CN113055387B - Communication method for servo master-slave cards of steam turbine - Google Patents
Communication method for servo master-slave cards of steam turbine Download PDFInfo
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- CN113055387B CN113055387B CN202110275159.4A CN202110275159A CN113055387B CN 113055387 B CN113055387 B CN 113055387B CN 202110275159 A CN202110275159 A CN 202110275159A CN 113055387 B CN113055387 B CN 113055387B
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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
- H04L69/06—Notations for structuring of protocol data, e.g. abstract syntax notation one [ASN.1]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/004—Arrangements for detecting or preventing errors in the information received by using forward error control
- H04L1/0056—Systems characterized by the type of code used
- H04L1/0061—Error detection codes
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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
- H04L69/22—Parsing or analysis of headers
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- 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 invention discloses a communication method of a servo master-slave card of a steam turbine.A master card is used for sending a request message to a slave card in communication, and the slave card passively replies the master card, so that the slave card does not actively send a message to the master card, the master card sends a frame of message, and the slave card replies a frame of message; through the protocol, the servo slave card can upload data to the servo master card, and the servo master card can issue parameters and data to the servo slave card. Therefore, for the controller, the servo slave card does not need to be directly controlled, all data and parameters are forwarded through the servo master card, the servo master card and the slave card are processed as a complete servo card on the processing logic of the controller, and for a user, the servo card is also a complete card without distinguishing the servo master card from the slave card.
Description
Technical Field
The invention belongs to the field of automatic control of thermal power plants, relates to turbine valve control software, and provides a communication method between a turbine servo master card and a slave card.
Background
Steam turbines are the core equipment of thermal power plants, and a large number of parameters need to be monitored and set. The servo card of steam turbine is the equipment of direct Control steam turbine in power plant DCS (Distributed Control System), in order to realize the Control and the setting of multiple parameter of steam turbine, the servo card of steam turbine needs a plurality of input/output terminals, and a integrated circuit board often can't realize these input/output terminals on hardware because the area restriction, so in actual production we adopt two integrated circuit boards of main card and slave card to accomplish the function of servo card jointly, main card and slave card undertake a part of data respectively and send and down the function. In this case, if the controller controls the data transfer of the master card and the slave card separately according to the previous design mode, it is necessary for the user to distinguish which channels are located in the slave card and which channels are located in the master card, and to operate separately, which is inconvenient for the user to use, and also increases the system coupling degree.
Disclosure of Invention
In order to overcome the problems in the prior art, the invention aims to provide a communication method for a servo master-slave card of a steam turbine, by which the servo slave card can send data to the servo master card, and the servo master card can send parameters and data to the servo slave card. Therefore, for the controller, the servo slave card does not need to be directly controlled, all data and parameters are forwarded through the servo master card, the servo master card and the slave card are processed as a complete servo card on the processing logic of the controller, and for a user, the servo card is also a complete card without distinguishing the servo master card from the slave card.
In order to achieve the purpose, the invention adopts the following technical scheme:
the communication method of the steam turbine servo master-slave card adopts the mode that the master card sends a request message to the slave card and the slave card passively replies the master card, so that the slave card does not actively send a message to the master card, the master card sends a frame of message and the slave card replies a frame of message;
the inquiry and reply messages between the master card and the slave card consist of three parts, namely a header, a data section and a trailer;
the communication message types sent by the master card to the slave card include the following 5 types:
(1) Parameter message
(2) Data message
(3) Data message with kks (Kraft werk-Kennzeichen System) code
(4) SOE (Sequence Of Event) query message
(5) SOE acknowledgement message
The method comprises the following steps that (1) a parameter message is sent by a master card to a slave card after the parameter message is powered on; the (2) th and (3) th types are periodic messages, and the master card sends a frame of message to the slave card in each preset task period; the (4) th and (5) th types are non-periodic messages, and the master card sends the messages to the slave card at a specific time;
the reply messages from the slave card to the master card include the following 3 types:
(1) Parameter confirmation message
(2) Data upload message
(3) SOE data message
The steps of sending and receiving the parameter message in the communication protocol are as follows:
step (1): after power-on, the controller sends a servo card parameter message to the servo main card;
step (2): after receiving the message, the servo main card identifies the message type as a parameter message and unpacks the message;
and (3): the servo main card performs parameter configuration of the main card according to the received parameters;
and (4): the servo master card packs a parameter message sent to the servo slave card in a task period of 4ms and sends a parameter issuing message to the servo slave card;
and (5): the servo slave card performs parameter configuration after receiving the parameter message and replies a parameter confirmation message to the servo master card;
the steps of sending and receiving the periodic message in the communication protocol are as follows:
step (1): the controller sends a data message to the servo main card in a task period of 5ms, and the data message has two functions: issuing output data and requesting input data;
step (2): after receiving the message, the servo main card identifies the message type, unpacks the message and stores the received data into a corresponding buffer area;
and (3): the servo main card packages the input data of the uploading controller, and the servo subordinate card data is not sent to the servo main card at the moment;
and (4): the servo main card packages and sends a data message of the servo obeying card in a 4ms task period, and the data message has two functions: issuing output data and requesting input data;
and (5): after receiving the data message, the servo slave card puts the data into a corresponding buffer area;
and (6): the servo slave card packs the data transmitted to the servo master card and sends a message;
the steps of sending and receiving the aperiodic message in the communication protocol are as follows:
step (1): the servo master card sends an SOE inquiry message to the servo slave card;
step (2): after receiving the SOE inquiry message, the servo slave card unpacks the SOE inquiry message;
and (3): servo card packs SOE data message and replies servo main card;
and (4): after receiving the SOE data message, the servo main card unpacks the SOE data message;
and (5): the servo master card sends an SOE confirmation message to the servo slave card;
and (6): the servo slave card receives the SOE confirmation message without replying the message to the servo master card.
The header is composed of a header mark, a data length, a source address, a target address and a function code, the header mark adopts 0x7E7E, the data length is redundantly stored in the message, and errors in the transmission process of the data length are prevented; the source address stores the address of the sender; the destination address stores the address of the receiver; the function code represents the function of the frame message; the data segment has different structures according to different function codes; the trailer is composed of a CRC (Cyclic Redundancy Check) Check code and a trailer identifier 0x7b7 b.
Compared with the prior art, the invention has the following advantages:
by the communication method, the servo slave card can send data to the servo master card, and the servo master card can send parameters and data to the servo slave card. Therefore, for the controller, the servo master card and the slave card do not need to be directly controlled, all data and parameters are forwarded through the servo master card, the servo master card and the slave card are processed as a complete servo card on the processing logic of the controller, and for a user, the servo card is also a complete card without distinguishing the servo master card from the slave card.
Drawings
FIG. 1 shows a communication process between a server master card and a server slave card.
Fig. 2 shows the header structure and the lengths of the respective fields.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The communication protocols of the master card and the slave card belong to protocols of an application layer, and because a sending end and a receiving end are determined and are one-to-one, connection does not need to be established before data is sent, connection does not need to be released after the data is sent, and the calculation and time expenses are reduced. As shown in fig. 1, the communication adopts a mode that the master card sends a request message to the slave card, and the slave card passively replies to the master card, in which the slave card does not actively send a message to the master card, and usually the master card sends a frame of message and the slave card replies to a frame of message.
The inquiry and reply messages between the master card and the slave card are composed of three parts, namely a header, a data section and a trailer. The header is composed of a header flag, a receipt length, a source address, a destination address, and a function code, and the meaning and length of each field are as shown in fig. 2. The header mark adopts 0x7E7E, the data length is stored redundantly in the message, and errors in the transmission process of the data length are prevented. The source address stores the address of the sender, and the destination address stores the address of the receiver. The function code indicates the function of the frame message. The data segment has different structures according to different function codes. The trailer consists of a CRC check code and a trailer identifier 0x7b7 b.
The types of communication messages sent from the master card to the slave card include the following 5 types,
(1) Parameter message
(2) Data message
(3) Data message with kks code
(4) SOE inquiry message
(5) SOE acknowledgement message
Wherein, the parameter message is (1), and after being electrified, the master card sends the message of the type to the slave card. (2) And (3) the messages are periodic messages, and the master card sends a frame of message to the slave card in each 4ms task period. (4) And (5) a non-periodic message, which is sent by the master card to the slave card at a specific time.
The following 3 kinds of reply messages from the slave card to the master card exist
(1) Parameter confirmation message
(2) Data upload message
(3) SOE data message
The steps of sending and receiving the parameter message in the communication protocol are as follows:
step (1): after being electrified, the controller sends a servo card parameter message to the servo main card;
step (2): after receiving the message, the servo main card identifies the message type as a parameter message and unpacks the message;
and (3): the servo main card performs parameter configuration of the main card according to the received parameters;
and (4): the servo master card packs a parameter message sent to the servo slave card in a task period of 4ms and sends a parameter issuing message to the servo slave card;
and (5): and after receiving the parameter message, the servo slave card performs parameter configuration and replies a parameter confirmation message to the servo master card.
The steps of sending and receiving the periodic message in the communication protocol are as follows:
step (1): the controller sends a data message to the servo main card in a task period of 5ms, and the data message has two functions: issuing output data and requesting input data;
step (2): after receiving the message, the servo main card identifies the message type, unpacks the message and stores the received data into a corresponding buffer area;
and (3): the servo main card packages the input data of the uploading controller, and the servo subordinate card data is not sent to the servo main card at the moment;
and (4): the servo main card packages and sends a data message of the servo obeying card in a 4ms task period, and the data message has two functions: issuing output data and requesting input data;
and (5): after receiving the data message, the servo slave card puts the data into a corresponding buffer area;
and (6): the slave cards package data for transmission to the slave master card.
The structure of the parameter issuing message:
the structure of the parameter confirmation message:
| header | Check code | Newspaper tail |
| 11byte | 2byte | 4byte |
The structure of the data message is as follows:
the structure of the data uploading message:
data message with kks code:
SOE query message:
SOE data message:
the SOE confirms the message:
| header | Newspaper tail |
| 11byte | 4byte |
The steps of sending and receiving the aperiodic message in the communication protocol are as follows:
step (1): the servo master card sends an SOE inquiry message to the servo slave card;
step (2): after receiving the SOE inquiry message, the servo slave card unpacks the SOE inquiry message;
and (3): servo card packs SOE data message and replies servo main card;
and (4): after receiving the SOE data message, the servo main card unpacks the SOE data message;
and (5): the servo master card sends an SOE confirmation message to the servo slave card;
and (6): the servo slave card receives the SOE confirmation message without replying the message to the servo master card.
Claims (2)
1. A master-slave card communication method for a steam turbine servo is characterized in that: the communication adopts a mode that the master card sends a request message to the slave card, and the slave card replies the master card passively, so that the slave card does not actively send a message to the master card, the master card sends a frame of message, and the slave card replies a frame of message;
the inquiry and reply messages between the master card and the slave card consist of three parts, namely a header, a data section and a trailer;
the communication message types sent by the master card to the slave card include the following 5 types:
(1) Parameter message
(2) Data message
(3) Data message with kks code
(4) SOE query message
(5) SOE acknowledgement message
The type (1) is a parameter message, and after the parameter message is electrified, the master card sends the message of the type to the slave card; the (2) th and (3) th types are periodic messages, and the master card sends a frame of message to the slave card in each preset task period; the (4) th and (5) th types are non-periodic messages, and the master card sends the messages to the slave card at a specific time;
the reply messages from the slave card to the master card include the following 3 types:
(1) Parameter confirmation message
(2) Data upload message
(3) SOE data message
The steps of sending and receiving the parameter message in the communication protocol are as follows:
step (1): after power-on, the controller sends a servo card parameter message to the servo main card;
step (2): after receiving the message, the servo main card identifies the message type as a parameter message and unpacks the message;
and (3): the servo main card performs parameter configuration of the main card according to the received parameters;
and (4): the servo master card packs a parameter message sent to the servo slave card in a task period of 4ms and sends a parameter issuing message to the servo slave card;
and (5): the servo slave card performs parameter configuration after receiving the parameter message and replies a parameter confirmation message to the servo master card;
the steps of sending and receiving the periodic message in the communication protocol are as follows:
step (1): the controller sends a data message to the servo main card in a task period of 5ms, and the data message has two functions: issuing output data and requesting input data;
step (2): after receiving the message, the servo main card identifies the message type, unpacks the message and stores the received data into a corresponding buffer area;
and (3): the servo main card packages the input data of the uploading controller, and the servo subordinate card data is not sent to the servo main card at the moment;
and (4): the servo master card packages and sends a data message of the servo slave card within a 4ms task period, and the data message has two functions: issuing output data and requesting input data;
and (5): after receiving the data message, the servo slave card puts the data into a corresponding buffer area;
and (6): the servo slave card packs the data transmitted to the servo master card and sends a message;
the steps of sending and receiving the aperiodic message in the communication protocol are as follows:
step (1): the servo master card sends an SOE inquiry message to the servo slave card;
step (2): after receiving the SOE inquiry message, the servo slave card unpacks the SOE inquiry message;
and (3): servo card packs SOE data message and replies servo main card;
and (4): after receiving the SOE data message, the servo main card unpacks the SOE data message;
and (5): the servo master card sends an SOE confirmation message to the servo slave card;
and (6): the servo slave card receives the SOE confirmation message without replying the message to the servo master card.
2. The steam turbine servo master-slave card communication method according to claim 1, wherein: the header is composed of a header mark, a data length, a source address, a target address and a function code, the header mark adopts 0x7E7E, the data length is redundantly stored in the message, and errors of the data length in the transmission process are prevented; the source address stores the address of the sender; the destination address stores the address of the receiver; the function code represents the function of the frame message; the data segment has different structures according to different function codes; the trailer consists of a CRC check code and a trailer identifier 0x7b7 b.
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| CN103425106A (en) * | 2013-08-08 | 2013-12-04 | 华南理工大学 | Linux-based Ethercat maser/slave station control system and method |
| CN103605628A (en) * | 2013-11-29 | 2014-02-26 | 迈普通信技术股份有限公司 | PCI-E-based method and device for achieving command interaction between master equipment and slave equipment |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2636534B2 (en) * | 1991-03-22 | 1997-07-30 | 三菱電機株式会社 | Communications system |
| JP3444146B2 (en) * | 1997-06-25 | 2003-09-08 | 三菱電機株式会社 | Communication control device |
| CN105376232A (en) * | 2015-11-18 | 2016-03-02 | 路斯特运动控制技术（上海）有限公司 | Data transmission communication protocol for servo drivers |
| CN211670920U (en) * | 2020-03-31 | 2020-10-13 | 北京小鸟科技股份有限公司 | Video splicer |
| CN111522313B (en) * | 2020-04-28 | 2021-09-28 | 浙江工业大学 | Method for controlling servo motor curve motion based on CANOPEN protocol |
| CN111654426B (en) * | 2020-08-04 | 2020-11-03 | 北京和利时系统工程有限公司 | Event sequence recording event information acquisition method based on Modbus protocol and related equipment |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1340770A (en) * | 2000-08-25 | 2002-03-20 | 三星电子株式会社 | Multi-media module card, equipment for its operation and integrated multi-media system |
| CN103425106A (en) * | 2013-08-08 | 2013-12-04 | 华南理工大学 | Linux-based Ethercat maser/slave station control system and method |
| CN103605628A (en) * | 2013-11-29 | 2014-02-26 | 迈普通信技术股份有限公司 | PCI-E-based method and device for achieving command interaction between master equipment and slave equipment |
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