CN117220810A - Asynchronous data transmission method and system based on POWERLINK protocol - Google Patents
Asynchronous data transmission method and system based on POWERLINK protocol Download PDFInfo
- Publication number
- CN117220810A CN117220810A CN202311035583.7A CN202311035583A CN117220810A CN 117220810 A CN117220810 A CN 117220810A CN 202311035583 A CN202311035583 A CN 202311035583A CN 117220810 A CN117220810 A CN 117220810A
- Authority
- CN
- China
- Prior art keywords
- asynchronous
- time
- frame
- master station
- station
- 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
Links
- 230000005540 biological transmission Effects 0.000 title claims abstract description 101
- 238000000034 method Methods 0.000 title claims abstract description 58
- 230000001360 synchronised effect Effects 0.000 claims abstract description 65
- 230000008569 process Effects 0.000 claims abstract description 28
- 230000006854 communication Effects 0.000 claims description 23
- 238000004891 communication Methods 0.000 claims description 21
- 230000006870 function Effects 0.000 claims description 17
- 238000004364 calculation method Methods 0.000 claims description 15
- 238000004590 computer program Methods 0.000 claims description 13
- 230000001960 triggered effect Effects 0.000 claims description 9
- 238000004140 cleaning Methods 0.000 claims description 6
- 238000003860 storage Methods 0.000 claims description 5
- 230000003139 buffering effect Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 10
- 230000009471 action Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 101100172132 Mus musculus Eif3a gene Proteins 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
-
- 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
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Landscapes
- Small-Scale Networks (AREA)
Abstract
The application provides an asynchronous data transmission method and system based on POWERLINK protocol, wherein in the POWERLINK period process, the link delay time of each slave station corresponding to the received SoC frame sent by the master station is calculated. And triggering synchronous interruption based on the link delay time to enable the master station and the slave station to enter a synchronous time slot at the same time so as to carry out synchronous data transmission. And the master station sends the SoA frame to the slave stations, each slave station receives the SoA frame and enters an asynchronous time slot to carry out asynchronous data transmission, and the end time of the asynchronous time slot is calculated according to the link delay time and the preset idle time, so that the master station and the slave stations simultaneously end the asynchronous time slot. And stopping asynchronous data transmission when the asynchronous time slot is ended, and caching the respectively received asynchronous data. Therefore, by accurately controlling the end time of the asynchronous time slot of the master station MN and the slave station CN of the whole network, an accurate and reliable asynchronous time slot is generated, so that the asynchronous data of the nodes of the whole network can be transmitted at will, and the transmission efficiency of the asynchronous data is improved.
Description
Technical Field
The present application relates to the field of computer networks, and in particular, to a method and a system for asynchronous data transmission based on a POWERLINK protocol.
Background
The standard POWERLINK protocol introduces a time Slot Communication Network Management (SCNM) mechanism when referring to standard ethernet to avoid uncertainty in standard ethernet CSMA/CD technology communications. I.e. introducing the concept of communication cycles and dividing each cycle into synchronous time slots, which communicate synchronous data, i.e. real-time ethernet data, and asynchronous time slots, which communicate asynchronous data, i.e. non-real-time ethernet data. The SCNM is managed by a special network device management node (MN, master station) having a network communication management function, giving synchronous beats to other controlled nodes (CN, slave stations) and assigning each station a release right.
The asynchronous slot computation of the standard POWERLINK protocol is from the beginning of the SoA frame to the end of the asynchronous response Asnd frame, and the asynchronous slot ends at the end of the SoA if any CN is not allowed to respond asynchronously. However, in the asynchronous time slot stage, only one Asnd frame is allowed to be transmitted, that is, only one non-real-time data message is allowed to be communicated, and if a certain CN wants to send an Asnd frame, the MN needs to make an asynchronous transmission request to the MN through a Pres frame or Asnd frame, the MN queues the CN for the asynchronous transmission request on the network until the CN is assigned with permission. This results in the defect that the POWERLINK protocol non-real-time data transmission has low bandwidth occupancy, low transmission efficiency, and the like.
Disclosure of Invention
The application provides an asynchronous data transmission method and an asynchronous data transmission system based on a POWERLINK protocol, which enable all nodes of the POWERLINK network to exchange asynchronous data at will during an asynchronous time slot and improve the transmission efficiency of the POWERLINK protocol asynchronous data.
An embodiment of the present application provides an asynchronous data transmission method based on a POWERLINK protocol, where the method includes:
in the POWERLINK period process, calculating the link delay time of each slave station corresponding to the received SoC frame sent by the master station by adopting the Preq/Pres frame combined with 1588 accurate time synchronization protocol;
triggering synchronous interruption based on the link delay time to enable the master station and the slave station to enter a synchronous time slot at the same time so as to carry out synchronous data transmission;
the master station sends a SoA frame to the slave stations, each slave station receives the SoA frame and enters an asynchronous time slot to perform asynchronous data transmission, and the end time of the asynchronous time slot is calculated according to the link delay time and the preset idle time, so that the master station and the slave stations end the asynchronous time slot at the same time;
and the master station and the slave station pause the asynchronous data transmission and buffer the respectively received asynchronous data at the end of the asynchronous time slot, and start the asynchronous data transmission again at the asynchronous time slot of the next POWERLINK period.
Optionally, the link delay time is calculated by:
in the synchronous time slot process, the master station sequentially accesses each slave station through a Preq unicast frame, and the slave station responds to the access request of the master station through a Pres multicast frame to realize synchronous data transmission;
each slave station is sequentially used as a target slave station, and when the master station and any target slave station carry out synchronous data transmission, the time T of the master station sending a Preq frame to the target slave station in the current POWERLINK period is recorded 1 Time T of the master station receiving Pres frame sent by the target slave station in the last POWERLINK period 4 Time T when the target slave station receives the Preq frame transmitted by the master station in the current POWERLINK period 2 Time T for transmitting Pres frame to the master station 3 ；
And calculating the link delay time corresponding to the target slave station according to the following formula:
T delay ＝((T 4 -T 1 )-(T 3 -T 2 ))/2
wherein T is delay Indicating the corresponding link delay time between the target secondary station and the primary station.
Optionally, the triggering synchronization interruption based on the link delay time includes:
the master station triggering a synchronization interrupt when transmitting the SoC frame to the master station;
the slave station T before receiving the SoC frame transmitted by the master station delay The synchronization interrupt is triggered at each instant.
Optionally, the calculating the asynchronous time slot ending time according to the link delay time and the preset idle time includes:
the master station ends the asynchronous time slot T times before transmitting the SoC frame of the next POWERLINK period;
the slave station T+T before receiving the SoC frame of the next POWERLINK period delay Ending the asynchronous time slot at each moment;
wherein T is a preset idle time, which indicates the time required for cleaning the asynchronous data transmission of the physical layer link before transmitting the synchronous data of the next POWERLINK period.
Optionally, the idle time T is calculated by:
where n represents the maximum frame data length, m represents the number of buffer stages, and v represents the communication rate of the physical layer link.
A second aspect of an embodiment of the present application provides an asynchronous data transmission system based on a POWERLINK protocol, where the system includes: the system comprises an MN functional module, a CN functional module, a link delay calculation module, a synchronous interrupt triggering module, an asynchronous time slot generating module and an asynchronous data caching module;
the MN function module is used for realizing the network time slot management function of a master station MN of a POWERLINK protocol, independently sending a message, periodically sending an SoC frame and an SoA frame in a multicast mode, accessing a slave station CN by using a Preq unicast frame, and acquiring and configuring configuration information of each slave station CN node, wherein the MN function module is a special module of the master station MN;
the CN functional module is used for realizing the CN function of a secondary station of the POWERLINK protocol, and transmitting a Pres frame only when the master station MN passes the request, and is a special module of the secondary station CN;
the link delay calculation module is used for realizing transmission delay calculation of the SoC frame from the master station MN to the slave station CN, and is a special module of the slave station CN;
the synchronous interrupt triggering module is used for generating a system synchronous interrupt signal so that the master station MN and each slave station CN can process synchronous information at the same time, and is a shared module of the master station MN and the slave station CN;
the asynchronous time slot generating module is used for generating accurate and reliable asynchronous time slots for the master station MN and each slave station CN, and the asynchronous time slot generating module is a shared module of the master station MN and the slave station CN;
the asynchronous data buffer module is used for suspending asynchronous data transmission by the master station and the slave station when the asynchronous time slot is finished, buffering the respectively received asynchronous data, and starting asynchronous data transmission again in the asynchronous time slot of the next POWERLINK period, wherein the asynchronous data buffer module is a common module of the master station MN and the slave station CN.
Optionally, the link delay calculation module is specifically configured to:
in the POWERLINK period process, a Preq/Pres frame combined 1588 accurate time synchronization protocol is adopted to calculate the link delay time of each slave station corresponding to the received SoC frame sent by the master station.
Optionally, the asynchronous time slot generating module is specifically configured to:
and the master station sends a SoA frame to the slave stations, each slave station receives the SoA frame and enters an asynchronous time slot to perform asynchronous data transmission, and the end time of the asynchronous time slot is calculated according to the link delay time and the preset idle time, so that the master station and the slave stations simultaneously end the asynchronous time slot.
A third aspect of the embodiments of the present application provides a readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method according to the first aspect of the present application.
A fourth aspect of the embodiments of the present application provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, which when executed implements the steps of the method according to the first aspect of the application.
Compared with the prior art, the application has the following advantages:
in the embodiment of the application, in the POWERLINK period process, the Preq/Pres frame is combined with 1588 accurate time synchronization protocol to calculate the link delay time of each slave station corresponding to the received SoC frame transmitted by the master station. Then, based on the link delay time, the synchronization interruption is triggered, so that the master station and the slave station enter a synchronization time slot at the same time, and synchronous data transmission is performed. And then, the master station sends the SoA frame to the slave stations, each slave station receives the SoA frame and enters an asynchronous time slot to carry out asynchronous data transmission, and the end time of the asynchronous time slot is calculated according to the link delay time and the preset idle time, so that the master station and the slave stations simultaneously end the asynchronous time slot. The asynchronous time slot ends, the master station and the slave station pause the asynchronous data transmission, buffer the respective received asynchronous data, and start the asynchronous data transmission again in the asynchronous time slot of the next POWERLINK period. Therefore, by accurately controlling the end time of the asynchronous time slot of the master station MN and the slave station CN of the whole network, an accurate and reliable asynchronous time slot is generated, so that the asynchronous data of the nodes of the whole network can be transmitted at will under the condition that the real-time performance of the synchronous data is not affected. Meanwhile, the process of asynchronous transmission request of the slave station CN to the master station MN can be omitted, a plurality of asynchronous data frames can be supported for transmission, and the transmission efficiency of POWERLINK protocol asynchronous data is effectively improved.
Drawings
FIG. 1 is a schematic diagram of a prior art POWERLINK cycle communication process;
FIG. 2 is a flow chart of an asynchronous data transmission method based on the POWERLINK protocol according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an asynchronous data transmission system based on the POWERLINK protocol according to an embodiment of the present application.
Reference numerals: 1. an MN function module; 2. a CN functional module; 3. a link delay calculation module; 4. a synchronous interrupt triggering module; 5. an asynchronous time slot generation module; 6. and an asynchronous data caching module.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 1, fig. 1 is a schematic diagram of a communication process of a POWERLINK cycle in the prior art. In the prior art, the POWERLINK network generally comprises a master station (MN) and a plurality of slave stations (CN). The master station MN is a management node and is responsible for managing the use right of the bus, and can independently send messages; the slave CN is a controlled node whose data transmission and reception is controlled entirely by the MN, and which transmits messages only in the communication slots allocated by the MN. The power link period is controlled by the MN, and the synchronous data exchange between nodes occurs periodically and repeatedly at regular intervals, i.e., the power link period. Each POWERLINK cycle is divided into a synchronous slot phase, an asynchronous slot phase, and an idle phase, with synchronous slots communicating synchronous data, i.e., real-time ethernet data, and asynchronous slots communicating asynchronous data, i.e., non-real-time ethernet data. Moreover, the length of the individual phases may vary within a preset phase of the POWERLINK cycle. For example, the asynchronous slot phase of a certain cycle may be longer than the asynchronous slot phase of the previous cycle, the corresponding idle phase may be shorter, but the total time length of the entire cycle is precise and fixed.
The synchronization time slot stage starts from the start point of broadcast transmission of the SoC frame by the master station MN until the start point of broadcast transmission of the SoA frame ends. Each slave CN, after receiving the SoC frame, enters a synchronization slot. In the synchronous time slot process, the MN accesses each CN in turn through the Preq unicast frame, and the CN responds through the Pres multicast frame. The Preq frame and the Pres frame can both transmit application data to realize synchronous data transmission. The Pres frame contains the priority and number of data to be sent by the CN in the asynchronous slot stage, and the MN can determine which CN is transmitting data in the asynchronous slot stage in the current POWERLINK cycle according to the priority and number of data to be sent by the CN in the asynchronous slot stage by using the management mechanism "Manger Async Scheduler" in the MN. Meanwhile, the Pres frame may be received by all nodes. The sync slot phase ends when all configured and active CNs have been processed.
The asynchronous time slot phase starts from the beginning of the broadcast transmission of the SoA frame by the master MN until the end of the received Asnd frame. Each slave CN, after receiving the SoA frame, enters an asynchronous slot. In the asynchronous time slot process, only one slave node can send an asynchronous message, and if a plurality of nodes need to send the asynchronous message, queuing is needed. The MN decides the CN node which performs asynchronous transmission in the POWERLINK period according to the priority and the number of the data to be transmitted in the asynchronous time slot stage of the CN contained in the Pres frame through an internal management mechanism Manger Async Scheduler. Further, "Requested Service ID" and "Requested Service Target" are used in the SoA frame to notify CN nodes of which service is required for the present period, and the CN node providing the service. After receiving the SoA frame, the designated CN node broadcasts the Asnd frame, and sends application data or IP, TCP, UDP packets. And if none of the CNs are allowed to respond asynchronously, the asynchronous slot ends at the end of the SoA frame.
The idle phase is the time interval remaining between the end of the asynchronous slot and the start of the next cycle, starting from the end of the SoA frame or Asnd frame, until the end of the start of the SoC frame. The duration of the idle phase may be 0.
Since only one Asnd frame is allowed to be transmitted in the asynchronous time slot stage, that is, only one non-real-time data message is allowed to be communicated, and if a certain CN wants to send an Asnd frame, an asynchronous transmission request needs to be carried out on the MN through a Pres frame or an Asnd frame, the MN queues the CN for the asynchronous transmission request on the network until the CN is assigned with permission. This results in the defect that the POWERLINK protocol non-real-time data transmission has low bandwidth occupancy, low transmission efficiency, and the like.
In view of this, the application generates an accurate and reliable asynchronous time slot by precisely controlling the end time of the asynchronous time slot of the master station MN and the slave station CN of the whole network, so that the asynchronous data of the nodes of the whole network can be transmitted at will under the condition of not affecting the real-time property of the synchronous data. Meanwhile, the process of asynchronous transmission request of the slave station CN to the master station MN can be omitted, and a plurality of asynchronous data frames can be supported for transmission, so that the problem of low transmission efficiency of the existing asynchronous time slot is solved.
Referring to fig. 2, fig. 2 is a flowchart of an asynchronous data transmission method based on the POWERLINK protocol according to an embodiment of the present application. As shown in fig. 2, the method comprises the steps of:
step S101: in the POWERLINK period process, a Preq/Pres frame combined 1588 accurate time synchronization protocol is adopted to calculate the link delay time of each slave station corresponding to the received SoC frame sent by the master station.
In this embodiment, the master MN strictly controls the communication period of POWERLINK at fixed time intervals, and each period starts with a broadcast transmission SoC frame to notify other nodes (slave CN) on the network to enter a synchronization slot. After the synchronous data exchange between the nodes is completed, the MN broadcasts and transmits the SoA frame, informs other nodes on the network to enter an asynchronous time slot, and waits for the transmission of the SoC frame in the next period. The MN transmits the communication period of POWERLINK through SoC frame configuration, thereby not only facilitating the monitoring of the communication period of POWERLINK by the CN node on the network, but also being beneficial to the triggering of the synchronous interrupt signal. However, due to the different distances between the master MN and the slave CN, the slave CN has different latency properties when actually receiving the SoC frame. For example, the delay time of the slave CN1 is 1us, and the delay time of the slave CN2 is 2us.
Optionally, the process of calculating the link delay time of each slave station corresponding to the SoC frame received from the master station by adopting the Preq/Pres frame combined 1588 precision time synchronization protocol specifically includes:
in the synchronous time slot process, the master station sequentially accesses each slave station through a Preq unicast frame, and the slave station responds to the access request of the master station through a Pres multicast frame to realize synchronous data transmission. Wherein, the Preq frame, the Pres frame and the SoC frame are equal in length so as to ensure the symmetry of the data frame on the link transmission.
By sequentially operating the slave stationsWhen the master station and any target slave station perform synchronous data transmission as target slave stations, recording the time T of the master station transmitting a Preq frame to the target slave stations in the current POWERLINK period 1 Time T of the master station receiving Pres frame sent by the target slave station in the last POWERLINK period 4 Time T when the target slave station receives the Preq frame transmitted by the master station in the current POWERLINK period 2 Time T for transmitting Pres frame to the master station 3 . Then, the link delay time corresponding to the target slave station is calculated according to the following formula:
T delay ＝((T 4 -T 1 )-(T 3 -T 2 ))/2
wherein T is delay Representing the corresponding link delay time between the target slave station and the master station.
Step S102: and triggering synchronous interruption based on the link delay time to enable the master station and the slave station to enter a synchronous time slot at the same time so as to carry out synchronous data transmission.
In this embodiment, the timing is started from the time of receiving or transmitting the SoC frame, and the timing is up to the power link synchronization period minus the link delay time of the SoC frame, so as to trigger the synchronization interrupt. I.e. representing the T of the CN before receiving the SoC frame delay The synchronization interruption is triggered at the moment, and the synchronization triggering interruption of the whole network MN and the CN can be achieved at the moment, so that the master station MN and the slave station CN enter an action synchronization state. When the CN receives the SoC frame, a synchronous callback function is triggered to process the synchronous event so as to execute synchronous action.
Optionally, the triggering synchronization interruption based on the link delay time includes:
the master station triggering a synchronization interrupt when transmitting the SoC frame to the master station; the slave station T before receiving the SoC frame transmitted by the master station delay The synchronization interrupt is triggered at each instant.
It can also be understood that a compensation is made for each node by the link delay time, so that each node can make a synchronous event at the same time. It is readily understood that delay compensation T for MN delay For 0, delay compensation for CN is the real chain of SoC frames from MN to CNDelay time T of road delay 。
The synchronization interruption is triggered by the link delay time, so that the master station and the slave station realize accurate synchronization in one POWERLINK period, and application software of the MN and the CN on the network can process synchronization information simultaneously and lay a cushion for accurate ending of an asynchronous time slot.
Step S103: and the master station sends a SoA frame to the slave stations, each slave station receives the SoA frame and enters an asynchronous time slot to perform asynchronous data transmission, and the end time of the asynchronous time slot is calculated according to the link delay time and the preset idle time, so that the master station and the slave stations simultaneously end the asynchronous time slot.
In this embodiment, the asynchronous time slot starts after receiving or transmitting the SoA frame, and ends T times before the synchronous interrupt is triggered, where T is a preset idle time.
Optionally, the calculating the asynchronous time slot ending time according to the link delay time and the preset idle time includes: the master station ends the asynchronous time slot T times before transmitting the SoC frame of the next POWERLINK period; the slave station T+T before receiving the SoC frame of the next POWERLINK period delay Ending the asynchronous time slot at each moment; wherein T is a preset idle time, which indicates the time required for cleaning the asynchronous data transmission of the physical layer link before transmitting the synchronous data of the next POWERLINK period.
Specifically, for MN, the asynchronous time slot starts from when the SoA frame is sent, and the timing ends T times before the SoC frame of the next POWERLINK period is sent; for CN, the asynchronous time slot starts from the receipt of the SoA frame, and clocks t+t before the receipt of the SoC frame for the next POWERLINK period delay The end of each moment. Therefore, accurate control of the end time of the asynchronous time slot is realized, so that the MN and the CN in the network can end asynchronous communication at the same time to form an accurate and reliable asynchronous time slot. And in the accurate and reliable asynchronous time slot, the asynchronous data of the nodes of the whole network can be transmitted at will (the network adopts a full duplex communication link, and the data transmission and the receiving are not affected each other), so that the asynchronous data transmission efficiency is improved.
Optionally, the idle time T is calculated by:
where n represents the maximum frame data length, m represents the number of buffer stages, and v represents the communication rate of the physical layer link.
In this embodiment, T is an idle period, which represents the time required for cleaning the asynchronous data transmission of the physical layer link before transmitting the synchronous data of the next POWERLINK period, and is determined by the buffering and communication rate of the actual physical layer. For example, to ensure the reliability of the synchronous data transmission, the maximum frame data length may be estimated by 1526 bytes, and if the buffer level is 2 and the communication rate of the physical layer link is 1000Mbps, T is 1526×2×8ns. By estimating how long before the synchronous time slot starts, the transmission of the physical layer asynchronous data can be completed, so that the transmission of the synchronous data of the next period is not affected.
Step S104: and the master station and the slave station pause the asynchronous data transmission and buffer the respectively received asynchronous data at the end of the asynchronous time slot, and start the asynchronous data transmission again at the asynchronous time slot of the next POWERLINK period.
In this embodiment, all nodes in the network end asynchronous communication at the same time, and after the asynchronous time slot is ended, the current asynchronous data transmission is suspended, and the whole network enters an idle period to perform physical layer link asynchronous data transmission cleaning. Meanwhile, the MN and each CN complete the buffering of the currently received asynchronous data before the synchronous time slot of the next POWERLINK period starts, and the asynchronous data transmission is started again in the asynchronous time slot of the next POWERLINK period, so that the full force transmission of the asynchronous data in the asynchronous time slot is realized, and the asynchronous transmission efficiency is improved.
The application generates an accurate and reliable asynchronous time slot by precisely controlling the end time of the asynchronous time slot of the master station MN and the slave station CN of the whole network, thereby enabling the asynchronous data of the nodes of the whole network to be interacted at will during the asynchronous time slot under the condition of not influencing the real-time property of the synchronous data. Meanwhile, the process of asynchronous transmission request of the slave station CN to the master station MN can be omitted, and a plurality of asynchronous data frames can be supported for transmission, so that the transmission efficiency of POWERLINK protocol asynchronous data is effectively improved.
The following describes a communication procedure in the nth communication period, taking the power link communication system having 1 master station MN and 5 slave stations CN as an example:
the MN broadcasts the SoC frame, and each CN receives the SoC frame (carrying the POWERLINK period) and enters the synchronization slot.
In the synchronous time slot process, the MN first inquires about CN1 through the Preq frame. Wherein, the Preq frame carries the transmission time T of the present period MN for transmitting the Preq frame 1N And the receiving time T of the previous period MN receiving the Pres frame returned by CN1 4N-1 。
CN1 returns to Pres frame after receiving Preq frame, CN1 extracts T in Preq frame 1N And T 4N-1 At the same time recording the receiving time T of the Preq frame received in the present period 2N And transmission time T of Pres frame 3N . Since CN1 keeps the last period T 1N-1 、T 2N-1 And T 3N-1 Therefore, the link delay T between CN1 and MN can be calculated and obtained according to the step S101 delayCN1 。
After the MN accesses the CN1, the CN2 to the CN5 are polled in turn to obtain corresponding link delay T delayCN2 、T delayCN3 、T delayCN4 And T delayCN5 。
After the MN finishes polling, broadcasting the SoA frame, and entering an asynchronous time slot when the CN 1-CN 5 all receive the SoA frame.
During the asynchronous time slots, any communication can be made between the MN and the CN, between the CN and the CN. MN finishes asynchronous time slot at T moment before transmitting SoC frame of the (n+1) -th period, CN1 receives T+T before SoC frame of the (n+1) -th period delayCN1 The asynchronous time slots end at each instant. Similarly, CN 2-CN 5 respectively T+T before receiving SoC frame of the (n+1) -th period delayCN2 、T+T delayCN3 、T+T delayCN4 、T+T delayCN5 The asynchronous time slot is ended at each moment, and meanwhile, the MN and the CN pause transmitting asynchronous data and buffer the received asynchronous data. Thus, the high precision can ensure that the MN and the CN end the asynchronous period at the same time.
And ending the asynchronous time slot, and enabling the whole network to enter an idle period, wherein the period is used for clearing the transmission of the physical layer link asynchronous data.
The idle period is ended, and the MN starts to enter the synchronization slot from transmitting the n+1st cycle SoC frame.
Based on the same inventive concept, an embodiment of the present application provides an asynchronous data transmission system based on a POWERLINK protocol. Referring to fig. 3, fig. 3 is a schematic structural diagram of an asynchronous data transmission system based on a POWERLINK protocol according to an embodiment of the present application, including:
the system comprises an MN functional module 1, a CN functional module 2, a link delay calculation module 3, a synchronous interrupt trigger module 4, an asynchronous time slot generation module 5 and an asynchronous data buffer module 6;
the MN functional module 1 is configured to implement a network timeslot management function of a master station MN of a POWERLINK protocol, send a message independently, send an SoC frame and a SoA frame periodically in a multicast manner, access a slave station CN with a Preq unicast frame, and obtain and configure configuration information of each slave station CN node, where the MN functional module 1 is a dedicated module of the master station MN;
the CN functional module 2 is configured to implement a secondary station CN function of the POWERLINK protocol, and send a Pres frame only when the master station MN passes a request, where the CN functional module 2 is a dedicated module of the secondary station CN;
the link delay calculation module 3 is configured to implement transmission delay calculation of the SoC frame from the master station MN to the slave station CN, where the link delay calculation module 3 is a dedicated module of the slave station CN;
the synchronization interruption triggering module 4 is used for generating a system synchronization interruption signal so that the master station MN and each slave station CN can process synchronization information simultaneously, and the synchronization interruption triggering module 4 is a common module of the master station MN and the slave station CN;
the asynchronous time slot generating module 5 is configured to generate accurate and reliable asynchronous time slots for the master station MN and each slave station CN, where the asynchronous time slot generating module 5 is a common module of the master station MN and the slave station CN;
the asynchronous data buffer module 6 is configured to suspend asynchronous data transmission by the master station and the slave station when the asynchronous time slot ends, buffer the respective received asynchronous data, and start asynchronous data transmission again in the asynchronous time slot of the next POWERLINK period, where the asynchronous data buffer module 6 is a common module of the master station MN and the slave station CN.
Optionally, the link delay calculation module 3 is specifically configured to:
in the POWERLINK period process, a Preq/Pres frame combined 1588 accurate time synchronization protocol is adopted to calculate the link delay time of each slave station corresponding to the received SoC frame sent by the master station.
Optionally, the link delay time in the link delay calculation module 3 is calculated in the following manner:
in the synchronous time slot process, a master station sequentially accesses each slave station through a Preq unicast frame, and the slave stations respond to the access request of the master station through a Pres multicast frame to realize synchronous data transmission;
each slave station is sequentially used as a target slave station, and when the master station and any target slave station carry out synchronous data transmission, the time T of the master station sending a Preq frame to the target slave station in the current POWERLINK period is recorded 1 Time T of the master station receiving Pres frame sent by the target slave station in the last POWERLINK period 4 Time T when the target slave station receives the Preq frame transmitted by the master station in the current POWERLINK period 2 Time T for transmitting Pres frame to the master station 3 ；
And calculating the link delay time corresponding to the target slave station according to the following formula:
T delay ＝((T 4 -T 1 )-(T 3 -T 2 ))/2
wherein T is delay Representing the corresponding link delay time between the target slave station and the master station.
Optionally, the synchronous interrupt triggering module 4 is specifically configured to:
the master station triggering a synchronization interrupt when transmitting the SoC frame to the master station;
the slave station T before receiving the SoC frame transmitted by the master station delay The synchronization interrupt is triggered at each instant.
Optionally, the asynchronous time slot generating module 5 is specifically configured to:
and the master station sends a SoA frame to the slave stations, each slave station receives the SoA frame and enters an asynchronous time slot to perform asynchronous data transmission, and the end time of the asynchronous time slot is calculated according to the link delay time and the preset idle time, so that the master station and the slave stations simultaneously end the asynchronous time slot.
Optionally, the asynchronous time slot end time in the asynchronous time slot generating module 5 is specifically:
the master station ends the asynchronous time slot T times before transmitting the SoC frame of the next POWERLINK period;
the slave station T+T before receiving the SoC frame of the next POWERLINK period delay Ending the asynchronous time slot at each moment;
wherein T is a preset idle time, which indicates the time required for cleaning the asynchronous data transmission of the physical layer link before transmitting the synchronous data of the next POWERLINK period.
Optionally, the idle time T in the asynchronous timeslot generating module 5 is calculated by:
where n represents the maximum frame data length, m represents the number of buffer stages, and v represents the communication rate of the physical layer link.
For system embodiments, the description is relatively simple as it is substantially similar to method embodiments, and reference is made to the description of method embodiments for relevant points.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
It will be apparent to those skilled in the art that embodiments of the present application may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the application may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the application.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.
The above describes in detail a method and a system for asynchronous data transmission based on the POWERLINK protocol, and specific examples are applied to illustrate the principles and embodiments of the present application, and the above description of the examples is only used to help understand the method and the core idea of the present application; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.
Claims (10)
1. An asynchronous data transmission method based on a POWERLINK protocol, the method comprising:
in the POWERLINK period process, calculating the link delay time of each slave station corresponding to the received SoC frame sent by the master station by adopting the Preq/Pres frame combined with 1588 accurate time synchronization protocol;
triggering synchronous interruption based on the link delay time, so that the master station and the slave station enter a synchronous time slot at the same time to perform synchronous data transmission;
the master station sends a SoA frame to the slave stations, each slave station enters an asynchronous time slot to perform asynchronous data transmission when receiving the SoA frame, and calculates the end time of the asynchronous time slot according to the link delay time and the preset idle time, so that the master station and the slave stations end the asynchronous time slot at the same time;
and the master station and the slave station pause asynchronous data transmission and buffer the respectively received asynchronous data, and start asynchronous data transmission again in the asynchronous time slot of the next POWERLINK period.
2. The method according to claim 1, wherein the link delay time is calculated by:
in the synchronous time slot process, the master station sequentially accesses each slave station through a Preq unicast frame, and the slave station responds to the access request of the master station through a Pres multicast frame to realize synchronous data transmission;
each slave station is sequentially used as a target slave station, and when the master station and any target slave station carry out synchronous data transmission, the time T of the master station sending the Preq frame to the target slave station in the current POWERLINK period is recorded 1 Time T of the last POWERLINK period when the master station received the Pres frame sent by the target slave station 4 Time T when the target slave station receives the Preq frame sent by the master station in the current POWERLINK period 2 And time T for transmitting Pres frame to the master station 3 ；
And calculating the link delay time corresponding to the target slave station according to the following formula:
T delay ＝((T 4 -T 1 )-(T 3 -T 2 ))/2
wherein T is delay Representing a corresponding link delay time between the target secondary station and the primary station.
3. The method of claim 2, wherein the triggering a synchronization interrupt based on the link delay time comprises:
the master station triggers a synchronization interrupt when sending the SoC frame to the slave station;
the slave station T before receiving the SoC frame sent by the master station delay The synchronization interrupt is triggered at each instant.
4. The method of claim 2, wherein calculating an asynchronous slot end time based on the link delay time and a preset idle time comprises:
the master station ends the asynchronous time slot T times before transmitting the SoC frame of the next POWERLINK period;
the slave station T+T before receiving the SoC frame of the next POWERLINK period delay Ending the asynchronous time slot at each moment;
wherein T is a preset idle time, which indicates the time required for cleaning the asynchronous data transmission of the physical layer link before transmitting the synchronous data of the next POWERLINK period.
5. The method of claim 4, wherein the idle time T is calculated by:
where n represents the maximum frame data length, m represents the number of buffer stages, and v represents the communication rate of the physical layer link.
6. An asynchronous data transmission system based on POWERLINK protocol, the system comprising: the system comprises an MN functional module, a CN functional module, a link delay calculation module, a synchronous interrupt triggering module, an asynchronous time slot generating module and an asynchronous data caching module;
the MN function module is used for realizing the network time slot management function of a master station MN of a POWERLINK protocol, independently sending a message, periodically sending an SoC frame and an SoA frame in a multicast mode, accessing a slave station CN by a Preq unicast frame, and acquiring and configuring configuration information of each slave station CN node, wherein the MN function module is a special module of the master station MN;
the CN functional module is used for realizing the CN function of a secondary station of the POWERLINK protocol, and sending a Pres frame only when the master station MN passes the request, and is a special module of the secondary station CN;
the link delay calculation module is used for realizing transmission delay calculation of the SoC frame from the master station MN to the slave station CN, and is a special module of the slave station CN;
the synchronous interrupt triggering module is used for generating a system synchronous interrupt signal so that the master station MN and each slave station CN can process synchronous information at the same time, and is a shared module of the master station MN and the slave stations CN;
the asynchronous time slot generating module is used for generating accurate and reliable asynchronous time slots for the master station MN and each slave station CN, and is a shared module of the master station MN and the slave station CN;
the asynchronous data buffer module is used for suspending asynchronous data transmission when the asynchronous time slot ends, buffering the received asynchronous data respectively, and starting asynchronous data transmission again in the asynchronous time slot of the next POWERLINK period, wherein the asynchronous data buffer module is a common module of the master station MN and the slave station CN.
7. The system of claim 6, wherein the link delay calculation module is specifically configured to:
in the POWERLINK period process, a Preq/Pres frame combined 1588 accurate time synchronization protocol is adopted to calculate the link delay time of each slave station corresponding to the received SoC frame sent by the master station.
8. The system of claim 6, wherein the asynchronous time slot generation module is specifically configured to:
and the master station sends a SoA frame to the slave stations, each slave station receives the SoA frame and enters an asynchronous time slot to perform asynchronous data transmission, and the end time of the asynchronous time slot is calculated according to the link delay time and the preset idle time, so that the master station and the slave stations simultaneously end the asynchronous time slot.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method according to any one of claims 1 to 5.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any one of claims 1 to 5 when executing the computer program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311035583.7A CN117220810A (en) | 2023-08-16 | 2023-08-16 | Asynchronous data transmission method and system based on POWERLINK protocol |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311035583.7A CN117220810A (en) | 2023-08-16 | 2023-08-16 | Asynchronous data transmission method and system based on POWERLINK protocol |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117220810A true CN117220810A (en) | 2023-12-12 |
Family
ID=89034276
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311035583.7A Pending CN117220810A (en) | 2023-08-16 | 2023-08-16 | Asynchronous data transmission method and system based on POWERLINK protocol |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117220810A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117527175A (en) * | 2024-01-04 | 2024-02-06 | 广州天奕技术股份有限公司 | Anti-interference network transmission method, system and equipment |
-
2023
- 2023-08-16 CN CN202311035583.7A patent/CN117220810A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117527175A (en) * | 2024-01-04 | 2024-02-06 | 广州天奕技术股份有限公司 | Anti-interference network transmission method, system and equipment |
| CN117527175B (en) * | 2024-01-04 | 2024-03-19 | 广州天奕技术股份有限公司 | Anti-interference network transmission method, system and equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8850058B2 (en) | Ethernet-based data transmission method, ethernet nodes and control system | |
| JP4856382B2 (en) | Method and system for network terminal clock synchronization | |
| TWI336576B (en) | A scheduler system and method thereof | |
| JP4790289B2 (en) | Method, apparatus, and system for ensuring packet delivery time in an asynchronous network | |
| CN105049309B (en) | Servo-driver synchronous method based on POWERLINK real-time ethernets | |
| JP2003523130A (en) | Clock synchronization method between nodes in packet network | |
| US20050078682A1 (en) | Method for transmitting real time multimedia datain ethernet network | |
| CN117220810A (en) | Asynchronous data transmission method and system based on POWERLINK protocol | |
| WO2015196685A1 (en) | Clock synchronization method and apparatus | |
| JP2024521725A (en) | Packet transmission method and packet transmission device | |
| CN100382522C (en) | Method for realizing deterministic communication dispatch of ethernet | |
| CN110034942B (en) | Networking communication control method and system based on half-duplex radio station | |
| CN100417122C (en) | Scheduling method for implementing Ethernet determinacy communication | |
| US20230090803A1 (en) | Network Infrastructure Device, Communication Terminal and Method for Synchronizing Control Applications via a Communication Network for Transferring Time-Critical Data | |
| CN110492960A (en) | Synchronized communication method based on Ethernet | |
| CN115865246A (en) | Time synchronization device, system and method | |
| CN103685248A (en) | Process layer tri-play message transport real-time scheduling method | |
| CN113315668A (en) | Method, node device and storage medium for adaptively adjusting network configuration | |
| JP6419340B2 (en) | Method for transmitting data between network devices over a non-deterministic network | |
| JP5462030B2 (en) | Wireless device, communication system, control method, and program | |
| WO2018025491A1 (en) | Control network system and node device thereof | |
| CN114448546B (en) | Scheduling method of time-triggered network message based on timer | |
| JP6528847B2 (en) | Control network system, its node device | |
| Scharbarg et al. | Interconnecting can busses via an ethernet backbone | |
| CN116208547A (en) | Message transmission method and device |
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 |