CN111988245A - Real-time communication mechanism for information physical system - Google Patents
Real-time communication mechanism for information physical system Download PDFInfo
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- CN111988245A CN111988245A CN202010887251.1A CN202010887251A CN111988245A CN 111988245 A CN111988245 A CN 111988245A CN 202010887251 A CN202010887251 A CN 202010887251A CN 111988245 A CN111988245 A CN 111988245A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L49/00—Packet switching elements
- H04L49/30—Peripheral units, e.g. input or output ports
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- H—ELECTRICITY
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- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/03—Protocol definition or specification
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/26—Special purpose or proprietary protocols or architectures
Abstract
The invention discloses a real-time communication mechanism for an information physical system, which comprises an RCP message protocol, an RCP data exchange mechanism and an RCP data exchange algorithm; the RCP message protocol defines 12 data frame transmission formats, a node data response mechanism and a DOC (document information processing) check rule of a control frame, an analog quantity control frame, a switching quantity control frame, an information sending frame, a status reading frame, a status response frame, an analog quantity reading frame, an analog quantity response frame, a switching quantity reading frame, a switching quantity response frame and a confirmation frame; the RCP data exchange mechanism is that nodes in an information physical system realize data communication based on an RCP exchanger, communication interfaces of the nodes and the RCP exchanger adopt an RS422 mode, a plurality of RCP exchangers realize multi-node data exchange in a cascading mode, and the RCP exchanger has a baud rate automatic identification function; the communication mechanism is convenient to use and reliable in operation.
Description
Technical Field
The invention belongs to the technical field of automatic control, and particularly relates to a real-time communication mechanism for an information physical system.
Background
Since the 21 st century, with the increasing of the operation speed of processors and the intelligence level of industrial instruments, under the condition of the continuous extension of network bandwidth, a control and detection instrument for controlling a plurality of physical objects can form a networked information physical system (CPS) through a plurality of communication modes. In order to meet the operation requirement of a complex closed-loop system control algorithm, each instrument serving as an intelligent node in the CPS needs to acquire control and detection information of other nodes in the system in real time and send the running state information of the instrument to the required node while finishing the existing function. Under necessary circumstances, the nodes in the CPS directly control the execution mechanisms of other nodes for remote control. Under the condition that all nodes in the CPS have real-time communication requirements, in order to realize the interaction and the mutual influence of all the nodes through an underlying network, a communication mechanism meeting the real-time control requirements of all the nodes in the CPS needs to be designed, and support is provided for realizing the networked cooperative control of the CPS.
Disclosure of Invention
The invention mainly aims to provide a real-time communication mechanism for an information physical system, which is convenient to use and runs reliably.
The mechanism comprises two parts of contents, namely definition of a message and a data exchange algorithm. The definition of the message describes the format of the data transmitted between the nodes, i.e. the definition of the format of the data frame. The invention provides a method for sending and receiving data among nodes in a CPS, which adopts a request and response mechanism. The data frame sent by the data sender is divided into 4 forms of control frame, request frame, response frame and confirmation frame. The data exchange algorithm is a data forwarding program running on a data exchange device, and each node can realize data transmission between any nodes in the system through the program.
In order to achieve the purpose, the invention provides the technical scheme that:
a data transmission protocol and data exchange algorithm, the said communication mechanism includes RCP message protocol, RCP data exchange mechanism and RCP data exchange algorithm; the RCP message protocol defines 12 data frame transmission formats, a node data response mechanism and a DOC (document information processing) check rule of a control frame, an analog quantity control frame, a switching quantity control frame, an information sending frame, a status reading frame, a status response frame, an analog quantity reading frame, an analog quantity response frame, a switching quantity reading frame, a switching quantity response frame and a confirmation frame; the RCP data exchange mechanism is that nodes in an information physical system realize data communication based on an RCP exchanger, communication interfaces of the nodes and the RCP exchanger adopt an RS422 mode, a plurality of RCP exchangers realize multi-node data exchange in a cascading mode, and the RCP exchanger has a baud rate automatic identification function; the RCP data exchange algorithm is a data forwarding program based on an RCP message protocol, an RCP exchange mechanism and a port mapping table, and the port mapping table of the RCP switch records the corresponding relation between a communication port of the RCP switch and a physical address of a node.
Preferably, the data switching device is manufactured according to an RCP data switching mechanism, the data switching device forwards the data frame according to a destination address in the RCP data frame, and the device includes two parts, namely hardware and software; the hardware part consists of an FPGA, a high-performance digital signal processor and 9 full-duplex RS422 communication interface circuits; wherein 8 RS422 communication interface circuits are used for connecting with the communication node, and 1 RS422 communication interface circuit is used for cascading two switching devices; the high-performance signal processor realizes the check sum forwarding process of the data frame. The RS422 communication interface circuit can output the communication data in a differential mode, and can also receive the differential data on the line into an internal cache; the 4 interface signals (T +, T-, R +, R-) of each RS422 communication interface are directly connected to the corresponding ports of the switching device. The 1 st pin and the 2 nd pin of each node communication port are respectively defined as T + and T-, and the 3 rd pin and the 4 th pin are respectively defined as R + and R-; the 1 st pin and the 2 nd pin of the cascade communication port are respectively defined as R + and R-, and the 3 rd pin and the 4 th pin are respectively defined as T + and T-.
Preferably, the FPGA is used for storing received data and data to be sent, port baud rate identification and RS422 interface selection circuits, and the processor realizes a data exchange and forwarding mechanism; and the RS422 interface circuit realizes the conversion between TTL data and differential data.
Preferably, the RCP data exchange algorithm is as follows:
1) reading the frame receiving counter values of all ports, and reading out the data frame of the port receiving buffer zone corresponding to the maximum value;
2) performing DOC (document information management) verification on the data frame, if the data frame is verified to be wrong, discarding the data frame, and returning to the first step;
3) judging the frame format through the first byte, if so, judging whether the destination address of the frame is in the port mapping table; if the source address of the frame is not put into the mapping table corresponding to the port, the data frame is forwarded according to the port corresponding to the destination address;
4) judging whether the frame is a response frame or not through the first byte, and judging whether the destination address of the frame is in the port mapping table or not; if yes, the data frame is forwarded according to the designated port, and if not, the data frame is sent to all ports;
5) the algorithm continues to execute returning to the first step.
The RCP message protocol comprises the description of a data transmission structure between CPS nodes, the definition of a data frame and a response frame, a communication network physical structure and a data transmission and response mechanism. The data exchange algorithm is a data forwarding mechanism based on the RCP message protocol described in the invention.
When the invention is used, the nodes in the CPS realize data exchange among different nodes through the data switch. And the data switch forwards corresponding data according to the destination address of each data frame under the condition that each communication port is bound with the physical address of the node in the CPS.
The invention has the beneficial effects that: the invention belongs to a real-time data transmission mechanism in an information physical system. By the invention, the nodes in the system can realize mutual control and information sharing. The invention provides technical support of bottom layer communication for realizing networked cooperative control.
Drawings
Fig. 1 is a schematic diagram of the node interconnection based on the RCP data transmission method of the present invention.
Fig. 2 is a block diagram of a data exchange device having an RCP transmission function.
Detailed Description
Example (b):
the message format defined by the invention is divided into 12 forms of a control frame, an analog quantity control frame, a switching quantity control frame, a sending information frame, a sending status frame, a status reading frame, a status response frame, an analog quantity reading frame, an analog quantity response frame, a switching quantity reading frame, a switching quantity response frame and a confirmation frame, and the description of the message format is given below.
Control frame
The control frame is a data frame of a certain node in the CPS for controlling other nodes to output channels through a network, and the format of the control frame is as follows:
wherein, the meaning of each field is as follows:
FD1 is defined by a frame format of 1 byte, 0x15 represents no response, and 0x25 represents response;
DA, a node physical address of 6 bytes, wherein the frame represents a destination address of the data frame;
SA 6 byte node source address, which represents the node address sent out by data frame;
LEN, the length of bytes after LEN in the data frame is expressed by 2 bytes;
AOCHS, which controls the number of analog channels of other nodes and uses 1 byte to represent;
AODATA: controlling analog quantity data of other nodes, wherein the byte number is 4 multiplied by ACHS;
no indicates the channel number, ADH indicates the upper 8-bit byte, and ADL indicates the lower 8-bit byte.
KOCHS, controlling the number of switching value channels of other nodes and using 1 byte to represent;
KODATA: controlling the switching value data of other nodes, wherein the byte number is 2 multiplied by DCHS;
no indicates the channel number, D is 0x00 indicating state 0, and D is 0xff indicating state 1.
DOC: a double-byte check word with the byte number of 2; if the number of bytes sent is even, the word is a double-word sum (excluding carry) of all words made up of two consecutive bytes. If the number of bytes sent is odd, the word is accumulated for all double words that consist of the first two consecutive bytes, plus the sum of the last byte and 0xff00 (excluding the carry).
END: 0xff of 12 bytes indicates an end of frame flag.
Analog quantity control frame
The analog quantity control frame is a data frame of a certain node for controlling a plurality of analog output channels of other nodes through a network, and the format of the analog quantity control frame is as follows:
FD2 frame format, which is expressed by 1 byte, 0x35 does not need to respond, and 0x45 needs to respond;
other fields are defined as control frames.
On-off control frame
The switch control quantity frame is a data frame of a certain node for controlling a plurality of digital output channels of other nodes through a network, and the format of the switch control quantity frame is as follows:
FD3 frame format, 0x55 no response, 0x65 response;
other fields are defined as control frames.
Transmitting information frames
The sending information frame is a data frame of which the format is as follows, and is used for a certain node to send special information to other nodes:
FD4 frame format, 0x75 no response, 0x85 response;
MSGS: the number of transmitted messages, 1 byte;
MSGDATA: the transmitted information has the byte number of 9 × MSGS, and one information is represented by 9 bytes and has the following format:
wherein, No is information number, the value is 1-255, and the MESSAGE is information of 8 bytes. The frame information number cannot be repeated,
other fields are defined as control frames.
Status transmission frame
The state sending frame is a data frame for a certain node to actively send input analog and digital variables to other nodes, and the format of the state sending frame is as follows:
FD5 frame format, 0x95 does not need to answer, 0xA5 needs to answer;
AICHS, the number of analog input channels of a sending node is expressed by 1 byte;
AIDAT: analog quantity data is input by a sending node, and the number of bytes is 4 multiplied by ACHS;
no indicates the channel number, ADH indicates the upper 8-bit byte, and ADL indicates the lower 8-bit byte.
A KICHS, wherein the number of switching value channels input by a sending node is represented by 1 byte;
KIDATA: inputting switching value data by a sending node, wherein the number of bytes is 2 multiplied by DCHS;
no indicates the channel number, D is 0x00 indicating state 0, and D is 0xff indicating state 1.
Other fields are defined as control frames.
Status read frame
The state reading frame is a data frame for reading the input type analog quantity and the switching value state of other nodes through a network by a certain node in the CPS, and the format of the state reading frame is as follows:
wherein, the meaning of each field is as follows:
FD6 is defined by a frame format of 1 byte, 0xB5 represents a state reading frame, and the frame needs to return a response frame;
AICHS, reading the number of analog channels of a certain node, and expressing the number by 1 byte;
AINoS is the channel number of analog quantity, one byte represents a channel number, and all bytes of AICHS;
a KICHS, reading the number of switching value channels of a certain node, and expressing the number by 1 byte;
KINOS is the channel number of the analog quantity, one byte represents one channel number, and the total number of KICHS bytes is;
other fields are defined as control frames.
Status response frame
The status response frame is a response frame of the read data frame, and the format of the status response frame is as follows:
FD7 is defined by a frame format of 1 byte, and 0xC5 indicates that the frame is a returned response frame;
other fields are defined as status send frames.
Analog reading frame
The analog quantity reading frame is a data frame for reading analog quantity of other node input types by a certain node in the CPS through a network, and the format of the analog quantity reading frame is as follows:
FD8 is defined by a frame format of 1 byte, and 0xD5 indicates that the frame is a returned response frame;
other fields are defined as status read frames.
Analog response frame
The frame is a response frame returned by the analog quantity reading frame, and the format is as follows:
FD9 is defined by a 1-byte frame format, and 0xE5 represents a read data frame;
other fields such as status acknowledgement frames.
Switching value reading frame
The format of the switching value reading frame is as follows:
wherein, the meaning of each field is as follows:
FD10 is defined by a frame format of 1 byte, 0xF5 represents a switching value reading frame, and the frame needs to return a response frame;
a KICHS, reading the number of switching value channels of a certain node, and expressing the number by 1 byte;
KINOS, reading a plurality of channel numbers, wherein each byte represents a channel number, and the byte number is KICHS;
other definitions are like control frames.
Switching value response frame
Returned switching value response frame:
FD11 is defined by a frame format of 1 byte, and 0x1D represents a switching value response frame;
a KICHS, reading the number of switching value channels of a certain node, and expressing the number by 1 byte;
KIDATA, namely reading the switching value data of a certain node and representing the data by 1 byte;
other fields such as control frames.
12. Acknowledgement frame
The confirmation frame is a confirmation response returned by a certain node after receiving the data frame, and the format of the confirmation response is as follows:
FD12 confirmation frame format, expressed in 1 byte;
0x2D acknowledgement frame for control frame;
0x3D acknowledgement frame returned by analog quantity control frame;
0x4D, acknowledgement frame returned by switching value control frame;
0x5D, sending the confirmation frame returned by the information frame;
0x6D acknowledgement frame returned by the status send frame.
Fig. 1 shows an interconnection mode of nodes based on RCP, where data transmission between nodes is implemented by a data exchange device. The data exchange device carries out forwarding of the data frame according to the destination address in the RCP data frame, and the device comprises hardware and software. The hardware part consists of a high-performance digital signal processor and 9 full-duplex RS422 communication interface circuits. Wherein 8 RS422 communication interface circuits are used for connecting with the communication node, and 1 RS422 communication interface circuit is used for cascading two switching devices. The high-performance signal processor realizes the check sum forwarding process of the data frame. The RS422 communication interface circuit can output the communication data in a differential mode, and can also receive the differential data on the line into an internal buffer. The 4 interface signals (T +, T-, R +, R-) of each RS422 communication interface are directly connected to the corresponding ports of the switching device. The 1 st pin and the 2 nd pin of each node communication port are respectively defined as T + and T-, and the 3 rd pin and the 4 th pin are respectively defined as R + and R-. The 1 st pin and the 2 nd pin of the cascade communication port are respectively defined as R + and R-, and the 3 rd pin and the 4 th pin are respectively defined as T + and T-.
Fig. 2 is a block diagram showing an implementation of the RCP data switch of the present invention, where the hardware part includes an FPGA, a high-performance processor, and 9 full-duplex RS422 interface circuits. The FPGA is used for storing received data and data to be sent, port baud rate identification and RS422 interface selection circuits, and the processor realizes a data exchange and forwarding mechanism. And the RS422 interface circuit realizes the conversion between TTL data and differential data.
And the data exchange algorithm running on the processor realizes the forwarding of different port data based on the port mapping table. The port mapping table records the corresponding relation between a plurality of node physical addresses and the RCP data exchange device. The port mapping table of a RCP switch is shown in table 1. 1 port can correspond to multiple destination addresses, but one address can only correspond to one port.
Table 1 port mapping table
| Destination address of data frame | Corresponding port number | Forward baud rate |
| 0x0134893e9845 | 1 | 9600 |
| 0x9823458f487d | 1 | 115200 |
| |
2 | 19200 |
After each port receives a data frame with correct DOC, storing the frame data into a corresponding FIFO buffer, sending a received data request signal and a baud rate indication signal to the processor on the premise of identifying the baud rate, adding 1 to a frame receiving counter, and waiting for the data forwarding of the processor. After the processor finishes forwarding, the frame receiving counter of the port is decreased by 1. The processor always gives priority to the port with the largest frame receiving counter for forwarding. The RCP data forwarding algorithm is as follows:
1. reading the frame receiving counter values of all ports, and reading out the data frame of the port receiving buffer zone corresponding to the maximum value;
2. performing DOC (document information management) verification on the data frame, if the data frame is verified to be wrong, discarding the data frame, and returning to the first step;
3. and judging the frame format through the first byte, and if the frame is a response frame, judging whether the destination address of the frame is in the port mapping table. If the source address of the frame is not put into the mapping table corresponding to the port, the data frame is forwarded according to the port corresponding to the destination address;
4. and judging whether the frame is a response frame or not through the first byte, and judging whether the destination address of the frame is in the port mapping table or not. If yes, the data frame is forwarded according to the designated port, and if not, the data frame is sent to all ports;
5. the algorithm continues to execute returning to the first step.
Claims (4)
1. A real-time communication mechanism for an cyber-physical system, comprising: the communication mechanism comprises an RCP message protocol, an RCP data exchange mechanism and an RCP data exchange algorithm; the RCP message protocol defines 12 data frame transmission formats, a node data response mechanism and a DOC (document information processing) check rule of a control frame, an analog quantity control frame, a switching quantity control frame, an information sending frame, a status reading frame, a status response frame, an analog quantity reading frame, an analog quantity response frame, a switching quantity reading frame, a switching quantity response frame and a confirmation frame; the RCP data exchange mechanism is that nodes in an information physical system realize data communication based on an RCP exchanger, communication interfaces of the nodes and the RCP exchanger adopt an RS422 mode, a plurality of RCP exchangers realize multi-node data exchange in a cascading mode, and the RCP exchanger has a baud rate automatic identification function; the RCP data exchange algorithm is a data forwarding program based on an RCP message protocol, an RCP exchange mechanism and a port mapping table, and the port mapping table of the RCP switch records the corresponding relation between a communication port of the RCP switch and a physical address of a node.
2. The mechanism of claim 1, wherein: the data exchange device is manufactured according to an RCP data exchange mechanism, the data exchange device forwards a data frame according to a destination address in an RCP data frame, and the device comprises two parts, namely hardware and software; the hardware part consists of an FPGA, a high-performance digital signal processor and 9 full-duplex RS422 communication interface circuits; wherein 8 RS422 communication interface circuits are used for connecting with the communication node, and 1 RS422 communication interface circuit is used for cascading two switching devices; the high-performance signal processor realizes the process of checking and forwarding the data frame; the RS422 communication interface circuit can output the communication data in a differential mode, and can also receive the differential data on the line into an internal cache; 4 interface signals (T +, T-, R +, R-) of each RS422 communication interface are directly connected to corresponding ports of the exchange device; the 1 st pin and the 2 nd pin of each node communication port are respectively defined as T + and T-, and the 3 rd pin and the 4 th pin are respectively defined as R + and R-; the 1 st pin and the 2 nd pin of the cascade communication port are respectively defined as R + and R-, and the 3 rd pin and the 4 th pin are respectively defined as T + and T-.
3. The mechanism of claim 2, wherein: the FPGA is used for storing received data and data to be sent, port baud rate identification and RS422 interface selection circuits, and the processor realizes a data exchange and forwarding mechanism; and the RS422 interface circuit realizes the conversion between TTL data and differential data.
4. The mechanism of claim 1, wherein: the RCP data exchange algorithm is as follows:
1) reading the frame receiving counter values of all ports, and reading out the data frame of the port receiving buffer zone corresponding to the maximum value;
2) performing DOC (document information management) verification on the data frame, if the data frame is verified to be wrong, discarding the data frame, and returning to the first step;
3) judging the frame format through the first byte, if so, judging whether the destination address of the frame is in the port mapping table; if the source address of the frame is not put into the mapping table corresponding to the port, the data frame is forwarded according to the port corresponding to the destination address;
4) judging whether the frame is a response frame or not through the first byte, and judging whether the destination address of the frame is in the port mapping table or not; if yes, the data frame is forwarded according to the designated port, and if not, the data frame is sent to all ports;
5) the algorithm continues to execute returning to the first step.
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