CN110958073B - Time synchronization voting method based on three sets of 1553B bus redundancy - Google Patents
Time synchronization voting method based on three sets of 1553B bus redundancy Download PDFInfo
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Abstract
A time synchronization voting method based on three sets of 1553B bus redundancy comprises the steps of firstly controlling a remote terminal to judge whether bus communication is normal or not, checking received time synchronization messages and recording receiving time, if the time synchronization messages corresponding to buses are received and the bus communication is normal, directly performing time synchronization, if bus time synchronization messages which pass through other two paths of checks are received, performing time synchronization with large receiving time, and if only one path of bus time synchronization messages are received and the other two paths of buses are abnormal after waiting, using effective time synchronization messages to correct and complete time synchronization. Compared with the prior art, the method solves the problem of time synchronization under three sets of 1553B buses, can be suitable for one set of bus faults and compatible with more two sets of bus faults, and achieves the engineering application effects of simplicity, reliability, flexibility, convenience, rapidness and practicability.
Description
Technical Field
The invention relates to a time synchronization voting method based on three sets of 1553B bus redundancy, and belongs to the technical field of tests and tests.
Background
An internal time-division command/response type multiplex transmission data bus is called a 1553B bus for short. In order to improve the reliability of the system, the 1553B bus adopts a triple redundancy mode for communication. A1553B bus triple-redundancy-based single bus is divided into three sets and connected to a communication bus, and each set of bus comprises A, B two channels. Each bus single machine is provided with a local clock, and time synchronization messages sent by an rocket-borne computer bus controller are used as a unified reference for unifying the time of each single machine of a bus terminal on a carrier rocket. In order to solve the time synchronization problem of each bus terminal, the single machine time reference needs to be appointed and the timestamps on the three sets of buses are subjected to redundant voting processing to serve as the final used time of each terminal, so that time confusion and time sequence confusion are avoided, and meanwhile, the correctness and the real-time performance of communication are guaranteed.
Disclosure of Invention
The invention provides a time synchronization voting method based on three sets of 1553B bus redundancy, which aims at solving the technical problem of single machine time synchronization of the existing three-redundancy bus, carries out voting processing on bus time on the three sets of buses and has the capability of adapting to one-degree fault.
The technical solution of the invention is as follows: a time synchronization voting method based on three sets of 1553B bus redundancy comprises the following steps:
(1) controlling each remote terminal to judge whether the corresponding 1553B bus communication is normal according to the 1553B bus heartbeat message received by each remote terminal, and obtaining a normal communication result of each remote terminal and the corresponding 1553B bus, wherein three sets of remote terminals based on three redundancy of the 1553B bus are connected to the 1553B bus;
(2) controlling each remote terminal to receive the time synchronization message sent by each 1553B bus, then checking the received time synchronization message and recording the receiving time, wherein the time synchronization message and the heartbeat message are respectively sent through an A channel and a B channel of the 1553B bus, so that message redundancy is realized;
(3) if the remote terminal receives the time synchronization message sent by the 1553B bus corresponding to the local machine and the communication between the remote terminal and the 1553B bus corresponding to the remote terminal is normal, controlling the local machine to carry out time synchronization according to the time synchronization message sent by the 1553B bus directly, and otherwise, turning to the step (4);
(4) if the remote terminal receives the time synchronization messages sent by other 1553B buses passing the verification, the time synchronization messages sent by the 1553B buses with the longer receiving time are taken to perform time synchronization, and if not, the step (5) is carried out;
(5) if the remote terminal only receives the time synchronization message sent by one 1553B bus passing the verification and the other 1553B buses are abnormal after waiting for the time K1, directly using the current effective time synchronization message to perform time synchronization, otherwise, turning to the step (6);
(6) and controlling each remote terminal to wait for the next period to continue voting and judging until the time synchronization voting is finished.
The method for performing time synchronization in the step (5) comprises the following steps:
and the CPU time after the execution time synchronization is equal to the synchronization time + delta t, wherein delta t is the time difference from the time of receiving the time synchronization message to the CPU time corresponding to the time of generating the voting time, the synchronization time is the timestamp in the bus time synchronization message, and the CPU time is the corrected time of the local CPU clock used for updating.
And each remote terminal K2 only responds time synchronization once within time and sets other time synchronization messages received within the time K2 as invalid, wherein K2 is larger than K1.
The remote bus terminal receives heartbeat messages sent by the bus controller through the 1553B bus in a periodic broadcast mode, wherein the heartbeat messages comprise check codes and are used for judging the correctness of the heartbeat messages, if the remote terminal does not receive the correct heartbeat messages on the corresponding 1553B bus within set time, the communication of the corresponding 1553B bus is judged to be abnormal, and if the remote terminal receives the correct heartbeat messages on the corresponding 1553B bus, the communication of the corresponding 1553B bus is judged to be normal.
The remote bus terminal receives a time synchronization message periodically broadcast and sent by the bus controller, wherein the time synchronization comprises a timestamp and a check code, the remote terminal checks the correctness of the time synchronization message according to the check code, acquires the timestamp and records the time point of receiving the time synchronization message.
Typical values for K1 are 60ms and K2 is 100 ms.
The heartbeat message is
The time synchronization message is
In the step (6), the remote terminal directly uses the local clock to perform timing processing in the current cycle period, and does not use 1553B bus synchronization time to correct the local time.
When the A, B channel judges that the time synchronization message and the heartbeat message are abnormal, the time synchronization message and the heartbeat message are abnormal.
Compared with the prior art, the invention has the advantages that:
(1) compared with the prior art, the 1553B triple redundant bus single machine realizes the bus time synchronization and the time error is millisecond grade;
(2) compared with the prior art, the method has the advantages that the priority processing strategy of the normal working mode is considered, the redundancy voting process is simplified, the method is fast and practical, and the real-time performance is good;
(3) compared with the prior art, the method adopts a synchronous time compensation measure when the time synchronization message is voted redundantly, thereby ensuring that the synchronous time of each bus single machine is more accurate;
(4) the method adopts various verification measures including heartbeat verification and time synchronization message verification to ensure the reliability and credibility of data;
(5) compared with the prior art, the method can adapt to the first-degree fault mode, is compatible with more second-degree fault modes as much as possible, considers the test working condition of a single set of bus, and is flexible and convenient.
Drawings
FIG. 1 is a block flow diagram of the method of the present invention.
Detailed Description
Aiming at the technical problems of single-machine time synchronization of the existing triple-redundancy bus, the invention provides a time synchronization voting method based on the redundancy of three sets of 1553B buses, which summarizes and summarizes various possible conditions of bus time synchronization message redundancy voting processing according to the sequence steps of time synchronization message redundancy voting, provides the processing steps of flow and automation, realizes time synchronization, tolerates one-degree faults and is compatible with two-degree faults as much as possible. The method of the present invention is explained and explained in more detail with reference to the accompanying drawings, and fig. 1 is a schematic diagram illustrating steps of a time synchronization voting method based on three sets of 1553B bus redundancy.
The invention relates to a time synchronization voting method based on three sets of 1553B bus redundancy, which comprises the following steps of:
1. each remote terminal judges whether the bus communication is normal or not according to the 1553B bus heartbeat message
The arrow-mounted computer is generally used as a 1553B bus controller, is a time reference of each remote terminal, and periodically organizes 1553B heartbeat messages, wherein the typical period is 20 milliseconds. In order to facilitate each terminal on the bus to receive and reduce the bus load rate, the heartbeat messages are sent by broadcasting. The 1553B bus comprises A, B two channels, wherein the A bus sends one time and the B bus sends one time in one cycle of the heartbeat message, and the sending contents of the A bus and the B bus are consistent. The heartbeat message is provided with a check code, for example, the sum of the upper 8 bits and the lower 8 bits is equal to 0xFF, the upper 8 bits are the heartbeat calculation value and take the remainder of 100, the heartbeat calculation value is counted by 1 in each period, and the initial value is 0. And each remote bus terminal receives heartbeat messages sent by the bus controller in a periodic broadcast mode, after each remote bus terminal receives the heartbeat signals, if the heartbeat signals are verified to be normal, the heartbeat signals are considered to be normal, and if the heartbeat signals are not verified to be abnormal, the heartbeat messages are not processed. When the remote terminal continuously does not receive the heartbeat time of the set of bus for more than a certain time (for example, 40 milliseconds), judging that the communication of the set of bus of the terminal is abnormal; if the terminal subsequently receives a normal heartbeat signal on the set of bus, it is determined that the bus communication of the terminal is recovered to be normal, and as shown in table 1, the heartbeat message diagram of the embodiment of the invention is shown.
TABLE 1 Heartbeat message schematic
2. Each remote terminal checks the received time synchronization message and records the receiving time
The rocket-borne computer serves as a 1553B bus controller, is a time reference of each remote terminal, and periodically organizes time synchronization messages, wherein the typical period is 1 second. In order to facilitate each terminal on the bus to receive and reduce the load rate of the bus, the time synchronization message is sent by broadcasting, the bus A is sent once and the bus B is sent once in one period, and the sending contents of the bus A and the bus B are consistent. The time synchronization message comprises a time stamp and a check code, wherein the time stamp is the time of the rocket-borne computer and is used for time synchronization of each remote terminal. Each remote terminal needs to check the correctness of the time synchronization message, obtain the timestamp of the time synchronization message, and record the time point of receiving the time synchronization message, as shown in table 2, it is a schematic diagram of the time synchronization message according to the embodiment of the present invention.
Table 2 time synchronization message schematic
3. If each remote terminal receives the time synchronization message of the local machine and the bus communication is normal, the local machine directly executes the time synchronization
Each remote terminal local machine judges that the synchronization time of the current set of bus is normal, and can judge that the local set of bus works normally under the condition that the 1553B heartbeat message judges that the communication of the current set of bus is normal. Under the condition, the time stamp in the time synchronization message is directly adopted to update the CPU time of the local computer, and the updating is completed within 1 millisecond.
4. If each remote terminal receives other two paths of effective time synchronization messages, the redundancy voting selects the time synchronization message received by the second path to perform time synchronization
The 3 sets of buses of each remote terminal single machine receive effective time synchronization messages and have time sequence difference, the redundancy voting measures of the set of buses adopt the second path of received time synchronization messages to carry out time synchronization and select the second path of time synchronization messages to carry out time synchronization if other two paths of effective time synchronization messages are received, and the time synchronization is more accurate. The method can tolerate the conditions of one-time fault and one set of abnormal bus communication.
5. If each remote terminal only has one valid time synchronization message and the other two buses are abnormal after waiting for the delay time K1 milliseconds, the updated time synchronization message is directly used
If only one path of effective time synchronization signal exists, other two paths of buses are abnormal in communication after waiting for the delay time K1 milliseconds, and the second path of effective time synchronization message is not received, each remote terminal judges that only one set of buses is normal in communication and directly uses the updated time synchronization message. A typical value for K1 is 3 heart cycles, which is 60. The method is compatible with two-degree fault modes, is suitable for the normal working state of only one set of bus, and is convenient for independent test of a single set of bus; meanwhile, the situation of overlong waiting time can be avoided.
6. Each remote terminal only responds once time synchronization within a certain time K2 milliseconds, and sets other time synchronization messages received within K2 milliseconds as invalid
After each remote terminal normally responds to the time synchronization, the other sets of buses may also receive the same time synchronization message. To prevent the time synchronization messages on multiple buses from being updated repeatedly, avoid the time rollback phenomenon, and simplify the time synchronization and voting process, other synchronization messages received within K2 ms may be set as invalid and no longer responding, and a typical value of K2 is generally 100.
7. Each remote terminal corrects delay of voting time by adopting synchronous time processing method
The time stamp of the time synchronization message received by each remote terminal and the time in execution may be inconsistent, and considering that there may be a certain delay between the voting time and the receiving time, the time synchronization processing method adopts the formula to correct: the CPU time is synchronization time + Δ t. Wherein, Δ t is the time difference from the time of receiving the time synchronization message to the time of voting; the synchronization time is a timestamp in the bus time synchronization message; the CPU time is the corrected time of the local CPU clock used for updating. The corrected synchronization time is more accurate, and the time accuracy is ensured.
8. The remote terminals wait for the next period to continue voting and judgment under other conditions
The remote terminal may have a state that the abnormal condition cannot be accurately judged in the current cycle period, and needs to enter the next cycle for judgment and voting. If the three-degree fault exists, the clock of the machine is directly used for timing, and the bus synchronization time is not used for correcting the time of the machine.
In the step 1 and the step 2, the time synchronization message and the heartbeat message are respectively sent once through an A/B channel of the bus, so that message redundancy is realized. And judging that the heartbeat message and the time synchronization message of the A/B channel are abnormal, and considering that the messages are abnormal.
In step 3, the local machine judges that the time of the current set of bus is normal and the bus communication is not abnormal, the time for updating the CPU by directly executing the time synchronization message can obviously shorten the voting waiting time and improve the real-time property.
Step 6, the time synchronization messages on a plurality of sets of buses can be prevented from being updated repeatedly, the time rollback phenomenon is avoided, and meanwhile, the time synchronization and voting processing flows are simplified; a typical value for K2 is typically 100.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (10)
1. A time synchronization voting method based on three sets of 1553B bus redundancy is characterized by comprising the following steps:
(1) controlling each remote terminal to judge whether the corresponding 1553B bus communication is normal according to the 1553B bus heartbeat message received by each remote terminal, and obtaining a normal communication result of each remote terminal and the corresponding 1553B bus, wherein three sets of remote terminals based on three redundancy of the 1553B bus are connected to the 1553B bus;
(2) controlling each remote terminal to receive the time synchronization message sent by each 1553B bus, then checking the received time synchronization message and recording the receiving time, wherein the time synchronization message and the heartbeat message are respectively sent through an A channel and a B channel of the 1553B bus, so that message redundancy is realized;
(3) if the remote terminal receives the time synchronization message sent by the 1553B bus corresponding to the local machine and the communication between the remote terminal and the 1553B bus corresponding to the remote terminal is normal, controlling the local machine to carry out time synchronization according to the time synchronization message sent by the 1553B bus directly, and otherwise, turning to the step (4);
(4) if the remote terminal receives the time synchronization messages sent by other 1553B buses passing the verification, the time synchronization messages sent by the 1553B buses with the longer receiving time are taken to perform time synchronization, and if not, the step (5) is carried out;
(5) if the remote terminal only receives the time synchronization message sent by one 1553B bus passing the verification and the other 1553B buses are abnormal after waiting for the time K1, directly using the current effective time synchronization message to perform time synchronization, otherwise, turning to the step (6);
(6) and controlling each remote terminal to wait for the next period to continue voting and judging until the time synchronization voting is finished.
2. The time synchronization voting method based on the three sets of 1553B bus redundancy, according to claim 1, wherein: the method for performing time synchronization in the step (5) comprises the following steps: and the CPU time after the execution time synchronization is equal to the synchronization time + delta t, wherein delta t is the time difference from the time of receiving the time synchronization message to the CPU time corresponding to the time of generating the voting time, the synchronization time is the timestamp in the bus time synchronization message, and the CPU time is the corrected time of the local CPU clock used for updating.
3. The time synchronization voting method based on the three sets of 1553B bus redundancy, according to claim 2, wherein: and each remote terminal K2 only responds time synchronization once within time and sets other time synchronization messages received within the time K2 as invalid, wherein K2 is larger than K1.
4. The time synchronization voting method based on the three sets of 1553B bus redundancy, according to claim 3, wherein: the remote terminal receives heartbeat messages sent by the bus controller through a 1553B bus in a periodic broadcast mode, wherein the heartbeat messages comprise check codes and are used for judging the correctness of the heartbeat messages, if the remote terminal does not receive the correct heartbeat messages on the corresponding 1553B bus within set time, the communication of the corresponding 1553B bus is judged to be abnormal, and if the remote terminal receives the correct heartbeat messages on the corresponding 1553B bus, the communication of the corresponding 1553B bus is judged to be normal.
5. The time synchronization voting method based on the three sets of 1553B bus redundancy, according to claim 4, wherein: the remote terminal receives a time synchronization message periodically broadcast and sent by the bus controller, wherein the time synchronization comprises a timestamp and a check code, the remote terminal checks the correctness of the time synchronization message according to the check code, acquires the timestamp and records the time point of receiving the time synchronization message.
6. The time synchronization voting method based on the three sets of 1553B bus redundancy, according to claim 5, wherein: the K1 is 60ms, and the K2 is 100 ms.
7. The time synchronization voting method based on the three sets of 1553B bus redundancy, according to claim 6, wherein: the heartbeat message is
8. The time synchronization voting method based on the three sets of 1553B bus redundancy, according to claim 7, wherein: the time synchronization message is
9. The time synchronization voting method based on the three sets of 1553B bus redundancy, according to claim 8, wherein: in the step (6), the remote terminal directly uses the local clock to perform timing processing in the current cycle period, and does not use 1553B bus synchronization time to correct the local time.
10. The time synchronization voting method based on the three sets of 1553B bus redundancy, according to claim 9, wherein: when the A, B channel judges that the time synchronization message and the heartbeat message are abnormal, the time synchronization message and the heartbeat message are abnormal.
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| CN112462594B (en) * | 2020-12-31 | 2023-04-25 | 洛阳伟信电子科技有限公司 | 10M1553B bus controller backup method based on star topology |
| CN112947041A (en) * | 2021-02-18 | 2021-06-11 | 上海航天控制技术研究所 | High-reliability dual-redundancy voting method for front-end and rear-end hosts of carrier rocket |
| CN113008270B (en) * | 2021-02-22 | 2022-12-27 | 上海航天控制技术研究所 | Ten-meter optical fiber inertia combination precision testing method based on three-bus interface |
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