Website is adapted to as time synchronized in sublayer network and controls website at this
Ground series bus network timer is at the time of start to start timing to other website broadcast transmission time synchronized message reset frames；So
Afterwards, adaptation website is shared in the sublayer time system time T of itselflocalEach whole moment second, the website into sublayer network
Time synchronized message non-reset frame is sent, the time synchronized message non-reset frame includes the sublayer time system of shared adaptation website
System time TlocalSecond place value, i.e. TlocalCast out the time value after millisecond value；Sublayer website is multiple in time of receipt (T of R) synchronization message
After the frame of position, then local sublayer network time is reset, sublayer network timer starts timing, time of receipt (T of R) synchronization message non-reset
After frame, local seconds value is set, is allowed to synchronous with the sublayer network time seconds value of shared adaptation website, and portion of local millisecond time
Zero is distinguished, local sublayer network timer continues timing, realize network time synchronization since the seconds value.
Define and mark father's layer network time the conversion operation for being converted into sublayer network time mark expression way to be Tr
(t), sublayer network time mark is converted into father's layer network time and mark the conversion operation of expression way for Tr-1(t), by tsubTurn
It is changed to the time value T in father's layer networkafterSynSpecific method be：
TafterSyn=Tsyn+Tr-1(tsub-Tlocal_syn)。
The present invention is relative to the beneficial effect of prior art：
(1), the method for the invention realizes each website in hybrid network by the method for being embedded in time stratification
Time synchronized, this method preferably improves the scalability of clock synchronization system, can also save system bus website quantity, carry
High time synchronized efficiency；
(2) independent clock synchronization system each, is set up between father's layer network and sublayer network of the present invention, any one net
The deviation of network time system does not influence on another network, and each localized network equipment can be according to itself function needs, certainly
Adapt to the local accuracy of timekeeping of definition；
(3), the present invention changes the time system of father's layer network and sublayer network when shared adaptation website is swapped
Into unified Time Calculation form, a variety of timing modes are adapted to；
(4), the present invention is carried out same after shared adaptation point receives sublayer network time mark further according to the most time of receipt (T of R)
Step, then is converted to the time value in father's layer network by sublayer network time, relative to when often receiving the primary system time and just carrying out
Between for synchronous method, greatly save computing resource, exchange between grids time difference result of calculation is consolidated network time system
Relative value, absolute value is smaller, it is possible to achieve higher precision；
(5), the present invention is directed to 1553B buses, it is proposed that one kind is total in 1553B in the case of without using mode command
Any RT websites on line realize a kind of method of active communication, it is to avoid using the settling mode of mode command bring due to
Signal interference, which produces illegal instruction, causes such as RT to close serious bus failure.
Brief description of the drawings
Fig. 1 is the topological schematic diagram of network connection of the embodiment of the present invention.
Embodiment
Below in conjunction with Figure of description and specific embodiment, the present invention is described in detail.
The invention provides the tandem type method for synchronizing time in a kind of hybrid network, the hybrid network includes father's layer net
Network and sublayer network, methods described use the thought that time synchronized localizes, and time synchronization process is divided into father's layer network and son
The synchronizing process of two localized networks of layer network, father's layer network and sublayer network possess the time synchronized control website of oneself, father
Between layer network and sublayer network between internal each website according to its each independent mode carry out time synchronized, the father layer net
Shared adaptation website is set between network and sublayer network, adaptation website is shared simultaneously using father's layer network time system time and son
Any website controls website as time synchronized in layer network time system time timing, father's layer network, is stood by shared adaptation
Other any websites of point and sublayer network carry out time synchronized.Sublayer network is used as time synchronized control station using shared adaptation website
It is its local zone time that point, which is responsible for each Site synch of sublayer network internal, and time synchronization process is confined into sublayer network
Inside, while the time synchronized control website of sublayer network is articulated in father's layer network, when individually carrying out father's layer network system
Between it is synchronous so that the time in father's layer network and sublayer network formation tandem type time synchronizing method, sublayer network is by shared
Adaptation website is changed, so as to obtain the time value in father's layer network.This method preferably improves clock synchronization system
Scalability, while his father's layer network and the independence of sublayer network time synchronization ensure that each localized network equipment can root
Needed according to itself function, the adaptive local accuracy of timekeeping of definition, while can also save system bus website quantity, improves the time same
Walk efficiency.
The above method specifically includes following steps：
(1), the time synchronized of father's layer network controls website to send time synchronized message, the time to shared adaptation website
Synchronization message includes the shared adaptation website estimated father's layer time system time for receiving the time synchronized message moment estimated
Tsyn；
(2), share after adaptation website time of receipt (T of R) synchronization message, progress, which is parsed, obtains current time father layer time system
Time Tsyn, while recording the local zone time T that time synchronized message receives the momentlocal_syn；
(3) website, is controlled using shared adaptation website as sublayer network time synchronization, adaptation website is shared according to the son of itself
Layer time system time Tlocal, time synchronized is carried out to other websites in sub- layer network；
(4), shared adaptation website receives when the carrying sublayer time system of other any websites transmission in sublayer network
Between mark tsubTime mark message after, father's layer time system time T obtained using newestsyn, and the time is same accordingly
Step message receives the local zone time T at momentlocal_syn, by tsubBe converted to the time value T in father's layer networkafterSyn, form father's layer
Network time marks message, and will feed back to father's layer network and realize time synchronized between hybrid network.Below with 1553B networks
As upper layer network, exemplified by serial bus network is as the mixed form network of lower floor's network, the present invention is described in detail.
Embodiment
As shown in figure 1, in the site network topology connection figure of embodiments of the invention, RT1 is RTmaster, i.e. conduct
The website of time synchronized behavior is initiated in 1553B buses, RT7 is shared adaptation website, and RT7 receives RT1 1553B bus synchronous
Information, while RT7 is used as Uartmaster, as the control website of serial bus network, it is responsible for synchronous serial bus network.RT7
As a 1553B bus network website, RT1 information can be received, while when can receive the band in serial bus network
Between the information that marks, and marked to the time value be converted in 1553B bus network the time therein.Possess two inside RT7
Independent timer, one with 1553B bus network time synchronizeds, another and serial bus network time synchronized.Embodiment
In universal serial bus selection RS485 universal serial bus.
Website, itself and the website time synchronized in serial bus network are controlled using RT1 in 1553B networks as time synchronized
Method comprise the following steps：
(1), RT1 sends time synchronized message to RT7, and the shared adaptation website that the time synchronized message includes estimating is received
To father's layer time system time T at the time synchronized message momentsyn。
RT1 it is per minute to 1553B Site synch once, because 1553B buses are that typical time-devision system command/response formula is more
Road multiplexed data bus, each RT websites need to be by applying for that BC completes for its progress messenger service.
When the time synchronized of father's layer network controls website RT1 for BC, RT1 directly transmits time synchronized message to RT7,
Father's layer time system time T when RT7 is expected to receive the time synchronized messagesynFor described in RT1 current time father layer when
Between system time.
When the time synchronized control website RT1 and shared adaptation website RT7 of father's layer network are RT, father's layer network
Time synchronized control the website RT1 to be to the shared adaptation website RT7 specific methods for sending time synchronized message：
(1.1), RT1 is first by the corresponding transmission subaddressing of time synchronized message deposit, and the time synchronized message includes
The RT7 estimated receives father's layer time system time T at the time synchronized message momentsyn；；
(1.2), define network in each RT website specific subaddressing for communication request subaddressing (such as：Subaddressing
30), RT1 is referred to as the communication request message of time synchronized request message and is put in communication request subaddressing, and the time synchronized please
Ask message format as follows：
| Word 1 | Word 2 | Word 3 |
| Send command word | Receive command word | CRC check code |
Wherein, send command word 1 and define the communication subaddressing of RT7 transmission time synchronized message, it is necessary to the data word of communication
Number, while Self address is informed into BC, and receives command word 2 and then defines the address for receiving RT1 and subaddressing and needs
The data word word number of communication.It is as follows that this two command words are specifically defined form：
| Bit15 | Bit10~Bit14 | Bit5~Bit9 | Bit0~Bit4 |
| It is left 0 | Transmission/reception address | Transmission/reception subaddressing | Data word number |
When RT needs to send a message to BC, command word zero setting is received, command word is sent and represents to send RT address and son ground
Location and the data word number to be sent to BC.
(1.3), BC carries out periodicity inspection to the communication request subaddressing of each RT website in network, when BC is in inspection
During when finding that the request subaddressing of any one RT website has new communication request message, will be sent in communication request message
The message sent the need for the corresponding word number of the corresponding transmission subaddressings of RT of data, which is forwarded in communication request message, receives number
According to RT it is corresponding receive subaddressing in.
RT1 can also be sent by 1553B bus broadcast message to the every other website in bus, including website RT7
Time synchronized message, the time synchronized message definition is as follows：
So, father's layer time system time when the shared adaptation website RT7 is expected to receive the time synchronized message
TsynFor corresponding father's layer time system time at following the last time BC inspections RT1 communication request subaddressing moment.The RT1 hairs
Send time synchronized message interval should be longer than BC inspection communication request subaddressings cycle twice of value.
When remaining all website of whole 1553B network time synchronizations control website RT1 periodically into network are sent
Between synchronization message, and after remaining website time of receipt (T of R) synchronization message, the CRC code in message is verified it is correct after, when obtaining current
Carve father's layer time system time Tsys, local father's layer network time is changed to the time synchronized control station in time synchronized message
The spot net time, it is allowed to control website time synchronized with time synchronized, so as to realize father's layer network time synchronized.
(2), the website RT7 in 1553B buses, receives father's layer network time synchronized message and to the CRC code school in message
After testing correctly, current time father layer time system time T is obtainedsyn, and record time synchronized message receives the local of moment simultaneously
Time Tlocal_syn。
(3) website, is controlled using RT7 as sublayer network time synchronization, RT7 is according to the sublayer time system time of itself
Tlocal, time synchronized is carried out to other websites in sub- layer network.
RT7 as universal serial bus time control website, by broadcasting the message to other websites in serial bus network
Time synchronized is carried out, is the time with RT7 local serial bus network time synchronized by the time unification of serial bus network
Specific method be：RT7 controls website as time synchronized in serial bus network, is opened in local serial bus network timer
It is then, each whole what is then run to other website broadcast transmission time synchronized message reset frames at the time of beginning startup timing
Second moment, serially the website in bus network send time synchronized message non-reset frame, the time synchronized message non-reset
Frame includes the second place value that time synchronized controls website in local serial bus network timer；Serial bus network website is being received
After time synchronized message reset frame, then the local serial bus network time is reset, serial bus network timer starts timing,
After time of receipt (T of R) synchronization message non-reset frame, local seconds value is set, is allowed to and the shared sublayer network time for being adapted to website second
Value is synchronous, and local millisecond time portion is reset, and local serial bus network timer continues timing since the seconds value, real
Existing network time synchronization.
For example：RT7 is after power-up initializing local hardware is finished, the serially website U in network1, U2, U3Send a frame
Time synchronized message reset frame, during the reset command attribute field of the time synchronized message reset frame is 0xAA, serial network
Website U1, U2, U3After receiving that message, its temporal is reset, and starts timing.Then, when RT7 is according to itself sublayer
Between system time Tlocal, per the 1s moment, serially network sends a time synchronized message non-reset frame, and time synchronized message is answered
Position frame and time synchronized message reset frame message format are defined as follows：
Website U in serial network1, U2, U3Receive after synchronization message, after check frame number, check code are errorless, know
Other flag of frame is time synchronized frame, then whether check reset command mark is 0xAA, if, then it is assumed that the frame data are that the time is same
Message reset frame is walked, local zone time is reset, time synchronization information next time is waited, if reset command mark is 0x55, recognizes
It is time synchronized message non-reset frame for the frame data, local seconds value is set according to 4~byte of byte 7, and during local millisecond
Between zero out portions.
(4) what, other any websites that RT7 is received in sublayer network were sent marks t with the sublayer time system timeuart
Time mark message after, father's layer time system time T obtained using newestsyn, and time synchronized message is received accordingly
The local zone time T at momentlocal_syn, by tsubBe converted to the time value T in father's layer networkafterSyn, formed father's layer network time mark
Remember message, and father's layer network will be fed back to and realize time synchronized between hybrid network.
Because RS485 universal serial bus belongs to exclusive type bus, i.e., can only at a time there is a website to send message, therefore
U1, U2, U3Message transmitting process dispatched and complete by RT7, in embodiment, RT7 dispatches U by I/O signals1, U2, U3Information
Send.RT7 sends a pulse to gate a universal serial bus website, U per 50ms by I/O signals1, U2, U3Detecting string
During row bus gating signal, a frame data are sent to universal serial bus.When RT7 to send time synchronized message reset frame and
During time synchronized message non-reset frame, then preferential time synchronized message reset frame and the time synchronized message non-reset frame of sending is to it
His three websites, continue the universal serial bus website that gating needs to gate at next 50ms moment.Due to U1, U2, U3Reply to
RT7 information gates each website by RT7 and realized, therefore, can be without receiving station address indication field in replying message.
But it can be communicated to each website in universal serial bus, then receiving station address label should be also included in replying message
Show field.
Work as U1, U2, U3The message returned with the time mark when, it is believed that the website using by the time after RT7 synchronizations as
Time is marked, and band time mark t is returned to RT7uartNet between time synchronized message, time synchronized message field is determined between the net
Justice is：
It is assumed that definition father's layer network time mark be converted into sublayer network time mark expression way conversion operation be
Tr (t), sublayer network time mark is converted into father's layer network time and mark the conversion operation of expression way for Tr-1(t).This implementation
In example, time value form during date Hour Minute Second millisecond meter in the 1553B bus network, that is, be expressed as Year,
Month, Day, Hour, Minute, Second, Millisecond } structure, the 1553B bus network times mark to milli
The second time value of unit represents that the serial network time is represented in units of ms.Definition is to represent shape with date Hour Minute Second millisecond
The time value of formula is converted to using the conversion operation of the time value of millisecond unit as Tr (t)：Tr (t)=(((((t.Year × 12+
t.Month)×30+t.Day)×24+t.Hour)×60+t.Minute)×60+t.Second)×1000+
t.Millisecond
Conversion operation of the date Hour Minute Second millisecond for the time value of representation is converted into the time value of millisecond unit
For Tr-1(t) then, Tr-1(t) it can be expressed as：
Tr-1(t) .Year=[t/ (86400 × 30 × 12 × 1000)],
Tr-1(t) .Month=[(t% (86400 × 30 × 12 × 1000))/(86400 × 30 × 1000)],
Tr-1(t) .Day=[(t% (86400 × 30 × 1000))/(86400 × 1000)],
Tr-1(t) .Hour=[(t% (86400 × 1000))/(3600 × 1000)],
Tr-1(t) .Minute=[(t% (3600 × 1000))/(60 × 1000)],
Tr-1(t) .Second=[(t% (60 × 1000))/1000],
Tr-1(t) .Millisecond=t%1000.
Wherein, brace " [] " represents downward rounding operation, and percentage sign " % " represents complementation.
If the time between the net that the website in serial bus network is returned in time synchronized message is tsub, to millisecond list
The time value of position is represented, then is converted into 1553B bus network times T the serial bus network timeafterSynMode it is as follows：
TafterSyn=Tsyn+Tr-1(tsub-Tlocal_syn)
Tr-1(tsub-Tlocal_syn) it is the exchange between grids time difference.
RT7 by father's layer network time mark message feedback to communication mode and the RT1 of father's layer network to RT7 send when
Between synchronization message mode it is identical.
Present invention could apply to the different types of network of N layer architectures, (such as the 1st layer network is Ethernet, layer 2 network
For 1553B bus network, the 3rd layer be serial bus network etc.), N >=2 are top-down to be followed successively by 1~n-th layer net
Network, per layer network, the time is separate between each website between time synchronized, each layer network between each website in inside, i-th layer of net
There is a sharing site between network and i+1 layer network, i >=1, the sharing site is provided simultaneously with the i-th layer network and i+1
Two independent timers of layer network, the method for synchronizing time using the method for above-mentioned cascade realize between each layer network when
Between it is synchronous, adjacent two layers network is included per one-level, any website is as time synchronized control website using in upper layer network, and it is with
Website time synchronized in layer network.
In order to which each website ensured in timing tracking accuracy, network layer locally possesses clocking capability, and accuracy of timekeeping
For Millisecond, i.e., each layer network internal time synchronization accuracy is Millisecond.
The non-detailed description of the present invention is known to the skilled person technology.
Claims (7)
1. the tandem type method for synchronizing time in a kind of hybrid network, it is characterised in that the hybrid network include father's layer network and
Sublayer network, between father's layer network and sublayer network between internal each website according to its each independent mode to carry out the time same
Step, sets between father's layer network and sublayer network and shares adaptation website, when shared adaptation website uses father's layer network simultaneously
Between system time and sublayer network time system time timing, any website controls website as time synchronized in father's layer network,
The method for carrying out time synchronized by shared other any websites of adaptation website and sublayer network comprises the following steps：
(1), the time synchronized of father's layer network controls website to send time synchronized message, the time synchronized to shared adaptation website
Message includes father's layer time system time T that the shared adaptation website estimated receives the time synchronized message momentsyn；
(2), share after adaptation website time of receipt (T of R) synchronization message, progress, which is parsed, obtains the current time father layer time system time
Tsyn, while recording the local zone time T that time synchronized message receives the momentlocal_syn；
(3) it is, that sublayer network time synchronization controls website using shared adaptation website, shares when being adapted to website according to itself sublayer
Between system time Tlocal, time synchronized is carried out to other websites in sub- layer network；
(4) what, other any websites that shared adaptation website is received in sublayer network were sent marks with the sublayer time system time
Remember tsubTime mark message after, father's layer time system time T obtained using newestsyn, and its corresponding time synchronized
Message receives the local zone time T at momentlocal_syn, by tsubBe converted to the time value T in father's layer networkafterSyn, form father's layer net
The network time marks message, and is fed back to father's layer network and realize time synchronized between hybrid network.
2. the tandem type method for synchronizing time in a kind of hybrid network according to claim 1, it is characterised in that the father
Layer network is 1553B bus network.
3. the tandem type time synchronized side in a kind of hybrid network according to claim 1 according to claim 2
Method, it is characterised in that when the time synchronized of father's layer network controls website for BC, the time synchronized control website of father's layer network
Time synchronized message is sent in real time to shared adaptation website, father when shared adaptation website is expected to receive the time synchronized message
Layer time system time TsynThe current time father layer time system time described in website is controlled for time synchronized.
4. the tandem type time synchronized side in a kind of hybrid network according to claim 1 according to claim 2
Method, it is characterised in that when the time synchronized control website of father's layer network is RT with shared adaptation website, father's layer network
Time synchronized controls website to send time synchronized message and shared adaptation time of the website to father's layer network to shared adaptation website
Synchronization Control website send father's layer network time synchronized message specific method be：
(1.1), sender is first by time synchronized message or the corresponding transmission subaddressing of father's layer network time synchronized message deposit
In；
(1.2) the specific subaddressing for, defining each RT website in network is communication request subaddressing, and sender is by communication request
Message is put in communication request subaddressing, and the communication request message includes sending the RT addresses of data, needs to send the hair of message
Subaddressing is sent, the word number of transmission receives the RT addresses of data, receives subaddressing, the word number of reception；
(1.3), BC carries out periodicity inspection to the communication request subaddressing of each RT website in network, when BC is in inspection process
When the middle request subaddressing for finding any one RT website has new communication request message, data will be sent in communication request message
RT it is corresponding send the corresponding word number of subaddressing the need for the message that sends be forwarded in communication request message and receive data
RT is corresponding to be received in subaddressing.
5. the tandem type time synchronized side in a kind of hybrid network according to claim 1 according to claim 2
Method, it is characterised in that father's layer time system time T when the shared adaptation website is expected to receive the time synchronized messagesyn
For corresponding father's layer time system time at following the last time BC inspections RT communication request subaddressing moment.
6. the tandem type method for synchronizing time in a kind of hybrid network according to claim 1, it is characterised in that the step
Suddenly adaptation website is shared in (3) according to the sublayer time system time T of itselflocal, other websites in sub- layer network are carried out
The specific method of time synchronized is：Website is adapted to as time synchronized in sublayer network and controls website in local serial bus network
Timer is at the time of start to start timing to other website broadcast transmission time synchronized message reset frames；Then, adaptation station is shared
Point is in the sublayer time system time T of itselflocalEach whole moment second, website into sublayer network sends time synchronized and disappears
Non-reset frame is ceased, the time synchronized message non-reset frame includes the sublayer time system time T of shared adaptation websitelocalSecond position
Value, i.e. TlocalCast out the time value after millisecond value；Sublayer website, then will be local after time of receipt (T of R) synchronization message reset frame
Sublayer network time resets, and sublayer network timer starts after timing, time of receipt (T of R) synchronization message non-reset frame, sets locally
Seconds value, is allowed to synchronous with the sublayer network time seconds value of shared adaptation website, and local millisecond time portion is reset, local sublayer
Network timer continues timing, realizes network time synchronization since the seconds value.
7. the tandem type method for synchronizing time in a kind of hybrid network according to claim 1, it is characterised in that：Define father
The conversion operation that layer network time mark is converted into sublayer network time mark expression way is Tr (t), sublayer network time mark
Remember that being converted into father's layer network time marks the conversion operation of expression way to be Tr-1(t), by tsubBe converted in father's layer network when
Between value TafterSynSpecific method be：
TafterSyn=Tsyn+Tr-1(tsub-Tlocal_syn)。
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| CN117792558A (en) * | 2024-02-23 | 2024-03-29 | 吉咖智能机器人有限公司 | Method, apparatus, device and medium for integrating high precision time |
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