CN108093496B - ISA100.11a standard-based consistency networking method - Google Patents

ISA100.11a standard-based consistency networking method Download PDF

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CN108093496B
CN108093496B CN201711411743.8A CN201711411743A CN108093496B CN 108093496 B CN108093496 B CN 108093496B CN 201711411743 A CN201711411743 A CN 201711411743A CN 108093496 B CN108093496 B CN 108093496B
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赵广社
王鼎衡
高雷涛
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Xian Jiaotong University
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/12—Discovery or management of network topologies
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/14—Network analysis or design
    • H04L41/145—Network analysis or design involving simulating, designing, planning or modelling of a network
    • 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
    • H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
    • H04L43/0805—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters by checking availability
    • H04L43/0811—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters by checking availability by checking connectivity
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L45/00—Routing or path finding of packets in data switching networks
    • H04L45/48—Routing tree calculation

Abstract

A consistency networking method based on the ISA100.11a standard comprises the following steps: ignoring the functional difference of all wireless devices, collecting and counting the single-hop wireless communication quality of the whole latticed network topology as the weight between point-to-point in the topology through a system manager; evaluating the weight to generate a topological graph of the unconnected complex network; the backbone router and the non-connected complex network topological graphs of all the wireless devices form a fully-connected new graph; recording the weight of all added edges starting from the backbone router as 1; then, taking the backbone router node as a root node, and solving the minimum spanning tree of the backbone router node; and taking the out degree of the root node of the minimum spanning tree as K, and then taking the minimum number of trees contained in the non-connected complex network topological graph as the value of K, and taking all nodes directly connected with the root node in the minimum spanning tree, and taking the nodes as the nodes of the routing equipment to realize the consistent networking. The invention can realize the communication of the whole wireless sensor network with the least number of routers.

Description

ISA100.11a standard-based consistency networking method
Technical Field
The invention relates to a wireless sensor network design method, in particular to a consistency networking method based on the ISA100.11a standard, which reduces the number of routing devices and realizes dynamic update of network topology on the premise of ensuring data acquisition and communication.
Background
Currently, the most commonly used wireless sensor network standards in the industry are isa100.11a, WirelessHART and WIA-PA protocols, respectively. In the standards, a field device carrying a sensor and a routing device responsible for wireless forwarding are defined, and the two types of wireless devices are networked through proper topology to form a wireless sensor network meeting the requirement of certain acquisition coverage.
When a network is deployed, considering that routing devices often need to bear more wireless transmission tasks compared with field devices, in order to meet the requirements of low cost and low energy consumption of a wireless network as much as possible on the premise of ensuring use requirements, different network topology structures are usually tried according to the environment of an industrial field, and finally a scheme of using the routing devices the least on the premise of keeping a certain measuring point of the industrial field device is debugged. However, although the field devices and the routing devices can perform their own functions, it is difficult to meet the adjustment requirement of the wireless network dynamic ad hoc network in real-time and variable industrial environments, and once some field devices cannot be connected to the nearest routing device due to some reasons, the field devices are disconnected from the network, so that the network maintenance personnel can only modify the deployment schemes of the wireless devices again manually. The three wireless protocol standards mentioned above also present some modifications to this phenomenon that add flexibility: ISA100.11a defines a full-function device compatible with a field device and a routing device, namely whether a wireless device has an acquisition function or a routing function can be freely configured through configuration; wireless HART enables Wireless field devices to have routing capabilities; the WIA-PA changes from an earlier dedicated routing device to having the routing function as part of the wireless field device.
The wireless devices compatible with the field devices and the routing devices in two roles are paid attention to in three wireless protocol standards, and the device foundation is brought to the enhancement of the flexibility of the network dynamic ad hoc network. However, how to realize flexible networking by using role switching of wireless devices is not specified in a protocol, and a traditional maximum path algorithm is easy to cause too many routing devices, so that the number of effective field devices capable of executing sensing collection tasks is too small, and the overall efficiency and the information collection capability of the network are reduced.
Disclosure of Invention
The present invention aims to solve the above problems in the prior art, and provide a consistent networking method based on the isa100.11a standard, in which a relevant wireless device needs to have the capability of switching between two roles, i.e., a field device and a routing device, and the communication of the whole wireless sensor network can be realized with the minimum number of routers on the premise of ensuring data acquisition and communication.
In order to achieve the purpose, the technical scheme adopted by the invention comprises the following steps:
step 1, ignoring the function difference of all wireless devices, collecting and counting the single-hop wireless communication quality of the whole latticed network topology by a system manager as the weight between point-to-point in the topology;
step 2, evaluating the weight, eliminating the links with the weight values lower than the communication quality threshold value, and generating a non-connected complex network topological graph;
step 3, the backbone router is used as a root node and is connected with each wireless equipment node, so that the backbone router and the non-connected complex network topology maps of all the wireless equipment generated in the step 2 form a fully-connected new map;
step 4, recording the weight of all added edges starting from the backbone router as 1 for the new graph generated in the step 3; then, taking the backbone router node as a root node, and obtaining the minimum spanning tree by using a Juliu-Edmonds minimum spanning tree algorithm;
and 5, taking the out degree of the root node of the minimum spanning tree generated in the step 4 as K, and then taking the minimum number of the trees contained in the non-connected complex network topological graph in the step 2 as the value of K, and taking all the nodes directly connected with the root node in the minimum spanning tree and taking the nodes as the nodes of the routing equipment to realize the consistent networking.
And 2, when the weight is evaluated, the two-way packet loss rate on each channel is counted, wherein the two-way packet loss rate refers to the transmission packet loss rate from two wireless devices of a single-hop path to the opposite device, and the two-way packet loss rate is used as the weight of the network topology directed graph.
In step 2, if the weight value in only one direction between two wireless devices in a single-hop path is higher than the threshold, it is also determined that the two wireless devices are not connected, and all links between the two wireless devices are removed.
In step 3, only the connections of the backbone router pointing to all the wireless devices are unidirectional connections, and the connections between the other wireless devices are dual-phase connections.
The specific operation of the step 4 is as follows: firstly, searching all minimum weight edges pointing to any other points except a root node to form an edge set; if the set has a ring, reconstructing the ring into a new node, and updating the edge weight pointing to the new node; repeating the operation of converting the ring into the edge until the ring does not exist in the edge set; finally, the edges subjected to weight updating are found in the new graph generated in the step 3, points pointed by the edges and rings thereof are further found, the minimum edges in the rings pointed to the points are deleted in the rings to break the rings, and then the minimum spanning tree taking the backbone router node as a root node is obtained.
The specific mathematical language of the ZhuLiu-Edmonds minimum spanning tree algorithm is described as follows: 1. setting a directed graph G as (V, E), wherein V is a point set of the directed graph, and E is an edge set of the directed graph; selecting a point tau epsilon V as a root node, and aiming at each edge ejE is set as the weight value omegaj(ii) a Let T ═ f (G, τ, W) denote the root node τ in the directed graph G, and W ═ Σ ωjA spanning tree that is a value; wherein, j is more than 0 and less than M, and M is the number of the set E; 2. for the directed graph G, all nodes v except the root node τ are traversediE.g. { V \ { τ } }, for each ViPoint of orientation viThe edge with the smallest weight value of the edges, and the source point p of the edges is recordediThe set of these edges is P { (P)i，vi)|viE.g. { V \ { τ } }; wherein, 0 & lti & gt, N is the number of the set V; 3. if any subset of P cannot form a ring, then the minimum spanning tree T is obtainedminF (P, τ, W), whose value is W, the algorithm ends; 4. if P contains a subset of rings, then note ring as C and abstract ring C as point vcAnd deleting C from P, P ← P \ C; then finding out the edge E ═ u, v of the pointing ring in the edge set E of the original image, wherein E satisfies the requirement
Figure BDA0001521374100000031
Obtaining an outer ring point u and an inner ring point v; then finding an edge e ═ u ', v in the ring C, wherein the edge e' points to the point v, and the e 'satisfies the condition that u' belongs to C ^ v belongs to C; pointing the point u to the abstraction point vcIs denoted as ec＝(u，vc) And e is combinedcAdding into P, i.e. P ← P \ ec}，ecWeight value of omegacω (e) - ω (e'); if there are multiple edges as ecThen only ω is selectedcThe smallest one is added with P; 5. repeating calculation 2 and calculation 4 until any subset of P cannot form a ring; 6. looking at Ring C in calculation 4, find edge e in PcFind the corresponding edge e in the original image and then find the ring CAn edge e '═ (u', v) to the same point v as the edge e ═ (u, v); deleting the edge e 'to break the ring, and adding P to the edge of the ring C except the edge e'; finally delete e from PcE is to becAdding P to the corresponding edge e in the original image to obtain the minimum spanning tree TminF (P, τ, W), whose value is W, the algorithm ends.
When one routing device is difficult to satisfy the single-hop connection between all field devices in the tree and the routing device, the relay field device needing the multi-hop connection is set as a device compatible with the routing function, and the data link layer of the relay field device is allowed to forward the information of a specific certain neighbor.
Compared with the prior art, the invention has the following beneficial effects: because the routing equipment is responsible for a large amount of wireless forwarding work, the number of the routing equipment directly influences the communication cost of the whole wireless network, when the number of the wireless equipment in the network is fixed, the excessive routing equipment can occupy the number of the field equipment, and the data acquisition amount of the whole wireless network is reduced. The invention can find conditional connectivity for any non-connected topological graph, and the conditional connectivity for the ISA100.11a wireless network particularly ensures that the total network cost and the power consumption are relatively lower by ensuring the least number of routing devices, meets the requirements of data acquisition and communication in networking and can reduce the labor cost in dynamically updating the network topology.
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Fig. 1 refers to a general network deployment topology of the isa100.11a standard;
FIG. 2802.15.4 is a schematic diagram of a channel profile;
FIG. 3 is a diagram of a disconnected complex network topology with peer-to-peer communication connections failing to meet a threshold;
FIG. 4 is a connectivity graph formed by a backbone router as a new node and all wireless generic device nodes;
fig. 5 is a schematic diagram of selecting K root nodes of the minimum spanning tree as routing devices.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
It should be understood that the networking method of the present invention is for wireless devices, i.e. the range of "wireless sensor network" in fig. 1, in which all devices communicate wirelessly. Unlike the conventional maximum path algorithm, the networking method of the present invention aims to obtain the minimum number of routing devices. This is because the routing devices are responsible for a large amount of wireless forwarding work, and therefore the number of routing devices directly affects the communication cost of the whole wireless network; secondly, when the number of the wireless devices in the network is fixed, the excessive routing devices occupy the number of the field devices, and the data acquisition amount of the whole wireless network is reduced.
The networking method specifically comprises the following steps:
step 1, regarding all wireless devices as ISA100.11a general devices, and not considering that the wireless devices are field devices or routing devices, namely ignoring the functional differences; the system manager collects statistics of the single-hop wireless communication quality of the whole grid-shaped network topology as the weight between point-to-point in the topology. The calculation of the weight is based on the packet loss rate, but the frequency overlapping interference of the 802.15.4 channel distribution and the 802.11 channel distribution as shown in fig. 2 is considered, so the total weight can be obtained by the following formula;
Figure BDA0001521374100000041
the former term refers to the sum of packet loss rates in the frequency bands 11, 12, 13, 14, 16, 17, 18, 19, 21, 22, 23 and 24 in 802.15.4, and the latter term refers to the sum of packet loss rates in the frequency bands 15, 20 and 25 in 802.15.4.
The purpose of this step is to give a definition of the communication quality representing the wireless communication between the points-to-point as a basis for the subsequent step of evaluating the topological connectivity. For the weight calculation of the communication quality, referring to fig. 2, channels No. 15, 20, and 25, in which the 802.15.4 channel distribution and the 802.11 channel distribution do not overlap, are made as main weight contributors, and the specific contribution rate is given with reference to the twenty-eight principle. Note that channel No. 26 of fig. 2 is defined as a spare channel in the isa100.11a standard, and is not generally used, and therefore does not participate in the weight calculation.
Step 2, evaluating the weight, and considering the two-way packet loss rate on each channel, that is, the transmission packet loss rate from the device to the opposite device should be respectively existed between two wireless devices of the single-hop path, so as to be used as the weight of the network topology directed graph; finally, links with weight values lower than a communication quality threshold value are removed, and a non-connected complex network topological graph is generated; note that if the weight value between two wireless devices in a single hop path is only one direction above the threshold, the two devices are also considered to be disconnected, and all links between the two devices need to be eliminated.
The purpose of this step is to evaluate the connectivity of the wireless network topology, and after this step, the topological graph connection change based on the communication quality is not considered any more, that is, the existing edge between any two points in the topological graph generated in this step represents that it is always passable.
Step 3, the backbone router is used as a root node and is connected with each wireless equipment node, and the backbone router and the non-connected topological graph of all the wireless equipment generated in the step 2 form a fully-connected new graph; note that there are no edges pointing from the wireless devices to the backbone routers, i.e., only the backbone routers in the connectivity graph point to unidirectional connections for all wireless devices.
Through the operation of step 2, the wireless topology of the whole network may become a non-connected graph, as shown in fig. 3. The consistent networking method aims to find conditional connectivity, namely a consistency problem, of any non-connected topological graph, and particularly ensures that the total cost and the power consumption of the network are relatively low by the least number of routing devices for the ISA100.11a wireless network. Therefore, in order to find the condition, it is necessary to convert the non-connected graph into a connected graph, so that some connected graph algorithms can be introduced, as shown in fig. 4.
The consistency condition of the wireless topology is solved by using the Liu-Edmonds minimum spanning tree algorithm. The reason for considering the algorithm is that the isa100.11a standard defines a special node which is a backbone router shown in fig. 1 and is used for connecting a wireless sensor network and a gateway, and the network structure features that the existence of the backbone router can always connect an unconnected topology to a fully connected topology, so that the role of the backbone router is a key link for converting the problem of obtaining the minimum routing equipment into the problem of obtaining the minimum spanning tree through the ZhuLiu-Edmonds algorithm. The transition between these two problems is discussed further in the detailed embodiment of step 5.
Considering that when the backbone router is selected as the root of the minimum spanning tree of the Zhu Liu-Edmonds algorithm, all the edge weights pointing to the root node need to be deleted, this step does not add the edge pointing to the backbone router by the wireless device, as shown in FIG. 4.
Step 4, regarding the connectivity graph generated in the step 3, recording the weight of all added edges starting from the backbone router as 1; and then, taking the backbone router node as a root node, and obtaining the minimum spanning tree by using a Juliu-Edmonds minimum spanning tree algorithm.
Specifically, first, searching all the minimum weight edges pointing to any other points except the root node to form an edge set; if the set has a ring, reconstructing the ring into a new node, and updating the edge weight pointing to the new node; repeating the operation of cyclizing to an edge until no ring exists in the edge set; and finally, finding the edges subjected to weight updating in the original connected graph generated in the step 3, further finding points pointed by the edges and rings thereof, deleting the minimum edges in the rings pointed to the points in the rings so as to break the rings, and then obtaining the minimum spanning tree taking the backbone router node as a root node.
The purpose of recording the weight of all added edges starting from the backbone router as 1 is to obtain the minimum spanning tree with the backbone router as the root node, and then to directly know how many trees are contained in the non-connected graph in step 2 according to the out-degree of the root node, and further to obtain that several wireless devices should be set as routing devices, as shown in fig. 5.
The Juliu-Edmonds minimum spanning tree algorithm can be described in mathematical language as follows:
1. setting a directed graph G as (V, E), wherein V is a point set of the directed graph, and E is an edge set of the directed graph; selecting a point tau epsilon V as a root node, and aiming at each edge ejE is set by EThe weight value is omegaj(ii) a Let T ═ f (G, τ, W) denote the root node τ in the directed graph G, and W ═ Σ ωjA spanning tree that is a value; wherein, 0 < j ≦ M, M is the number of the set E.
2. For the directed graph G, all nodes v except the root node τ are traversediE.g. { V \ { τ } }, for each ViPoint of orientation viThe edge with the smallest weight value of the edges, and the source point p of the edges is recordediThe set of these edges is P { (P)i，vi)|viE.g. { V \ { τ } }; wherein 0 < ═ i < N, and N is the number of the set V.
3. If any subset of P cannot form a ring, the minimum spanning tree T is obtainedminF (P, τ, W), whose value is W, the algorithm ends.
4. If P contains a subset of rings, then note ring as C and abstract ring C as point vcAnd deleting C from P, namely P ← P \ C; then find the edge E ═ u, v pointing to the ring in the edge set E of the original image, i.e. E satisfies
Figure BDA0001521374100000071
Obtaining an outer ring point u and an inner ring point v; then finding an edge e ═ (u ', v) pointing to the point v in the ring C, namely that e ' satisfies the condition that u ' is equal to C ^ v is equal to C; pointing the point u to the abstraction point vcIs denoted as ec＝(u，vc) And e is combinedcAdding into P, i.e. P ← P \ ec}，ecWeight value of omegacω (e) - ω (e'); if there are more than one edge, it can be used as ecThen only ω is selectedcThe smallest one added P.
5. Calculate 2 and calculate 4 are repeated until any subset of P cannot constitute a ring.
6. Looking at Ring C in calculation 4, find edge e in PcFinding an edge e ═ u', v in the ring C, which points to the same point v as the edge e ═ u, v, at the corresponding edge e in the original image; deleting the edge e 'to break the ring, and adding P to the edge of the ring C except the edge e'; finally delete e from PcE is to becAdding P to the corresponding edge e in the original image to obtain the minimum spanning tree TminF (P, τ, W), whose value is W, the algorithm ends.
As can be seen from the above described calculation 2, the whole algorithm excludes the edge pointing to the root node, which also points to the fact that step 3 does not necessarily add an edge from the wireless device pointing to the edge of the backbone router.
And 5, taking the out degree of the root node of the minimum spanning tree generated in the step 4 as K, and if the minimum number of the trees contained in the non-connected graph in the step 2 is equal to K, taking all the nodes directly connected with the root node in the minimum spanning tree, and taking the nodes as the nodes of the routing equipment.
The minimum number of trees included in the non-connected graph in step 2 is equal to K, and the following description is given:
firstly, setting the minimum number of trees in a non-connected graph as N, generating a connected graph in the mode of step 3 and obtaining any spanning tree, and then setting the root node out degree as K ', wherein K' > -N is necessary for ensuring connectivity, otherwise, the root node out degree cannot ensure that all the trees which are not intersected with each other are connected;
then, consider the arbitrary spanning tree generated in step 4, and set the root node out degree as K*Since the spanning tree will eventually restore the rings generated in the calculation process to the elements in the edge set of the non-connected graph of step 2, there must be K*K, where K is the root node out-degree of the minimum spanning tree;
in summary, the out degree K of the minimum spanning tree is the minimum value, i.e., K equals to N.
The above description indicates that the root node out-degree condition that any spanning tree of the backbone router as the root node needs to satisfy is first indicated, and then indicates that the root node out-degree of the minimum spanning tree in any spanning tree is minimum, and it can be known comprehensively that the root node out-degree of the minimum spanning tree is the minimum value, that is, the number of trees included in the non-connected graph.
In practical application, too much pursuit of the minimum number of routing devices may cause too heavy load on some routing devices, which affects the performance of the whole wireless network; therefore, one or two routing devices can be added as appropriate to balance the communication load for a tree including a large number of wireless devices, while obtaining the minimum number of routing devices. This is also shown in fig. 5. In addition, in some trees, one routing device may have difficulty in satisfying the single-hop connection with all field devices in the tree, and a relay field device requiring the multi-hop connection may be set as a device compatible with the routing function, that is, although the device is a field device, the device allows its data link layer to forward information of a specific certain neighbor, so that no extra power consumption or cost is incurred.

Claims (6)

1. A consistency networking method based on the ISA100.11a standard is characterized by comprising the following steps:
step 1, ignoring the function difference of all wireless devices, collecting and counting the single-hop wireless communication quality of the whole latticed network topology by a system manager as the weight between point-to-point in the topology;
step 2, evaluating the weight, eliminating the links with the weight values lower than the communication quality threshold value, and generating a non-connected complex network topological graph;
step 3, the backbone router is used as a root node and is connected with each wireless equipment node, so that the backbone router and the non-connected complex network topology maps of all the wireless equipment generated in the step 2 form a fully-connected new map;
step 4, recording the weight of all added edges starting from the backbone router as 1 for the new graph generated in the step 3; then, taking the backbone router node as a root node, and obtaining the minimum spanning tree by using a Juliu-Edmonds minimum spanning tree algorithm;
the specific operation is as follows: firstly, searching all minimum weight edges pointing to any other points except a root node to form an edge set; if the set has a ring, reconstructing the ring into a new node, and updating the edge weight pointing to the new node; repeating the operation of converting the ring into the edge until the ring does not exist in the edge set; finally, finding the edges subjected to weight updating in the new graph generated in the step 3, further finding points pointed by the edges and rings thereof, and deleting the minimum edges in the rings pointed to the points to break the rings, thereby obtaining the minimum spanning tree taking the backbone router nodes as root nodes;
and 5, taking the out degree of the root node of the minimum spanning tree generated in the step 4 as K, and then taking the minimum number of the trees contained in the non-connected complex network topological graph in the step 2 as the value of K, and taking all the nodes directly connected with the root node in the minimum spanning tree and taking the nodes as the nodes of the routing equipment to realize the consistent networking.
2. The method for consistent networking based on the isa100.11a standard according to claim 1, wherein: and 2, when the weight is evaluated, the two-way packet loss rate on each channel is counted, wherein the two-way packet loss rate refers to the transmission packet loss rate from two wireless devices of a single-hop path to the opposite device, and the two-way packet loss rate is used as the weight of the network topology directed graph.
3. The method for consistent networking based on the isa100.11a standard according to claim 2, wherein: in step 2, if the weight value in only one direction between two wireless devices in a single-hop path is higher than the threshold, it is also determined that the two wireless devices are not connected, and all links between the two wireless devices are removed.
4. The method for consistent networking based on the isa100.11a standard according to claim 1, wherein: in the step 3, only the connection of the backbone router pointing to all the wireless devices is a unidirectional connection, and the connections between the other wireless devices are dual-phase connections.
5. The method for consistent networking based on the isa100.11a standard according to claim 1, wherein the pillowski-Edmonds minimum spanning tree algorithm is described in the following specific mathematical language: 1. setting a directed graph G as (V, E), wherein V is a point set of the directed graph, and E is an edge set of the directed graph; selecting a point tau epsilon V as a root node, and aiming at each edge ejE is set as the weight value omegaj(ii) a Let T ═ f (G, τ, W) denote the root node τ in the directed graph G, and W ═ Σ ωjA spanning tree that is a value; wherein, j is more than 0 and less than M, and M is the number of the set E; 2. for the directed graph G, all nodes v except the root node τ are traversediE.g. { V \ { τ } }, for each ViPoint of orientation viThe edge with the smallest weight value of the edges, and the source point p of the edges is recordediThe set of these edges is P { (P)i，vi)|viE.g. { V \ { τ } }; wherein, 0 & lti & gt, N is the number of the set V; 3. if any subset of P cannot form a ring, then the minimum spanning tree T is obtainedminF (P, τ, W), whose value is W, the algorithm ends; 4. if P contains a subset of rings, then note ring as C and abstract ring C as point vcAnd deleting C from P, P ← P \ C; then finding out the edge E ═ u, v of the pointing ring in the edge set E of the original image, wherein E satisfies the requirement
Figure FDA0002285348870000021
Obtaining an outer ring point u and an inner ring point v; then finding an edge e ═ u ', v in the ring C, wherein the edge e' points to the point v, and the e 'satisfies the condition that u' belongs to C ^ v belongs to C; pointing the point u to the abstraction point vcIs denoted as ec＝(u，vc) And e is combinedcAdding into P, i.e. P ← P \ ec}，ecWeight value of omegacω (e) - ω (e'); if there are multiple edges as ecThen only ω is selectedcThe smallest one is added with P; 5. repeating calculation 2 and calculation 4 until any subset of P cannot form a ring; 6. looking at the ring C in the calculation 4, finding the edge e corresponding to the edge ec in the P in the original image, and further finding the edge e ═ u', v in the ring C, which points to the same point v as the edge e ═ u, v; deleting the edge e 'to break the ring, and adding P to the edge of the ring C except the edge e'; finally delete e from PcE is to becAdding P to the corresponding edge e in the original image to obtain the minimum spanning tree TminF (P, τ, W), whose value is W, the algorithm ends.
6. The method for consistent networking based on the isa100.11a standard according to claim 1, wherein: when one routing device is difficult to satisfy the single-hop connection between all field devices in the tree and the routing device, the relay field device needing the multi-hop connection is set as a device compatible with the routing function, and the data link layer of the relay field device is allowed to forward the information of a specific certain neighbor.
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