CN108540326A - A kind of Industrial Embedded Control System based on CANopen buses - Google Patents

A kind of Industrial Embedded Control System based on CANopen buses Download PDF

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Publication number
CN108540326A
CN108540326A CN201810345505.XA CN201810345505A CN108540326A CN 108540326 A CN108540326 A CN 108540326A CN 201810345505 A CN201810345505 A CN 201810345505A CN 108540326 A CN108540326 A CN 108540326A
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canopen
node
network
matrix
module
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Inventor
邓桂芳
邵忠良
黄诚
刘江帆
王思婷
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Guangdong Polytechnic of Water Resources and Electric Engineering Guangdong Water Resources and Electric Power Technical School
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Guangdong Polytechnic of Water Resources and Electric Engineering Guangdong Water Resources and Electric Power Technical School
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40006—Architecture of a communication node
    • H04L12/40013—Details regarding a bus controller
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40169—Flexible bus arrangements
    • H04L12/40176—Flexible bus arrangements involving redundancy
    • 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
    • H04L41/04—Network management architectures or arrangements
    • H04L41/044—Network management architectures or arrangements comprising hierarchical management structures
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/06—Management of faults, events, alarms or notifications
    • H04L41/0654—Management of faults, events, alarms or notifications using network fault recovery
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/08—Configuration management of networks or network elements
    • H04L41/0803—Configuration setting
    • H04L41/0823—Configuration setting characterised by the purposes of a change of settings, e.g. optimising configuration for enhancing reliability
    • H04L41/0836—Configuration setting characterised by the purposes of a change of settings, e.g. optimising configuration for enhancing reliability to enhance reliability, e.g. reduce downtime
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04Q—SELECTING
    • H04Q11/00—Selecting arrangements for multiplex systems
    • H04Q11/0001—Selecting arrangements for multiplex systems using optical switching
    • H04Q11/0005—Switch and router aspects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04Q—SELECTING
    • H04Q11/00—Selecting arrangements for multiplex systems
    • H04Q11/0001—Selecting arrangements for multiplex systems using optical switching
    • H04Q11/0062—Network aspects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40208—Bus networks characterized by the use of a particular bus standard
    • H04L2012/40215—Controller Area Network CAN
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04Q—SELECTING
    • H04Q11/00—Selecting arrangements for multiplex systems
    • H04Q11/0001—Selecting arrangements for multiplex systems using optical switching
    • H04Q11/0062—Network aspects
    • H04Q2011/0073—Provisions for forwarding or routing, e.g. lookup tables
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04Q—SELECTING
    • H04Q11/00—Selecting arrangements for multiplex systems
    • H04Q11/0001—Selecting arrangements for multiplex systems using optical switching
    • H04Q11/0062—Network aspects
    • H04Q2011/0077—Labelling aspects, e.g. multiprotocol label switching [MPLS], G-MPLS, MPAS
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04Q—SELECTING
    • H04Q11/00—Selecting arrangements for multiplex systems
    • H04Q11/0001—Selecting arrangements for multiplex systems using optical switching
    • H04Q11/0062—Network aspects
    • H04Q2011/0086—Network resource allocation, dimensioning or optimisation

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Data Exchanges In Wide-Area Networks (AREA)

Abstract

The invention belongs to industrial embedded Control technical fields, a kind of Industrial Embedded Control System based on CANopen buses is disclosed, power supply module, parameter configuration module, main control module, program load-on module, redundant control module, CANopen management modules are provided with.The present invention is used for CANopen network-based control systems by CANopen management modules, the customization of the number of nodes and node amount of communication data in CANopen networks is realized by CANopen configuration management modules, CANopen bus managements module and CANopen node administrations, the communication capacity of number of nodes and each node that can be in flexible configuration CANopen networks, the flexibility that CANopen network managements are substantially increased under limited COB ID resources, optimizes the data transmission capabilities of single node.

Description

A kind of Industrial Embedded Control System based on CANopen buses
Technical field
The invention belongs to industrial embedded Control technical field more particularly to a kind of industry based on CANopen buses are embedding Enter formula control system.
Background technology
CANopen is that a kind of high level of framework on control area net(CAN) road (ControllerAreaNetwork, CAN) is logical Letter association agreement, including communication sub-protocol and equipment sub-protocol, often use and Industry Control are commonly used in embedded systems A kind of fieldbus.CANopen realizes the agreement of the network layer in osi model or more (including network layer).CANopen Standard includes addressing scheme, the several small agreements of communication and the application layer defined in the agreement of equipment.CANopen is supported Communication between network management, monitoring of tools and node, including an easy transport layer, the segmentation that can handle data passes Give and combinations thereof.In general Data Link Layer and physical layer can be with CAN come implementation.Other than CANopen, also there are others Equipment of communications protocol (such as EtherCAT) implementation CANopen is reached an agreement on.However, the existing industry based on CANopen buses Embedded control system reliability is low；CANopen network management flexibilities simultaneously are poor, and data transmission capabilities are weak.
Wavelength switched optical network (Wavelength Switched Optical Networks, WSONs) is with light device What the rapid development of part and optical node technology proposed, by WDM light networks transparent node, (such as light is cross interconnected, OXCs for it；Light Bifurcated multiplexer, OADM) composition.Since WSONs frameworks can be to avoid using expensive optoelectronic transceivers to do intermediate node, it It is considered as current most promising next-generation core and Metropolitan Area Network technology.
The WSONs of the distributed AC servo system of (GMPLS) is exchanged based on Generalized Multiprotocol Label, event can occur in optical-fiber network The business recovery that will be influenced as soon as possible by failure after barrier.GMPLS agreements provide routing, signaling and link management function, therefore base It can dynamically be established in the end-to-end light paths of the WSONs of GMPLS, maintain and discharge.It gives GMPLS and supports protection type and event Hinder recovery technology.However all recovery schemes proposed so far concentrate on the light path for how restoring to be influenced by link failure, and do not have Have and considers the problems of that several light paths (such as optical fiber is cut off or equipment loss) of loss or catastrophic failure may influence light path. In fact since Saturated optical fiber amplifier being widely used in wavelength-division multiplex link, the unexpected fluctuating of luminous power may acutely drop The low optical property with other light paths of damage light path sharing fiber.
The solutions such as the use of the Erbium Doped Fiber Amplifiers EDFAs control technology and link control layers that are proposed in physical layer can With for mitigating influence of the power flatness to optical-fiber network, this needs to adjust the output power of transmitter or putting in light path Big device, and this solution considerably increases the cost and complexity of image intensifer, and cause deterioration and the light of noiseproof feature The reduction of power.Attempt to solve the problems, such as in routing layer it is same, by introducing a unified linear programming (ILP) come as possible Reduce the light path quantity influenced in single link failure power flatness.But the program may not apply to catenet, Therefore it is not suitable for the real-time dynamic context using distributed AC servo system.
In conclusion problem of the existing technology is：
The existing Industrial Embedded Control System reliability based on CANopen buses is low；CANopen network managements simultaneously Flexibility is poor, and data transmission capabilities are weak.
Existing frequently-used analytic hierarchy process (AHP) only considers dominating role of the upper layer element to lower layer's element, it is assumed that in same layer Index be independent from each other, and in many practical decision problems, phase is commonly present when inside a certain layer between each Index element According to or feedback relationship, and there is also dominating roles to upper layer element for lower layer's element, if independence assumption is only used only, will make As a result deviation is generated.
Existing for wavelength switched optical network the problem of power flatness.
Invention content
In view of the problems of the existing technology, the embedded control of industry based on CANopen buses that the present invention provides a kind of System processed.
The invention is realized in this way a kind of Industrial Embedded Control System based on CANopen buses, including：
Power supply module is connect with main control module, for being powered to embedded control system；
Parameter configuration module is connect with main control module, for configuring embedded control system parameter；
Main control module is managed with power supply module, parameter configuration module, program load-on module, redundant control module, CANopen Module connection is managed, for dispatching modules normal work；
The control method of main control module includes：Local matrix is introduced at each network node, which includes that control is The power flatness information of all existing light paths in system, and pass through the storage of RSVP-TE and OSPF-TE agreements and dynamic update square Battle array, the path of power flatness minimum is obtained using the matrix, keeps single wavelength-division multiplex link power in catastrophic failure flat It spends the influence to whole network and reaches minimum；
It is used for establishing light path on the dynamic WSONs based on GMPLS based on traffic engineering Resource Reservation Protocol；The agreement For distributing newer Network status information between network node, information is then stored in the flow work of each network node In journey database；Once there is request, source node calculates routing on the basis of local TED information；After routing has been calculated, source section Point triggers a RSVP-TE signaling along the path；Last destination node distributes wavelength using collected signaling message；
Program load-on module, connect with main control module, is used for Loading Control driver；
Redundant control module is connect with main control module, for carrying out reasonable distribution to CANopen equipment tasks；
The allocation management method of redundant control module includes：
CANopen management modules, connect with main control module, for being carried out to CANopen configurations, bus, node, operation Management；
A, if having decision index system p in target and decision-making level1,p2,…,pm, target has with the network architecture layer under decision-making level C1,C2,…,CNA index set, wherein CiIn have element
B, with target and decision-making level decision index system ps(s=1,2 ..., m) is criterion, with CjMiddle element ejk(k=1, 2,…,nj) it is time criterion, by index set CiMiddle index is by it to ejkInfluence power size carry out indirect dominance and compare, that is, exist Criterion psLower Judgement Matricies：
And weight vectors w is obtained by eigenvalue methodi1 (jk),wi2 (jk),…,wini (jk)；
C, for k=1,2.., niIt repeats the above steps, obtains matrix W shown in following formulaij；
Wherein, WijColumn vector be CiIn elementTo CjMiddle elementInfluence degree row Sequence vector；If CjMiddle element is not by CiMiddle element influences, then Wij=0；
D, for i=1,2 ..., N；J=1,2 ..., N repeat B, can get decision rule psUnder hypermatrix W:
E, in the hypermatrix W, element WijReflect a step dominances of the element i to element j；W can also be calculated2, Element wij 2Indicate element i to the two step dominances of element j, W2Still it is classified as normalization matrix, and so on, W can be calculated3, W4..., work as W∞In the presence of, W∞Jth row be exactly criterion psIn lower network framework layer each element for j limit relative weighting to Amount, then
Numerical value wherein per a line, as the partial weight vector of respective element；When certain a line it is all 0 when, then accordingly Partial weight be 1；Partial weight is obtained into partial weight vector by order of elements arrangement；
Further, the redundant control module control method is as follows：
First, CANopen device powers start, and read configuration file；
Then, the CANopen equipment obtains the equipment mode of the CANopen equipment according to the configuration file；
Finally, if the equipment mode is CANopen holotypes, the CANopen equipment becomes CANopen networks Main equipment enters CANopenNMT network management major states, is managed to entire CANopen networks；If the equipment mould Formula is the spare holotypes of CANopen, and the CANopen equipment becomes the primary/standby devices of CANopen networks, enters one Listening state receives the data of entire CANopen networks；If the equipment mode is CANopen slave patterns, the CANopen Equipment becomes the slave equipment of CANopen networks, enters CANopenNMT network managements from state, start PDO communication mechanisms into Row data communication.
Further, the CANopen management modules include configuration management module, bus management module, node administration mould Block, operational management module；
Configuration management module, for receiving the CANopen network configuration datas configured by external software, the mistake of configuration Cheng Zhong adjusts number of nodes and node amount of communication data in CANopen networks as needed, in different number of nodes and Required COB-ID is distributed in the case of node amount of communication data；
Bus management module, for monitoring CANopen buses operating condition and reporting mistake and error handle；
Node administration module, for according to each node operating status of CANopen network managements after configuration, safeguarding The operation of each node；
Operational management module, the data for being completed under the operating status of CANopen agreements in CANopen agreements are handed over It changes.
Further, local matrix is the power flatness information that A includes all existing light paths in routing；It is M × M rank squares Battle array, wherein M is the total quantity of network link；Element aI, j∈ A indicate the light path quantity influenced by link j failures on link i, i.e., Pass through link i, the light path quantity of j simultaneously；Element a diagonallyI, iIt is to represent the light path quantity established along link i；
When the new light path of active node s to destination node d asks to reach, source node is assessed using storage matrix A Each optional optical path (r ∈ RS, d) power flatness situation；The R of each path candidate of the node between (s, d)S, dIt is by every What a network node precalculated, and it includes all paths that n is jumped more than the number of links of shortest path；It is special right In each r ∈ RS, dSource node calculates ArMatrix；Wherein ArIt is the transformed matrix (example adapted to after special path r of A matrixes Such as ar ij=aij+ 1, i ∈ r and j ∈ r；Otherwise ar ij=aij)；Path r is selected using formula (1), makes all possible matrix ArThe all possible power flatness F (A of middle calculatingr) minimum；
Further, power flatness F (Ar) calculating for each possible breakdown, to the light path quantity of link i and work Dynamic light path ratio of number summation；Light path is not route along link i (aii=0) or all light paths along link i are because link j's Failure and directly interrupt (i.e. aI, i=aI, j) cannot use；
The control method of main control module specifically includes：
Step 1, the generation of matrix A at node, matrix A include the power flatness letter of all existing light paths in routing Breath；It is M × M rank matrixes, wherein M is the total quantity of network link；Element aI, j∈ A indicate to be influenced by link j failures on link i Light path quantity, i.e., simultaneously pass through link i, the light path quantity of j；Element a diagonallyI, iIt is to represent to establish along link i Light path quantity；
Step 2, each optional optical path r ∈ RS, dPower flatness situation assessment, assessed using storage matrix A Each optional optical path r ∈ RS, dPower flatness situation；The R of each path candidate of the node between (s, d)S, dIt is by each What network node precalculated, include all paths that n is jumped more than the number of links of shortest path；For each r ∈ RS, dIt saves in source Point calculates ArMatrix；Wherein ArIt is the transformed matrix adapted to after special path r of A matrixes；Path r is selected, is made all Matrix ArAll power flatness F (A of middle calculatingr) minimum；
Step 3, the update of matrix A at node, route it is selected after RSVP-TE signalings be triggered and disappeared by transmitting signaling Breath dynamically to update the matrix A in all intermediate nodes；Explicit route object is included in RSVP-TE signaling messages, So that intermediate node both knows about whole routes and changes A matrixes；The element a when link i and j belong to path RI, jValue want Increase by 1；In addition, each node periodically by the Link State Advertisement based on traffic engineering Open Shortest Path First Protocol to Connected node broadcasts have the newest letter of current network state in relation to the information that locally arranges, the A matrixes of node each in this way Breath.
The embedded control of industry based on CANopen buses equipped with described that another object of the present invention is to provide a kind of The information data processing terminal of system processed.
Advantages of the present invention and good effect are：
The present invention realizes the reliability for improving CANopen networks by redundant control module；It is managed simultaneously by CANopen It manages module and is used for CANopen network-based control systems, pass through CANopen configuration management modules, CANopen bus management modules The customization that the number of nodes and node amount of communication data in CANopen networks are realized with CANopen node administrations, can be flexible The communication capacity for configuring the number of nodes and each node in CANopen networks, greatly improves under limited COB-ID resources The flexibilities of CANopen network managements, optimizes the data transmission capabilities of single node.
CANopen management modules, for being configured to CANopen, bus, node, operation be managed；If target with certainly There is decision index system p in plan layer1,p2,…,pm, the network architecture layer under target and decision-making level has C1,C2,…,CNA index set, Middle CiIn have elementWith target and decision-making level decision index system ps(s=1,2 ..., m) subject to Then, with CjMiddle element ejk(k=1,2 ..., nj) it is time criterion, by index set CiMiddle index is by it to ejkInfluence power size into It in the ranks connects dominance to compare, i.e., in criterion psLower Judgement Matricies：And weight vectors are obtained by eigenvalue methodFor k=1,2.., niIt repeats the above steps, obtains matrix W shown in following formulaij；For i =1,2 ..., N；J=1,2 ..., N repeat B, can get decision rule psUnder hypermatrix W；In the hypermatrix W, member Plain WijReflect a step dominances of the element i to element j；W can also be calculated2, element wij 2Indicate element i to the two of element j Walk dominance, W2Still it is classified as normalization matrix, and so on, W can be calculated3, W4..., work as W∞In the presence of, W∞Jth row It is exactly criterion psEach element is vectorial for the limit relative weighting of j in lower network framework layer, wherein the numerical value per a line, as The partial weight vector of respective element；When certain a line it is all 0 when, then corresponding partial weight be 1；By partial weight by member Element, which is ranked sequentially, obtains partial weight vector.It can reasonably be distributed.
Local matrix is introduced at each network node of control method of main control module of the present invention, which includes in routing The power flatness information of all existing light paths, and pass through the storage of RSVP-TE and OSPF-TE agreements and dynamic update matrix；Profit The path that power flatness minimum is obtained with the matrix makes single wavelength-division multiplex link power flatness pair in catastrophic failure The influence of whole network reaches minimum.The problem of causing present invention alleviates power flatness hands in the wavelength based on GMPLS Existence light path may be influenced whether by changing the inner power flatness when wavelength-division multiplex links failure of optical-fiber network (WSONs), in each net There are one the storage matrixes of M × M, the matrix to be updated into Mobile state by RSVP-TE and OSPF-TE in network node, simulation result Show that POSR schemes effectively reduce average key number of links in network, especially POSR-0 and do not increasing the same of congestion ratio When reduce critical link.
Description of the drawings
Fig. 1 is the Industrial Embedded Control System structure diagram provided in an embodiment of the present invention based on CANopen buses.
In figure：1, power supply module；2, parameter configuration module；3, main control module；4, program load-on module；5, Redundant Control Module；6, CANopen management modules.
Fig. 2 is network topology schematic diagram provided in an embodiment of the present invention；
Fig. 3 is average key number of links schematic diagram provided in an embodiment of the present invention；
Fig. 4 is network congestion rate schematic diagram provided in an embodiment of the present invention.
Specific implementation mode
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and coordinate attached Detailed description are as follows for figure.
As shown in Figure 1, the Industrial Embedded Control System provided by the invention based on CANopen buses includes：Power supply mould Block 1, parameter configuration module 2, main control module 3, program load-on module 4, redundant control module 5, CANopen management modules 6.
Power supply module 1 is connect with main control module 3, for being powered to embedded control system；
Parameter configuration module 2 is connect with main control module 3, for configuring embedded control system parameter；
Main control module 3, with power supply module 1, parameter configuration module 2, program load-on module 4, redundant control module 5, CANopen management modules 6 connect, for dispatching modules normal work；
Program load-on module 4 is connect with main control module 3, is used for Loading Control driver；
Redundant control module 5 is connect with main control module 3, for carrying out reasonable distribution to CANopen equipment tasks；
CANopen management modules 6 are connect with main control module 3, for being configured to CANopen, bus, node, run into Row management.
The allocation management method of redundant control module includes：
CANopen management modules, connect with main control module, for being carried out to CANopen configurations, bus, node, operation Management；Including：
A, if having decision index system p in target and decision-making level1,p2,…,pm, target has with the network architecture layer under decision-making level C1,C2,…,CNA index set, wherein CiIn have element
B, with target and decision-making level decision index system ps(s=1,2 ..., m) is criterion, with CjMiddle element ejk(k=1, 2,…,nj) it is time criterion, by index set CiMiddle index is by it to ejkInfluence power size carry out indirect dominance and compare, that is, exist Criterion psLower Judgement Matricies：
And weight vectors w is obtained by eigenvalue methodi1 (jk),wi2 (jk),…,wini (jk)；
C, for k=1,2.., niIt repeats the above steps, obtains matrix W shown in following formulaij；
Wherein, WijColumn vector be CiIn elementTo CjMiddle elementInfluence degree row Sequence vector；If CjMiddle element is not by CiMiddle element influences, then Wij=0；
D, for i=1,2 ..., N；J=1,2 ..., N repeat B, can get decision rule psUnder hypermatrix W:
E, in the hypermatrix W, element WijReflect a step dominances of the element i to element j；W can also be calculated2, Element wij 2Indicate element i to the two step dominances of element j, W2Still it is classified as normalization matrix, and so on, W can be calculated3, W4..., work as W∞In the presence of, W∞Jth row be exactly criterion psIn lower network framework layer each element for j limit relative weighting to Amount, then
Numerical value wherein per a line, as the partial weight vector of respective element；When certain a line it is all 0 when, then accordingly Partial weight be 1；Partial weight is obtained into partial weight vector by order of elements arrangement；
5 control method of redundant control module provided by the invention is as follows：
First, CANopen device powers start, and read configuration file；
Then, the CANopen equipment obtains the equipment mode of the CANopen equipment according to the configuration file；
Finally, if the equipment mode is CANopen holotypes, the CANopen equipment becomes CANopen networks Main equipment enters CANopenNMT network management major states, is managed to entire CANopen networks；If the equipment mould Formula is the spare holotypes of CANopen, and the CANopen equipment becomes the primary/standby devices of CANopen networks, enters one Listening state receives the data of entire CANopen networks；If the equipment mode is CANopen slave patterns, the CANopen Equipment becomes the slave equipment of CANopen networks, enters CANopenNMT network managements from state, start PDO communication mechanisms into Row data communication.
CANopen management modules 6 provided by the invention include configuration management module, bus management module, node administration mould Block, operational management module；
Configuration management module, for receiving the CANopen network configuration datas configured by external software, the mistake of configuration Cheng Zhong adjusts number of nodes and node amount of communication data in CANopen networks as needed, in different number of nodes and Required COB-ID is distributed in the case of node amount of communication data；
Bus management module, for monitoring CANopen buses operating condition and reporting mistake and error handle；
Node administration module, for according to each node operating status of CANopen network managements after configuration, safeguarding The operation of each node；
Operational management module, the data for being completed under the operating status of CANopen agreements in CANopen agreements are handed over It changes.
When the present invention works, embedded control system is powered by power supply module 1；Pass through parameter configuration module 2 Configure embedded control system parameter；3 scheduler program load-on module of main control module, 4 Loading Control driver；Pass through redundancy control Molding block 5 carries out reasonable distribution to CANopen equipment tasks；CANopen is configured by CANopen management modules 6, Bus, node, operation are managed.
With reference to concrete analysis, the invention will be further described.
The control method of main control module includes：Local matrix is introduced at each network node, which includes that control is The power flatness information of all existing light paths in system, and pass through the storage of RSVP-TE and OSPF-TE agreements and dynamic update square Battle array, the path of power flatness minimum is obtained using the matrix, keeps single wavelength-division multiplex link power in catastrophic failure flat It spends the influence to whole network and reaches minimum；
It is used for establishing light path on the dynamic WSONs based on GMPLS based on traffic engineering Resource Reservation Protocol；The agreement For distributing newer Network status information between network node, information is then stored in the flow work of each network node In journey database；Once there is request, source node calculates routing on the basis of local TED information；After routing has been calculated, source section Point triggers a RSVP-TE signaling along the path；Last destination node distributes wavelength using collected signaling message；
Local matrix is the power flatness information that A includes all existing light paths in routing；It is M × M rank matrixes, wherein M It is the total quantity of network link；Element aI, j∈ A indicate the light path quantity influenced by link j failures on link i, i.e., pass through simultaneously The light path quantity of link i, j；Element a diagonallyI, iIt is to represent the light path quantity established along link i；
When the new light path of active node s to destination node d asks to reach, source node is assessed using storage matrix A Each optional optical path (r ∈ RS, d) power flatness situation；The R of each path candidate of the node between (s, d)S, dIt is by every What a network node precalculated, and it includes all paths that n is jumped more than the number of links of shortest path；It is special right In each r ∈ RS, dSource node calculates ArMatrix；Wherein ArIt is the transformed matrix (example adapted to after special path r of A matrixes Such as ar ij=aij+ 1, i ∈ r and j ∈ r；Otherwise ar ij=aij)；Path r is selected using formula (1), makes all possible matrix ArThe all possible power flatness F (A of middle calculatingr) minimum；
Power flatness F (Ar) calculating for each possible breakdown, to light path quantity and the activity light path of link i Ratio of number is summed；Light path is not route along link i (aii=0) or all light paths along link i are due to the failure of link j Directly interrupt (i.e. aI, i=aI, j) cannot use；
The control method of main control module specifically includes：
Step 1, the generation of matrix A at node, matrix A include the power flatness letter of all existing light paths in routing Breath；It is M × M rank matrixes, wherein M is the total quantity of network link；Element aI, j∈ A indicate to be influenced by link j failures on link i Light path quantity, i.e., simultaneously pass through link i, the light path quantity of j；Element a diagonallyI, iIt is to represent to establish along link i Light path quantity；
Step 2, each optional optical path r ∈ RS, dPower flatness situation assessment, assessed using storage matrix A Each optional optical path r ∈ RS, dPower flatness situation；The R of each path candidate of the node between (s, d)S, dIt is by each What network node precalculated, include all paths that n is jumped more than the number of links of shortest path；For each r ∈ RS, dIt saves in source Point calculates ArMatrix；Wherein ArIt is the transformed matrix adapted to after special path r of A matrixes；Path r is selected, is made all Matrix ArAll power flatness F (A of middle calculatingr) minimum；
Step 3, the update of matrix A at node, route it is selected after RSVP-TE signalings be triggered and disappeared by transmitting signaling Breath dynamically to update the matrix A in all intermediate nodes；Explicit route object is included in RSVP-TE signaling messages, So that intermediate node both knows about whole routes and changes A matrixes；The element a when link i and j belong to path RI, jValue want Increase by 1；In addition, each node periodically by the Link State Advertisement based on traffic engineering Open Shortest Path First Protocol to Connected node broadcasts have the newest letter of current network state in relation to the information that locally arranges, the A matrixes of node each in this way Breath.
With reference to emulation experiment, the invention will be further described.
Simulation result
It is emulated with OPNET simulation softwares；The topological diagram shown in Fig. 2 carries out policy, it includes 12 transparent nodes With 25 wavelength-division multiplex two-way links, each link is loaded with 16 wavelength channels；Wavelength conversion can not execute at network node, because This all established light path must satisfy Wavelength continuity constraint；Light path request is generated by unified traffic matrix, wherein unified Traffic matrix obeys the exponential distribution of packet interarrival times (average 1/ α) and retention time (average 1/ β)；Network flow is negative Lotus is expressed as (α/β), and unit is Erlang；Since the convergence time of typical (OSPF-TE) is the sequence that some are indicated with the second Row, and light path request time interval is the sequence that some are indicated with minute or hour in backbone network, in all-network node Upper matrix A is considered continuous renewal；
Therefore, when mean holding time is fixed on 3600s, network flow load can be by changing 100s to 1500s Average packet interarrival times and change；The POSR evaluation schemes n=0 of three different editions, 1,2 (it is respectively POSR-0, POSR-1 and POSR-2) it is compared with well known Shortest path routing (SPR), wherein n is indicated than Shortest path routing Hop count more than number of links；It is tested emulation with 10 kinds of different seeds, and result is painted according to 99% confidence interval Figure；
Fig. 3 indicates that average key number of links compares network flow load；As previously described, because being less than on the roads Tiao Lian The upset of all channels of half can be tolerated；It is more than half when it fails assuming that there is such link Above wavelength channel is directly affected, then remembering that this link is critical link；Even if POSR schemes when n=0 Also the number of some critical links can be reduced, therefore calculates the average length of routed path without increasing；In addition, if can To tolerate longer path, then the number of critical link can be further reduced；However, although POSR-1 is significantly better than POSR-0, POSR-2 also have the performance similar to POSR-1, but path candidate is extended beyond shortest path is unfavorable 's；Finally due to the effect of network flow load, after all evaluation schemes reach maximum average key number of links, just with It the raising of network flow load and reduces；This is answered due principally to when a large amount of wavelength channels are worked at the same time in each wavelength-division When in link, it is less common that a link failure, which influences the light path that more than half comes from the routing of other links,； In addition the average length that light path is established in the case of network flow load is higher is shorter (long light-path has higher congestion ratio), in event In the case of barrier, shorter light path means that power flatness will influence less link, therefore higher in network flow load The average of critical link reduces when situation；
Fig. 4 is the legend of network congestion rate comparison network flow load；Diagram shows to utilize POSR-0 energy compared with SPR SPR is completed while not improving network congestion rate；If using more effective power flatness perception route (i.e. POSR-1 And POSR-2) so congestion ratio can be increased due to using longer path；
The present invention proposes a didactic routing plan (POSR schemes), alleviates and is asked caused by power flatness Topic：The wavelength switched optical network (WSONs) based on GMPLS it is inner when wavelength-division multiplex link failure when power flatness may Influence existence light path；The invention also provides its feasible distributed schemes；There are one this is required in each network node The storage matrix of M × M, the matrix are updated by RSVP-TE and OSPF-TE into Mobile state；Simulation result shows POSR schemes Effectively reduce average key number of links in network；Especially POSR-0 reduces key while not increasing congestion ratio Link.
The above is only the preferred embodiments of the present invention, and is not intended to limit the present invention in any form, Every any simple modification made to the above embodiment according to the technical essence of the invention, equivalent variations and modification, belong to In the range of technical solution of the present invention.

Claims (6)

1. a kind of Industrial Embedded Control System based on CANopen buses, which is characterized in that described to be based on CANopen buses Industrial Embedded Control System include：
Power supply module is connect with main control module, for being powered to embedded control system；
Parameter configuration module is connect with main control module, for configuring embedded control system parameter；
Main control module manages mould with power supply module, parameter configuration module, program load-on module, redundant control module, CANopen Block connects, for dispatching modules normal work；
The control method of main control module includes：Local matrix is introduced at each network node, which includes in control system The power flatness information of all existing light paths, and pass through the storage of RSVP-TE and OSPF-TE agreements and dynamic update matrix, profit The path that power flatness minimum is obtained with the matrix, make single wavelength-division multiplex link in catastrophic failure power flatness to whole The influence of a network reaches minimum；
It is used for establishing light path on the dynamic WSONs based on GMPLS based on traffic engineering Resource Reservation Protocol；The agreement is used for net Distribute newer Network status information between network node, information is then stored in the traffic engineering database of each network node In；Once there is request, source node calculates routing on the basis of local TED information；After routing has been calculated, source node is along the path Trigger a RSVP-TE signaling；Last destination node distributes wavelength using collected signaling message；
Program load-on module, connect with main control module, is used for Loading Control driver；
Redundant control module is connect with main control module, for carrying out reasonable distribution to CANopen equipment tasks；
The allocation management method of redundant control module includes：
CANopen management modules, connect with main control module, and for being configured to CANopen, bus, node, operation be managed；
A, if having decision index system p in target and decision-making level1,p2,…,pm, the network architecture layer under target and decision-making level has C1, C2,…,CNA index set, wherein CiIn have elementI=1,2 ..., N；
B, with target and decision-making level decision index system ps(s=1,2 ..., m) is criterion, with CjMiddle element ejk(k=1,2 ..., nj) be Secondary criterion, by index set CiMiddle index is by it to ejkInfluence power size carry out indirect dominance and compare, i.e., in criterion psLower structure Make judgment matrix：
And weight vectors w is obtained by eigenvalue methodi1 (jk),wi2 (jk),…,
C, for k=1,2.., niIt repeats the above steps, obtains matrix W shown in following formulaij；
Wherein, WijColumn vector be CiIn elementTo CjMiddle elementInfluence degree sort to Amount；If CjMiddle element is not by CiMiddle element influences, then Wij=0；
D, for i=1,2 ..., N；J=1,2 ..., N repeat B, can get decision rule psUnder hypermatrix W:
E, in the hypermatrix W, element WijReflect a step dominances of the element i to element j；W can also be calculated2, element wij 2Indicate element i to the two step dominances of element j, W2Still it is classified as normalization matrix, and so on, W can be calculated3, W4..., work as W∞In the presence of, W∞Jth row be exactly criterion psIn lower network framework layer each element for j limit relative weighting to Amount, then
Numerical value wherein per a line, as the partial weight vector of respective element；When certain a line it is all 0 when, then corresponding office Portion's weight is 1；Partial weight is obtained into partial weight vector by order of elements arrangement；
2. the Industrial Embedded Control System as described in claim 1 based on CANopen buses, which is characterized in that the redundancy Control module control method is as follows：
First, CANopen device powers start, and read configuration file；
Then, the CANopen equipment obtains the equipment mode of the CANopen equipment according to the configuration file；
Finally, if the equipment mode is CANopen holotypes, the master that the CANopen equipment becomes CANopen networks sets It is standby, CANopenNMT network management major states are entered, entire CANopen networks are managed；If the equipment mode is The spare holotypes of CANopen, the CANopen equipment become the primary/standby devices of CANopen networks, enter a monitoring shape State receives the data of entire CANopen networks；If the equipment mode be CANopen slave patterns, the CANopen equipment at For the slave equipment of CANopen networks, CANopenNMT network managements are entered from state, starts PDO communication mechanisms and carries out data Communication.
3. the Industrial Embedded Control System as described in claim 1 based on CANopen buses, which is characterized in that described CANopen management modules include configuration management module, bus management module, node administration module, operational management module；
Configuration management module, for receiving the CANopen network configuration datas configured by external software, during configuration, The number of nodes and node amount of communication data in CANopen networks are adjusted as needed, it is logical in different number of nodes and node Required COB-ID is distributed in the case of letter data amount；
Bus management module, for monitoring CANopen buses operating condition and reporting mistake and error handle；
Node administration module, for according to each node operating status of CANopen network managements after configuration, safeguarding each section The operation of point；
Operational management module, for completing the data exchange in CANopen agreements under the operating status of CANopen agreements.
4. the Industrial Embedded Control System as described in claim 1 based on CANopen buses, which is characterized in that local matrix Include the power flatness information of all existing light paths in routing for A；It is M × M rank matrixes, wherein M is the sum of network link Amount；Element aI, j∈ A indicate the light path quantity influenced by link j failures on link i, i.e., pass through link i, the light path number of j simultaneously Amount；Element a diagonallyI, iIt is to represent the light path quantity established along link i；
When the new light path of active node s to destination node d asks to reach, source node is assessed each using storage matrix A Optional optical path (r ∈ RS, d) power flatness situation；The R of each path candidate of the node between (s, d)S, dIt is by each network What node precalculated, and it includes all paths that n is jumped more than the number of links of shortest path；Particularly for each r ∈RS, dSource node calculates ArMatrix；Wherein ArIt is transformed matrix (such as a adapted to after special path r of A matrixesr ij= aij+ 1, i ∈ r and j ∈ r；Otherwise ar ij=aij)；Path r is selected using formula (1), makes all possible matrix ArMiddle calculating All possible power flatness F (Ar) minimum；
5. the Industrial Embedded Control System as described in claim 1 based on CANopen buses, which is characterized in that power is flat Spend F (Ar) calculating for each possible breakdown, sum to the light path quantity and activity light path ratio of number of link i；No Light path is route along link i (aii=0) or all light paths along link i directly interrupt (i.e. a because of the failure of link jI, i= aI, j) cannot use；
The control method of main control module specifically includes：
Step 1, the generation of matrix A at node, matrix A include the power flatness information of all existing light paths in routing；It is M × M rank matrixes, wherein M are the total quantitys of network link；Element aI, j∈ A indicate the light path influenced by link j failures on link i Quantity passes through link i, the light path quantity of j simultaneously；Element a diagonallyI, iIt is to represent the light path number established along link i Amount；
Step 2, each optional optical path r ∈ RS, dPower flatness situation assessment, each time is assessed using storage matrix A Select light path r ∈ RS, dPower flatness situation；The R of each path candidate of the node between (s, d)S, dIt is by each network node It precalculates, includes all paths that n is jumped more than the number of links of shortest path；For each r ∈ RS, dSource node calculates ArSquare Battle array；Wherein ArIt is the transformed matrix adapted to after special path r of A matrixes；Path r is selected, all matrix As are maderMiddle calculating All power flatness F (Ar) minimum；
Step 3, the update of matrix A at node, route it is selected after RSVP-TE signalings be triggered and by transmit signaling message come Matrix A of the dynamic update in all intermediate nodes；Explicit route object is included in RSVP-TE signaling messages, so as to Intermediate node both knows about whole routes and changes A matrixes；The element a when link i and j belong to path RI, jValue to increase 1；In addition, each node is periodically by the Link State Advertisement based on traffic engineering Open Shortest Path First Protocol to connected Node broadcasts have the up-to-date information of current network state in relation to the information that locally arranges, the A matrixes of node each in this way.
6. a kind of Industrial Embedded Control System equipped with based on CANopen buses described in Claims 1 to 5 any one Information data processing terminal.
CN201810345505.XA 2018-04-17 2018-04-17 A kind of Industrial Embedded Control System based on CANopen buses Pending CN108540326A (en)

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