CN109976442A - One kind is from clock information optimization method, device, electronic equipment and storage medium - Google Patents
One kind is from clock information optimization method, device, electronic equipment and storage medium Download PDFInfo
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- CN109976442A CN109976442A CN201910364232.8A CN201910364232A CN109976442A CN 109976442 A CN109976442 A CN 109976442A CN 201910364232 A CN201910364232 A CN 201910364232A CN 109976442 A CN109976442 A CN 109976442A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/04—Generating or distributing clock signals or signals derived directly therefrom
- G06F1/12—Synchronisation of different clock signals provided by a plurality of clock generators
Abstract
The present invention provides one kind from clock information optimization method, device, electronic equipment and storage medium, and method includes: step A, obtains master clock information；Master clock information is handled by synovial membrane controller, obtains the first information by step B；Interference treated the first information is handled by controlled device function, obtains the second information by step C；Step D will add and make an uproar that treated the second information be handled by Kalman filter, obtains from clock information；Step E, judges whether master clock information and the deviation from clock information meet preset condition；Step F, when master clock information and the deviation from clock information are unsatisfactory for preset condition, master clock information and the deviation from clock information are input to synovial membrane controller, execute step B- step E, until obtaining target from clock information when master clock information and the deviation from clock information meet preset condition.Present invention reduces master-salve clock deviation, realize that more accurately master-salve clock is synchronous.
Description
Technical field
The present invention relates to field of communication technology, more particularly to one kind from clock information optimization method, device, electronic equipment
And storage medium.
Background technique
In 2008, IEEE (Institute of Electrical and Electronics Engineers, the U.S.
Institute of Electrical and Electric Engineers) agreement organizations propose IEEE1588V2 precise time transportation protocol, and which may be implemented
The master-salve clock of submicrosecond class precision is synchronous, becomes the most popular Time Transmission agreement of industry.
The method that the prior art uses 1588 protocol realization master-salve clocks synchronous is by quickly handing over from clock with master clock
Change message, acquisition time stamp；The relative difference for calculating the value of adjacent sync cycle time stamp, using the difference as opposite from clock
In the drift value of master clock frequency, adjusted by the drift value from clock, to realize master-salve clock Frequency Synchronization.
Inventors have found that in the existing method synchronous using 1588 protocol realization master-salve clocks, the stability of clock crystal oscillator
Seriously affect 1588 clock synchronization accuracy of IEEE.When crystal oscillator is in the environment of higher temperature, the stability of crystal oscillator will be big
Amplitude reduction is mainly shown as from clock crystal oscillator oscillation frequency and biggish frequency drift occurs.If not to this frequency drift
It is timely corrected, over time, master-salve clock deviation can be increasing.Therefore, how to reduce master-salve clock inclined
Difference, and then realize that more accurately master-salve clock synchronization is still a technical problem to be solved urgently.
Summary of the invention
Being designed to provide for the embodiment of the present invention is a kind of from clock information optimization method, device, electronic equipment and storage
Medium reduces master-salve clock deviation to realize, and then realizes that more accurately master-salve clock is synchronous.Specific technical solution is as follows:
In a first aspect, the embodiment of the invention discloses one kind from clock information optimization method, which comprises
Step A obtains master clock information；
The master clock information is handled by synovial membrane controller, obtains the first information by step B；
Step C carries out interference processing to the first information, and will interference treated the first information by controlled
Object function is handled, and the second information is obtained；The controlled device function is that the master clock information is corresponding to be believed from clock
The function that the function expression of breath is obtained by Laplace transform and discretization；
Step D is carried out plus is made an uproar processing to second information, and will be added and be made an uproar that treated second information passes through karr
Graceful filter is handled, and is obtained from clock information；
Step E, judges whether the master clock information and the deviation from clock information meet preset condition；
Step F, when the master clock information and it is described be unsatisfactory for the preset condition from the deviation of clock information when, by institute
State master clock information and it is described be input to the synovial membrane controller from the deviation of clock information, step B- step E is executed, until institute
It states master clock information and described when meeting preset condition from the deviation of clock information, obtains target from clock information.
Optionally, described to handle the master clock information by synovial membrane controller, obtain the first information, comprising:
The master clock information input to synovial membrane controller is obtained by the first formula of the synovial membrane controller
One median；
By the second formula of the synovial membrane controller, the second median is obtained；
By first median and second median, third median is obtained；
The third formula that the third median is inputted to the synovial membrane controller obtains first by the third formula
Information.
Optionally, described that interference processing carried out to the first information, and will interference treated the first information warp
It crosses controlled device function to be handled, obtains the second information, comprising:
Default interference information is added to the first information, obtains interference treated the first information；
Interference treated the first information is handled by controlled device function, obtains the second information；Wherein,
The controlled device function representation are as follows:
X (k)=Ax (k-1)+B (u (k)+ω (k))
Y (k)=Cx (k)
Wherein, x (k) indicates the state variable at current time；The state variable of x (k-1) expression last moment；U (k) is indicated
The first information；ω (k) indicates process noise；A indicates sytem matrix；B indicates input matrix；C indicates output matrix；y(k)
Indicate second information.
Optionally, described that second information is carried out plus made an uproar processing, and will add and make an uproar that treated second information is led to
It crosses Kalman filter to be handled, obtain from clock information, comprising:
By preset formula, carry out plus make an uproar to second information processing；The preset formula indicates are as follows:
yv(k)=y (k)+v (k)
Wherein, yv(k) it indicates plus second information of making an uproar that treated；Y (k) indicates second information；V (k) is indicated
Measure noise；
To add and make an uproar that treated second information is calculated by the default equation group of Kalman filter, obtain from
Clock information.
Second aspect, the embodiment of the invention discloses one kind to optimize device from clock information, and described device includes:
Master clock data obtaining module, for obtaining master clock information；
First information determining module obtains first for handling the master clock information by synovial membrane controller
Information；
Second information determination module, for carrying out interference processing to the first information, and will interference that treated is described
The first information is handled by controlled device function, obtains the second information；The controlled device function is master clock letter
Cease the corresponding function obtained from the function expression of clock information by Laplace transform and discretization；
From clock information determining module, for processing that second information is carried out plus made an uproar, and the institute that makes an uproar that treated will be added
It states the second information to be handled by Kalman filter, obtain from clock information；
Master-salve clock deviation judgment module, for judging whether are the master clock information and the deviation from clock information
Meet preset condition；
Target is from clock information determining module, for described being discontented with when the master clock information and from the deviation of clock information
Foot the preset condition when, by the master clock information and it is described be input to the synovial membrane controller from the deviation of clock information,
The first information determining module is returned to continue to execute, until the master clock information and it is described from the deviation of clock information satisfaction
When preset condition, target is obtained from clock information.
Optionally, the first information determining module, comprising:
First median determines submodule, for passing through the cunning for the master clock information input to synovial membrane controller
First formula of film controller, obtains the first median；
Second median determines submodule, for passing through the second formula of the synovial membrane controller, obtains the second median；
Third median determines submodule, for obtaining third by first median and second median
Median；
The first information determines submodule, for the third median to be inputted to the third formula of the synovial membrane controller,
The first information is obtained by the third formula.
Optionally, second information determination module, comprising:
Interference processing submodule obtains interference treated institute for adding default interference information to the first information
State the first information；
Second information determines submodule, for the first information that will interfere that treated by the progress of controlled device function
Processing, obtains the second information；Wherein, the controlled device function representation are as follows:
X (k)=Ax (k-1)+B (u (k)+ω (k))
Y (k)=Cx (k)
Wherein, x (k) indicates the state variable at current time；The state variable of x (k-1) expression last moment；U (k) is indicated
The first information；ω (k) indicates process noise；A indicates sytem matrix；B indicates input matrix；C indicates output matrix；y(k)
Indicate second information.
It is optionally, described from clock information determining module, comprising:
Add to make an uproar and handle submodule, for by preset formula, to carry out plus make an uproar to second information processing；The default public affairs
Formula indicates are as follows:
yv(k)=y (k)+v (k)
Wherein, yv(k) it indicates plus second information of making an uproar that treated；Y (k) indicates second information；V (k) is indicated
Measure noise；
Submodule is determined from clock information, makes an uproar that treated for that will add second information passes through Kalman filter
Default equation group is calculated, and is obtained from clock information.
The third aspect, the embodiment of the invention discloses a kind of electronic equipment, including processor, communication interface, memory and
Communication bus, wherein the processor, the communication interface, the memory are completed each other by the communication bus
Communication；
The memory, for storing computer program；
The processor when for executing the program stored on the memory, is realized above-mentioned from clock information optimization
Any method and step in method.
Fourth aspect, the embodiment of the invention discloses a kind of computer readable storage medium, the computer-readable storage
Dielectric memory contains computer program, when the computer program is executed by processor, realizes above-mentioned from clock information optimization side
Any method and step in method.
In one kind provided in an embodiment of the present invention from clock information optimization method, device, electronic equipment and storage medium,
First with sliding mode controller to being handled from the deviation of clock information and master clock information, it can be achieved that master-salve clock crystal oscillator
Frequency drift control effectively and optimizes, and is then handled using Kalman filter sliding mode controller output information,
Effective inhibition on influencing from clock crystal oscillator shake and the external interferences such as random error can be achieved, so obtain from clock information with
The deviation of master clock information meets the corresponding target of preset condition from clock information.The obtained target is reduced from clock information
It drifts about from clock crystal oscillator oscillation frequency and from clock crystal oscillator shake and random error to the influence from clock information accuracy, into
And master-salve clock deviation is effectively reduced, realize more accurately master-salve clock synchronization.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the Precision Time Protocol PTP delay response mechanism schematic diagram of the embodiment of the present invention；
Fig. 2 is a kind of from clock information optimization method flow chart of the embodiment of the present invention；
Fig. 3 is a kind of from clock information optimization system frame diagram of the embodiment of the present invention；
Fig. 4 is that a kind of use from clock information optimization method of the embodiment of the present invention adds Kalman filter and existing skill
Kalman filter processing result simulation comparison figure is not adopted in art；
Fig. 5 is the emulation of synchronizing cycle that T=1s is used from clock information optimization method of the embodiment of the present application a kind of
Result figure；
Fig. 6 is master-salve clock simulation result under different synchronizing cycles in a kind of master-salve clock information of the embodiment of the present invention
Comparison diagram；
Fig. 7 is that a kind of of the embodiment of the present invention optimizes apparatus structure schematic diagram from clock information；
Fig. 8 is a kind of electronic equipment structural schematic diagram of the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In the time synchronization research of 1588 agreements, frequency drift, the frequency of principal and subordinate's timing tracking accuracy and clock crystal oscillator
Shake, random error have a relationship, Kalman filter that the application uses and sliding mode controller come realize to from clock this
Three factor controllings simultaneously optimize, to realize that principal and subordinate's time accuracy is synchronous.
Protocol time synchronization principles and influence factor, PTP (Precision Time Protocol, when accurate are introduced first
Between agreement) precision clock synchronization principles, the delay response mechanism proposed is broadly divided into six steps.Shown in Figure 1
The Precision Time Protocol PTP delay response mechanism schematic diagram of inventive embodiments.In Fig. 1, a is sync sync message, and b is
Follow_up follows message, and c is that Delay_req postpones request message, and d is Delay_resq delay request response message,
Master is master clock, and Slave is from clock.The packet sending and receiving process of delay response synchronization mechanism is as follows:
The sending sync message of master clock cycle, and record the accurate sending time that sync message leaves master clock
t1.Accurate sending time t1 is encapsulated into Follow_up message by master clock, is sent to from clock.It is reported from clock log sync
Text reach from clock it is accurate when arrival time t2.Delay_req message is issued from clock and records accurate sending time
t3.Master clock records the accurate arrival time t4 that delay_req message reaches master clock.Master clock, which issues, carries precise time
The delay_resp message of stamp information t4 is given from clock.The time deviation of the mechanism master-salve clock is offset；Message is in network
The average delay of middle transmission is delay；Assuming that the time delay of the transmission link of sync message is symmetrical available:
According to above-mentioned two formula, time deviation offset and average delay delay can be obtained respectively.
The high precision clock synchronous protocol of 1588 agreements be based on idealization situation, and real network measure and control
In system, have many influence factors, for example, timestamp accuracy, transmission link asymmetry, network delay inherently shake,
The factors such as the drift of master-salve clock crystal oscillator and shake.Realize that the high-precision master-salve clock of 1588 agreements is synchronous, what is be affected is
Two factors of transmission link asymmetry and the drift of master-salve clock crystal oscillator and shake.In time deviation offset and average delay
In the calculating of delay, just assumes that transmission link is symmetrical to message in a network, but can pass through in the transmission of real network
The equipment such as interchanger will lead to message in the unequal problem in the path delay of time back and forth of transmission.The main research master-salve clock of application is brilliant
The influence of vibration drift, therefore, herein according to general control variate method, it is assumed that the transmission link of message in a network is symmetrical
's.
One kind of the application is from clock information optimization method, when 1588 agreement based on sliding formwork control and Kalman filter
Between synchronization the sliding mode controller of research hotspot at this stage, Kalman filter, 1588 agreements are effectively combined, from
And realize the time synchronization of 1588 agreement higher precisions.What approximately linear caused by drifting about for master-salve clock crystal oscillator frequency increased
Error, the application are realized using sliding formwork control to its effective control and optimization；And for clock frequency shake and external interference
The random error Deng caused by, the application realize the filtering to noises such as random errors using Kalman filter, realize effective
Inhibit.It is described in detail in specific method following embodiment.
In a first aspect, the embodiment of the invention discloses one kind from clock information optimization method, as shown in Figure 2.Fig. 2 is this hair
One kind disclosed in bright embodiment includes: from clock information optimization method flow chart, method
S201 obtains master clock information.
In application, master clock information is set as a standard clock source, the time expressed by the clock is local crystal oscillator
Oscillation frequency accumulated time.It is intrinsic that the oscillation frequency of crystal oscillator depends not only on material, corner cut, shape, aging of crystal oscillator etc.
Characteristic, but also with its locating for external environment such as temperature, humidity, pressure etc. is related.Due to environment temperature, crystal oscillator self deterioration
Etc. factors influence, crystal oscillator can generate certain error and accumulate at any time, so as to cause mistake is generated between clock and master clock
Difference offset, seriously affects synchronization accuracy.The influence that the self deterioration of crystal oscillator generates the frequency drift of crystal oscillator is relatively slow, and ring
Border temperature can generate crystal oscillator to be influenced in real time.
Master clock information is obtained in this step, which can be the specific time, or make by oneself for implementation personnel
The initial value of justice.Master clock information is set as: M (t)=t.
Master clock information is handled by synovial membrane controller, obtains the first information by S202.
It is first by the synovial membrane controller based on exponentially approaching rule by master clock information input to synovial membrane controller in this step
First the drift of clock crystal oscillator frequency is control effectively and optimized.The master clock information of input can be indicated with yd.
Optionally, master clock information is handled in S202 by synovial membrane controller, obtains the first information, comprising:
Step 1, master clock information input to synovial membrane controller is obtained first by the first formula of synovial membrane controller
Median；
First formula of the synovial membrane controller indicates are as follows:
yd(k+1)=2yd(k)-yd(k-1)
Wherein, yd(k) correspond to the position command of synovial membrane controller current input information, input for the first time is master clock letter
Cease corresponding position command；yd(k-1) position command corresponding to the last input information of synovial membrane controller, believes in master clock
Implementing personnel when breath is the input for the first time of synovial membrane controller can be yd(k-1) initial value is set；yd(k+1) correspond to synovial membrane to control
The position command for inputting information next time of device.
The first median y can be obtained by first formulad(k+1)。
Step 2, by the second formula of synovial membrane controller, the second median is obtained；
First formula of the synovial membrane controller indicates are as follows:
dyd(k+1)=2dyd(k)-dyd(k-1)
Wherein, dyd(k) change rate corresponding to the position command of synovial membrane controller current input information；dyd(k-1) corresponding
In the change rate of the position command of the last input information of synovial membrane controller；dyd(k+1) corresponding to the next of synovial membrane controller
The change rate of the position command of secondary input information.
The second median y can be obtained by second formulad(k+1)、dyd(k)。
Step 3, by the first median and the second median, third median is obtained.
Y is calculated in this stepd=[yd(k)dyd(k)]TAnd Yd1=[yd(k+1)dyd(k+1)]T, and switched
Function s (k)=Ce(Yd-x)。
Step 4, by the third formula of third median input synovial membrane controller, the first information is obtained by third formula.
The third formula of the synovial membrane controller indicates are as follows:
U (k)=(CeB)-1(CeYd1-CeAx(k)-s(k)-ds(k))
Wherein, u (k) indicates the first information obtained by the sliding formwork control of exponentially approaching rule；CeIndicate synovial membrane controller
Coefficient matrix meets Hurwitz condition, Ce=[c 1], c are constant and c > 0；B indicates input matrix；Yd1=[yd(k+1)dyd
(k+1)]T；A indicates sytem matrix；X (k) indicates the information for being input to synovial membrane controller, is for the first time main clock information, after
For from the deviation of clock information and master clock information；S (k) indicates switching function, s (k)=Ce(Yd-x)；Ds (k)=- ε T ε gn (s
(k))-qTs (k), ε indicate that T indicates the synchronizing cycle of message, and sgn () indicates that jump function, q indicate index term coefficient.
S203 carries out interference processing to the first information, and will interference treated that the first information passes through controlled device function
It is handled, obtains the second information；Controlled device function is that main clock information is corresponding to pass through from the function expression of clock information
Cross Laplace transform and function that discretization obtains.
The controlled device function of this step is the process for causing output to change by state and input, passes through controlled device function
The information that synovial membrane controller exports is optimized into processing, obtains the second information.
The transmission function of controlled device is by carrying out Laplace transform then and discretization from the function expression of clock information
It obtains.
From the function expression of clock information are as follows:
Wherein,To be affected by temperature the frequency shift (FS) rate from clock signal, u (t) is the random error generated.
The controlled of sliding mode controller system then can be obtained by Laplace transform is carried out from the function expression of clock information
Target transfer function,
Wherein, s, S2It indicates through the variable after Laplace transform；Discrete sampling is carried out according to above-mentioned formula, such as is adopted
It is 0.001s with sample time Ts, by the discrete controlled device function for the application of above-mentioned formula.
Optionally, interference processing carried out to the first information in S203, and will interference treated the first information by controlled
Object function is handled, and the second information is obtained, comprising:
Step a adds default interference information to the first information, obtains interference treated the first information.
In this step, default interference information w is added to the first information, then treated that the first information is represented by u for interference
(k)=u (k)+wn (k).
Interference treated the first information is handled by controlled device function, obtains the second information by step b；Its
In, controlled device function representation are as follows:
X (k)=Ax (k-1)+B (u (k)+ω (k))
Y (k)=Cx (k)
Wherein, x (k) indicates the state variable at current time；The state variable of x (k-1) expression last moment；U (k) is indicated
The first information；ω (k) indicates process noise；A indicates sytem matrix；B indicates input matrix；C indicates output matrix；Y (k) is indicated
Second information.
S204 is carried out plus is made an uproar processing to the second information, and will be added and be made an uproar that treated the second information passes through Kalman filter
It is handled, obtains believing from clock.
This step is realized by Kalman filtering on the effective of the external interferences influence such as clock crystal oscillator shake and random error
Inhibit.
Optionally, the second information is carried out plus is made an uproar processing in S204, and will added and make an uproar that treated the second information passes through karr
Graceful filter is handled, and is obtained from clock information, comprising:
Step 1), by preset formula, carry out plus make an uproar to the second information processing；Preset formula indicates are as follows:
yv(k)=y (k)+v (k)
Wherein, yv(k) it indicates plus the second information of making an uproar that treated；Y (k) indicates the second information；V (k) indicates measurement noise.
Step 2) will add and make an uproar that treated the second information be calculated by the default equation group of Kalman filter, obtains
To from clock information.
The default equation group of the Kalman filter indicates are as follows:
X (k)=Ax (k-1)+Mn(k)(yv(k)-CAx(k-1))
ye(k)=Cx (k)
Wherein, Mn(k) gain of hybrid cytokine or remnants is indicated；A indicates sytem matrix；The matrix of B expression input variable；
C indicates output matrix；P (k) indicates Posterior estimator covariance；Indicate the intermediate computations of the prior estimate covariance at k moment
As a result；R is indicated；P (k-1) is indicated；Q indicates procedure activation noise covariance；The current time of x (k) expression Kalman filter
State equation；yv(k) it indicates plus the second information of making an uproar that treated；The last moment state side of x (k-1) expression Kalman filter
Journey；ye(k) the slave clock information for indicating output, can be indicated in form with ye.
S205, judges whether master clock information and the deviation from clock information meet preset condition.
In the embodiment of the present invention, preset condition be level off to zero default value, specific value is by implementation personnel setting.This
Judge whether be equal to or less than threshold value from the deviation of clock information and master clock information in step.As judge master clock yd-ye
Difference whether be equal to or less than threshold value.Time of the meaning of the difference of yd-ye physically between upper master-salve clock is inclined
Poor offset:
S206, when master clock information and the deviation from clock information are unsatisfactory for preset condition, by master clock information with from
The deviation of clock information is input to synovial membrane controller, executes S202-S205, until master clock information and the deviation from clock information
When meeting preset condition, target is obtained from clock information.
When the difference for judging yd-ye in above-mentioned S205 is greater than threshold value, the difference of yd-ye is controlled in the synovial membrane being input to
Device continues to execute S202-S205, terminates when the difference of yd-ye is equal to or less than threshold value.Corresponding at this time it will believe from clock
Breath, from clock information, illustrates to optimize frequency shift (FS) rate and random error at this time to the influence from clock accuracy as target,
Target at this time is more accurate from clock information, and then it is synchronous accurately to realize master-salve clock.
It is provided in an embodiment of the present invention one kind from clock information optimization method, first with sliding mode controller to from when
The deviation of clock information and master clock information handled, it can be achieved that master-salve clock crystal oscillator frequency drift control effectively with it is excellent
Change, then using Kalman filter sliding mode controller output information is handled, it can be achieved that from clock crystal oscillator shake and
Effective inhibition that the external interferences such as random error influence, and then obtain meeting from the deviation of clock information and master clock information default
The corresponding target of condition is from clock information.The obtained target is reduced from clock information from clock crystal oscillator oscillation frequency drift motion
And from clock crystal oscillator shake and random error to the influence from clock information accuracy, and then it is inclined to effectively reduce master-salve clock
Difference realizes more accurately master-salve clock synchronization.
One kind in order to better illustrate the present invention, can be real just like the present invention shown in Fig. 3 from clock information optimization method
Apply a kind of from clock information optimization system frame diagram of example.
In embodiments of the present invention, master clock information yd is input to synovial membrane controller first, passes through the synovial membrane controller
It is handled, obtains the first information；The first information is added and controls interference w, and first information process after control interference will be added
Controlled device function is handled, and the second information is obtained；It makes an uproar to measurement is added from controlled device function treated the second information
The second information input after measuring noise v will be added to Kalman filter in sound v；Information is carried out by Kalman filter
Processing, output are obtained from clock information ye；The difference for calculating yd-ye, judges whether the difference of yd-ye meets preset condition, when
When the difference of yd-ye is unsatisfactory for preset condition, the difference of yd-ye is input to synovial membrane controller, repeats above-mentioned steps, directly
To yd-ye difference preset condition when, using the value of ye at this time as target from clock information.
The advantages of simulink emulation illustrates the embodiment of the present invention can be used below.
For a kind of from clock information optimization method, settable sytem matrix of the applicationInput square
Battle arrayInput matrix C=[1 0]；Transmission matrix D=0；White noise signal ω (k) is [- 0.80.8]；White noise
Signal v (k) is [- 0.001 0.001], procedure activation noise covariance Q=10 in Kalman filter；Observe noise covariance
R=10；In synovial membrane controller, coefficient matrix CeIn constant c=25；Approach rate ε=130 of diverter surface；Index term coefficient q
=280；It is 0.000001s that initial master clock information and the deviation from clock information, which is arranged,；Master clock information is believed with from clock
The deviation threshold of breath is 10us；Master clock information and the deviation offset from clock information are added into Kalman filter and non-added-time
The result of Kalman filter compares, this, which compares figure, can be found in Fig. 4.Fig. 4 is that a kind of of the embodiment of the present invention believes from clock
It is used in breath optimization method and adds Kalman filter and do not adopt Kalman filter processing result simulation comparison figure in the prior art.
Offset1 indicates the application plus Kalman filter as a result, offset2 indicates that the prior art does not add Kalman to filter in Fig. 4
Wave device is result under natural conditions.
As can be known from Fig. 4, when not synchronizing master-salve clock, the approximately linear growth of time deviation, and along with
Small shake, but into after crossing Kalman filter filtering, curve obviously becomes smooth, shakes more small, the time
The shake of deviation is significantly inhibited.It can be seen that the application is using Kalman filter to the principal and subordinate for improving 1588 agreements
Timing tracking accuracy has certain effect.
It, can by a kind of result figure from clock information optimization method of the application when using the synchronizing cycle of T=1s
Referring to Fig. 5.Fig. 5 is the emulation of synchronizing cycle that T=1s is used from clock information optimization method of the embodiment of the present application a kind of
Result figure.
As can be known from Fig. 5, Kalman filter and sliding mode controller are passed through in the slave clock information optimization method of the application
Processing, principal and subordinate's time deviation offset not only by clock frequency drift about caused by approximately linear increase part obtain effectively
Inhibit and optimize, and the random error caused by shaking from clock frequency is also well controlled, so that offset is in 5s
It inside rapidly converges near a minimum, curve becomes more smooth, and keeps significantly stable.Thus may be used
See, in the slave clock information optimization method of the application, is realized by sliding mode controller and Kalman filter to 1588 agreements
The scheme that principal and subordinate's timing tracking accuracy improves has very big practicability and feasibility.
The master-salve clock information of three kinds of different synchronizing cycles (T1=0.1s, T2=0.5s, T3=1.0s) is used into this Shen
Slave clock information optimization method please is handled, and result shown in fig. 6 can be obtained and compare figure.Fig. 6 is the embodiment of the present invention
Master-salve clock simulation result comparison diagram under different synchronizing cycles in a kind of master-salve clock information.
As can be known from Fig. 6, as T3=1s synchronizing cycle, the fast convergence about in 5s；As T2=0.5s, about exist
Fast convergence in 3s；As T1=0.1s, the fast convergence about in 2s.That is, continuous with message synchronizing cycle
Reduce, principal and subordinate's time deviation is convergent faster, while the precision of time synchronization is also higher.The slave clock information optimization side of the application
Method, based on Kalman filter and sliding mode controller to the signal of different synchronizing cycles can Effective Regulation from clock rate,
So that it is quickly followed master clock, reach better timing tracking accuracy, to realize that 1588 agreement difference master-salve clocks are synchronous
The control and optimization in period, improve the precision of time synchronization, so that meeting 5G (5G network, the 5th third generation mobile communication network)
Requirement to time synchronization nanosecond.
Second aspect, the embodiment of the invention discloses one kind to optimize device from clock information, reference can be made to Fig. 7.Fig. 7 is this hair
The a kind of of bright embodiment optimizes apparatus structure schematic diagram from clock information, and device includes:
Master clock data obtaining module 701, for obtaining master clock information；
First information determining module 702 obtains the first letter for handling master clock information by synovial membrane controller
Breath；
Second information determination module 703, for carrying out interference processing to the first information, and will interference treated the first letter
Breath is handled by controlled device function, obtains the second information；Controlled device function is that main clock information is corresponding from clock
The function that the function expression of information is obtained by Laplace transform and discretization；
From clock information determining module 704, for processing that the second information is carried out plus made an uproar, and it will add and make an uproar that treated second
Information is handled by Kalman filter, is obtained from clock information；
Whether master-salve clock deviation judgment module 705, the deviation for judging master clock information and from clock information meet
Preset condition；
Target is unsatisfactory for pre- from clock information determining module 706 for the deviation when master clock information and from clock information
If when conditions, master clock information and the deviation from clock information being input to synovial membrane controller, return to first information determining module
It continues to execute, until obtaining target from clock information when master clock information and the deviation from clock information meet preset condition.
Optionally, of the invention from a kind of embodiment of clock information optimization device, first information determining module
702, comprising:
First median determines submodule, for passing through synovial membrane controller for master clock information input to synovial membrane controller
The first formula, obtain the first median；
Second median determines submodule, for passing through the second formula of synovial membrane controller, obtains the second median；
Third median determines submodule, for obtaining third median by the first median and the second median；
The first information determines submodule, for passing through third for the third formula of third median input synovial membrane controller
Formula obtains the first information.
Optionally, of the invention from a kind of embodiment of clock information optimization device, the second information determination module
703, comprising:
Interference processing submodule obtains interference treated the first letter for adding default interference information to the first information
Breath；
Second information determines submodule, for the first information that will interfere that treated by controlled device function
Reason, obtains the second information；Wherein, controlled device function representation are as follows:
X (k)=Ax (k-1)+B (u (k)+ω (k))
Y (k)=Cx (k)
Wherein, x (k) indicates the state variable at current time；The state variable of x (k-1) expression last moment；U (k) is indicated
The first information；ω (k) indicates process noise；A indicates sytem matrix；B indicates input matrix；C indicates output matrix；Y (k) is indicated
Second information.
Optionally, of the invention from a kind of embodiment of clock information optimization device, from clock information determining module
704, comprising:
Add to make an uproar and handle submodule, for by preset formula, to carry out plus make an uproar to the second information processing；Preset formula indicates
Are as follows:
yv(k)=y (k)+v (k)
Wherein, yv(k) it indicates plus the second information of making an uproar that treated；Y (k) indicates the second information；V (k) indicates measurement noise；
Submodule is determined from clock information, makes an uproar that treated for that will add the second information passes through the default of Kalman filter
Equation group is calculated, and is obtained from clock information.
The third aspect, the embodiment of the invention discloses a kind of electronic equipment, as shown in Figure 8.Fig. 8 is the embodiment of the present invention
A kind of electronic equipment structural schematic diagram, including processor 801, communication interface 802, memory 803 and communication bus 804, wherein
Processor 801, communication interface 802, memory 803 complete mutual communication by communication bus 804；
Memory 803, for storing computer program；
Processor 801 when for executing the program stored on memory 803, is realized above-mentioned from clock information optimization side
Any method and step in method.
The communication bus 804 that above-mentioned electronic equipment is mentioned can be Peripheral Component Interconnect standard (Peripheral
Component Interconnect, PCI) bus or expanding the industrial standard structure (Extended Industry Standard
Architecture, EISA) bus etc..The communication bus 804 can be divided into address bus, data/address bus, control bus etc..For
Convenient for indicating, only indicated with a thick line in figure, it is not intended that an only bus or a type of bus.
Communication interface 802 is for the communication between above-mentioned electronic equipment and other equipment.
Memory 803 may include random access memory (Random Access Memory, RAM), also may include
Nonvolatile memory (Non-Volatile Memory, NVM), for example, at least a magnetic disk storage.Optionally, memory
803 can also be that at least one is located remotely from the storage device of aforementioned processor 801.
Above-mentioned processor 801 can be general processor, including central processing unit (Central Processing
Unit, CPU), network processing unit (Network Processor, NP) etc.；It can also be digital signal processor (Digital
Signal Processing, DSP), specific integrated circuit (Application Specific Integrated Circuit,
ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic
Device, discrete gate or transistor logic, discrete hardware components.
In a kind of electronic equipment provided in an embodiment of the present invention, first with sliding mode controller to from clock information and master
The deviation of clock information, which is handled, to be control effectively and optimizes, it can be achieved that drifting about to master-salve clock crystal oscillator frequency, is then adopted
Sliding mode controller output information is handled with Kalman filter, it can be achieved that from clock crystal oscillator shake and random error etc.
Effective inhibition that external interference influences, and then obtain meeting preset condition from the deviation of clock information and master clock information corresponding
Target is from clock information.The obtained target from clock information reduce from clock crystal oscillator oscillation frequency drift about and from clock crystalline substance
Dynamic and random error flutter to the influence from clock information accuracy, and then effectively reduces master-salve clock deviation, realize compared with
It is synchronous for accurately master-salve clock.
Fourth aspect, the embodiment of the invention discloses a kind of computer readable storage medium, computer readable storage mediums
It is inside stored with computer program, when computer program is executed by processor, is realized above-mentioned any from clock information optimization method
Method and step.
In a kind of computer readable storage medium provided in an embodiment of the present invention, first with sliding mode controller to from when
The deviation of clock information and master clock information handled, it can be achieved that master-salve clock crystal oscillator frequency drift control effectively with it is excellent
Change, then using Kalman filter sliding mode controller output information is handled, it can be achieved that from clock crystal oscillator shake and
Effective inhibition that the external interferences such as random error influence, and then obtain meeting from the deviation of clock information and master clock information default
The corresponding target of condition is from clock information.The obtained target is reduced from clock information from clock crystal oscillator oscillation frequency drift motion
And from clock crystal oscillator shake and random error to the influence from clock information accuracy, and then it is inclined to effectively reduce master-salve clock
Difference realizes more accurately master-salve clock synchronization.
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real
It is existing.When implemented in software, it can entirely or partly realize in the form of a computer program product.Computer program product
Including one or more computer instructions.When loading on computers and executing computer program instructions, all or part of real estate
Raw process or function according to the embodiment of the present invention.Computer can be general purpose computer, special purpose computer, computer network,
Or other programmable devices.Computer instruction may be stored in a computer readable storage medium, or from a computer
Readable storage medium storing program for executing to another computer readable storage medium transmit, for example, computer instruction can from a web-site,
Computer, server or data center by wired (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wireless (such as
Infrared, wireless, microwave etc.) mode transmitted to another web-site, computer, server or data center.Computer
Readable storage medium storing program for executing can be any usable medium or include one or more usable medium collection that computer can access
At the data storage devices such as server, data center.Usable medium can be magnetic medium, (for example, floppy disk, hard disk, magnetic
Band), optical medium (for example, DVD) or semiconductor medium (such as solid state hard disk Solid State Disk (SSD)) etc..
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including element.
Each embodiment in this specification is all made of relevant mode and describes, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device,
For electronic equipment and storage medium embodiment, since it is substantially similar to the method embodiment, so being described relatively simple, phase
Place is closed to illustrate referring to the part of embodiment of the method.
The above is merely preferred embodiments of the present invention, it is not intended to limit the scope of the present invention.It is all in this hair
Any modification, equivalent replacement, improvement and so within bright spirit and principle, are included within the scope of protection of the present invention.
Claims (10)
1. a kind of from clock information optimization method, which is characterized in that the described method includes:
Step A obtains master clock information；
The master clock information is handled by synovial membrane controller, obtains the first information by step B；
Step C carries out interference processing to the first information, and will interference treated that the first information passes through controlled device
Function is handled, and the second information is obtained；The controlled device function is that the master clock information is corresponding from clock information
The function that function expression is obtained by Laplace transform and discretization；
Step D is carried out plus is made an uproar processing to second information, and will plus make an uproar that treated second information passes through Kalman's filter
Wave device is handled, and is obtained from clock information；
Step E, judges whether the master clock information and the deviation from clock information meet preset condition；
Step F, when the master clock information and it is described be unsatisfactory for the preset condition from the deviation of clock information when, by the master
Clock information and it is described be input to the synovial membrane controller from the deviation of clock information, step B- step E is executed, until the master
Clock information and described when meeting preset condition from the deviation of clock information, obtains target from clock information.
2. the method according to claim 1, wherein it is described by the master clock information by synovial membrane controller into
Row processing, obtains the first information, comprising:
The master clock information input to synovial membrane controller is obtained in first by the first formula of the synovial membrane controller
Between be worth；
By the second formula of the synovial membrane controller, the second median is obtained；
By first median and second median, third median is obtained；
The third formula that the third median is inputted to the synovial membrane controller obtains the first letter by the third formula
Breath.
3. the method according to claim 1, wherein described carry out interference processing to the first information, and will
Interference treated the first information is handled by controlled device function, obtains the second information, comprising:
Default interference information is added to the first information, obtains interference treated the first information；
Interference treated the first information is handled by controlled device function, obtains the second information；Wherein, described
Controlled device function representation are as follows:
X (k)=Ax (k-1)+B (u (k)+ω (k))
Y (k)=Cx (k)
Wherein, x (k) indicates the state variable at current time；The state variable of x (k-1) expression last moment；Described in u (k) expression
The first information；ω (k) indicates process noise；A indicates sytem matrix；B indicates input matrix；C indicates output matrix；Y (k) is indicated
Second information.
4. the method according to claim 1, wherein described carry out second information to add processing of making an uproar, and will
Add and make an uproar that treated second information is handled by Kalman filter, obtains from clock information, comprising:
By preset formula, carry out plus make an uproar to second information processing；The preset formula indicates are as follows:
yv(k)=y (k)+v (k)
Wherein, yv(k) it indicates plus second information of making an uproar that treated；Y (k) indicates second information；V (k) indicates that measurement is made an uproar
Sound；
It will add and make an uproar that treated second information is calculated by the default equation group of Kalman filter, obtain from clock
Information.
5. a kind of optimize device from clock information, which is characterized in that described device includes:
Master clock data obtaining module, for obtaining master clock information；
First information determining module obtains the first information for handling the master clock information by synovial membrane controller；
Second information determination module, for carrying out interference processing to the first information, and will interference treated described first
Information is handled by controlled device function, obtains the second information；The controlled device function is the master clock information pair
The function that the function expression for the slave clock information answered is obtained by Laplace transform and discretization；
From clock information determining module, for processing that second information is carried out plus made an uproar, and it will add that make an uproar that treated described the
Two information are handled by Kalman filter, are obtained from clock information；
Master-salve clock deviation judgment module, for judging whether the master clock information and the deviation from clock information meet
Preset condition；
Target is from clock information determining module, for when the master clock information and described being unsatisfactory for institute from the deviation of clock information
When stating preset condition, by the master clock information and it is described be input to the synovial membrane controller from the deviation of clock information, return
The first information determining module continues to execute, until the master clock information and it is described from the deviation of clock information meet preset
When condition, target is obtained from clock information.
6. device according to claim 5, which is characterized in that the first information determining module, comprising:
First median determines submodule, for passing through the synovial membrane control for the master clock information input to synovial membrane controller
First formula of device processed, obtains the first median；
Second median determines submodule, for passing through the second formula of the synovial membrane controller, obtains the second median；
Third median determines submodule, for obtaining among third by first median and second median
Value；
The first information determines submodule, for the third median to be inputted to the third formula of the synovial membrane controller, passes through
The third formula obtains the first information.
7. device according to claim 5, which is characterized in that second information determination module, comprising:
Interference processing submodule obtains interference treated described for adding default interference information to the first information
One information；
Second information determines submodule, for the first information that will interfere that treated by controlled device function
Reason, obtains the second information；Wherein, the controlled device function representation are as follows:
X (k)=Ax (k-1)+B (u (k)+ω (k))
Y (k)=Cx (k)
Wherein, x (k) indicates the state variable at current time；The state variable of x (k-1) expression last moment；Described in u (k) expression
The first information；ω (k) indicates process noise；A indicates sytem matrix；B indicates input matrix；C indicates output matrix；Y (k) is indicated
Second information.
8. device according to claim 5, which is characterized in that described from clock information determining module, comprising:
Add to make an uproar and handle submodule, for by preset formula, to carry out plus make an uproar to second information processing；The preset formula table
It is shown as:
yv(k)=y (k)+v (k)
Wherein, yv(k) it indicates plus second information of making an uproar that treated；Y (k) indicates second information；V (k) indicates that measurement is made an uproar
Sound；
Submodule is determined from clock information, makes an uproar that treated for that will add second information passes through the default of Kalman filter
Equation group is calculated, and is obtained from clock information.
9. a kind of electronic equipment, which is characterized in that including processor, communication interface, memory and communication bus, wherein described
Processor, the communication interface, the memory complete mutual communication by the communication bus；
The memory, for storing computer program；
The processor when for executing the program stored on the memory, realizes any side claim 1-4
Method step.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer in the computer readable storage medium
Program realizes claim 1-4 any method and step when the computer program is executed by processor.
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