EP1886433A1 - Redundant transmission of data messages for the control technology of hvdct systems - Google Patents

Redundant transmission of data messages for the control technology of hvdct systems

Info

Publication number
EP1886433A1
EP1886433A1 EP05753539A EP05753539A EP1886433A1 EP 1886433 A1 EP1886433 A1 EP 1886433A1 EP 05753539 A EP05753539 A EP 05753539A EP 05753539 A EP05753539 A EP 05753539A EP 1886433 A1 EP1886433 A1 EP 1886433A1
Authority
EP
European Patent Office
Prior art keywords
counter
telegram
data
receiving unit
receiving
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.)
Withdrawn
Application number
EP05753539A
Other languages
German (de)
French (fr)
Inventor
Anja Ackermann
Michael Festor
Frank Greiner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Publication of EP1886433A1 publication Critical patent/EP1886433A1/en
Withdrawn legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L1/00—Arrangements for detecting or preventing errors in the information received
    • H04L1/22—Arrangements for detecting or preventing errors in the information received using redundant apparatus to increase reliability
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L1/00—Arrangements for detecting or preventing errors in the information received
    • H04L1/12—Arrangements for detecting or preventing errors in the information received by using return channel
    • H04L1/16—Arrangements for detecting or preventing errors in the information received by using return channel in which the return channel carries supervisory signals, e.g. repetition request signals
    • H04L1/18—Automatic repetition systems, e.g. Van Duuren systems
    • H04L1/1829—Arrangements specially adapted for the receiver end
    • H04L1/1835—Buffer management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L1/00—Arrangements for detecting or preventing errors in the information received
    • H04L1/12—Arrangements for detecting or preventing errors in the information received by using return channel
    • H04L1/16—Arrangements for detecting or preventing errors in the information received by using return channel in which the return channel carries supervisory signals, e.g. repetition request signals
    • H04L1/18—Automatic repetition systems, e.g. Van Duuren systems
    • H04L1/1829—Arrangements specially adapted for the receiver end
    • H04L1/1858—Transmission or retransmission of more than one copy of acknowledgement message

Definitions

  • the invention relates to a method for securely transmitting data telegrams between at least one transmitting unit and at least one receiving unit of a HVDC system, each transmitting unit being connected to each receiving unit via at least two connecting channels, in which each data telegram is provided with a telegram counter uniquely identifying the data telegram and each transmitting unit transmits the data telegram to each receiving unit via all the connecting channels, the telegram counter being calculated with an incrementing rule which is clocked by the sending of the data telegrams and each receiving unit is clocked using the same incrementing rule which is clocked by the reception of data telegrams. calculated a comparison counter.
  • transmitting and receiving unit prior art HVDC systems are connected via redundant connection channels, of which in normal operation a connection channel used as a default preferred channel and another connection channel is used as a non-active default operation alternative channel.
  • the transmitting unit When sending data telegrams, the transmitting unit enters a telegram counter into each data telegram which uniquely identifies the data telegram.
  • the receiving unit calculates a comparison counter or acknowledgment counter using the same incrementation rule and then transmits the comparison counter back to the transmitter.
  • the transmitter compares the telegram counter with the comparison counter. If there is a match, ie in the case of a positive comparison, the message counter is increased with the aid of the incrementing rule, and a new data message is sent to the receiving unit with the increased message counter. Until a match between the telegram counter and the comparison counter, the transmitting unit sends data telegrams of the same content. If no positive comparison is reached within the previously defined period of time, an error message is output and the system switches to the alternative channel.
  • the previously known method has the disadvantage that dead times of up to 10 seconds can arise in an accident. Due to the constantly reflected comparison counter, there is also an increased transmission time of current data.
  • the invention is therefore based on the object to provide a method of the type mentioned above, which allows faster data exchange between transmitting and receiving units of a HVDC system and at the same time meets the increased security requirements of such a system.
  • each transmitting unit already stores data telegrams stored in a transmission buffer and that the receiving unit compares the telegram counter of each received data telegram with the comparison counter, which in case of a mismatch between telegram counter and comparison counter or in the absence of a match within a waiting period
  • Receiving a data telegram a repeat request to the transmitting unit for sending a data telegram is sent to the comparison counter corresponding telegram counter accesses the transmitting unit after receiving the repeat request to the send buffer and sends the data telegram on all connection channels whose telegram counter corresponds to the received by the repeat request comparison counter ,
  • the comparison between telegram counter and comparison counter is no longer performed solely by the transmitting unit.
  • a time-consuming mirroring of each telegram counter of a data telegram by the receiving unit with the addition of the comparison counter is eliminated according to the invention. In this way, the speed of the transmission of data telegrams is considerably increased. Furthermore, the load on the connection channels is reduced.
  • the receiving unit compares telegram counter and comparison counter to match. Only when there is no match is the sending of a repeat request to the transmitting unit. The transmitting unit searches the transmission buffer set up in it for data telegrams which have a telegram counter which matches the comparison counter of the repeat request.
  • a repeat request is transmitted from the receiver unit to the transmitter unit only if there is no match.
  • a repeat request is sent when the receiving unit misses a data telegram. This means that, after receiving a data telegram, which does not immediately follow the last received data telegram in the given clock sequence, but according to the incremental rule, for example, the after the next data telegram, a repeat request is sent for the immediately following or next data telegram.
  • the repeat request is sent before the next but one data telegram is received, if a configurable waiting time has elapsed after the reception time of the last received data telegram.
  • the waiting period expediently ends shortly before the possible reception of the next but one data telegram.
  • the repeat request is expediently repeated continuously at fixed time intervals until the receiving unit receives a data telegram whose telegram counter corresponds to the comparison counter of the repeat request.
  • the repeat request is repeated only twice.
  • the receiving unit rejects the reception of data telegrams whose telegram counter corresponds to that already received data telegrams.
  • the setting up of a preferred bus and an alternative bus used only in case of need has become superfluous.
  • the connection channels are rather equally used, whereby it is of no importance to the receiving unit via which connection channel it receives a data telegram. The use or rejection of the received data telegram depends solely on whether a positive comparison between the telegram counter of the received data telegram has already taken place or not.
  • At least two transmitting units are provided, the same data telegrams with the same Send telegram counters.
  • the transmission units are designed to be redundant, so that if one transmission unit fails, the second or replacement transmission unit can take over the function of the failed transmission unit.
  • each receiving unit being set up for sending repeat requests.
  • the receiving units are designed redundantly with increased reliability of the HVDC system in the wake.
  • each receiving unit stores the received data telegrams in a receiving buffer.
  • the receiving buffer is for example a so-called first-in first-out memory, wherein the received data telegrams are stored as a function of their telegram counter in the receiving buffer.
  • This has the advantage that when a data packet is missing or in other words when a repeat request is sent, reception of other data telegrams can continue even before the missing data telegram is received.
  • the data telegram received as a result of a repeat request is then subsequently classified in the address of the memory kept free for it.
  • the evaluation of the data takes place in chronological order. In this way the speed of the data exchange is increased.
  • the addressing of memory locations by means of pointers or the like is well known to the person skilled in the art, so that at this point it need not be discussed in more detail.
  • the storage capacity of the send buffer is configurable. In this way, the process is fast and easy easily adaptable to the most diverse requirements in high-voltage direct current transmission.
  • the data message is sent by means of a connectionless and acknowledgment-free transmission protocol.
  • a transmission protocol is, for example, the UDP broadcast protocol.
  • the UDP broadcast protocol is known to the person skilled in the art, so that it need not be discussed in more detail here.
  • Connectionless and acknowledgment-free protocols have the advantage that they allow a particularly fast data transmission, whereby the successful connection of the connection is not checked by the protocol.
  • a TCP / IP protocol is used to transmit the data telegrams.
  • the TCP / IP protocol is an acknowledged and connection-oriented program.
  • Figure is a schematic representation of a
  • FIG. 1 shows schematically a connection network 1 of an HVDC system.
  • the HVDC system has a number of redundant protective devices Ia, Ib or control devices 2a, 2b, which are used to control the components of an inverter station, not shown, an HVDC system.
  • the first of a terstation associated components of the interconnection network 1 are provided with the reference numeral 3.
  • Each protective device is connected via a redundant connection channel 4a and 4b to a likewise redundantly configured operating station 5a or 5b.
  • the operator stations 5a and 5b each have a screen unit 6.
  • the connection channels 4a and 4b further comprise so-called switches 7 and routers 8, which simplify addressing during data exchange.
  • the components of the interconnection network 3 assigned to the first converter station are connected to the components 10 of the interconnection network 1 via a connecting line 9a and 9b, which is shown very briefly here, but in practice longer and redundantly designed, which are assigned to a second converter station of the HVDC system.
  • the second converter station comprises the first converter station according to redundant protective devices Ia and Ib or control units 2a and 2b, which are connected via connection channels 4a and 4b again with operating station 5a and 5b.
  • the data exchange between the operator stations 5a and, for example, the protective device Ia takes place by means of a UDP broadcast protocol.
  • the operating station 5a appears as a transmitting unit.
  • the operator station has an internal logic which converts manually entered control commands of a user into a data telegram.
  • a telegram counter which is incremented by the number 1 by the outside of a data telegram, is added.
  • the telegram is then sent from the operating station 5a via the connecting channel 4a and via the connecting channel 4b to the receiving unit in the form of the protective device Ia.
  • the protective device Ia has, after receiving In the previous data telegram, a comparison counter, which is incremented according to the same incrementation rule as the telegram counter of the operator station, is increased.
  • the data telegram is received via the connection channel 4a in front of the content-identical data telegram of the connection channel 4b.
  • the protective device Ia compares the telegram counter of the data telegram with the comparison counter. These matched, whereupon the protection device Ia stores the data telegram in the receive buffer for further processing.
  • the data exchange is completed.
  • the protection device 1a receives the data telegram via the undisturbed data channel 4b.
  • the protective device 1a receives a data telegram whose telegram counter is increased by two incrementation steps or more compared with the last telegram counter received by the protective device 1a , The protection device then sends a repeat request to the operator station 5a, the repeat request having the comparison counter which corresponds to the message counter of the data message that has not been received. After receiving the repeat request, the operating station 5a accesses a send buffer in which the recently sent data telegrams are buffered as a function of the comparison counter received with the repeat request.
  • the operator station 5a again sends a data telegram whose telegram counter corresponds to the comparison counter of the repeat request to the receiving unit in the form of the protective device Ia.
  • the communication of the protection devices Ia, Ib and the control unit is based on a TCP / IP protocol.

Abstract

Method for securely transmitting data messages between at least one transmitting unit (5a) and at least one receiving unit (1a) of an HVDCT system. In this case, each transmitting unit (5a) is connected to each receiving unit (1a) via at least two connection channels (4a, 4b). Each data message is provided with a message counter that uniquely characterizes the data message, and each transmitting unit (5a) transmits the data message to each receiving unit (1a) via all of the connection channels (4a, 4b). In this case, the message counter is calculated using an incrementing rule that is clocked by the transmission of the data messages. Each receiving unit (1a) uses the same incrementing rule, which is clocked by the reception of data messages, to calculate a comparison counter. Each transmitting unit (5a) stores data messages which have already been transmitted in a transmission buffer, and the receiving unit compares the message counter of each received data message with the comparison counter. If the message counter and the comparison counter do not match, a repetition request is transmitted to the transmitting unit (5a) for the purpose of transmitting a message counter that corresponds to the comparison counter. After the repetition request has been received, the transmitting unit (5a) accesses the transmission buffer, and the data message whose message counter corresponds to the comparison counter received by means of the repetition request is transmitted via all of the connection channels (4a, 4b). The method makes it possible to interchange data more quickly between a transmitting unit and a receiving unit of an HVDCT system and simultaneously satisfies the increased security requirements of such a system.

Description

Beschreibung description
Redundante Übertragung von Datentelegrammen für die Leittechnik von HGÜ-SystemenRedundant transmission of data telegrams for the control technology of HVDC systems
Die Erfindung betrifft ein Verfahren zum sicheren Übertragen von Datentelegrammen zwischen wenigstens einer Sendeeinheit und wenigstens einer Empfangseinheit einer HGÜ-Anlage, wobei jede Sendeeinheit über wenigstens zwei Verbindungskanäle mit jeder Empfangseinheit verbunden ist, bei dem jedes Datentele- gramm mit einem das Datentelegramm eindeutig kennzeichnenden Telegrammzähler versehen wird und jede Sendeeinheit das Datentelegramm über alle Verbindungskanäle zu jeder Empfangseinheit sendet, wobei der Telegrammzähler mit einer Inkremen- tierungsregel berechnet wird, die durch das Versenden der Datentelegramme getaktet und jede Empfangseinheit unter Anwendung der gleichen Inkrementierungsregel, die durch den Empfang von Datentelegrammen getaktet wird, einen Vergleichszähler berechnet .The invention relates to a method for securely transmitting data telegrams between at least one transmitting unit and at least one receiving unit of a HVDC system, each transmitting unit being connected to each receiving unit via at least two connecting channels, in which each data telegram is provided with a telegram counter uniquely identifying the data telegram and each transmitting unit transmits the data telegram to each receiving unit via all the connecting channels, the telegram counter being calculated with an incrementing rule which is clocked by the sending of the data telegrams and each receiving unit is clocked using the same incrementing rule which is clocked by the reception of data telegrams. calculated a comparison counter.
Ein solches Verfahren ist aus dem landläufigen Stand der Technik bereits bekannt. So werden Sende- und Empfangseinheit vorbekannter HGÜ-Anlagen über redundante Verbindungskanäle verbunden, von denen bei Normalbetrieb ein Verbindungskanal als im Normalfall verwendeter Vorzugskanal und ein weiterer Verbindungskanal als im Normalbetrieb nicht aktiver Ausweichskanal eingesetzt wird. Beim Versenden von Datentelegrammen trägt die Sendeeinheit einen Telegrammzähler in jedes Datentelegramm ein, welcher das Datentelegramm eindeutig kennzeichnen. Hierzu wird üblicherweise eine einfache Inkrementierungsregel eingesetzt, wie beispielsweise eine natürliche Zahl „n", die durch jedes Takten um 1 erhöht wird: n = n + 1. Anschließend wird das Datentelegramm zur Empfangseinheit gesendet. Die Empfangseinheit empfängt das Datentelegramm, wobei die Empfangseinheit unter Anwendung der gleichen Inkre- mentierungsregel einen Vergleichszähler oder Quittierungszäh- ler berechnet und anschließend den Vergleichszähler zurück an den Sender überträgt. Der Sender vergleicht den Telegrammzäh- ler mit dem Vergleichszähler. Bei einer Übereinstimmung, also bei einem positiven Vergleich, wird der Telegrammzähler mit Hilfe der Inkrementierungsregel erhöht und ein neues Datentelegramm mit dem erhöhten Telegrammzähler an die Empfangseinheit gesendet. Bis zu einer Übereinstimmung von Telegrammzäh- ler und Vergleichszähler versendet die Sendeeinheit Datentelegramme gleichen Inhalts. Wird kein positiver Vergleich innerhalb des zuvor festgelegten Zeitraumes erreicht, wird eine Fehlermeldung ausgegeben und es erfolgt ein Umschalten auf den Ausweichskanal.Such a method is already known from the state of the art. Thus, transmitting and receiving unit prior art HVDC systems are connected via redundant connection channels, of which in normal operation a connection channel used as a default preferred channel and another connection channel is used as a non-active default operation alternative channel. When sending data telegrams, the transmitting unit enters a telegram counter into each data telegram which uniquely identifies the data telegram. For this purpose, a simple incrementation rule is usually used, such as, for example, a natural number "n", which is incremented by 1 by each clock: n = n + 1. Subsequently, the data telegram is sent to the receiving unit. wherein the receiving unit calculates a comparison counter or acknowledgment counter using the same incrementation rule and then transmits the comparison counter back to the transmitter. The transmitter compares the telegram counter with the comparison counter. If there is a match, ie in the case of a positive comparison, the message counter is increased with the aid of the incrementing rule, and a new data message is sent to the receiving unit with the increased message counter. Until a match between the telegram counter and the comparison counter, the transmitting unit sends data telegrams of the same content. If no positive comparison is reached within the previously defined period of time, an error message is output and the system switches to the alternative channel.
Dem vorbekannten Verfahren haftet der Nachteil an, dass in einem Störfall Totzeiten bis zu 10 Sekunden entstehen können. Aufgrund der ständig zurückgespiegelten Vergleichszähler kommt es ferner zu einer erhöhten Übertragungsdauer von aktu- eilen Daten.The previously known method has the disadvantage that dead times of up to 10 seconds can arise in an accident. Due to the constantly reflected comparison counter, there is also an increased transmission time of current data.
Der Erfindung liegt daher die Aufgabe zugrunde, ein Verfahren der eingangs genannten Art bereitzustellen, das einen schnelleren Datenaustausch zwischen Sende- und Empfangseinheiten einer HGÜ-Anlage ermöglicht und das gleichzeitig den erhöhten Sicherheitsanforderungen einer solchen Anlage gerecht wird.The invention is therefore based on the object to provide a method of the type mentioned above, which allows faster data exchange between transmitting and receiving units of a HVDC system and at the same time meets the increased security requirements of such a system.
Die Erfindung löst diese Aufgabe dadurch, dass jede Sendeeinheit bereits gesendete Datentelegramme in einem Sendepuffer speichert und dass die Empfangseinheit den Telegrammzähler jedes empfangenen Datentelegramms mit dem Vergleichszähler vergleicht, wobei bei einer fehlenden Übereinstimmung zwischen Telegrammzähler und Vergleichszähler oder bei Ausbleiben einer Übereinstimmung innerhalb einer Wartedauer nach Empfang eines Datentelegramms eine Wiederholungsanforderung an die Sendeeinheit zum Senden eines Datentelegramms mit einem dem Vergleichszähler entsprechenden Telegrammzähler gesendet wird, die Sendeeinheit nach Empfang der Wiederholungs- anforderung auf den Sendepuffer zugreift und das Datentelegramm über alle Verbindungskanäle sendet, dessen Telegrammzähler dem durch die Wiederholungsanforderung empfangenen Vergleichszähler entspricht.The invention solves this problem in that each transmitting unit already stores data telegrams stored in a transmission buffer and that the receiving unit compares the telegram counter of each received data telegram with the comparison counter, which in case of a mismatch between telegram counter and comparison counter or in the absence of a match within a waiting period Receiving a data telegram a repeat request to the transmitting unit for sending a data telegram is sent to the comparison counter corresponding telegram counter accesses the transmitting unit after receiving the repeat request to the send buffer and sends the data telegram on all connection channels whose telegram counter corresponds to the received by the repeat request comparison counter ,
Im Rahmen der Erfindung wird der Vergleich zwischen Telegrammzähler und Vergleichszähler nicht mehr allein von der Sendeeinheit durchgeführt. Ein zeitintensives Spiegeln jedes Telegrammzählers eines Datentelegramms durch die Empfangseinheit unter Zusatz des Vergleichszählers entfällt erfindungs- gemäß. Auf diese Weise wird die Geschwindigkeit der Übertragung von Datentelegrammen beträchtlich erhöht . Ferner wird die Belastung der Verbindungskanäle herabgesetzt. Im Rahmen der Erfindung vergleicht die Empfangseinheit Telegrammzähler und Vergleichszähler auf Übereinstimmung. Erst bei fehlender Übereinstimmung erfolgt die Versendung einer Wiederholungsanforderung an die Sendeeinheit. Die Sendeeinheit durchsucht den in ihr eingerichteten Sendepuffer nach Datentelegrammen, die einen Telegrammzähler aufweisen, der mit dem Vergleichszähler der Wiederholungsanforderung übereinstimmt. Nach dem Auffinden des besagten Datentelegramms wird dieses erneut über alle Verbindungskanäle an die Empfangseinheiten gesendet. Eine Wiederholungsanforderung wird im Rahmen der Erfindung nur bei fehlender Übereinstimmung von der Empfängereinheit an die Sendeeinheit übertragen. Mit anderen Worten wird eine Wiederholungsanfrage gesendet, wenn die Empfangseinheit ein Datentelegramm vermisst. Dies bedeutet, dass nach Empfang eines Datentelegramms, das in der vorgegebenen Taktfolge dem zuletzt empfangenen Datentelegramm nicht unmittelbar folgt, sondern gemäß der Inkrementierungsregel beispielsweise dem übernächsten Datentelegramm entspricht, eine Wiederholungsanfrage für das unmittelbar folgende oder nächste Datentelegramm gesendet wird.In the context of the invention, the comparison between telegram counter and comparison counter is no longer performed solely by the transmitting unit. A time-consuming mirroring of each telegram counter of a data telegram by the receiving unit with the addition of the comparison counter is eliminated according to the invention. In this way, the speed of the transmission of data telegrams is considerably increased. Furthermore, the load on the connection channels is reduced. In the context of the invention, the receiving unit compares telegram counter and comparison counter to match. Only when there is no match is the sending of a repeat request to the transmitting unit. The transmitting unit searches the transmission buffer set up in it for data telegrams which have a telegram counter which matches the comparison counter of the repeat request. After finding the said data telegram this is sent again via all the connection channels to the receiving units. In the context of the invention, a repeat request is transmitted from the receiver unit to the transmitter unit only if there is no match. In other words, a repeat request is sent when the receiving unit misses a data telegram. This means that, after receiving a data telegram, which does not immediately follow the last received data telegram in the given clock sequence, but according to the incremental rule, for example, the after the next data telegram, a repeat request is sent for the immediately following or next data telegram.
Abweichend hiervon wird die Wiederholungsanfrage bereits vor dem Empfang des übernächsten Datentelegramms versendet, wenn nach dem Empfangszeitpunkt des zu letzt empfangenen Datentelegramms eine parametrierbare Wartedauer abgelaufen ist. Die Wartedauer endet zweckmäßigerweise kurz vor dem möglichen Empfang des übernächsten Datentelegramms.Notwithstanding this, the repeat request is sent before the next but one data telegram is received, if a configurable waiting time has elapsed after the reception time of the last received data telegram. The waiting period expediently ends shortly before the possible reception of the next but one data telegram.
Zweckmäßigerweise wird die Wiederholungsanforderung in festen Zeitabständen kontinuierlich wiederholt, bis die Empfangseinheit ein Datentelegramm empfängt, dessen Telegrammzähler dem Vergleichszähler der Wiederholungsanforderung entspricht. Bei einer bevorzugten Ausgestaltung der Erfindung wird die Wiederholungsanfrage nur zweimal wiederholt.The repeat request is expediently repeated continuously at fixed time intervals until the receiving unit receives a data telegram whose telegram counter corresponds to the comparison counter of the repeat request. In a preferred embodiment of the invention, the repeat request is repeated only twice.
Zweckmäßigerweise lehnt die Empfangseinheit den Empfang von Datentelegrammen ab, deren Telegrammzähler demjenigen bereits empfangener Datentelegramme entspricht. Gemäß dieser vorteilhaften Weiterentwicklung der Erfindung ist das Einrichten eines Vorzugsbusses und eines nur im Bedarfsfalle eingesetzten Ausweichsbusses überflüssig geworden. Im Rahmen dieser Wei- terentwicklung der Erfindung werden die Verbindungskanäle vielmehr gleichrangig eingesetzt, wobei es der Empfangseinheit gleichgültig ist, über welchen Verbindungskanal sie ein Datentelegramm erhält. Die Verwendung oder Ablehnung des empfangenen Datentelegramms ist allein davon abhängig, ob ein positiver Vergleich zwischen dem Telegrammzähler des empfangenen Datentelegramms bereits stattgefunden hat oder nicht.Expediently, the receiving unit rejects the reception of data telegrams whose telegram counter corresponds to that already received data telegrams. According to this advantageous development of the invention, the setting up of a preferred bus and an alternative bus used only in case of need has become superfluous. In the context of this further development of the invention, the connection channels are rather equally used, whereby it is of no importance to the receiving unit via which connection channel it receives a data telegram. The use or rejection of the received data telegram depends solely on whether a positive comparison between the telegram counter of the received data telegram has already taken place or not.
Vorteilhafterweise sind wenigstens zwei Sendeeinheiten vorgesehen, die zueinander gleiche Datentelegramme mit gleichen Telegrammzählern versenden. Gemäß dieser vorteilhaften Weiterentwicklung der Erfindung werden die Sendeeinheiten redundant ausgelegt, so dass beim Ausfall einer Sendeeinheit die zweite oder Ersatzsendeeinheit die Funktion der ausgefallenen Sendeeinheit übernehmen kann.Advantageously, at least two transmitting units are provided, the same data telegrams with the same Send telegram counters. According to this advantageous further development of the invention, the transmission units are designed to be redundant, so that if one transmission unit fails, the second or replacement transmission unit can take over the function of the failed transmission unit.
Weiterhin ist es vorteilhaft, dass wenigstens zwei Empfangseinheiten eingesetzt werden, wobei jede Empfangseinheit zum Versenden von Wiederholungsanfragen eingerichtet ist. Gemäß dieser zweckmäßigen Weiterentwicklung sind auch die Empfangseinheiten redundant ausgelegt mit einer erhöhten Betriebssicherheit der HGÜ-Anlage im Gefolge.Furthermore, it is advantageous that at least two receiving units are used, each receiving unit being set up for sending repeat requests. According to this expedient further development, the receiving units are designed redundantly with increased reliability of the HVDC system in the wake.
Zweckmäßigerweise speichert jede Empfangseinheit die empfan- genen Datentelegramme in einem Empfangspuffer ab. Der Empfangspuffer ist beispielsweise ein so genannter First-In- First-Out-Speicher, wobei die empfangenen Datentelegramme in Abhängigkeit ihres Telegrammzählers in den Empfangspuffer abgelegt werden. Dies weist den Vorteil auf, dass beim Ausblei- ben eines Datenpaketes oder mit anderen Worten bei Aussenden einer Wiederholungsanforderung auch vor dem Empfang des fehlenden Datentelegramms der Empfang anderer Datentelegramme fortgesetzt werden kann. Das in Folge einer Wiederholungsanforderung empfangene Datentelegramm wird dann nachträglich in den für ihn frei gehaltene Adresse des Speichers eingeordnet. Die Auswertung der Daten erfolgt jedoch in zeitlich korrekter Reihenfolge. Auf diese Weise wird die Geschwindigkeit des Datenaustausches erhöht. Die Adressierung von Speicherplätzen anhand von Zeigern oder dergleichen ist dem Fachmann bestens bekannt, so dass an dieser Stelle hierauf nicht näher eingegangen zu werden braucht .Expediently, each receiving unit stores the received data telegrams in a receiving buffer. The receiving buffer is for example a so-called first-in first-out memory, wherein the received data telegrams are stored as a function of their telegram counter in the receiving buffer. This has the advantage that when a data packet is missing or in other words when a repeat request is sent, reception of other data telegrams can continue even before the missing data telegram is received. The data telegram received as a result of a repeat request is then subsequently classified in the address of the memory kept free for it. The evaluation of the data, however, takes place in chronological order. In this way the speed of the data exchange is increased. The addressing of memory locations by means of pointers or the like is well known to the person skilled in the art, so that at this point it need not be discussed in more detail.
Vorteilhafterweise ist die Speicherkapazität des Sendepuffers konfigurierbar. Auf diese Weise ist das Verfahren schnell und unkompliziert an unterschiedlichste Anforderungen bei der Hochspannungsgleichstromübertragung anpassbar .Advantageously, the storage capacity of the send buffer is configurable. In this way, the process is fast and easy easily adaptable to the most diverse requirements in high-voltage direct current transmission.
Gemäß einem bevorzugten Ausführungsbeispiel des erfindungsge- mäßen Verfahrens wird das Datentelegramm mittels eines verbindungslosen und quittierungsfreien Übertragungsprotokolls gesendet. Ein solches Übertragungsprotokoll ist beispielsweise das UDP-Broadcast-Protokoll . Das UDP-Broadcast-Proto- koll ist als solches dem Fachmann bekannt, so dass an dieser Stelle hierauf nicht näher eingegangen zu werden braucht.According to a preferred embodiment of the inventive method, the data message is sent by means of a connectionless and acknowledgment-free transmission protocol. Such a transmission protocol is, for example, the UDP broadcast protocol. As such, the UDP broadcast protocol is known to the person skilled in the art, so that it need not be discussed in more detail here.
Verbindungslose und quittierungsfreie Protokolle weisen den Vorteil auf, dass diese eine besonders schnelle Datenübertragung ermöglichen, wobei die erfolgreiche Herstellung der Verbindung protokollseitig nicht überprüft wird.Connectionless and acknowledgment-free protocols have the advantage that they allow a particularly fast data transmission, whereby the successful connection of the connection is not checked by the protocol.
Abweichend hiervon wird zur Übertragung der Datentelegramme ein TCP/IP-Protokoll verwendet. Das TCP/IP-Protokoll ist ein quittierungspflichtiges und verbindungsorientiertes Programm.Deviating from this, a TCP / IP protocol is used to transmit the data telegrams. The TCP / IP protocol is an acknowledged and connection-oriented program.
Weitere zweckmäßige Ausgestaltungen und Vorteile der Erfindung sind Gegenstand der nachfolgenden Beschreibung eines Ausführungsbeispiels der Erfindung mit Bezug auf die Figur der Zeichnung, wobei dieFurther expedient embodiments and advantages of the invention are the subject of the following description of an embodiment of the invention with reference to the figure of the drawing, wherein the
Figur eine schematische Darstellung einesFigure is a schematic representation of a
Verbindungsnetzes einer HGÜ-Anlage verdeutlicht.Connection network of an HVDC system.
Figur 1 zeigt schematisch ein Verbindungsnetz 1 einer HGÜ-An- läge. Die HGÜ-Anlage weist eine Reihe von redundanten Schutzgeräten Ia, Ib oder Steuerungsgeräten 2a, 2b auf, die zur Steuerung der Bauteile einer nicht gezeigten Umrichterstation einer HGÜ-Anlage eingesetzt werden. Die einer ersten Umrich- terstation zugeordneten Bestandteile des Verbindungsnetzes 1 sind mit dem Bezugszeichen 3 versehen.FIG. 1 shows schematically a connection network 1 of an HVDC system. The HVDC system has a number of redundant protective devices Ia, Ib or control devices 2a, 2b, which are used to control the components of an inverter station, not shown, an HVDC system. The first of a terstation associated components of the interconnection network 1 are provided with the reference numeral 3.
Jedes Schutzgerät ist über einen redundanten Verbindungskanal 4a und 4b mit einer ebenfalls redundant ausgestalteten Bedienstation 5a beziehungsweise 5b verbunden. Die Bedienstationen 5a und 5b weisen jeweils eine Bildschirmeinheit 6 auf. Die Verbindungskanäle 4a und 4b umfassen ferner so genannte Switches 7 und Router 8, die eine Adressierung beim Datenaus- tausch vereinfachen. Die der ersten Umrichterstation zugeordneten Bestandteile des Verbindungsnetzes 3 sind über eine hier schematisch sehr kurz dargestellte, in der Praxis jedoch längere und redundant ausgelegte Verbindungsleitung 9a und 9b mit den Komponenten 10 des Verbindungsnetzes 1 verbunden, die einer zweiten Umrichterstation der HGÜ-Anlage zugeordnet sind. Die zweite Umrichterstation umfasst der ersten Umrichterstation entsprechend redundante Schutzgeräte Ia und Ib beziehungsweise Steuerungseinheiten 2a und 2b, die über Verbindungskanäle 4a beziehungsweise 4b wieder mit Bedienstation 5a und 5b verbunden sind.Each protective device is connected via a redundant connection channel 4a and 4b to a likewise redundantly configured operating station 5a or 5b. The operator stations 5a and 5b each have a screen unit 6. The connection channels 4a and 4b further comprise so-called switches 7 and routers 8, which simplify addressing during data exchange. The components of the interconnection network 3 assigned to the first converter station are connected to the components 10 of the interconnection network 1 via a connecting line 9a and 9b, which is shown very briefly here, but in practice longer and redundantly designed, which are assigned to a second converter station of the HVDC system. The second converter station comprises the first converter station according to redundant protective devices Ia and Ib or control units 2a and 2b, which are connected via connection channels 4a and 4b again with operating station 5a and 5b.
Der Datenaustausch zwischen den Bedienstationen 5a und beispielsweise dem Schutzgerät Ia erfolgt mittels eines UDP- Broadcast-Protokolls . Bei der Kommunikation zwischen der Be- dienstation 5a und dem Schutzgerät Ia tritt beispielsweise die Bedienstation 5a als Sendeeinheit auf. Die Bedienstation verfügt über eine interne Logik, welche von Hand eingegebene Steuerungsbefehle eines Benutzers in ein Datentelegramm umsetzt. Ferner wird ein Telegrammzähler, der durch das Aussen- den eines Datentelegramms um die Zahl 1 inkrementiert wird, beigefügt. Das Telegramm wird anschließend von der Bedienstation 5a über den Verbindungskanal 4a sowie über den Verbindungskanal 4b an die Empfangseinheit in Form des Schutzgerätes Ia gesendet. Das Schutzgerät Ia hat nach dem Empfang ei- nes vorherigen Datentelegramms einen Vergleichszähler, der nach der gleichen Inkrementierungsregel wie der Telegrammzäh- ler der Bedienstation inkrementiert wird, erhöht. In dem gezeigten Ausführungsbeispiel wird das Datentelegramm über den Verbindungskanal 4a vor dem inhaltsgleichen Datentelegramm des Verbindungskanals 4b empfangen. Das Schutzgerät Ia vergleicht den Telegrammzähler des Datentelegramms mit dem Vergleichszähler. Diese stimmten überein, woraufhin das Schutzgerät Ia das Datentelegramm in den Empfangspuffer zur weite- ren Verarbeitung abspeichert. Der Datenaustausch ist abgeschlossen .The data exchange between the operator stations 5a and, for example, the protective device Ia takes place by means of a UDP broadcast protocol. During the communication between the operating station 5a and the protective device 1a, for example, the operating station 5a appears as a transmitting unit. The operator station has an internal logic which converts manually entered control commands of a user into a data telegram. Furthermore, a telegram counter, which is incremented by the number 1 by the outside of a data telegram, is added. The telegram is then sent from the operating station 5a via the connecting channel 4a and via the connecting channel 4b to the receiving unit in the form of the protective device Ia. The protective device Ia has, after receiving In the previous data telegram, a comparison counter, which is incremented according to the same incrementation rule as the telegram counter of the operator station, is increased. In the exemplary embodiment shown, the data telegram is received via the connection channel 4a in front of the content-identical data telegram of the connection channel 4b. The protective device Ia compares the telegram counter of the data telegram with the comparison counter. These matched, whereupon the protection device Ia stores the data telegram in the receive buffer for further processing. The data exchange is completed.
Bei einer Störung des Verbindungskanals 4a empfängt das Schutzgerät Ia das Datentelegramm über den ungestörten Daten- kanal 4b.In the event of a fault in the connection channel 4a, the protection device 1a receives the data telegram via the undisturbed data channel 4b.
Geht ein Datentelegramm bei der Übertragung von der Bedienstation 5a auf das Schutzgerät Ia in beiden Übertragungskanälen 4a und 4b verloren, empfängt das Schutzgerät Ia ein Da- tentelegramm, dessen Telegrammzähler gegenüber dem zuletzt vom Schutzgerät Ia empfangenen Telegrammzähler um zwei Inkre- mentierungsschritte oder mehr erhöht ist. Daraufhin sendet das Schutzgerät eine Wiederholungsanforderung an die Bedienstation 5a, wobei die Wiederholungsanforderung den Vergleichs- Zähler aufweist, welcher dem Telegrammzähler des nicht empfangenen Datentelegramms entspricht . Nach Empfang der Wiederholungsanfrage greift die Bedienstation 5a in Abhängigkeit des mit der Wiederholungsanfrage empfangenen Vergleichszählers auf einen Sendepuffer zu, in dem die kürzlich abgesand- ten Datentelegramme zwischengespeichert werden. Anschließend sendet die Bedienstation 5a erneut ein Datentelegramm, dessen Telegrammzähler dem Vergleichszähler der Wiederholungsanfrage entspricht, an die Empfangseinheit in Form des Schutzgerätes Ia. Die Kommunikation der Schutzgeräte Ia, Ib und der Steuerungseinheit erfolgt auf der Grundlage eines TCP/IP-Protokolls . If a data telegram is lost in the transmission from the operating station 5a to the protective device Ia in both transmission channels 4a and 4b, the protective device 1a receives a data telegram whose telegram counter is increased by two incrementation steps or more compared with the last telegram counter received by the protective device 1a , The protection device then sends a repeat request to the operator station 5a, the repeat request having the comparison counter which corresponds to the message counter of the data message that has not been received. After receiving the repeat request, the operating station 5a accesses a send buffer in which the recently sent data telegrams are buffered as a function of the comparison counter received with the repeat request. Subsequently, the operator station 5a again sends a data telegram whose telegram counter corresponds to the comparison counter of the repeat request to the receiving unit in the form of the protective device Ia. The communication of the protection devices Ia, Ib and the control unit is based on a TCP / IP protocol.

Claims

Patentansprüche claims
1. Verfahren zum sicheren Übertragen von Datentelegrammen zwischen wenigstens einer Sendeeinheit (5a) und wenigstens einer Empfangseinheit (Ia) einer HGÜ-Anlage, wobei jede Sendeeinheit (5a) über wenigstens zwei Verbindungskanäle (4a, 4b) mit jeder Empfangseinheit (5a) verbunden ist, bei dem jedes Datentelegramm mit einem das Datentelegramm eindeutig kennzeichnenden Telegrammzähler versehen wird und jede Sende- einheit (5a) das Datentelegramm über alle Verbindungskanäle (4a, 4b) zu jeder Empfangseinheit (Ia) sendet, wobei der Telegrammzähler mit einer Inkrementierungsregel berechnet wird, die durch das Versenden der Datentelegramme getaktet und jede Empfangseinheit (Ia) unter Anwendung der gleichen Inkremen- tierungsregel, die durch den Empfang von Datentelegrammen getaktet wird, einen Vergleichszähler berechnet, d a d u r c h g e k e n n z e i c h n e t , dass jede Sendeeinheit (5a) bereits gesendete Datentelegramme in einem Sendepuffer speichert und dass die Empfangseinheit den Telegrammzähler jedes empfangenen Datentelegramms mit dem1. A method for securely transmitting data telegrams between at least one transmitting unit (5a) and at least one receiving unit (Ia) of an HVDC system, each transmitting unit (5a) via at least two connecting channels (4a, 4b) with each receiving unit (5a) is connected in which each data telegram is provided with a telegram counter uniquely identifying the data telegram and each transmitting unit (5a) transmits the data telegram to all receiving channels (1a) via all connecting channels (4a, 4b), the telegram counter being calculated with an incrementing rule which clocked by sending the data telegrams and each receiving unit (Ia) using the same Incrementing rule, which is clocked by the reception of data telegrams, calculated a comparison counter, characterized in that each transmitting unit (5a) stores data telegrams already sent in a transmission buffer and that the receiving unit the telegram counter of each received data telegram with the
Vergleichszähler vergleicht, wobei bei einer fehlenden Übereinstimmung zwischen Telegrammzähler und Vergleichszähler oder bei Ausbleiben einer Übereinstimmung innerhalb einer Wartedauer nach Empfang eines Datentelegramms eine Wiederho- lungsanforderung an die Sendeeinheit (5a) zum Senden einesComparison counter compares, wherein in case of a mismatch between telegram counter and comparison counter or in the absence of a match within a waiting period after receiving a data telegram a repeat request to the transmitting unit (5a) for sending a
Datentelegramms mit einem dem Vergleichszähler entsprechenden Telegrammzähler gesendet wird, die Sendeeinheit (5a) nach Empfang der Wiederholungsanforderung auf den Sendepuffer zugreift und das Datentelegramm über alle Verbindungskanäle (4a, 4b) sendet, dessen Telegrammzähler dem durch die Wiederholungsanforderung empfangenen Vergleichszähler entspricht.Data telegram is sent with a comparison counter corresponding message counter, the transmitting unit (5a) after receiving the repeat request accesses the send buffer and the data telegram on all connection channels (4a, 4b) sends, the telegram counter corresponds to the received by the repeat request comparison counter.
2. Verfahren nach Anspruch 1, d a d u r c h g e k e n n z e i c h n e t , dass die Empfangseinheit (Ia) den Empfang von Datentelegrammen ablehnt, deren Telegrammzähler demjenigen bereits empfangener Datentelegramme entspricht.2. The method according to claim 1, characterized in that the receiving unit (Ia) rejects the reception of data telegrams whose telegram counter corresponds to that already received data telegrams.
3. Verfahren nach Anspruch 1 oder 2, d a d u r c h g e k e n n z e i c h n e t , dass wenigstens zwei Sendeeinheiten (5a, 5b) vorgesehen sind, die zueinander gleiche Datentelegramme mit gleichen Telegrammzäh- lern versenden.3. Method according to claim 1 or 2, characterized in that at least two transmission units (5a, 5b) are provided which send data telegrams which are identical to one another with the same telegram counter.
4. Verfahren nach einem der vorhergehenden Ansprüche, d a d u r c h g e k e n n z e i c h n e t , dass wenigstens zwei Empfangseinheiten (Ia, Ib) eingesetzt werden, wobei jede Empfangseinheit (Ia, Ib) zum Versenden von Wieder- holungsanfragen eingerichtet ist.4. Method according to one of the preceding claims, characterized in that at least two receiving units (Ia, Ib) are used, each receiving unit (Ia, Ib) being set up for sending repeat requests.
5. Verfahren nach einem der vorhergehenden Ansprüche, d a d u r c h g e k e n n z e i c h n e t , dass jede Empfangseinheit die empfangenen Datentelegramme in einem Empfangspuffer abspeichert.5. Method according to one of the preceding claims, characterized in that each receiving unit stores the received data telegrams in a receiving buffer.
6. Verfahren nach einem der vorhergehenden Ansprüche, d a d u r c h g e k e n n z e i c h n e t , dass die Speicherkapazität des Sendepuffers konfigurierbar ist.6. Method according to one of the preceding claims, characterized in that the storage capacity of the transmission buffer is configurable.
7. Verfahren nach einem der vorhergehenden Ansprüche, d a d u r c h g e k e n n z e i c h n e t , dass das Datentelegramm mittels eines verbindungslosen und quit- tierungsfreien Übertragungsprotokolls gesendet wird. 7. Method according to one of the preceding claims, characterized in that the data telegram is transmitted by means of a connectionless and acknowledgment-free transmission protocol.
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