CN110955170B - 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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- CN110955170B CN110955170B CN201811131585.5A CN201811131585A CN110955170B CN 110955170 B CN110955170 B CN 110955170B CN 201811131585 A CN201811131585 A CN 201811131585A CN 110955170 B CN110955170 B CN 110955170B
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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]
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Abstract
The application 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 electrified, the main node enters a BOOT state, and after the self-checking is normal, the main node enters an INIT state; in the INIT state, all slave nodes are polled for state, and a control command for entering the INIT state is sent to the slave nodes which are ready for use; and after the slave node is powered on, entering a BOOT state, informing the master node of local readiness after the self-checking is normal, and entering an INIT state after receiving a control command for entering the INIT state from the master node. The application can realize the self-adaptive identification of each slave node and flexibly cut and configure.
Description
Technical Field
The present application relates to the field of synchronous buses, and in particular, to an end-to-end 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 implementation functions comprise: the functions of rectification control, inversion control, adhesion control, DCDC, system logic control, external communication and the like are generally divided into two types: (1) The signal acquisition, pulse output and calculation functions of each control function are concentrated together, and follow the local acquisition, local calculation and local output, the functional model is shown in fig. 1, each block represents a node in fig. 1 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 the upper-layer master control, a display or network unit and the like. The inversion means that the direct current is changed into alternating current for driving the motor, and the rectification is opposite; adhesion refers to controlling wheel to rail friction and force control during locomotive re-operation. Under this framework, each functional unit independently takes samples calculated by the unit and independently controls the output. (2) The control calculation function is separated from acquisition and output, the functional model is shown in fig. 2, and in fig. 2, compared with fig. 1, the division of the module in fig. 2 is not according to the control function, but according to the calculation and the input and output of data. Therefore, the input and output of all external digital signals, the input and output of analog signals and the external communication and storage of the whole system are independent to form an independent hardware unit, and meanwhile, the computing resources are also independent to form an independent computing unit (such as inversion and four quadrants), so that the adaptation can be performed according to the fluctuation of interface resources and the fluctuation of computing resources.
The hardware structure is also divided into a module distributed type and a case integrated type. Whether the traction control device adopts a module distribution type or a chassis centralized type, two problems need to be solved: (1) how to solve the quick configuration and clipping problems of devices: the standardization degree of application scenes facing the traction control field is low, and the control device frequently needs to be modified in position facing different application scenes, for example, the functional units are increased or decreased, the input and output channels are increased or decreased, and the properties are changed (for example, the input and output channels are changed from 5V to 24V), so that the quick cutting and configuration capability of the device is beneficial to quick response of products to market demands; (2) data synchronization problem of the whole system.
Disclosure of Invention
The application provides 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, which are used for solving the technical problems of quick configuration and cutting of the device and data synchronization of the whole system.
In order to solve the technical problems, the application provides an end-to-end self-adaptive synchronization method, which comprises the following starting steps:
after the main node is electrified, the main node enters a BOOT state, and after the self-checking is normal, the main node enters an INIT state; in the INIT state, all slave nodes are polled for state, and a control command for entering the INIT state is sent to the slave nodes which are ready for use;
and after the slave node is powered on, entering a BOOT state, informing the master node of local readiness after the self-checking is normal, and entering an INIT state after receiving a control command for entering the INIT state from the master node.
Preferably, 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 into the RUN state, 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 into the RUN state to the slave node;
the slave node enters the RUN state after receiving a control command of the RUN state from the master node.
Preferably, the communication parameters of the slave node in the RUN state include a frame length, a period of data, and a mapping relationship of a logical address and a physical address.
Preferably, after both the master node and the slave node enter the RUN state, the method further comprises the following communication steps:
when the data is down going, the master node sends a data frame containing a frame header indicating a logical address to the slave node; after receiving a data frame from a slave node, translating a logical address in a frame header into a physical address and acquiring terminal data; when the translation is implemented, the translation work is carried out by the master node and the slave node, the master node has the mapping relation of all variables (logical addresses), and the slave node has the mapping relation of the variables (logical addresses). The transmitting end translates the variable into a physical address through the corresponding logical port, and the receiving end translates the physical address into the logical port, corresponding to the actual variable.
When data is uplink, the slave node writes data to be uplink-transmitted into the dual-port RAM in real time in each DSP operation period, extracts data of a plurality of DSP operation periods from the dual-port RAM in one serial communication period and transmits the data to the master node; the host node stores the received data of a plurality of DSP operation periods into a buffer area, and obtains the data of a plurality of DSP operation periods from the buffer area in the operation period of one host node application program.
Preferably, the serial communication period is greater than the DSP operation period, and the running period of the host node application is greater than the DSP operation period.
The application also provides a plug-and-play traction control device based on the end-to-end adaptive synchronization method, which comprises the following steps: the device comprises a master node and more than one slave node connected with the master node through an end-to-end self-adaptive synchronous bus, wherein the master node is used for realizing master control logic in the device and device external communication, diagnosis and data transmission; the slave node is used to complete the operation.
Preferably, the device further comprises a state machine, wherein the state machine is used for marking that the main node enters a BOOT state after the main node is powered on and marking that the main node enters an INIT state after the main node is self-checked to be normal;
the state machine is further configured to identify that the slave node enters a BOOT state after the slave node is powered up, and identify that the slave node enters the INIT state after a control command from the master node to enter the INIT state is received from the slave node.
Preferably, the state machine is further configured to identify that the master node enters a RUN state after the master node and the slave node both enter an INIT state; the slave node is identified to enter the RUN state after receiving a control command from the RUN state of the master node.
Preferably, the state machine is further configured to identify the master node or the slave node to enter a STOP state when the master node or the slave node does not complete initialization or has communication abnormality; when a master node or slave node in the STOP state completes initializing or resuming communication, the master node or slave node is identified to enter the RUN state.
The application 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 application has the following beneficial effects:
1. the end-to-end self-adaptive synchronization method of the application 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 provided by the application is used for realizing self-adaptive identification of each node and effective data fusion among a plurality of nodes.
In addition to the objects, features and advantages described above, the present application has other objects, features and advantages. The application will be described in further detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
FIG. 1 is a schematic diagram of a typical architecture of a prior art traction control device with local acquisition, local calculation, local output;
FIG. 2 is a schematic illustration of a typical configuration of a prior art traction control device with calculation, acquisition and output separation;
FIG. 3 is a flow chart of an end-to-end adaptive synchronization method according to a preferred embodiment of the present application;
FIG. 4 is a schematic diagram of an end-to-end master-slave node model structure of preferred embodiments 1, 2 of the present application;
fig. 5 is a schematic diagram of the hardware configuration of the preferred embodiment 1 of the present application;
FIG. 6 is a schematic diagram of the software architecture of the preferred embodiment 1 of the present application;
FIG. 7 is a schematic diagram of address mapping of a data frame according to a preferred embodiment 1 of the present application;
FIG. 8 is a schematic diagram of a data cache according to a preferred embodiment 1 of the present application;
FIG. 9 is a schematic diagram of the state machine architecture of the preferred embodiments 1, 2 of the present application;
fig. 10 is a schematic diagram showing the transitions between STOP state and INIT state and RUN state of the state machine of the preferred embodiments 1 and 2 of the present application.
Detailed Description
Embodiments of the application are described in detail below with reference to the attached drawings, but the application can be implemented in a number of different ways, which are defined and covered by the claims.
Referring to fig. 3, the end-to-end adaptive synchronization method of the present application includes the following startup steps:
after the main node is electrified, the main node enters a BOOT state, and after the self-checking is normal, the main node enters an INIT state; in the INIT state, all slave nodes are polled for state, and a control command for entering the INIT state is sent to the slave nodes which are ready for use;
and after the slave node is powered on, entering a BOOT state, informing the master node of local readiness after the self-checking is normal, and entering 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 practical implementation, the above method can be further extended or applied, and the technical features in the following embodiments can be combined with each other, and the embodiments are only examples and not limiting on the normal combination of the technical features.
Example 1:
the present embodiment is applied to the master-slave topology structure of fig. 4, where the slave nodes are connected to the master node through buses, and the typical hardware structure of the master-slave topology is shown in fig. 5, where fig. 5 is a system architecture for subways, and the master node (the upper unit in fig. 5 corresponds to the master control unit) uses a powerful processor to take charge of master control logic, system-to-external communication, diagnosis, data, and the like. The slave nodes (the lower units in fig. 5) are responsible for specific driving and calculating functions, such as an inversion unit, a four-quadrant unit, an adhesion control unit, etc., using DSPs, and the number of each unit may be plural.
Referring to fig. 3, the end-to-end adaptive synchronization method of the present embodiment includes the following steps:
1. the starting step:
after the main node is electrified, the main node enters a BOOT state, and after the self-checking is normal, the main node enters an INIT state; in the INIT state, all slave nodes are polled for state, and a control command for entering the INIT state is sent to the slave nodes which are ready for use;
and after the slave node is powered on, entering a BOOT state, informing the master node of local readiness after the self-checking is normal, and entering an INIT state after receiving a control command for entering the INIT state from the master node.
2. Configuration:
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 the communication parameters of the process communication in the RUN state, including the frame length and period of the data and the mapping relation between the logical address and the physical address. Then, the master node sends a control command for entering into the RUN state to the slave node; the slave node enters the RUN state after receiving a control command of the RUN state from the master node.
3. A communication step:
referring to fig. 6, in fig. 6, a real-time driver is used to interact data on the bus. The real-time communication link is used for carrying out packet management on the original data, and the messages at the different positions are process communication, message communication or command messages and are mapped to corresponding physical addresses; if the communication is process communication, the communication is translated into a logic port upper layer application program for use through a process communication unit, and if the communication is message data, the message communication management unit carries out actions such as transmission of parameter configuration, file transmission or establishment of an object dictionary according to message content; if it is command data, the state machine management unit causes the nodes to switch between INIT, RUN, STOP according to the command.
When the data is down going, the master node sends a data frame containing a frame header indicating a logical address to the slave node; after receiving the data frame from the slave node, the slave node translates the logical address in the frame header into a physical address and acquires the terminal data. Downstream data in process communication refers to data, mainly some control commands, sent by a master node to each slave node in process communication, and the data command is usually not large and the real-time performance is not very high (usually 10 ms for one period). In practice, the master node transmits a variable 'torque' to the slave node, and the 'torque' variable corresponds to a logical port or address, so that the concept of 'torque' is not present in the communication process, but only the corresponding logical port.
In this embodiment, referring to fig. 7, all physical information is masked for an application layer of a master node, all master nodes have a concept of a logical address or a logical port in an application program perspective, an actual physical address corresponding to each logical address or logical port is defined by an application personnel 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 a physical address to a logical port is completed in a communication process.
The transmission mechanism of uplink data and downlink data is different only in the buffer mechanism. Because the data sent from the slave node to the master node is needed for waveform monitoring and fault recording, in addition to for logic applications. Since the real-time requirements for data monitoring and recording in traction current control are higher than other process controls (typically up to 40 microseconds for a recording period), efficient buffering of data is required at both the slave and master nodes.
When data is uplink, referring to fig. 8, the slave node writes data to be uplink-transmitted into the dual-port RAM in real time in each DSP operation period (40-100 microseconds), extracts data of a plurality of DSP operation periods from the dual-port RAM in one serial communication period, and transmits the data to the master node; however, since the application program located at the upper layer of the master node generally operates for about 10 ms, it is inevitably unable to respond to the reception processing of the uplink data in real time, and therefore a buffer area needs to be opened up on the upper layer master node, so that the master node can acquire data of a plurality of periods of DSP every 10 ms. Meanwhile, the period of serial communication is inconsistent with the running period of the DSP, and one serial channel is required to be responsible for data transmission among a plurality of nodes, so that the DSP is required to locally buffer the data to be uploaded, the host node stores the received data of a plurality of DSP operation periods into a buffer area, and then the data of a plurality of DSP operation periods are asynchronously acquired from the buffer area through serial communication in the running period (about 10 milliseconds) of an application program of the host node.
Example 2:
the present embodiment also provides a plug-and-play traction control device based on embodiment 1, including: referring to fig. 4, a master node and one or more slave nodes connected to the master node by an end-to-end adaptive synchronization bus, the master node configured to implement master logic within the device, and device-to-external communication, diagnostics, and data transmission; the slave node is used to complete the operation.
In practice, the apparatus further comprises a state machine, see fig. 9, for: after the main node is electrified, marking the main node to enter a BOOT state, and marking the main node to enter an INIT state after the main node is self-checked to be normal; the slave node is identified to enter the BOOT state after the slave node is powered up, and the slave node is identified to enter the INIT state after a control command from the master node to enter the INIT state is received from the slave node. After the master node and the slave node enter INIT state, marking the master node to enter RUN state; after receiving a control command of the RUN state from the master node, the slave node is identified to enter the RUN state; RUN state represents: the node is powered on to complete initialization and establishment of the object dictionary, normal communication can be carried out, and translation from physical address to logical port can be carried out. Referring to fig. 9, fig. 10, the stop state indicates: the node is in a STOP state, and typically when the node does not initialize or has communication abnormality (such as long-time communication loss), the master node sends a command message to make the corresponding slave node enter a STOP state. At this time, communication with the outside is not performed, and the master node is informed of the STOP state of the slave node, waits for receiving a start or reset message of the master node, and thus enters the RUN state again. If the master node enters the STOP state, the master node can only reset itself and then enters the RUN state again after recovery.
Example 3:
the application 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 the method of embodiment 1 when the computer program is executed.
In summary, the application provides a set of state machine management, process communication management and communication management mechanism based on a high-speed real-time communication link, so as to realize the self-adaptive function of application software on hardware, realize plug and play of a traction control device, self-adaptive identification of each node and effective fusion of data among a plurality of nodes, and facilitate flexible cutting configuration of modules of the device.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (7)
1. An end-to-end adaptive synchronization method is characterized by comprising the following starting steps:
after the main node is electrified, the main node enters a BOOT state, and after the self-checking is normal, the main node enters an INIT state; in the INIT state, all slave nodes are polled for state, and a control command for entering the INIT state is sent to the slave nodes which are ready for use;
after the slave node is electrified, entering a BOOT state, informing the master node that the master node is ready after the self-checking is normal, and entering an INIT state after receiving a control command from the master node for entering the INIT state;
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 into the RUN state, 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 into the RUN state to the slave node; the communication parameters of the slave node in the RUN state include the frame length and period of data and the mapping relation between the logical address and the physical address;
the slave node enters the RUN state after receiving a control command of the RUN state from the master node;
after both the master node and the slave node enter the RUN state, the method further comprises the following communication steps:
when the data is down going, the master node sends a data frame containing a frame header indicating a logical address to the slave node; after receiving a data frame from a slave node, translating a logical address in the frame header into a physical address and acquiring terminal data;
when data is uplink, the slave node writes data to be uplink-transmitted into the dual-port RAM in real time in each DSP operation period, extracts data of a plurality of DSP operation periods from the dual-port RAM in one serial communication period and transmits the data to the master node; the host node stores the received data of a plurality of DSP operation periods into a buffer area, and obtains the data of the plurality of DSP operation periods from the buffer area in the operation period of one host node application program.
2. The end-to-end adaptive synchronization method of claim 1, wherein the serial communication period is greater than a DSP operation period, and wherein the master node application is run for a period greater than the DSP operation period.
3. A plug and play traction control device based on the end-to-end adaptive synchronization method according to any one of claims 1 to 2, comprising: the system comprises a master node and more than one slave node connected with the master node through an end-to-end self-adaptive synchronous bus, wherein the master node is used for realizing master control logic in a device and device external communication, diagnosis and data transmission; the slave node is configured to complete the operation.
4. The plug-and-play traction control device of claim 3, further comprising a state machine for identifying the master node to enter a BOOT state after the master node is powered up and identifying the master node to enter an INIT state after the master node self-tests normal;
the state machine is further configured to identify that the slave node enters a BOOT state after the slave node is powered up, and identify that the slave node enters an INIT state after the slave receives a control command from the master node to enter the INIT state.
5. The plug-and-play traction control device of claim 4, wherein 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; and after the slave node receives a control command of the RUN state from the master node, the slave node is identified to enter the RUN state.
6. The plug and play traction control device of claim 5, wherein the state machine is further configured to identify a master node or a slave node to enter a STOP state when the master node or the slave node does not complete initialization or has a communication exception; when a master node or slave node in the STOP state completes initializing or resuming communication, the master node or slave node is identified to enter the RUN state.
7. A computer system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method of any of the preceding claims 1 to 2 when the computer program is executed.
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