CN110955170A - End-to-end self-adaptive synchronization method and plug-and-play traction control device - Google Patents
End-to-end self-adaptive synchronization method and plug-and-play traction control device Download PDFInfo
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- CN110955170A CN110955170A CN201811131585.5A CN201811131585A CN110955170A CN 110955170 A CN110955170 A CN 110955170A CN 201811131585 A CN201811131585 A CN 201811131585A CN 110955170 A CN110955170 A CN 110955170A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0421—Multiprocessor system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25212—Master address node, node answers ready, master sends command, node executes it
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses an end-to-end self-adaptive synchronization method and a plug-and-play traction control device, wherein the method comprises the following starting steps: after the main node is powered on, the main node enters a BOOT state, and after the main node is self-checked to be normal, the main node enters an INIT state; in the INIT state, polling the states of all slave nodes and sending a control command for entering the INIT state to the ready slave nodes; and after the slave node is powered on, the slave node enters a BOOT state, informs the master node of the local computer to be ready after self-checking is normal, and enters an INIT state after receiving a control command for entering the INIT state from the master node. The invention can realize the self-adaptive identification of each slave node and can flexibly cut and configure.
Description
Technical Field
The invention relates to the technical field of synchronous buses, in particular to an end-to-end self-adaptive synchronization method and a plug-and-play traction control device.
Background
The traction control device is used for controlling a traction system, and the realization functions comprise: the functions of rectification control, inversion control, adhesion control, DCDC, system logic control, external communication and the like are mainly divided into two types: (1) the signal acquisition, pulse output and calculation functions of each control function are centralized in one place, and the function model is as shown in fig. 1, wherein each block in fig. 1 represents a node and is an independent functional unit, and each corresponding functional unit corresponds to an independent hardware unit. The logic master control is mainly responsible for switching on and off and protecting some logic actions of the whole system, and the external communication is mainly data interaction with an upper-layer master control, a display or a network unit and the like. The inversion means that the direct current is converted into alternating current for driving the motor, and the rectification is opposite; adhesion refers to the control of the friction and force between the wheels and the rail during the re-operation of the locomotive. In this framework, each functional unit independently takes the samples computed by the unit and independently controls the output. (2) The control calculation function is separated from the collection and the output, the function model is shown in fig. 2, and in fig. 2, compared with fig. 1, the modules are divided according to fig. 2 not according to the control function but according to the calculation and the input and the output of data. Therefore, all external digital signal input/output, analog signal input/output, and external communication and storage of the whole system are separated to form a single hardware unit, and meanwhile, computing resources are separated to form a single computing unit (such as inversion and four quadrants), so that adaptation can be performed according to the change of interface resources and the change of computing resources.
In terms of hardware structure, the system is also divided into a module distributed type and a case integrated type. No matter the traction control device adopts a module distributed mode or a case centralized mode, two problems need to be solved: (1) how to solve the problems of rapid configuration and cutting of the device: the traction control field is low in standardization degree of application scenes, and the control device is frequently required to be modified in position in different application scenes, such as increase and decrease of functional units, increase and decrease of input and output channels, and change of properties (such as changing from 5V to 24V), so that the rapid cutting and configuration capability of the device is beneficial to products to quickly respond to market demands; (2) the data synchronization problem of the whole system.
Disclosure of Invention
The invention aims to provide an end-to-end self-adaptive synchronization method and a plug-and-play traction control device based on the end-to-end self-adaptive synchronization method, so as to solve the technical problems of rapid configuration and cutting of the device and data synchronization of the whole system.
In order to solve the above technical problem, the present invention provides an end-to-end adaptive synchronization method, which comprises the following starting steps:
after the main node is powered on, the main node enters a BOOT state, and after the main node is self-checked to be normal, the main node enters an INIT state; in the INIT state, polling the states of all slave nodes and sending a control command for entering the INIT state to the ready slave nodes;
and after the slave node is powered on, the slave node enters a BOOT state, informs the master node of the local computer to be ready after self-checking is normal, and enters an INIT state after receiving a control command for entering the INIT state from the master node.
Preferably, after the master node and the slave node both enter the INIT state, the method further comprises the following configuration steps: the master node enters the RUN state and reads the hardware information of the slave node, checks and updates the program and the parameter table of the slave node and informs the slave node of the communication parameters of the process communication in the RUN state; then, the master node sends a control command for entering the RUN state to the slave node;
the slave node enters the RUN state after receiving the control command of the RUN state from the master node.
Preferably, the communication parameters of the process communication of the slave node in the RUN state include the frame length, the period and the mapping relation between the logical address and the physical address of the data.
Preferably, after the master node and the slave node both enter the RUN state, the method further comprises the following communication steps:
when data is downlink, the main node sends a data frame containing a frame header indicating a logical address to the slave node; after receiving the data frame from the main node, the slave node translates the logical address in the frame header into a physical address and acquires terminal data; in implementation, both the master node and the slave node need to perform translation work, the master node has a mapping relation of all variables (logical addresses), and the slave node has a mapping relation of the variables (logical addresses). The transmitting end translates the variable into physical address through corresponding logical port, and the receiving end translates the physical address into logical port and corresponding to the actual variable.
When data are uplinked, the slave node writes data needing to be uplinked into the dual-port RAM in real time in each DSP operation period, and extracts data of a plurality of DSP operation periods from the dual-port RAM in one serial communication period and sends the data to the master node; and the master node stores the received data of the plurality of DSP operation cycles into a cache region, and acquires the data of the plurality of DSP operation cycles from the cache region in the operation cycle of a master node application program.
Preferably, the serial communication period is greater than the DSP operation period, and the running period of the master node application is greater than the DSP operation period.
The invention also provides a plug-and-play traction control device based on the end-to-end self-adaptive synchronization method, which comprises the following steps: the device comprises a main node and more than one slave node connected with the main node through an end-to-end self-adaptive synchronous bus, wherein the main node is used for realizing main control logic in the device and external communication, diagnosis and data transmission of the device; the slave node is used to complete the operation.
Preferably, the device further comprises a state machine, wherein the state machine is used for identifying that the main node enters a BOOT state after the main node is powered on, and identifying that the main node enters an INIT state after the main node is subjected to self-checking normally;
the state machine is also used for identifying that the slave node enters the BOOT state after the slave node is powered on, and identifying that the slave node enters the INIT state after receiving a control command for entering the INIT state from the master node.
Preferably, the state machine is further configured to identify that the master node enters a RUN state after both the master node and the slave node enter an INIT state; the slave node is identified to enter the RUN state upon receiving a control command from the master node for the RUN state.
Preferably, the state machine is further configured to, when the master node or the slave node does not complete initialization or communication abnormality occurs, identify that the master node or the slave node enters a STOP state; when the master node or the slave node in the STOP state completes initialization or resumes communication, the master node or the slave node is identified to enter a RUN state.
The present invention also provides a computer system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any of the methods described above when executing the computer program.
The invention has the following beneficial effects:
1. the end-to-end self-adaptive synchronization method of the invention realizes the self-adaptive identification of each slave node and can flexibly cut and configure.
2. In a preferred scheme, the plug-and-play traction control device realizes the self-adaptive identification of each node and the effective fusion of data among a plurality of nodes in the traction control device.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a typical configuration of local acquisition, local computation, local output of a prior art traction control device;
FIG. 2 is a schematic diagram of an exemplary configuration of a calculation, acquisition and output separation of a prior art traction control device;
FIG. 3 is a flow chart diagram of an end-to-end adaptive synchronization method in accordance with a preferred embodiment of the present invention;
FIG. 4 is a schematic diagram of an end-to-end master-slave node model structure according to the preferred embodiments 1 and 2 of the present invention;
FIG. 5 is a schematic diagram of the hardware configuration of the preferred embodiment 1 of the present invention;
FIG. 6 is a schematic diagram of the software architecture of the preferred embodiment 1 of the present invention;
fig. 7 is a schematic diagram of address mapping of data frames according to preferred embodiment 1 of the present invention;
FIG. 8 is a diagram of a data cache in accordance with a preferred embodiment of the present invention 1;
FIG. 9 is a schematic diagram of the state machine structure of the preferred embodiments 1, 2 of the present invention;
fig. 10 is a schematic diagram of the transition between STOP state and INIT state and RUN state of the state machine according to the preferred embodiments 1 and 2 of the present invention.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
Referring to fig. 3, the end-to-end adaptive synchronization method of the present invention includes the following starting steps:
after the main node is powered on, the main node enters a BOOT state, and after the main node is self-checked to be normal, the main node enters an INIT state; in the INIT state, polling the states of all slave nodes and sending a control command for entering the INIT state to the ready slave nodes;
and after the slave node is powered on, the slave node enters a BOOT state, informs the master node of the local computer to be ready after self-checking is normal, and enters an INIT state after receiving a control command for entering the INIT state from the master node.
Through the steps, the self-adaptive identification of each slave node is realized, and the flexible cutting configuration of the module can be realized.
In practice, the above method can be expanded or applied as follows, all the technical features in the following embodiments can be combined with each other, and the embodiments are only used as examples and are not limited to the normal combination of the technical features.
Example 1:
the present embodiment is applied to the master-slave topology structure of fig. 4, the slave node is connected to the master node through a bus, a typical hardware structure of the master-slave topology is as shown in fig. 5, fig. 5 is a system architecture currently used for a subway, and the master node (the upper unit in fig. 5, corresponding to the master control unit) will adopt a processor with strong performance to take charge of master control logic, system external communication, diagnosis, data, and the like. The slave nodes (the lower units in fig. 5) are responsible for specific driving and computing functions using DSPs, such as inverter units, four-quadrant units, adhesion control units, etc., and the number of each unit may be multiple.
Referring to fig. 3, the end-to-end adaptive synchronization method of the present embodiment includes the following steps:
firstly, a starting step:
after the main node is powered on, the main node enters a BOOT state, and after the main node is self-checked to be normal, the main node enters an INIT state; in the INIT state, polling the states of all slave nodes and sending a control command for entering the INIT state to the ready slave nodes;
and after the slave node is powered on, the slave node enters a BOOT state, informs the master node of the local computer to be ready after self-checking is normal, and enters an INIT state after receiving a control command for entering the INIT state from the master node.
Secondly, configuration step:
the master node enters the RUN state, reads the hardware information of the slave node, checks and updates the program and parameter table of the slave node, and informs the slave node of communication parameters of process communication in the RUN state, wherein the communication parameters comprise the frame length and the period of data and the mapping relation between a logical address and a physical address. Then, the master node sends a control command for entering the RUN state to the slave node; the slave node enters the RUN state after receiving the control command of the RUN state from the master node.
Thirdly, communication step:
referring to fig. 6, in fig. 6, a real-time driver is used to exchange data on the bus. The real-time communication link is used for performing packet management on the original data, and distinguishing messages are process communication, message communication or command messages and are mapped to corresponding physical addresses; if the message is process communication, the message is translated into a logic port for an upper application program to use through the process communication unit, and if the message is message data, the message communication management unit performs actions such as transmission of parameter configuration, file transmission or object dictionary establishment and the like according to the message content; if the command data is received, the state machine management unit switches the nodes among INIT, RUN and STOP according to the command.
When data is downlink, the main node sends a data frame containing a frame header indicating a logical address to the slave node; and after receiving the data frame from the main node, the slave node translates the logical address in the frame header into a physical address and acquires terminal data. The downlink data in the process communication refers to data sent to each slave node by the master node in the process communication, mainly includes some control commands, the data order is usually not large, and the real-time performance is not very high (usually 10 milliseconds for one period). In practice, the master node transmits a variable 'torque' to the slave node, and the 'torque' variable actually corresponds to a logical port or address, so that the concept of 'torque' is not available during communication, and only the corresponding logical port is available.
In this embodiment, referring to fig. 7, all physical information is shielded for an application layer of a master node, all master nodes only have a concept of a logical address or a logical port in an application view, an actual physical address corresponding to each logical address or logical port is defined by an application person according to different project requirements, but mapping from a fixed logical port to a fixed dual-port RAM or a fixed physical channel (for example, current collection, pulse transmission, and the like on a slave node) on the slave node is completed by communication software, parameters describing a mapping relationship are transmitted through communication parameters in a device starting process, and mapping from the physical address to the logical port is completed in a communication process.
The transmission mechanism of the uplink data and the downlink data only differs in the buffer mechanism. Because the data sent from the slave node to the master node, in addition to being used for logical applications, needs to be used for waveform monitoring and fault logging. Since real-time data monitoring and logging in traction conversion control requires more real-time data than other process control (typically up to 40 microseconds for one logging cycle), efficient caching of data on both the slave and master nodes is required.
When data is uplinked, referring to fig. 8, the slave node writes data to be uplinked into the dual-port RAM in real time in each DSP operation period (40-100 microseconds), and extracts data of a plurality of DSP operation periods from the dual-port RAM in one serial communication period and sends the data to the master node; however, the running period of the application program located on the upper layer of the host node is generally about 10 milliseconds, so that the application program cannot respond to the reception and processing of the uplink data in real time, and therefore a buffer area needs to be created on the host node on the upper layer, so that the host node can acquire data of multiple periods of the DSP every 10 milliseconds. Meanwhile, because the serial communication period is inconsistent with the DSP operation period, and a serial channel needs to be responsible for data transmission among a plurality of nodes, the DSP is also required to cache locally data to be uploaded, the master node stores the received data of a plurality of DSP operation periods into a cache region, and then asynchronously obtains the data of a plurality of DSP operation periods from the cache region through serial communication in the operation period (about 10 milliseconds) of a master node application program.
Example 2:
the present embodiment further provides a plug-and-play traction control device based on embodiment 1, including: referring to fig. 4, a master node and more than one slave nodes connected to the master node through an end-to-end adaptive synchronous bus, where the master node is used to implement master control logic in the device, and device external communication, diagnosis and data transmission; the slave node is used to complete the operation.
In practice, the apparatus further comprises a state machine, see fig. 9, the state machine being configured to: after the main node is powered on, identifying that the main node enters a BOOT state, and identifying that the main node enters an INIT state after the main node is self-checked normally; after the slave node is powered on, the slave node is identified to enter a BOOT state, and after a control command for entering the INIT state is received from the master node, the slave node is identified to enter the INIT state. After the master node and the slave node both enter the INIT state, identifying that the master node enters the RUN state; after the slave node receives a control command of the RUN state from the master node, identifying that the slave node enters the RUN state; RUN state represents: after the node is powered on, initialization and object dictionary establishment are completed, normal communication can be carried out, and translation from a physical address to a logical port is carried out. Referring to fig. 9, fig. 10, the STOP condition indicates: when a node is in a STOP state, usually when the node does not complete initialization or communication abnormality (for example, long-time communication loss) occurs, the master node sends a command message to make a corresponding slave node enter a STOP state. At this time, the master node is not communicated with the outside, and the STOP state of the slave node is informed to the master node, and the master node waits for receiving a start or reset message of the master node, so that the RUN state is entered again. If the main node enters the STOP state, the main node can only reset itself, and enters the RUN state again after recovery.
Example 3:
the invention also provides a computer system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the steps of the method of embodiment 1 being carried out when the computer program is executed by the processor.
In summary, the present invention provides a set of state machine management, process communication management, and communication management mechanisms based on a high-speed real-time communication link, so as to implement a self-adaptive function of application software for hardware identification, implement plug and play of a traction control device, implement self-adaptive identification of each node, and effectively fuse data among multiple nodes, and facilitate flexible cutting configuration of modules of the device.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An end-to-end adaptive synchronization method, characterized by comprising the following starting steps:
after the main node is powered on, the main node enters a BOOT state, and after the main node is self-checked to be normal, the main node enters an INIT state; in the INIT state, polling the states of all slave nodes and sending a control command for entering the INIT state to the ready slave nodes;
and after the slave node is powered on, the slave node enters a BOOT state, informs the master node of the local computer to be ready after self-checking is normal, and enters an INIT state after receiving a control command for entering the INIT state from the master node.
2. The end-to-end adaptive synchronization method according to claim 1, wherein after both the master node and the slave node enter the INIT state, the method further comprises the following configuration steps: the master node enters the RUN state and reads the hardware information of the slave node, checks and updates the program and the parameter table of the slave node and informs the slave node of the communication parameters of the process communication in the RUN state; then, the master node sends a control command for entering the RUN state to the slave node;
the slave node enters the RUN state after receiving the control command of the RUN state from the master node.
3. The end-to-end adaptive synchronization method according to claim 2, wherein the communication parameters of the process communication of the slave node in the RUN state include frame length, period and mapping relationship between logical address and physical address of data.
4. The end-to-end adaptive synchronization method according to claim 3, wherein after the master node and the slave node both enter RUN state, the method further comprises the following communication steps:
when data is downlink, the main node sends a data frame containing a frame header indicating a logical address to the slave node; after receiving a data frame from a main node, a slave node translates a logical address in a frame header into a physical address and acquires terminal data;
when data are uplinked, the slave node writes data needing to be uplinked into the dual-port RAM in real time in each DSP operation period, and extracts data of a plurality of DSP operation periods from the dual-port RAM in one serial communication period and sends the data to the master node; the master node stores the received data of the DSP operation cycles in a cache region, and obtains the data of the DSP operation cycles from the cache region in the operation cycle of a master node application program.
5. The end-to-end adaptive synchronization method according to claim 3, wherein the serial communication period is greater than the DSP operation period, and the operation period of the master node application is greater than the DSP operation period.
6. A plug-and-play traction control device based on the end-to-end adaptive synchronization method of any one of claims 1 to 5, comprising: the device comprises a main node and more than one slave node connected with the main node through an end-to-end self-adaptive synchronous bus, wherein the main node is used for realizing main control logic in the device and external communication, diagnosis and data transmission of the device; the slave node is used to complete the operation.
7. The plug-and-play traction control device of claim 6, further comprising a state machine, wherein the state machine is configured to identify that the master node enters a BOOT state after the master node is powered on, and identify that the master node enters an INIT state after the master node self-checks normally;
the state machine is further used for identifying that the slave node enters the BOOT state after the slave node is powered on, and identifying that the slave node enters the INIT state after the slave node receives a control command for entering the INIT state from the master node.
8. The plug-and-play traction control device of claim 7, wherein the state machine is further configured to identify the master node as entering a RUN state after both the master node and the slave node enter an INIT state; identifying that the slave node enters a RUN state upon the slave node receiving a control command for the RUN state from the master node.
9. The plug-and-play traction control device of claim 8, wherein the state machine is further configured to identify a master node or a slave node entering a STOP state when the master node or the slave node has not completed initialization or a communication anomaly has occurred; when the master node or the slave node in the STOP state completes initialization or resumes communication, the master node or the slave node is identified to enter a RUN state.
10. A computer system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the method of any of the preceding claims 1 to 5 are performed when the computer program is executed by the processor.
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