CN115086246A - Time division multiplexing Ethernet data scheduling transmission method based on time slot - Google Patents
Time division multiplexing Ethernet data scheduling transmission method based on time slot Download PDFInfo
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- H04L47/00—Traffic control in data switching networks
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- H04L47/625—Queue scheduling characterised by scheduling criteria for service slots or service orders
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- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
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Abstract
The invention relates to a time division multiplexing Ethernet data scheduling transmission method based on time slots. A monitoring server in the ship energy management system establishes a network dispatch table according to the field control requirement; and all nodes in the network transmit corresponding monitoring acquisition data and control signal data in corresponding time slices according to the time slice sequence configured by the network scheduling table. The invention solves the problem of sharing and transmitting different types of data in the ship energy management system, realizes the time-sharing transmission of monitoring acquisition data and control signal data of different nodes in the ship energy management system by establishing a scheduling table, scheduling and optimizing the communication time of each node in the network, improves the reliability of control signal data transmission while meeting the real-time performance of monitoring acquisition data transmission, and has great application and popularization space.
Description
Technical Field
The invention relates to a data scheduling transmission method in a ship energy management system, and belongs to the field of network communication.
Background
The ship energy management system is a novel system for uniformly scheduling, managing and controlling ship electric energy, which is gradually generated according to the actual needs of a comprehensive electric power system after a full-electric ship appears. The ship energy management system is mainly based on a computer monitoring network, and is used for monitoring the running conditions of a power system, an electric power system and other electric equipment of a ship in real time, controlling and protecting the running conditions, realizing intelligent control on the energy flow of the whole ship, and ensuring the stability and economy of energy supply in the running process of the ship, so that the overall performance of the ship is improved.
What mainly transmit in the boats and ships energy management system is the real-time supervision data of each item operating parameter of power equipment among the comprehensive electric power system and the control signal data to each power equipment, because node equipment quantity in the boats and ships power system information network is big more and more, the structure is more and more complicated, the real-time supervision data volume in the boats and ships energy management system network is bigger and bigger, also higher and more high to control signal's transmission stability, how on the basis of guaranteeing monitoring data transmission real-time nature, guarantee that control signal's reliable transmission becomes the key problem that awaits the solution in the boats and ships energy management system development process.
The existing network architecture scheme based on the field bus and the CAN bus has low transmission speed and short transmission distance, and cannot meet the requirements of increasingly huge real-time monitoring data in a ship energy management system network on the network transmission speed and distance. The method has certain unpredictability, and reliable transmission of the control signals cannot be ensured, so that the service quality of control signal data transmission is improved on the premise of ensuring the real-time performance of monitoring and collecting data in the ship energy management system network, and the method has important significance for development of the ship energy management system network.
Disclosure of Invention
Aiming at the defects in the prior art, the technical problem to be solved by the invention is to provide a time division multiplexing Ethernet data scheduling transmission method based on time slots for a ship energy management system, which is mainly used for real-time communication between a monitoring server and a remote terminal unit in the ship energy management system.
The technical scheme adopted by the invention for realizing the purpose is as follows: a time division multiplexing Ethernet data scheduling transmission method based on time slots utilizes the time division multiplexing method to separate and transmit monitoring acquisition data and control signal data of network nodes, and comprises the following steps:
and the monitoring server and the remote terminal unit which are used as nodes are configured according to the scheduling table, and the transmission communication of the monitoring acquisition data and the control signal data is carried out in the allocated time period.
The schedule configured to the monitoring server and the remote terminal unit includes: the method comprises the steps of scheduling a macro cycle length, a scheduling table configuration time period length, a monitoring acquisition data time slice length, a monitoring acquisition data sending sequence of each remote terminal unit, the number of monitoring acquisition data time slices occupied by each remote terminal unit, a control signal data time period length, an idle time period length and the remote terminal units communicated with the remote terminal units.
The remote terminal unit transmits data according to the configuration of the scheduling table, and the scheduling cycle allocated by the scheduling table for the remote terminal unit is divided into four time periods, namely a scheduling table configuration time period length, a monitoring acquisition data time period, a control signal data time period and an idle time period:
the schedule configuration period is: the monitoring server sends a scheduling table configuration information message to each remote terminal unit in a network in a broadcast mode, sends a clock synchronization message to each remote terminal unit, configures a scheduling table of the next scheduling period according to configuration information in the scheduling table configuration information message, and carries out clock synchronization with other remote terminal units in the period;
the monitoring data acquisition time period is as follows: transmitting the collected monitoring and collecting data message used for representing each parameter of the power equipment by the remote terminal unit according to the position and the number of the monitoring and collecting data time slices configured by the scheduling table;
the control signal data time period: control signal data messages sent or received between the remote terminal unit and other remote terminal units or the monitoring server;
the idle time period is as follows: the remote terminal unit disconnects the control signal message transmission connection still existing between the remote terminal unit and the monitoring server or other remote terminal units, and prepares for the next scheduling period.
The interaction of monitoring and data acquisition between the nodes comprises the following steps:
when the remote terminal unit is in the monitoring acquisition data transmission time period, the acquired monitoring acquisition data message is transmitted to the network in a multicast mode;
when the remote terminal unit is in a non-monitoring acquisition data transmission time period, storing the acquired monitoring data into a monitoring acquisition data transmission queue in the remote terminal unit, and waiting for the next monitoring acquisition data transmission time period to transmit and send;
the monitoring server receives monitoring acquisition data messages transmitted by all remote terminal units in the whole network, and the remote terminal units discard the monitoring acquisition data messages transmitted by the remote terminal units in the non-scheduling table.
The control signal data interaction between the nodes comprises the following steps:
when the monitoring server or the remote terminal unit is in the control signal data transmission time period, the monitoring server or the remote terminal unit is connected with a control signal data receiver, and after the connection is successfully established, the control signal data message is transmitted to the control signal data receiver;
and when the control signal data transmission time interval is in the non-control signal data transmission time interval, storing the control signal data into the control signal data transmission queue, and waiting for the next control signal data transmission time interval to carry out control signal data transmission.
The connection establishment process of the control signal data sender and the receiver is as follows:
the control signal data sender sends a connection request, if the receiver can transmit a control signal data message at the moment, the receiver replies a connection confirmation request message to the request cube and prepares to receive the control signal data message, and the connection requester starts to transmit the control signal data message after receiving the connection confirmation request message.
The monitoring server takes the clock of the monitoring server as a main clock to carry out clock synchronization with all the remote terminal units, so that all the nodes in the network are in the same clock reference.
A remote terminal unit is used for receiving monitoring acquisition data for monitoring various parameters of electric power equipment; at any time, it can communicate with the monitoring server and other Remote Terminal Units (RTUs) within the network over the ethernet in accordance with the schedule configuration.
A node as a remote terminal unit comprising a memory and a processor; the memory for storing a computer program; the processor, when executing the computer program, is configured to perform the steps of:
and the remote terminal unit serving as the node is configured according to the scheduling table, and performs transmission communication of monitoring acquisition data and control signal data in the distributed time period.
A node acting as a monitoring server, comprising a memory and a processor; the memory for storing a computer program; the processor, when executing the computer program, is configured to perform the steps of:
and the monitoring server serving as the node is configured according to the scheduling table, and performs transmission communication of monitoring acquisition data and control signal data in the distributed time period.
The invention has the following beneficial effects and advantages:
1. and determining the maximum time delay of the transmission of the monitoring acquisition data to the upper application, and ensuring the real-time performance of the monitoring acquisition data. According to the invention, by establishing a network scheduling table and controlling all nodes in the network to send monitoring acquisition data according to scheduling, only one node in the network is ensured to transmit the monitoring acquisition data at any monitoring acquisition data transmission moment, so that uncertain network transmission delay caused by congestion at a certain moment in the network due to simultaneous data sending of multiple nodes is eliminated;
2. the service quality of the whole system for transmitting the control signal data is improved. According to the invention, by establishing the network scheduling table, the transmission of the monitoring acquisition data and the transmission of the control signal data are completely separated, so that the control signal data are prevented from being buried in the monitoring acquisition data with huge data volume when the monitoring acquisition data and the control signal are transmitted simultaneously; the control signal data is transmitted in a connection establishing mode, so that the packet loss rate of the control signal is reduced, and the service quality of the whole system for transmitting the control signal is improved.
3. And the expandability is strong. When the ship energy management system needs to be expanded, on the basis of the original network structure, the whole system can be expanded by adding a Remote Terminal Unit (RTU) and modifying a network scheduling configuration table without changing the platform architecture of the whole system, and the ship energy management system is high in universality and strong in expandability.
4. High reliability and strong feasibility of implementation. Compared with other bus control technologies, the mature Ethernet bus control method has the advantages of high reliability, low complexity of system implementation, low cost of system construction, and excellent feasibility and economy.
Drawings
FIG. 1 is a diagram of the overall architecture of the network of the present invention;
FIG. 2 is a schematic diagram of a specific configuration of an example network schedule of the present invention;
FIG. 3a is a schematic diagram of data transmission within a network during a system data period in accordance with an embodiment of the present invention;
FIG. 3b is a schematic diagram of a remote terminal unit RTU1 transmitting monitoring acquisition data in an embodiment of the present invention;
FIG. 3c is a schematic diagram of a remote terminal unit RTU2 transmitting monitoring acquisition data in an embodiment of the present invention;
FIG. 3d is a schematic diagram of a remote terminal unit RTU3 transmitting monitoring acquisition data in an embodiment of the present invention;
FIG. 3e is a schematic diagram of data transmission within the network during control signal data periods in accordance with an embodiment of the present invention;
fig. 4 is a detailed diagram of data transmission of control signals in the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and examples.
The invention provides a time division multiplexing Ethernet data scheduling transmission method based on time slots and applied to a ship energy management system; the monitoring server and the Remote Terminal Unit (RTU) in the ship energy management system network realize time-sharing transmission of monitoring acquisition data and control signal data in a scheduling table mode, and improve the service quality of the control signal data while ensuring the real-time performance of the monitoring acquisition data.
The invention solves the problem of sharing and transmitting different types of data in the ship energy management system, realizes the time-sharing transmission of monitoring acquisition data and control signal data of different nodes in the ship energy management system by establishing a scheduling table, scheduling and optimizing the communication time of each node in the network, improves the reliability of control signal data transmission while meeting the real-time performance of monitoring acquisition data transmission, and has great application and popularization space.
The monitoring server and the Remote Terminal Unit (RTU) occupy different time slices to respectively send the monitoring acquisition data and the control signal data, so that the transmission of the monitoring acquisition data and the control signal data is separated, the problem of uncertain network transmission delay caused by congestion at a certain moment in a network when the monitoring acquisition data and the control signal data are transmitted simultaneously is solved, and the control signal is prevented from being buried in the monitoring acquisition data with huge data volume. The method improves the real-time performance of monitoring and collecting data and the stability of control signal data transmission on the premise of not changing the overall structure of the ship energy management system, and has wide application prospect.
A node acting as a Remote Terminal Unit (RTU) that can receive monitoring data collected by sensors monitoring parameters of electrical equipment; can communicate with a monitoring server and other Remote Terminal Units (RTUs) at any time according to a schedule configuration through the Ethernet; the node can execute a scheduling transmission program, and the program can realize the time division multiplexing Ethernet data scheduling transmission method based on the time slot.
A node serving as a monitoring server stores a scheduling sending program used as the monitoring server, and the program can transmit received monitoring acquisition data to an upper control application of a ship energy management system and transmit a control signal generated by the upper control application of the ship energy management system to a Remote Terminal Unit (RTU) in a network while realizing the time-division multiplexing Ethernet data scheduling transmission method based on the time slot.
A time division multiplexing Ethernet data scheduling transmission method based on time slot is used for monitoring the transmission of collected data and control signal data in a ship energy management system, and comprises the following parts:
the monitoring server and all Remote Terminal Units (RTUs) are connected through an Ethernet switch to form a ship energy management system network.
The monitoring server: the monitoring server sets a network scheduling table according to the actual requirement of the system, configures the network scheduling table according to the scheduling table, and transmits the scheduling table to all Remote Terminal Units (RTUs) in the network at intervals in a scheduling table configuration time period; the monitoring server takes a self clock as a main clock to carry out clock synchronization with all Remote Terminal Units (RTUs) in the network; the monitoring server can receive and store monitoring acquisition data transmitted by all Remote Terminal Units (RTUs) in the network in real time, and safely and reliably transmits control signals generated by the ship energy management system to all the Remote Terminal Units (RTUs) in the network.
Remote Terminal Unit (RTU): remote Terminal Units (RTUs) receive monitoring data collected by sensors for monitoring various parameters of the power equipment, and all the Remote Terminal Units (RTUs) in a network carry out time-sharing transmission of the monitoring collected data and control signal data according to a time-division multiplexing Ethernet data scheduling transmission method based on time slots.
And establishing a network scheduling table by combining with actual engineering requirements, wherein the scheduling table comprises the following contents: the method comprises the steps of scheduling a macro cycle length, a scheduling table configuration time slot length, a monitoring acquisition data time slice length, a monitoring acquisition data sending sequence of each Remote Terminal Unit (RTU), the number of the monitoring acquisition data time slices occupied by each Remote Terminal Unit (RTU), a control signal data time slot length, an idle time slot length and a Remote Terminal Unit (RTU) which can be communicated with each Remote Terminal Unit (RTU). It is ensured that the monitoring server and all Remote Terminal Units (RTUs) within the network can be configured according to the network schedule.
According to the configuration of a network scheduling table, all nodes in the network are divided into four time periods, namely a scheduling table configuration time period, a monitoring and data collecting time period, a control signal data time period and an idle time period, in each scheduling period:
in the system data sending time period, the monitoring server sends a configuration management message in a network segment in a broadcasting mode; monitoring data of various parameters of the power equipment, such as pressure signals, vibration signals and the like, received by a Remote Terminal Unit (RTU) are sent in a monitoring data acquisition time period; and the control signal data time period is used for sending various control signal data in the ship energy management system, such as a generator control signal and a load adjustment signal, and the idle time period is mainly used for preparing the next scheduling period.
Monitoring and acquiring data interaction between the monitoring server and a Remote Terminal Unit (RTU), between the Remote Terminal Unit (RTU) and the Remote Terminal Unit (RTU), when the Remote Terminal Unit (RTU) is in a monitoring and acquiring data time slice configured by a scheduling table, the Remote Terminal Unit (RTU) immediately transmits the monitoring and acquiring data to a network in a monitoring and acquiring data message mode, when the Remote Terminal Unit (RTU) is in a monitoring and acquiring data time slice configured by a non-scheduling table, the acquired monitoring data is stored in an internal monitoring and acquiring data transmission queue, and data transmission is carried out on the next monitoring and acquiring data time slice configured by the scheduling table; the monitoring server receives monitoring acquisition data messages transmitted by all Remote Terminal Units (RTUs) in the whole network, the Remote Terminal Units (RTUs) receive the monitoring acquisition data messages transmitted by the Remote Terminal Units (RTUs) capable of communicating according to the configuration of the scheduling table, and the monitoring acquisition data messages transmitted by the Remote Terminal Units (RTUs) in the non-scheduling table are discarded.
The method comprises the steps that control signal data interaction is carried out between a monitoring server and a Remote Terminal Unit (RTU) and between the Remote Terminal Unit (RTU) and a Remote Terminal Unit (RTU), when the monitoring server or the Remote Terminal Unit (RTU) is in a control signal data transmission time period configured by a scheduling table, the monitoring server or the Remote Terminal Unit (RTU) is connected with a control signal receiver and transmits control signal data in a control signal data message mode, and when the monitoring server or the Remote Terminal Unit (RTU) is in a control signal data transmission time period not configured by the scheduling table, the control signal data message is stored in a control signal data transmission queue, and control signal data transmission is carried out in the next control signal data transmission time period.
The specific implementation process of the method in practical application is described by taking fig. 1 as an example; the method comprises the steps that firstly, a remote terminal control unit (RTU) is communicated with sensors for monitoring various parameters of the power equipment through various industrial bus forms, various monitoring data collected by the sensors are received, and then a monitoring server is connected with all the remote terminal control units (RTUs) through a switch in an exchange type Ethernet form to form a ship energy management system network.
Fig. 2 is a specific configuration diagram of a network scheduling table in the patent example of the present invention, where a network scheduling cycle length is 25ms, a scheduling table configuration time period length is 5ms, a monitor data acquisition time period length is 10ms, which is totally divided into 10 monitor data acquisition time slices, and each monitor data acquisition time slice length is 1ms, where a remote terminal unit RTU1 allocates to obtain No. 1-3 monitor data acquisition time slices, a remote terminal unit RTU2 allocates to obtain No. 4-7 monitor data acquisition time slices, a remote terminal unit RTU3 allocates to obtain No. 8-10 monitor data acquisition time slices, a control signal data time period length is 8ms, and an idle time period length is 2 ms.
FIGS. 3 a-3 e are schematic diagrams of communication conditions in the network during various transmission periods according to the embodiments of the present invention; as shown in fig. 3a, when in the schedule configuration period, the monitoring server transmits the configured network schedule to all remote terminal control units (RTUs) in the network, and transmits a clock synchronization message to perform clock synchronization with all Remote Terminal Units (RTUs) in the network.
FIG. 3b is a schematic diagram of the remote terminal unit RTU1 transmitting monitor acquisition data, the remote terminal unit RTU1 being assigned monitor acquisition data time slices # 1-3 according to the network schedule configuration, and therefore being assigned at T D1 In a time period, only a remote terminal unit RTU1 in a network transmits received monitoring acquisition data for monitoring various parameters of electric power equipment, because the remote terminal unit RTU1 transmits the monitoring acquisition data messages in a connectionless multicast mode, a monitoring server and all remote terminal units in the network can receive the messages, the monitoring server can receive and process the monitoring acquisition data messages sent by all Remote Terminal Units (RTUs) in the network, the remote terminal units selectively process the received monitoring acquisition data messages according to the configuration of a scheduling table, and in the example, the network scheduling table configures all the Remote Terminal Units (RTUs) not to process the received monitoring acquisition data messages sent by other Remote Terminal Units (RTUs); FIG. 3c is a schematic diagram of remote terminal unit RTU2 transmitting monitoring acquisition data at T D2 In a time period, only a remote terminal unit RTU2 in the network transmits a monitoring acquisition data message; FIG. 3d is a schematic diagram of remote terminal unit RTU3 transmitting monitoring acquisition data at T D3 During the time period, only the remote terminal unit RTU3 in the network transmits the monitoring acquisition data message.
In the embodiment of the present invention, as shown in fig. 3e, when the time period of the control signal data is in use, both the monitoring server and the Remote Terminal Unit (RTU) in the network can transmit the control signal data, and according to the receiver of the control signal data, the node in the network is connected to the receiver of the control signal, and after the connection is successfully established, the sending node of the control signal and the receiver of the control signal transmit the control signal data in the form of a control signal data message in a send-reply manner, thereby ensuring that the control signal can be stably and reliably transmitted to the receiver of the signal.
Fig. 4 is a specific schematic diagram of control signal data transmission in the present invention, first, a control signal data transmitting node transmits a connection request REQ message to a control signal receiving party, and after the receiving party receives the connection request, if the connection requesting party is a configuration node on a scheduling table and the receiving party is currently in a state capable of transmitting. Replying a response reply ACK message to the request cube and preparing to receive the control signal data message, and starting to transmit the control signal data message after the connection request party receives the response reply ACK message; after receiving the control signal data message, the receiver replies a received reply message to the sender, and the serial number in the received reply message is the same as that in the control signal data transmission message, and the sender can judge whether the control signal data is successfully transmitted to the receiver according to the serial number in the received reply message. If the number of the control signal receivers is multiple, multiple connections are established for control signal transmission.
Claims (10)
1. A time division multiplexing Ethernet data scheduling transmission method based on time slots is characterized in that monitoring acquisition data and control signal data of network nodes are separately transmitted by using a time division multiplexing method, and the method comprises the following steps:
and the monitoring server and the Remote Terminal Unit (RTU) which are used as nodes are configured according to the scheduling table, and the transmission communication of the monitoring acquisition data and the control signal data is carried out in the allocated time period.
2. The time division multiplexed ethernet data scheduling transmission method on a time slot basis as claimed in claim 1, wherein the schedule table configured to the monitoring server and the Remote Terminal Unit (RTU) comprises: the method comprises the steps of scheduling a macro cycle length, a scheduling table configuration time period length, a monitoring acquisition data time slice length, a monitoring acquisition data sending sequence of each remote terminal unit, the number of monitoring acquisition data time slices occupied by each remote terminal unit, a control signal data time period length, an idle time period length and the remote terminal units communicated with the remote terminal units.
3. The time division multiplexing ethernet data scheduling transmission method based on time slot of claim 1, wherein the Remote Terminal Unit (RTU) performs data transmission according to a schedule configuration, and a scheduling cycle allocated by the schedule for the remote terminal unit is divided into four periods, a schedule configuration period length, a monitor acquisition data period length, a control signal data period length and an idle period length:
the schedule configuration period is: transmitting a scheduling table configuration information message to each remote terminal unit in a network in a broadcast mode by a monitoring server, transmitting a clock synchronization message to each remote terminal unit, configuring a scheduling table of a next scheduling period by the monitoring server and a Remote Terminal Unit (RTU) according to configuration information in the scheduling table configuration information message, and performing clock synchronization with other remote terminal units in the period;
the monitoring data acquisition time period is as follows: transmitting the collected monitoring and collecting data message used for representing each parameter of the power equipment by the remote terminal unit according to the position and the number of the monitoring and collecting data time slices configured by the scheduling table;
the control signal data period: control signal data messages sent or received between the remote terminal unit and other remote terminal units or the monitoring server;
the idle time period is as follows: the remote terminal unit disconnects the control signal message transmission connection still existing between the remote terminal unit and the monitoring server or other remote terminal units, and prepares for the next scheduling period.
4. The time division multiplexing ethernet data scheduling transmission method based on time slot according to claim 1, wherein the interaction of monitoring the collected data between the nodes comprises the following steps:
when a Remote Terminal Unit (RTU) is in a monitoring acquisition data transmission time period, transmitting an acquired monitoring acquisition data message to a network in a multicast mode;
when a Remote Terminal Unit (RTU) is in a non-monitoring acquisition data transmission time period, storing acquired monitoring data into a monitoring acquisition data transmission queue inside the RTU, and waiting for the next monitoring acquisition data transmission time period to transmit and send;
the monitoring server receives monitoring acquisition data messages transmitted by all Remote Terminal Units (RTUs) in the whole network, and the Remote Terminal Units (RTUs) discard the monitoring acquisition data messages transmitted by the Remote Terminal Units (RTUs) in the non-scheduling table.
5. The time division multiplexing ethernet data scheduling transmission method based on time slot according to claim 1, wherein the control signal data interaction between nodes comprises the following steps:
when a monitoring server or a Remote Terminal Unit (RTU) is in a control signal data transmission time period, the monitoring server or the Remote Terminal Unit (RTU) establishes connection with a control signal data receiver, and after the connection is successfully established, a control signal data message is transmitted to the control signal data receiver;
and when the control signal data transmission time interval is in the non-control signal data transmission time interval, storing the control signal data into the control signal data transmission queue, and waiting for the next control signal data transmission time interval to carry out control signal data transmission.
6. The time division multiplexing ethernet data scheduling transmission method based on time slot of claim 5, wherein the connection establishment procedure of the control signal data sender and receiver is as follows:
the control signal data sender sends a connection request, if the receiver can transmit the control signal data message at the moment, the receiver replies a connection confirmation request message to the request cube and prepares to receive the control signal data message, and the connection requester starts to transmit the control signal data message after receiving the connection confirmation request message.
7. The time division multiplexing ethernet data scheduling transmission method based on time slot according to claim 1, wherein the monitoring server performs clock synchronization with all remote terminal units using its own clock as a main clock, so that all nodes in the network are on the same clock reference.
8. A remote terminal unit is characterized by being used for receiving monitoring acquisition data for monitoring various parameters of electrical equipment; at any time, it can communicate with the monitoring server and other Remote Terminal Units (RTUs) within the network over the ethernet in accordance with the schedule configuration.
9. A node being a remote terminal unit comprising a memory and a processor; the memory for storing a computer program; the processor, when executing the computer program, is configured to perform the steps of:
and the remote terminal unit serving as the node is configured according to the scheduling table, and performs transmission communication of monitoring acquisition data and control signal data in the distributed time period.
10. A node acting as a monitoring server, comprising a memory and a processor; the memory for storing a computer program; the processor, when executing the computer program, is configured to perform the steps of:
and the monitoring server serving as the node is configured according to the scheduling table, and performs transmission communication of monitoring acquisition data and control signal data in the distributed time period.
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| 严翔;: "基于工业以太网的列车控制网络性能分析及优化", 机车电传动, no. 03 * |
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