CN116319145A - CAN network system with high reliability and high real-time performance and communication method - Google Patents

CAN network system with high reliability and high real-time performance and communication method Download PDF

Info

Publication number
CN116319145A
CN116319145A CN202211686612.1A CN202211686612A CN116319145A CN 116319145 A CN116319145 A CN 116319145A CN 202211686612 A CN202211686612 A CN 202211686612A CN 116319145 A CN116319145 A CN 116319145A
Authority
CN
China
Prior art keywords
node
master node
data
frame
nodes
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202211686612.1A
Other languages
Chinese (zh)
Inventor
田帅帅
安晋松
赵玮烨
郝宇军
任浩
李阳阳
朱卫东
贾航
田亚峰
时三波
景世超
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanxi Jincheng Anthracite Mining Group Technology Research Institute Co ltd
Original Assignee
Shanxi Jincheng Anthracite Mining Group Technology Research Institute Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanxi Jincheng Anthracite Mining Group Technology Research Institute Co ltd filed Critical Shanxi Jincheng Anthracite Mining Group Technology Research Institute Co ltd
Priority to CN202211686612.1A priority Critical patent/CN116319145A/en
Publication of CN116319145A publication Critical patent/CN116319145A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • 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]
    • H04L12/40—Bus networks
    • H04L12/40006—Architecture of a communication node
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/06—Management of faults, events, alarms or notifications
    • H04L41/0631—Management of faults, events, alarms or notifications using root cause analysis; using analysis of correlation between notifications, alarms or events based on decision criteria, e.g. hierarchy, tree or time analysis
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/06—Management of faults, events, alarms or notifications
    • H04L41/0654—Management of faults, events, alarms or notifications using network fault recovery
    • H04L41/0663—Performing the actions predefined by failover planning, e.g. switching to standby network elements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04Q—SELECTING
    • H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • 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]
    • H04L12/40—Bus networks
    • H04L2012/40208—Bus networks characterized by the use of a particular bus standard
    • H04L2012/40215—Controller Area Network CAN
    • 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]

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Small-Scale Networks (AREA)

Abstract

The invention belongs to the technical field of CAN network communication, and particularly relates to a high-reliability high-instantaneity CAN network system and a communication method, wherein the system comprises the following components: the first main node, the second main node and the plurality of data acquisition nodes all comprise a CAN control module, a microcontroller, a two-way analog switch and two CAN transceivers, wherein the microcontroller is connected with the CAN controller, the CAN controller is connected with the two CAN transceivers through the plurality of analog switches, one CAN transceiver in each node is connected with a first bus passage, the other CAN transceiver is connected with a second bus passage, and the first main node, the second main node and the plurality of data acquisition nodes form a network through the two bus passages. The invention performs double backup design on the main node and the bus path in the system, ensures that the system can work normally to the greatest extent in severe environment, and obviously improves the reliability of the system.

Description

CAN network system with high reliability and high real-time performance and communication method
Technical Field
The invention belongs to the technical field of CAN network communication, and particularly relates to a high-reliability high-instantaneity CAN network system and a communication method.
Background
The CAN bus technology has played an increasingly important role in the fields of industrial control, automobiles, aerospace and aviation by virtue of the characteristics of multi-master communication, non-destructive bus arbitration mechanisms and the like, but electronic equipment is often subjected to various severe environment tests in the production, transportation and use processes, so that the CAN bus network is greatly threatened, the CAN bus equipment is required to be capable of safely and reliably working in the aerospace field, and how to solve the problem is an important subject of the application of CAN in the aerospace field.
According to possible fault reasons of the bus system, such as disconnection of a cable, fault of a CAN bus driver, fault of a controller and the like, an effective way to solve the problem of CAN reliability communication is to perform redundancy on the buses to different degrees. Although redundancy of the CAN bus is a common solution to this problem, existing redundancy structures may result in reduced reliability and real-time of CAN communications.
Disclosure of Invention
In order to solve the problems that the reliability is low due to the fact that the existing CAN network is easily affected by severe environment and to improve the network real-time performance, the invention overcomes the defects existing in the prior art and provides a CAN network system with high reliability and high real-time performance and a communication method.
In order to solve the technical problems, the invention adopts the following technical scheme: a CAN network system with high reliability and high real-time performance comprises: the system comprises a first main node, a second main node and a plurality of data acquisition nodes, wherein the first main node, the second main node and the plurality of data acquisition nodes all comprise a CAN control module, a microcontroller, a two-way analog switch and two CAN transceivers, the microcontroller is connected with the CAN controller, the CAN controller is connected with the two CAN transceivers through the plurality of analog switches, one CAN transceiver in each node is connected with a first bus passage, the other CAN transceiver is connected with a second bus passage, and the first main node, the second main node and the plurality of data acquisition nodes form a network through the two bus passages;
the first master node is used for sending a state request frame to the second master node, sending a data request frame to the data acquisition node, and communicating with the data acquisition node through the second bus path when the first bus path fails, and the second master node is used for starting a master node function and sending the data request frame to the data acquisition node when the state request frame of the first master node is not received.
The CAN network system with high reliability and high real-time performance adopts an application layer protocol in an 11-bit standard frame format, wherein the high 3 bits are data function code areas and support 8 data types, all data types communicated between nodes in the system are included, the middle 4 bits are the function code areas of the sending nodes, the low 4 bits are the function code areas of the receiving nodes, and the address numbers of 16 nodes in the system are supported.
The first master node and the second master node further comprise alarm modules, and the first master node and the second master node are used for sending alarm signals to the corresponding alarm modules when the data acquisition nodes do not return self-checking response frames.
In addition, the invention also provides a communication method of the CAN network system with high reliability and high real-time performance, which comprises the following steps:
s101, after power-on, a first main node sends a bus self-checking frame to a second main node and all data acquisition nodes through one bus path;
s102, each node immediately sends a self-checking response frame to a first main node after receiving a roll call frame;
s103, after receiving the self-checking response frames of all the nodes, the first main node sends broadcast frames to all the nodes to broadcast the state information of all the nodes;
s104, after the first master node transmits the broadcast frame, the first master node transmits the broadcast frame in a period T 0 Periodically sending a status request frame to a second master node and sending a data request frame to each data acquisition node; the second master node responds to the first master node with a state frame according to the state request frame, and each data acquisition node responds to the first master node with a data frame according to the data request frame;
in the step S104, when the first master node does not receive any status frame or data frame sent back by the node within a set time, the first master node jumps to another bus path, and repeats steps S103 to S104;
in step S104, when the second master node does not receive the status request frame sent by the first master node within the set time, it jumps to another bus path, receives the status request frame sent by the first master node through another bus path and replies, and if the status request frame sent by the first master node is not received within the set time after jumping to another bus path, it starts the master node function and sends the data request frame to all the data acquisition nodes.
The set time is equal to twice the period T 0 。
The period T 0 The value of (2) is 25ms.
In step S103, if the first master node does not receive the self-checking response frames of all the nodes, it sends information to the alarm device, indicating that the data acquisition node that does not send the self-checking response frames is a failure node.
In step S104, when one of the data acquisition nodes does not receive the data request frame sent by the first master node or the second master node within a set time, it automatically jumps to the other bus path.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention provides a CAN network system with high reliability and high real-time performance and a communication method, wherein the system is provided with the main node redundancy and the double-channel redundancy, so that the autonomous switching of two main nodes and the automatic switching of two channels CAN be realized, the network does not need to be manually operated during the fault period, the system CAN work normally to the greatest extent under the severe environment, and the communication real-time performance and the reliability of the CAN network are improved.
2. The invention realizes the real-time data exchange of all nodes in the network through the improvement of the hardware of the system and the improvement of the communication method, and has strong flexibility.
3. The CAN network system has the advantages of low equipment cost, strong functions, high reliability and strong real-time performance, and is easy to popularize and use.
Drawings
Fig. 1 is a schematic structural diagram of a high-reliability and high-real-time CAN network system according to an embodiment of the present invention;
FIG. 2 is a diagram of the distribution of the format of the CAN network message identifier in the embodiment of the invention;
FIG. 3 is a block diagram of the workflow of a first master node;
FIG. 4 is a second master node workflow block diagram;
fig. 5 is a block diagram of the workflow of a data collection node.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments; all other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
As shown in fig. 1, a first embodiment of the present invention provides a high-reliability and high-real-time CAN network system, which includes: the system comprises a first main node, a second main node and a plurality of data acquisition nodes, wherein the first main node, the second main node and the plurality of data acquisition nodes comprise a microcontroller and a CAN control module, a two-way analog switch and two CAN transceivers, a CAN controller in the microcontroller is connected with the two CAN transceivers through the plurality of analog switches, one CAN transceiver in each node is connected with a first bus path, the other CAN transceiver is connected with a second bus path, and the first main node, the second main node and the plurality of data acquisition nodes form a network through the two bus paths;
the first master node is used for sending a state request frame to the second master node, sending a data request frame to the data acquisition node, and receiving the state frame sent by the second master node and the data frame sent by the data acquisition node; and the second main node is used for starting the main node function and sending the data request frame to the data acquisition node when the state request frame of the first main node is not received.
In the high-reliability high-real-time CAN network system of the embodiment, the microcontroller of each node is a microcontroller integrated with a CAN control module, and is connected with a two-way analog switch through an I/O port and also connected with a CAN transceiver module. The microcontroller of each node controls two CAN transceivers through a two-way analog switch, each CAN transceiver is connected with a bus passage, and all nodes form a network by using two buses.
In this embodiment, a dual-master-node cold redundancy structure design is adopted, only the first master node and other data acquisition nodes exchange data in a normal communication state, and when the first master node fails, the second master node replaces the first master node to exchange data with other data acquisition nodes. In addition, the embodiment of the invention adopts a double-bus-passage cold redundancy structure design, and only one bus passage works at the same time in a first bus passage formed by a first CAN transceiver and a first CAN bus and a second bus passage formed by a second CAN transceiver and a second CAN bus during communication.
In addition, in the communication system of the present embodiment, CAN communication is specifically implemented by making a CAN bus application layer protocol. The application layer protocol for realizing CAN communication accords with the CAN2.0A standard, uses an 11-bit standard frame format, uses the high 3 bits as a data function code area, supports 8 data types, comprises all data types communicated among nodes in a system, uses the middle 4 bits as a function code area of a transmitting node, uses the low 4 bits as a function code area of a receiving node, and supports the address numbers of 16 nodes in the system. All nodes are provided with a certain sequence of numbers according to the priority, all the data types of communication are provided with a certain number, and each node and each data type are unique in the network, so that the data type, the sending node and the receiving node of any frame of data can be indicated by the ID numbers. The CAN network message identifier format assignment diagram is shown in fig. 2.
Further, in this embodiment, the first master node and the second master node further include an alarm module, where the first master node and the second master node are configured to send an alarm signal to the corresponding alarm module when the data acquisition node does not return the self-checking response frame.
Specifically, in this embodiment, the microcontroller and the CAN control module may be integrated into one chip, or may be replaced by two discrete components.
Example two
The second embodiment of the invention provides a communication method of a CAN network system with high reliability and high real-time performance, which comprises the following steps:
s101, after power-on, a first main node sends a bus self-checking frame to a second main node and all data acquisition nodes through one bus path;
s102, each node immediately sends a self-checking response frame to a first main node after receiving a roll call frame;
s103, after receiving the self-checking response frames of all the nodes, the first main node sends broadcast frames to all the nodes to broadcast the state information of all the nodes;
s104, after the first master node transmits the broadcast frame, the first master node transmits the broadcast frame in a period T 0 Periodically sending a status request frame to a second master node and sending a data request frame to each data acquisition node; the second master node responds to the first master node with a state frame according to the state request frame, and each data acquisition node responds to the first master node with a data frame according to the data request frame;
in the step S104, when the first master node does not receive any status frame or data frame sent back by the node within a set time, the first master node jumps to another bus path, and repeats steps S103 to S104;
in step S104, when the second master node does not receive the status request frame sent by the first master node within the set time, it jumps to another bus path, receives the status request frame sent by the first master node through another bus path and replies, and if the status request frame sent by the first master node is not received within the set time after jumping to another bus path, it starts the master node function and sends the data request frame to all the data acquisition nodes.
Specifically, in the present embodiment, the set time is equal to twice the period T 0 . The period T 0 The value of (2) is 25ms.
Further, in step S103, if the first master node does not receive the self-checking response frames of all the nodes, it sends information to the alarm device, indicating that the data acquisition node that does not send the self-checking response frames is a failure node.
Further, in step S104, when one of the data collection nodes does not receive the data request frame sent by the first master node or the second master node within a set time, it automatically jumps to the other bus path. By the bus jumping mode of the data acquisition node, when the main node jumps to the bus passage, the data acquisition node can automatically jump without other communication conduction, and the fault automatic repairing capability of the system is improved.
As shown in fig. 3, a block diagram of the workflow of the first master node. After the system is electrified, the first master node sends a bus self-checking frame to the second master node and all data acquisition nodes, each node immediately sends a self-checking response frame to the first master node after receiving the roll call frame, after receiving the self-checking response frame responded by each node, the first master node frames the response information, sends a broadcast frame to all other nodes, broadcasts the state information of each node, if the node fails and does not return the self-checking response frame, alarms by using a flashing LED lamp on a master node module, displays the position of the failed node, and reminds workers of the previous maintenance. The first master node sends a state request frame to the second master node every 25ms after the first master node sends the broadcast frame, and the second master node immediately responds to the state frame after receiving the state request frame; the first master node transmits a data request frame to all data acquisition nodes once every 25ms, and all data acquisition nodes immediately respond to the first master node after receiving the data request frame. And after the system is powered on, the system defaults to communicate on the first bus path, if the first master node does not receive all the status frames or data frames returned by the slave nodes within 50ms, the first master node automatically jumps to the second bus path, continuously sends the status request frames to the second master node every 25ms, and sends the data request frames to all the data acquisition nodes every 25ms. If no status frame or data frame returned from other nodes is received within 50ms during normal operation on path 2, the first master node automatically jumps to path 1, and in short, the first master node can realize intelligent switching on both paths. In fig. 3, when the constant k=1, it indicates that a status frame or a data frame is received, and the constant v indicates the number of timer interrupt times, if v is equal to or greater than 2, it indicates that no self-checking response frame is received in both timer interrupt periods, at this time, switching of bus paths is performed, and the constant i indicates the number of received self-checking response frames, so that it can be checked through i whether all nodes can send the self-checking response frame. The constant v characterizes the number of cycles for which no state frame sum is received.
As shown in fig. 4, a workflow block diagram of a second master node; the second master node immediately responds to the self-checking response frame after receiving the self-checking frame of the first master node after powering up, and immediately responds to the state frame after receiving the state request frame sent by the first master node with the 25ms as a period. If the state request frame sent by the first master node is not received within 50ms, the first bus path is considered to be faulty, the second bus path is immediately and automatically jumped to, and if the state request frame sent by the first master node is still not received within 50ms on the second bus path, the first master node is considered to be faulty, the second master node starts to play the function of the master node by itself, and sends data request frames to all data nodes every 25ms. And simultaneously, a flashing LED lamp is used for alarming on the second main node module to remind workers of repairing the second main node module. If not all the status frames or data frames returned from the nodes are received within 50ms when the second bus path works normally, the second master node automatically jumps to the second bus path, and in short, the second master node can realize intelligent switching on the two bus paths. In fig. 4, when the constant k=1, it indicates that a status request frame is received, and when the constant v indicates the number of timer interrupts, if v=2, it indicates that no status request frame is received in 2 timer interrupt periods, at this time, switching of the bus paths is performed, and when the constant m indicates the number of periods in which no status request frame is received after switching the bus paths, the second master node starts to perform the master node function by itself.
In addition, when the second master node receives the state request frame sent by the first master node at any moment, the second master node returns to zero to the constants m and v immediately, and simultaneously sets the constant k to 1, so that the data request frame is immediately stopped from being sent to each data node, the master control right is returned to the first master node, and the backup state is returned again.
As shown in fig. 5, a block diagram of the workflow for a data collection node. All data acquisition nodes can send back self-checking response frames when receiving the self-checking response frames of the first main node, and can send back data frames with ID numbers corresponding to the self-checking response frames when receiving data request frames which are sent by the first main node or the second main node and take 25ms as a period. If the data request frame sent by the first main node or the second main node is not received within 50ms, the first CAN bus channel is considered to be faulty, the second bus channel is automatically jumped to work, and similarly, if the data request frame sent by the first main node or the second main node is not received within 50ms on the second CAN bus channel, the bus is considered to be faulty, the first bus channel is automatically jumped to, and in short, the data acquisition node CAN realize intelligent switching on the two channels. A block diagram of the workflow of the data collection node is shown in fig. 5. When the constant k=1 indicates that a data request frame is received, the constant v indicates the number of timer interrupts (the number of periods during which no data request frame is received), and when v=2 indicates that no status request frame is received during 2 timer interrupt periods, the bus channel is switched.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (8)

1. The CAN network system with high reliability and high real-time performance is characterized by comprising: the system comprises a first main node, a second main node and a plurality of data acquisition nodes, wherein the first main node, the second main node and the plurality of data acquisition nodes all comprise a CAN control module, a microcontroller, a two-way analog switch and two CAN transceivers, the microcontroller is connected with the CAN controller, the CAN controller is connected with the two CAN transceivers through the plurality of analog switches, one CAN transceiver in each node is connected with a first bus passage, the other CAN transceiver is connected with a second bus passage, and the first main node, the second main node and the plurality of data acquisition nodes form a network through the two bus passages;
the first master node is used for sending a state request frame to the second master node, sending a data request frame to the data acquisition node, and communicating with the data acquisition node through the second bus path when the first bus path fails, and the second master node is used for starting a master node function and sending the data request frame to the data acquisition node when the state request frame of the first master node is not received.
2. The high reliability and high real-time CAN network system of claim 1, wherein the application layer protocol employed uses an 11-bit standard frame format, the upper 3 bits being data function code regions supporting 8 data types including all data types communicated between nodes in the system, the middle 4 bits being transmit node function code regions, the lower 4 bits being receive node function code regions supporting address numbers of 16 nodes in the system.
3. The high-reliability and high-real-time CAN network system of claim 1, wherein the first master node and the second master node further comprise alarm modules, and the first master node and the second master node are configured to send alarm signals to the corresponding alarm modules when the data acquisition node does not return a self-check response frame.
4. The communication method of the high-reliability high-real-time CAN network system according to claim 1, characterized by comprising the steps of:
s101, after power-on, a first main node sends a bus self-checking frame to a second main node and all data acquisition nodes through one bus path;
s102, each node immediately sends a self-checking response frame to a first main node after receiving a roll call frame;
s103, after receiving the self-checking response frames of all the nodes, the first main node sends broadcast frames to all the nodes to broadcast the state information of all the nodes;
s104, after the first master node transmits the broadcast frame, the first master node transmits the broadcast frame in a period T 0 Periodically sending a status request frame to a second master node and sending a data request frame to each data acquisition node; the second master node responds to the first master node with a state frame according to the state request frame, and each data acquisition node responds to the first master node with a data frame according to the data request frame;
in the step S104, when the first master node does not receive any status frame or data frame sent back by the node within a set time, the first master node jumps to another bus path, and repeats steps S103 to S104;
in step S104, when the second master node does not receive the status request frame sent by the first master node within the set time, it jumps to another bus path, receives the status request frame sent by the first master node through another bus path and replies, and if the status request frame sent by the first master node is not received within the set time after jumping to another bus path, it starts the master node function and sends the data request frame to all the data acquisition nodes.
5. The communication method of high-reliability and high-real-time CAN network system according to claim 4, wherein said set time is equal to twice period T 0 。
6. The communication method of high reliability and high real-time CAN network system according to claim 4, wherein said period T is 0 The value of (2) is 25ms.
7. The communication method of the CAN network system with high reliability and high real-time performance according to claim 4, wherein in step S103, if the first master node does not receive the self-checking response frames of all the nodes, it sends information to the alarm device indicating that the data acquisition node that does not send the self-checking response frames is a failure node.
8. The method according to claim 4, wherein in step S104, when one of the data collection nodes does not receive the data request frame sent by the first master node or the second master node within a set time, the data collection node automatically jumps to the other bus path.
CN202211686612.1A 2022-12-27 2022-12-27 CAN network system with high reliability and high real-time performance and communication method Pending CN116319145A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211686612.1A CN116319145A (en) 2022-12-27 2022-12-27 CAN network system with high reliability and high real-time performance and communication method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211686612.1A CN116319145A (en) 2022-12-27 2022-12-27 CAN network system with high reliability and high real-time performance and communication method

Publications (1)

Publication Number Publication Date
CN116319145A true CN116319145A (en) 2023-06-23

Family

ID=86826389

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211686612.1A Pending CN116319145A (en) 2022-12-27 2022-12-27 CAN network system with high reliability and high real-time performance and communication method

Country Status (1)

Country Link
CN (1) CN116319145A (en)

Similar Documents

Publication Publication Date Title
CN106375072B (en) Redundancy control method for locomotive communication network
US6643689B2 (en) Process and components for controlling the connections of a transmission system
EP1784693B1 (en) Method for providing a rapid response to queries on a vehicle bus
CN112887152B (en) Train communication network architecture and method based on Ethernet and rail train
CN103647781A (en) Mixed redundancy programmable control system based on equipment redundancy and network redundancy
CN111835608B (en) Vehicle control system and vehicle
CN108199944B (en) Onboard cabin core system of dynamic daisy chain ring network and dynamic positioning method
CN107612800B (en) Implementation method and control device of Y-type conversion equipment for connecting PROFIBUS redundant double-bus network and PROFIBUS single-bus network
CN106888142B (en) E1 double-ring network with ring self-healing function
CN113867226B (en) Redundant data acquisition system for industrial control system
KR20050099809A (en) Transceiver frame structure for control communication network of distributed control system
US6450298B1 (en) Communications control system for elevators
CN103078756A (en) Mode switching method and CAN (Controller Area Network)
CN201846346U (en) Dual-redundancy heat switching system of controller area network (CAN) bus
JP4272993B2 (en) Interface modules in vehicles
CN116319145A (en) CAN network system with high reliability and high real-time performance and communication method
CN113114551A (en) Dual-redundancy LIN bus communication device
CN110053650B (en) Automatic train operation system, automatic train operation system architecture and module management method of automatic train operation system
CN117319185A (en) Multi-equipment master-slave communication system based on CAN communication and addressing and monitoring method
CN113820977B (en) Double-chain remote redundancy control system and method for signal lamp
US11178002B1 (en) Autonomous adaptive controller for active wireless lighting communication
CN116654728B (en) Communication switching system and method of elevator landing control device
JP3419979B2 (en) Device state management method and data communication system
CN214591484U (en) 1553B network health monitoring module
CN114137871B (en) Bus control device, configuration method thereof and building control system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination