CN118138401A - Industrial bus system with mixed topology and communication method thereof - Google Patents
Industrial bus system with mixed topology and communication method thereof Download PDFInfo
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Abstract
The embodiment of the invention provides a hybrid topology industrial bus system and a communication method thereof, belonging to the field of industrial automation systems. The system comprises: the master node device is used for simultaneously issuing instructions to the plurality of slave node devices through the bus type network; and the slave node devices are used for uploading the respective attribute information to the last slave node device through the linear network and uploading the attribute information to the master node device, so that the master node device obtains the attribute information of each slave node device. The method has the advantages that the command data from the master node to the slave node is issued through the bus type network, the slave node attribute information is uploaded to the master node through the linear network, the problem of uncertainty caused by communication conflict in master-slave multi-node communication is avoided, efficient coordination between the master node and the slave node is realized, the problems of real-time scheduling and communication efficiency of multi-node communication in the master-slave control network can be effectively solved, and the requirement of equipment real-time control is met.
Description
Technical Field
The invention relates to the technical field of industrial automation systems, in particular to a hybrid topology industrial bus system and a communication method thereof.
Background
The industrial bus is used as an interface of data interaction in high-end equipment automation control systems such as numerical control machine tools, robots and the like, and is always an important means for industrial control automation system manufacturers worldwide to occupy markets, such as Profinet of siemens, etherCAT of double fortune, ethernet Powerlink of Bei Jialai and the like.
The industrial bus is a channel for data interaction among an internal controller, a sensor and an actuator of the industrial automation system, and the problem of communication conflict still exists in the industrial bus at present, so that the real-time control requirement of equipment cannot be met.
Disclosure of Invention
An object of an embodiment of the present invention is to provide an industrial bus system with a hybrid topology and a communication method thereof, which are used for solving all or at least part of the technical problems existing in the prior art.
To achieve the above object, an embodiment of the present invention provides an industrial bus system of a hybrid topology, including a master node device and a plurality of slave node devices, wherein,
The master node device is configured to send instructions to the plurality of slave node devices simultaneously through a bus network;
The plurality of slave node devices are used for uploading respective attribute information to the last slave node device through a linear network and uploading the attribute information to the master node device through the last slave node device so that the master node device obtains the attribute information of each slave node device in a mixed topology structure, wherein the determination of the last slave node device is determined according to the connection state of each slave node device;
the industrial bus system employs a bus type network and a line type network.
Optionally, the industrial bus system uses lumped frames for data interaction.
Optionally, the bus network adopts a half duplex mode and/or a simplex mode;
The linear network adopts simplex mode.
Optionally, the master node device is further configured to:
And configuring each slave node device according to the configuration information of the industrial bus system, so that each slave node device initiates the uploading of the attribute information through the linear network according to the configured communication period.
Optionally, the plurality of slave node devices are further configured to:
and triggering the master node equipment to start the operation of the control instruction of the next communication period by using the uploaded attribute information frame.
Optionally, the plurality of slave node devices are specifically configured to:
when the first uploading data frame of the upper-level slave node equipment is received, the attribute information of the slave node equipment is added to the last bit of the uploading data frame to form a second uploading data frame, the second uploading data frame is uploaded to the next-level slave node equipment through a linear network, when the second uploading data frame is received by the next-level slave node equipment, the attribute information of the slave node equipment is added to the last bit of the second uploading data frame to form a third uploading data frame until the attribute information of the slave node equipment of the final level is added, and the uploading data frame containing the attribute information of all the slave node equipment is uploaded to the master node equipment by the slave node equipment of the final level.
In another aspect, the present invention also provides a communication method for an industrial bus system of a hybrid topology, the industrial bus system including a master node device and a plurality of slave node devices, the industrial bus system employing a bus type network and a line type network;
The communication method comprises the following steps:
the master node equipment simultaneously transmits instructions to the plurality of slave node equipment through a bus type network;
And the plurality of slave node devices upload respective attribute information to the last slave node device through a linear network, and upload the attribute information to the master node device through the last slave node device, so that the master node device obtains the attribute information of each slave node device in the mixed topology structure, wherein the determination of the last slave node device is determined according to the connection state of each slave node device.
Optionally, the communication method further includes:
The master node equipment configures each slave node equipment according to the configuration information of the industrial bus system, so that each slave node equipment initiates the uploading of the attribute information through the linear network according to the configured communication period.
Optionally, the communication method further includes:
and the plurality of slave node devices trigger the master node device to start the operation of the control instruction of the next communication period by using the uploaded attribute information frame.
Optionally, the plurality of slave node devices upload respective attribute information to a last slave node device through a linear network, and upload the attribute information to the master node device from the last slave node device, so that the master node device obtains the attribute information of each slave node device in the hybrid topology structure, including:
when the slave node equipment receives the first uploading data frame of the upper-level slave node equipment, the attribute information of the slave node equipment is added to the last bit of the uploading data frame to form a second uploading data frame, the second uploading data frame is uploaded to the next-level slave node equipment through a linear network, when the next-level slave node equipment receives the second uploading data frame, the attribute information of the slave node equipment of the next level is added to the last bit of the second uploading data frame to form a third uploading data frame, until the attribute information of the slave node equipment of the final level is added, and the uploading data frame containing the attribute information of all the slave node equipment is uploaded to the master node equipment by the slave node equipment of the final level.
According to the technical scheme, the industrial bus system realizes the issue of instruction data from the master node to the slave node through the bus type network, realizes the upload of the attribute information of the slave node to the master node through the linear type network, avoids the problem of uncertainty caused by communication conflict in master-slave multi-node communication, realizes the efficient coordination between the master node and the slave node, can effectively solve the problems of real-time scheduling and communication efficiency of multi-node communication in the master-slave control network, and meets the requirement of equipment real-time control.
However, the problem of communication collision still exists in the industrial bus at present, so that the requirement of real-time control of equipment cannot be met, and if the real-time control of equipment is to be realized, the real-time performance of data interaction in a system is required to be ensured first.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain, without limitation, the embodiments of the invention. In the drawings:
FIG. 1 is a schematic diagram of an industrial bus system with a hybrid topology according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a hybrid topology network in which a half duplex communication line type network is adopted by a bus type network and simplex communication is adopted by the bus type network according to the embodiment of the invention;
Fig. 3 is a schematic diagram of a network topology in which a simplex transmission mode is adopted for both a bus network and a line network according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a hybrid topology network applicable to a backplane bus according to an embodiment of the present invention;
Fig. 5 is a flow chart of an implementation of a communication method for an industrial bus system with hybrid topology according to an embodiment of the present invention.
Detailed Description
In order to better understand the technical scheme of the application, the following explanation is made on the professional vocabulary related to the application:
simplex mode: in simplex mode, communication is unidirectional, e.g., only one of the two devices on the link may transmit and the other may only receive, and simplex mode may use the full capacity of the channel to transmit data in one direction.
Half duplex mode: in half duplex mode, each station may transmit and receive, but not simultaneously, e.g., when one device is transmitting, the other station may only receive, and vice versa. Half duplex mode is used where simultaneous bi-directional communication is not required, the full capacity of the channel can be used for each direction, channel capacity = bandwidth propagation delay.
The following describes the detailed implementation of the embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
In order to realize real-time communication among controllers, actuators and sensor nodes in master-slave control systems of a numerical control machine tool, an industrial robot and the like, a hybrid topology industrial bus system and a communication method thereof are provided, the issuing of command data from a master node to a slave node is realized through a bus type network, and the uploading of the state data of the slave node to the master node is realized through a linear cascade network, so that the problem of uncertainty caused by communication conflict in master-slave multi-node communication is avoided, and the requirement of equipment real-time control is met.
Referring to fig. 1, a schematic structural diagram of an industrial bus system with a hybrid topology according to an embodiment of the present invention is provided, where the industrial bus system includes a master node device and a plurality of slave node devices (corresponding to a master node and a slave node 1 in fig. 1, a slave node 2, and a slave node 3 … … and a slave node n), where the master node device is configured to issue instructions to the plurality of slave node devices simultaneously through a bus type network (corresponding to a+ a-) in fig. 1; the plurality of slave node devices are used for uploading respective attribute information to a last slave node device through a linear network (corresponding to B+ and B-) in fig. 1, and uploading the attribute information to the master node device through the last slave node device, so that the master node device obtains the attribute information of each slave node device in a mixed topology structure, wherein the determination of the last slave node device is determined according to the connection state of each slave node device; the industrial bus system employs a bus type network and a line type network.
It should be understood that the determination of the last slave node device is expressed as that if there is no slave node device connected thereto after the slave node device n according to the connection state determination of each slave node device, the slave node device n is the last slave node device.
As can be seen from fig. 1, the master node communicates with the RX1 ports of the slave nodes via a bus network (a+, a-) and the slave nodes communicate via a line network (b+, B-) using the respective TX1 and RX2 ports.
In some embodiments, the industrial bus system may employ a physical layer of an ethernet, 485, LVDS or other protocol, and may be extended by way of network relay.
In some embodiments, the industrial bus system employs lumped frames for data interactions.
It should be appreciated that the industrial bus system uses lumped frames for data interaction, i.e. each data frame contains status or instruction information (i.e. attribute information) of a plurality of slave node devices.
In some embodiments, the bus-type network employs half-duplex mode and/or simplex mode; the linear network adopts simplex mode.
In some implementations, referring to fig. 2, a schematic structural diagram of a hybrid topology network using half duplex communication and simplex communication is provided for a bus type network according to an embodiment of the present invention, for a bus type network (a+, a-) and a line type network (b+, B-) shown in fig. 2, where the bus type network and RX/TX of each slave node transmit in half duplex mode, and each slave node performs simplex transmission mode based on RX and TX, attribute information of all slave node devices (corresponding to the master node and slave node 1 in fig. 1, slave node 2, slave node 3 … … and slave node n (parallel with matching resistor)) obtained from a master node device (corresponding to the master node in fig. 2) is determined, and each slave node device is synchronously controlled based on the attribute information of all slave node devices.
The bus type network adopts a half duplex mode, the linear network adopts a simplex mode, and the situation is suitable for the networks such as Ethernet, LVDS,485 and the like, and can realize cross communication among nodes.
In some embodiments, referring to fig. 3, a network topology diagram of a simplex transmission mode is used for both a bus type network and a line type network provided in this embodiment of the present invention, for the bus type network (a+, a-) and the line type network (b+, B-) shown in fig. 3, where the bus type network and RX1 of each slave node are transmitted in the simplex transmission mode, and each slave node performs the simplex transmission mode based on RX2 and TX1, the master node device (corresponding to the master node in fig. 3) determines the state of each slave node device based on the attribute information of all the slave node devices, and performs synchronous control on each slave node device according to the attribute information of all the slave node devices (corresponding to the master node and the slave node 1 in fig. 3, the slave node 2, and the slave node 3 … … and the slave node device in fig. 3).
In some embodiments, referring to fig. 4, a schematic structural diagram of a hybrid topology network suitable for a backplane bus is provided in the embodiment of the present invention, where a full duplex mode such as ethernet is adopted between a master node and a slave node 1, and the remaining slave nodes (slave node 2, slave node 3 … … and slave node n) form a half duplex bus network and a simplex line network, where each slave node directly communicates through a TX1 port and an RX2 port, and after receiving instruction data of the master node, the slave node 1 directly forwards the instruction data to a bus network (a+, a-) through the TX2 port, and the bus network issues a control instruction based on the RX/TX ports of each slave node through the half duplex mode.
In some embodiments, the master node device is further to: and configuring each slave node device according to the configuration information of the industrial bus system, so that each slave node device initiates the uploading of the attribute information through the linear network according to the configured communication period.
In some embodiments, the master node device configures each slave node device according to the configuration information of the network of the industrial bus system, and the slave node n at the last position starts data uploading, and then the slave node 1 uploads the data frame containing the configuration results of all the slave nodes to the master node through the linear network. After the enumeration and configuration of slave node equipment are completed, the industrial bus system enters a period communication stage, the slave node n actively initiates data uploading through a linear network according to the configured communication period, when a data frame passes through the previous slave node, the slave node adds own data to the last bit of the uploaded data frame, and finally the slave node 1 uploads the data frame containing all slave node states to the master node.
In some embodiments, the plurality of slave node devices are further to: and triggering the master node equipment to start the operation of the control instruction of the next communication period by using the uploaded attribute information frame, and sending the control instruction to all slave nodes through a bus type network, thereby completing network communication and control of one round.
The periodic communication is triggered by the slave node at regular time, and the master node is triggered by an event, so that the efficient coordination between the master node and the slave node is realized, the operation load of the master node can be effectively reduced, and the overall performance of the master-slave control system is improved.
In some embodiments, the plurality of slave node devices are further to:
when the first uploading data frame of the upper-level slave node equipment is received, the attribute information of the slave node equipment is added to the last bit of the uploading data frame to form a second uploading data frame, the second uploading data frame is uploaded to the next-level slave node equipment through a linear network, when the second uploading data frame is received by the next-level slave node equipment, the attribute information of the slave node equipment is added to the last bit of the second uploading data frame to form a third uploading data frame until the attribute information of the slave node equipment of the final level is added, and the uploading data frame containing the attribute information of all the slave node equipment is uploaded to the master node equipment by the slave node equipment of the final level.
In some embodiments, the master node broadcasts and sends an enumeration instruction to the slave node network through the bus type network, the slave node n determines as a final node according to the connection state of the slave node n, starts the uploading of the slave node attribute information through the line type network, the previous slave nodes append own information to the final bit of the data frame one by one, and the slave node 1 packages and uploads the data frame containing all the slave node information to the master node.
In some embodiments, the switching of the status of the industrial bus system is managed by the master node, and after the communication and control tasks are finished, the master node issues a communication stop instruction through the bus network, and each node returns to the idle state.
The industrial bus system can effectively solve the problems of real-time scheduling and communication efficiency of multi-node communication in a master-slave control network, and avoid communication conflict when a plurality of slave nodes interact with a master node.
Referring to fig. 5, a flowchart of a communication method implemented by an industrial bus system for hybrid topology according to an embodiment of the present invention includes a master node device and a plurality of slave node devices, where the industrial bus system employs a bus network and a line network;
The communication method comprises the following steps:
step 500: and the master node equipment simultaneously transmits instructions to the plurality of slave node equipment through a bus type network.
In some embodiments, prior to performing step 500, the communication method further performs the steps of: the master node equipment configures each slave node equipment according to the configuration information of the industrial bus system, so that each slave node equipment initiates the uploading of the attribute information through the linear network according to the configured communication period. And the plurality of slave node devices trigger the master node device to start the operation of the control instruction of the next communication period by using the uploaded attribute information frame.
Step 501: and the plurality of slave node devices upload respective attribute information to the last slave node device through a linear network, and upload the attribute information to the master node device through the last slave node device, so that the master node device obtains the attribute information of each slave node device in the mixed topology structure, wherein the determination of the last slave node device is determined according to the connection state of each slave node device.
Specifically, when step 501 is performed, the following steps may be specifically performed:
When the slave node equipment receives the first uploading data frame of the upper-level slave node equipment, the attribute information of the slave node equipment is added to the last bit of the uploading data frame to form a second uploading data frame, the second uploading data frame is uploaded to the next-level slave node equipment through a linear network, when the next-level slave node equipment receives the second uploading data frame, the attribute information of the slave node equipment of the next level is added to the last bit of the second uploading data frame to form a third uploading data frame, until the attribute information of the last-level slave node equipment is added, and the uploading data frame containing the attribute information of all the slave node equipment is uploaded to the master node equipment by the last-level slave node equipment.
In some embodiments, the industrial bus system communicates as follows:
(1) The master node broadcasts and sends an enumeration instruction to the slave nodes through a bus type network, the slave node n determines as a final node according to the connection state of the slave node n, and starts the uploading of the attribute information of the slave nodes through a linear type network, the previous slave nodes (1-n-1) append own information to the final position of a data frame one by one, and the slave node 1 packages and uploads the data frame containing all the slave node information to the master node.
(2) The master node configures each slave node according to the configuration information of the industrial bus system network, and the slave node n at the last position starts data uploading, and then the slave node 1 uploads the data frame containing the configuration results of all the slave nodes to the master node through the linear network.
(3) After the enumeration and configuration of the slave node devices are completed, the system enters a periodic communication phase. And the slave node n actively initiates data uploading through the linear network according to the configured communication period, and when the data frame passes through the previous slave node, the slave node appends own data to the last bit of the uploaded data frame, and finally the slave node 1 uploads the data frame containing all the slave node states to the master node.
(4) The state data frame uploaded by the slave node triggers the master node to start the operation of the control instruction of the next period, and the control instruction is sent to all the slave nodes through the bus type network, so that network communication and control of one round are completed.
(5) The switching of the industrial bus system state is managed by a master node, and after the communication and control tasks are finished, the master node issues a communication stop instruction through a bus type network, and all the nodes return to an idle state.
In the communication method, the periodic communication is triggered by the slave node at fixed time, and the master node is triggered by the event, so that the efficient coordination between the master node and the slave node is realized, the operation load of the master node can be effectively reduced, and the overall performance of the master-slave control system is improved.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, 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, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (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 apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, 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.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. 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 apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (10)
1. A hybrid topology industrial bus system, characterized in that the industrial bus system comprises a master node device and a plurality of slave node devices, wherein,
The master node device is configured to send instructions to the plurality of slave node devices simultaneously through a bus network;
The plurality of slave node devices are used for uploading respective attribute information to the last slave node device through a linear network and uploading the attribute information to the master node device through the last slave node device so that the master node device obtains the attribute information of each slave node device in a mixed topology structure, wherein the determination of the last slave node device is determined according to the connection state of each slave node device;
the industrial bus system employs a bus type network and a line type network.
2. The industrial bus system of claim 1, wherein the industrial bus system employs lumped frames for data interactions.
3. The industrial bus system of claim 1, wherein the industrial bus system comprises a bus system,
The bus type network adopts a half duplex mode and/or a simplex mode;
The linear network adopts simplex mode.
4. The industrial bus system of claim 1, wherein the master node device is further to:
And configuring each slave node device according to the configuration information of the industrial bus system, so that each slave node device initiates the uploading of the attribute information through the linear network according to the configured communication period.
5. The industrial bus system of claim 4, wherein the plurality of slave node devices are further to:
and triggering the master node equipment to start the operation of the control instruction of the next communication period by using the uploaded attribute information frame.
6. The industrial bus system of claim 1, wherein the plurality of slave node devices are specifically configured to:
When the first uploading data frame of the upper-level slave node equipment is received, the attribute information of the slave node equipment is added to the last bit of the uploading data frame to form a second uploading data frame, the second uploading data frame is uploaded to the next-level slave node equipment through a linear network, when the second uploading data frame is received by the next-level slave node equipment, the attribute information of the slave node equipment is added to the last bit of the second uploading data frame to form a third uploading data frame until the attribute information of the last-level slave node equipment is added, and the uploading data frame containing the attribute information of all the slave node equipment is uploaded to the master node equipment by the last-level slave node equipment.
7. A communication method for an industrial bus system of a hybrid topology, characterized in that the industrial bus system comprises a master node device and a plurality of slave node devices, the industrial bus system employing a bus-type network and a line-type network;
The communication method comprises the following steps:
the master node equipment simultaneously transmits instructions to the plurality of slave node equipment through a bus type network;
And the plurality of slave node devices upload respective attribute information to the last slave node device through a linear network, and upload the attribute information to the master node device through the last slave node device, so that the master node device obtains the attribute information of each slave node device in the mixed topology structure, wherein the determination of the last slave node device is determined according to the connection state of each slave node device.
8. The communication method according to claim 7, characterized in that the communication method further comprises:
The master node equipment configures each slave node equipment according to the configuration information of the industrial bus system, so that each slave node equipment initiates the uploading of the attribute information through the linear network according to the configured communication period.
9. The communication method according to claim 8, characterized in that the communication method further comprises:
and the plurality of slave node devices trigger the master node device to start the operation of the control instruction of the next communication period by using the uploaded attribute information frame.
10. The communication method according to claim 7, wherein the plurality of slave node devices upload respective attribute information to a last slave node device through a line network and upload the attribute information to the master node device from the last slave node device, so that the master node device obtains the attribute information of each slave node device in the hybrid topology, comprising:
When the slave node equipment receives the first uploading data frame of the upper-level slave node equipment, the attribute information of the slave node equipment is added to the last bit of the uploading data frame to form a second uploading data frame, the second uploading data frame is uploaded to the next-level slave node equipment through a linear network, when the next-level slave node equipment receives the second uploading data frame, the attribute information of the slave node equipment of the next level is added to the last bit of the second uploading data frame to form a third uploading data frame, until the attribute information of the last-level slave node equipment is added, and the uploading data frame containing the attribute information of all the slave node equipment is uploaded to the master node equipment by the last-level slave node equipment.
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