JP2014165581A - Time synchronization system, time synchronization method, slave node and computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve time synchronization accuracy with a reduced influence caused by packet fluctuation etc.SOLUTION: In a time synchronization system including a master node and a slave node that perform bidirectional communication, for synchronizing the time of the slave node with the time of the master node, the master node includes a communication unit for transmitting/receiving a control message to/from the slave node and the slave node includes: a communication unit for transmitting/receiving a control message to/from the master node; a calculation unit for calculating an average delay time using time information acquired when the communication unit transmits/receives the control message; and a time correction unit for correcting the time of the self-node if the average delay time calculated in the calculation unit is smaller than a threshold, and not correcting the time of the self-node if the average delay time calculated in the calculation unit is the threshold or larger.

Description

  The present invention relates to a time synchronization technique.

  Conventionally, PTP (Precision Time Protocol) defined by IEEE 1588 is known as a technique for synchronizing the times of a plurality of devices connected to a network with an accuracy of microseconds or less (see, for example, Non-Patent Document 1). In PTP, messages including time information are periodically exchanged between a master node and a slave node. The slave node calculates the time lag (Offset) of the slave node with respect to the master node from the time information at which the messages at the master node and the slave node are transmitted and received. Then, the slave node corrects the time of the slave node based on the calculated offset, and synchronizes the time of the slave node with the time of the master node.

“IEEE Standard for a Precision Clock Synchronization Protocol for Networked Measurement and Control Systems,” IEEE Standard 1588-2008.

  However, the above time synchronization by PTP may not function properly depending on the network environment. For example, time synchronization by PTP assumes that the transmission delay from the master node to the slave node is equal to the transmission delay from the slave node to the master node in order to obtain Offset. On the other hand, in a general network, there is a high possibility that the transmission delay from the master node to the slave node and the transmission delay from the slave node to the master node are different due to the influence of packet fluctuation or the like. In such a case, the offset value obtained when correcting the time of the slave node includes an error.

  Further, when the influence of packet fluctuation or the like is large, the error included in the obtained offset value also increases. Therefore, the slave node may correct the time of the slave node with the offset value having a large error due to the influence of packet fluctuations. When such a problem occurs, the accuracy of time synchronization performed between the master node and the slave node decreases. Such a problem is not limited to PTP but is common to all communication protocols that perform time synchronization.

  In view of the above circumstances, an object of the present invention is to provide a technique for reducing the influence of packet fluctuations and the like and improving the accuracy of time synchronization.

  One aspect of the present invention is a time synchronization system that includes a master node and a slave node that perform bidirectional communication, and synchronizes the time in the slave node with the time in the master node, wherein the master node is the slave node A communication unit that transmits and receives control messages to and from the slave node, and a communication unit that transmits and receives control messages to and from the master node, and time information acquired when the communication unit transmits and receives the control messages. A calculation unit that calculates an average delay time, and corrects the time of the device itself when the average delay time calculated by the calculation unit is less than a threshold, and the average delay time calculated by the calculation unit is a threshold A time synchronization system comprising: a time correction unit that does not correct the time of the device itself in the above case.

  One aspect of the present invention is the time synchronization system described above, wherein the storage unit stores a plurality of the average delay times calculated by the arithmetic unit, and the statistics of the plurality of average delay times stored in the storage unit. A threshold value selection unit that selects a threshold value based on the value, and the time correction unit is self-apparatus when the average delay time calculated by the calculation unit is less than the threshold value selected by the threshold value selection unit. When the average delay time calculated by the calculation unit is equal to or greater than the threshold selected by the threshold selection unit, the time of the own device is not corrected.

  One aspect of the present invention is a time synchronization method performed by a time synchronization system that includes a master node and a slave node that perform bidirectional communication, and synchronizes the time in the slave node with the time in the master node, the master node Is acquired when the slave node transmits / receives the control message, the communication step of transmitting / receiving the control message to / from the master node, and the communication step transmits / receives the control message. A calculation step of calculating an average delay time using time information, and correcting the time of the own apparatus when the average delay time calculated by the calculation step is less than a threshold, and the average calculated by the calculation step If the delay time is greater than or equal to the threshold, Positive and a time correction step is not a time synchronization method having a.

  One aspect of the present invention is the time synchronization method described above, in which the slave node stores the average delay time calculated by the calculation step in a storage unit, and the storage unit stores the average delay time. A threshold selection step of selecting a threshold based on a plurality of statistical values of the average delay time, and the slave node automatically detects when the average delay time is less than the threshold in the time correction step. The time of the device is corrected, and the time of the own device is not corrected when the average delay time is equal to or greater than the threshold value.

  One aspect of the present invention is a slave node that performs time synchronization with a master node, the communication unit transmitting and receiving a control message to and from the master node, and acquired when the communication unit transmits and receives the control message. A calculation unit that calculates an average delay time using time information, and corrects the time of the own device when the average delay time calculated by the calculation unit is less than a threshold, and the calculation unit calculates the time And a time correction unit that does not correct the time of the own device when the average delay time is equal to or greater than a threshold.

  One aspect of the present invention is the slave node, the storage unit storing a plurality of the average delay times calculated by the arithmetic unit, and the statistics of the plurality of average delay times stored in the storage unit A threshold selection unit that selects a threshold based on a value, and the time correction unit corrects the time of the device itself when the average delay time is less than the threshold, and the average delay time If it is above, the time of the own device is not corrected.

  One aspect of the present invention includes a first computer corresponding to the master node as a time synchronization system that includes a master node and a slave node that perform bidirectional communication, and synchronizes the time in the slave node with the time in the master node. And a computer program for operating a second computer corresponding to the slave node, wherein the first computer is caused to execute a communication step of transmitting and receiving control messages to and from the slave node, and A communication step for transmitting / receiving control messages to / from the master node to the computer, a calculation step for calculating an average delay time using time information acquired when the control message is transmitted / received by the communication step, and the calculation Calculated by step A time correction step of correcting the time of the own device when the average delay time is less than a threshold, and not correcting the time of the own device when the average delay time calculated by the calculation step is greater than or equal to the threshold; Is a computer program for executing

  One aspect of the present invention is the above-described computer program, wherein the storage step stores in the storage unit the average delay time calculated by the calculation step, and the plurality of average delay times stored in the storage unit And a threshold selection step of selecting a threshold based on the statistical value of the time, and in the time correction step, when the average delay time is less than the threshold, the time of its own device is corrected, and the average delay time Is not corrected when the time is equal to or greater than the threshold.

  According to the present invention, it is possible to reduce the influence of packet fluctuations and the like and improve the accuracy of time synchronization.

It is a sequence diagram showing the operation | movement of the communication sequence by the time synchronous algorithm of IEEE1588. 2 is a schematic block diagram illustrating functional configurations of a master node 10 and a slave node 20. FIG. It is a figure which shows the structural example of average delay time DB. It is a flowchart which shows the flow of the time synchronous process by the slave node 20 in this embodiment.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
First, an IEEE 1588 time synchronization algorithm will be described with reference to FIG. FIG. 1 is a sequence diagram showing the operation of a communication sequence according to the IEEE 1588 time synchronization algorithm. In FIG. 1, the master node 10 and the slave node 20 perform two-way communication, and the slave node 20 periodically synchronizes the time of the slave node 20 with the time of the master node 10.

  The master node 10 periodically transmits a Sync message to the slave node 20 (step S100). The master node 10 records the transmission time of the Sync message (hereinafter referred to as “Sync transmission time”) Tm (0) (step S101). Next, the master node 10 transmits a Follow_up message to the slave node 20 (step S102). At this time, the master node 10 stores the Sync transmission time Tm (0) in the Follow_up message.

  When receiving the Sync message, the slave node 20 records the reception time of the Sync message (hereinafter referred to as “Sync reception time”) Ts (0) using this reception process as a trigger (step S103). Next, the slave node 20 receives the Follow_up message, extracts and records the Sync transmission time Tm (0) stored in the Follow_up message. Next, the slave node 20 transmits a Delay_Request message to the master node 10 (step S104). Then, the slave node 20 records the transmission time of the Delay_Request message (hereinafter referred to as “Delay transmission time”) Ts (1) (step S105).

  When receiving the Delay_Request message, the master node 10 records the reception time of the Delay_Request message (hereinafter referred to as “Delay reception time”) Tm (1) using this reception process as a trigger (step S106). Next, the master node 10 transmits a Delay_Response message to the slave node 20 (step S107). At this time, the master node 10 stores the Delay reception time Tm (1) in the Delay_Response message.

When receiving the Delay_Response message, the slave node 20 extracts and records the Delay reception time Tm (1) stored in the Delay_Response message.
Based on the Sync transmission time Tm (0) and the Sync reception time Ts (0), the slave node 20 calculates the time at the master node 10 (hereinafter referred to as “master time”) and the time at the slave node 20 according to the following formula 1. The difference MS_Diff from (hereinafter referred to as “slave time”) is calculated.

Further, the slave node 20 obtains a difference SM_Diff between the slave time and the master time by the following equation 2 based on the Delay transmission time Ts (1) and the Delay reception time Tm (1).

  MS_Delay in Equation 1 represents the transmission delay from the master node 10 to the slave node 20, SM_Delay in Equation 2 represents the transmission delay from the slave node 20 to the master node 10, and Offset in Equation 1 and Equation 2 is relative to the master node 10. This represents the time offset (advance) of the slave node 20. The transmission delays MS_Delay and SM_Delay are composed of a propagation delay between the master node 10 and the slave node 20 and a queuing delay that occurs at a relay node on the network between the master node 10 and the slave node 20. .

  As described above, two expressions, Expression 1 and Expression 2, are obtained with respect to Offset, which is a time lag of the slave node 20 with respect to the master node 10. However, these two equations include unknown parameters MS_Delay and SM_Delay in addition to Offset. Therefore, since there are only two equations for the three unknown parameters, Offset cannot be calculated. Therefore, IEEE 1588 assumes that the transmission delay MS_Delay from the master node 10 to the slave node 20 is equal to the transmission delay SM_Delay from the slave node 20 to the master node 10, and that both values are delays. 1 and 2 are transformed into the following equations 3 and 4.

式３及び式４の連立方程式を解くことによって、以下の式５が導出される。

By solving the simultaneous equations of Equation 3 and Equation 4, the following Equation 5 is derived.

  The slave node 20 calculates Offset based on the derived formula 5. The slave node 20 synchronizes the slave time with the master time by correcting the slave time based on the calculated offset. The time synchronization algorithm defined in IEEE 1588 has been described above.

FIG. 2 is a schematic block diagram illustrating the functional configuration of the master node 10 and the slave node 20. First, the functional configuration of the master node 10 will be described.
The master node 10 includes a CPU (Central Processing Unit), a memory, an auxiliary storage device, and the like connected by a bus, and executes a time synchronization program. By executing the time synchronization program, the master node 10 functions as an apparatus including a master clock generation unit 11, a clock unit 12, a packet generation unit 13, and a communication unit 14. All or some of the functions of the master node 10 may be realized by using hardware such as an application specific integrated circuit (ASIC), a programmable logic device (PLD), or a field programmable gate array (FPGA). The time synchronization program may be recorded on a computer-readable recording medium. The computer-readable recording medium is, for example, a portable medium such as a flexible disk, a magneto-optical disk, a ROM, a CD-ROM, or a storage device such as a hard disk built in the computer system. The time synchronization program may be transmitted / received via a telecommunication line.

  The master clock generation unit 11 is configured using, for example, a voltage variable crystal oscillator such as VCXO (Voltage controlled xtal oscillators). The master clock generator 11 generates a master clock. Specifically, the master clock generation unit 11 determines a time width of 1 second in the master node 10. The master clock generation unit 11 may exist outside the master node 10.

  The clock unit 12 determines the master time according to the master clock generated by the master clock generation unit 11. Specifically, the clock unit 12 determines what hour, minute, and second in the master node 10. The clock unit 12 outputs time information of the master time to the packet generation unit 13.

  The packet generator 13 generates a PTP message (control message). Specifically, the PTP message is a Sync message, a Follow_up message, or a Delay_Response message. The Sync message is a message that is transmitted to start the time synchronization operation. The Follow_up message is a message transmitted to notify the time information of the Sync transmission time Tm (0) after the Sync message is transmitted. The Delay_Response message is a message transmitted so that the master node 10 responds to the PTP message transmitted from the slave node 20.

  The packet generation unit 13 periodically transmits a Sync message to the slave node 20 via the communication unit 14, and simultaneously records the Sync transmission time Tm (0) with reference to the clock unit 12. Further, the packet generation unit 13 generates a Follow_up message storing the Sync transmission time Tm (0) after transmitting the Sync message. The packet generation unit 13 transmits a Follow_up message to the slave node 20 via the communication unit 14.

Further, the packet generator 13 records the reception time (Delay reception time) Tm (1) of the Delay_Request message received by the communication unit 14 with reference to the clock unit 12. Thereafter, the packet generator 13 generates a Delay_Response message storing the recorded reception time Tm (1), and transmits the Delay_Response message to the slave node 20 via the communication unit 14.
The communication unit 14 communicates with the slave node 20. For example, the communication unit 14 receives a Delay_Request message from the slave node 20 and transfers it to the packet generation unit 13. In addition, the communication unit 14 transmits a Sync message, a Follow_up message, and a Delay_Response message to the slave node 20.

Next, the functional configuration of the slave node 20 will be described.
The slave node 20 includes a CPU, a memory, an auxiliary storage device, and the like connected by a bus, and executes a time synchronization program. By executing the time synchronization program, the slave node 20 is connected to the slave clock generation unit 21, the clock unit 22, the communication unit 23, the control unit 24, the calculation unit 25, the average delay time storage unit 26, the threshold selection unit 27, and the determination unit 28. , Function as a device including the time correction unit 29. All or some of the functions of the slave node 20 may be realized using hardware such as an ASIC, PLD, or FPGA. The time synchronization program may be recorded on a computer-readable recording medium. The computer-readable recording medium is, for example, a portable medium such as a flexible disk, a magneto-optical disk, a ROM, a CD-ROM, or a storage device such as a hard disk built in the computer system. The time synchronization program may be transmitted / received via a telecommunication line.

  The slave clock generation unit 21 is configured using, for example, a voltage variable crystal oscillator such as VCXO. The slave clock generation unit 21 generates a slave clock. Specifically, the slave clock generation unit 21 determines a time width of 1 second in the slave node 20. The slave clock generator 21 may exist outside the slave node 20.

  The clock unit 22 determines the slave time according to the slave clock generated by the slave clock generation unit 21. Specifically, the clock unit 22 determines what hour, minute, and second in the slave node 20. The clock unit 22 outputs the time information of the slave time to the control unit 24.

The communication unit 23 communicates with the master node 10. For example, the communication unit 23 receives a Sync message, Follow_up message, and Delay_Response message from the master node 10 and transfers them to the control unit 24. In addition, the communication unit 23 transmits a Delay_Request message to the master node 10.
The control unit 24 controls each functional unit of the slave node 20. Further, the control unit 24 generates a Delay_Request message (control message) and transmits the Delay_Request message to the master node 10 via the communication unit 23. At this time, the control unit 24 refers to the clock unit 22 and records the Delay transmission time Ts (1). The Delay_Request message is a message transmitted to request a Delay_Response message from the master node 10 after the communication unit 23 receives a Follow_up message transmitted from the master node 10.

  Further, when the Sync message is transferred from the communication unit 23, the control unit 24 refers to the clock unit 22 and records the Sync reception time Ts (0). Further, the control unit 24 extracts and records the Sync transmission time Tm (0) stored in the Follow_up message. Further, the control unit 24 extracts and records the Delay reception time Tm (1) stored in the Delay_Response message. Thereafter, the control unit 24 calculates each time information (Sync transmission time Tm (0), Sync reception time Ts (0), Delay transmission time Ts (1), Delay reception time Tm (1)) with the arithmetic unit 25 and time correction. To the unit 29.

The computing unit 25 calculates the average delay time using each time information output from the control unit 24. The average delay time is an average time of the transmission delay MS_Diff from the master node 10 to the slave node 20 and the transmission delay SM_Diff from the slave node 20 to the master node 10. Specifically, the calculation unit 25 calculates the average delay time t_d based on the following Expression 6.

  The average delay time storage unit 26 is configured using a storage device such as a magnetic hard disk device or a semiconductor storage device. The average delay time storage unit 26 stores an average delay time DB (Data Base). In the average delay time DB, a plurality of values of the average delay time calculated by the calculation unit 25 are stored. The average delay time storage unit 26 stores the calculated average delay time value in addition to the average delay time DB every time the arithmetic unit 25 calculates the average delay time.

  The threshold selection unit 27 selects a threshold based on a plurality of average delay times stored in the average delay time DB. For example, the threshold selection unit 27 may select a threshold by taking statistics of a plurality of average delay times stored in the average delay time DB. More specifically, the threshold selection unit 27 may select a minimum average delay time value from among a plurality of average delay times as a threshold, or select an average value of a plurality of average delay times as a threshold. Alternatively, other statistical values may be selected as threshold values. The threshold value may be stored in advance by the threshold selection unit 27 at the time of shipment, or may be arbitrarily determined by the user.

  The determination unit 28 determines whether or not to correct the slave time of the clock unit 22 based on the average delay time calculated by the calculation unit 25 and the threshold selected by the threshold selection unit 27. When the average delay time calculated by the calculation unit 25 is equal to or greater than the threshold, the determination unit 28 determines not to correct the slave time of the clock unit 22. On the other hand, when the average delay time calculated by the calculation unit 25 is less than the threshold, the determination unit 28 determines to correct the slave time of the clock unit 22. In this case, the determination unit 28 instructs the time correction unit 29 to correct the slave time.

  The time correction unit 29 corrects the slave time of the clock unit 22 based on the determination result of the determination unit 28. Specifically, the time correction unit 29 corrects the slave time as follows. The time correction unit 29 calculates Offset using each time information output from the control unit 24. Then, the time correction unit 29 corrects the slave time using the calculated offset. By this processing of the time correction unit 29, the slave time of the clock unit 22 is synchronized with the master time of the clock unit 12 of the master node 10.

FIG. 3 is a diagram illustrating a configuration example of the average delay time DB.
The average delay time DB has a plurality of records 30 representing information related to the average delay time. The record 30 has each value of number and average delay time. The value of the number represents the order in which the average delay time represented by the record 30 is stored. The value of the average delay time represents an item of the average delay time represented by the record 30.

  In the example illustrated in FIG. 3, N average delay times (“t_d1” to “t_dN”) from number “1” to number “N” are stored in the average delay time DB. For example, in FIG. 3, the uppermost row of the average delay time DB has a number value “1” and an average delay time value “t_d1”. That is, the value of the average delay time stored first in the average delay time DB is “t_d1”.

  The threshold selection unit 27 selects a threshold based on a plurality of average delay time values stored in the average delay time DB. When the average delay time value is stored in the average delay time DB, the threshold selection unit 27 sets a plurality of average delay time values including the newly stored average delay time value in the next process. Based on this, a threshold is selected.

FIG. 4 is a flowchart showing the flow of time synchronization processing by the slave node 20 in the present embodiment. FIG. 4 illustrates a processing flow in a state where N average delay times are stored in the average delay time DB.
The communication unit 23 of the slave node 20 receives the Sync message transmitted from the master node 10 (step S201). Specifically, the communication unit 23 receives a Sync message from the master node 10 and transfers the received Sync message to the control unit 24. When the Sync message is transferred, the control unit 24 refers to the clock unit 22 and records the Sync reception time Ts (0).

  Next, the communication unit 23 receives a Follow_up message transmitted from the master node 10 (step S202). Specifically, the communication unit 23 receives a Follow_up message from the master node 10 and transfers the received Follow_up message to the control unit 24. The control unit 24 extracts and records the Sync transmission time Tm (0) stored in the Follow_up message.

  The control unit 24 generates a Delay_Request message and transmits the Delay_Request message to the master node 10 via the communication unit 23 (step S203). At this time, the control unit 24 refers to the clock unit 22 and records the Delay transmission time Ts (1) (step S204). Thereafter, the communication unit 23 receives a Delay_Response message transmitted from the master node 10 (step S205).

  Specifically, the communication unit 23 receives the Delay_Response message from the master node 10 and transfers the received Delay_Response message to the control unit 24. The control unit 24 extracts and records the Delay reception time Tm (1) stored in the Delay_Response message. The control unit 24 outputs the recorded time information (Sync transmission time Tm (0), Sync reception time Ts (0), Delay transmission time Ts (1), Delay reception time Tm (1)) to the arithmetic unit 25 and Output to the time correction unit 29.

  The computing unit 25 calculates the average delay time using each time information output from the control unit 24 (step S206). Next, the threshold selection unit 27 reads the average delay time DB stored in the average delay time storage unit 26. The threshold selection unit 27 selects a threshold based on the read average delay time DB (step S207). Specifically, the threshold selection unit 27 selects a threshold by taking statistics of a plurality of average delay times stored in the average delay time DB.

  The determination unit 28 determines whether or not the average delay time calculated by the calculation unit 25 in step S206 is equal to or greater than the threshold selected by the threshold selection unit 27 (step S208). When the average delay time is equal to or greater than the threshold (step S208—YES), the determination unit 28 determines not to correct the slave time of the clock unit 22. And the calculating part 25 adds and records the average delay time calculated by step S206 to average delay time DB (step S209). Thereafter, the process of FIG. 4 ends.

On the other hand, when the average delay time is less than the threshold value (NO in step S208), the determination unit 28 determines to correct the slave time of the clock unit 22. In this case, the determination unit 28 instructs the time correction unit 29 to correct the slave time of the clock unit 22.
When receiving the instruction from the determination unit 28, the time correction unit 29 calculates Offset using each time information output from the control unit 24. The time correction unit 29 corrects the slave time of the clock unit 22 based on the calculated offset. Specifically, the slave time of the clock unit 22 is corrected as follows. The slave time of the clock unit 22 before correction is the time when the offset value is added to the master time of the clock unit 12 of the master node 10. Therefore, the time correction unit 29 corrects the slave time of the clock unit 22 before correction to be a time obtained by subtracting only the value of Offset (step S210). The calculation unit 25 adds the average delay time calculated in step S206 to the average delay time DB and records it (step S209). Thereafter, the process of FIG. 4 ends.

  According to the slave node 20 configured as described above, it is determined whether or not to correct the slave time based on a threshold value selected using all the average delay times stored in the average delay time DB. Is done. If the calculated average delay time is equal to or greater than the threshold, the slave node 20 determines that the influence of packet fluctuation or the like is large, and does not correct the slave time. On the other hand, when the calculated average delay time is less than the threshold, the slave node 20 determines that the influence of the packet fluctuation is small, and corrects the slave time. Therefore, the slave node 20 can correct the slave time of the slave node 20 only when the influence of the packet fluctuation is small, without correcting the slave time when the influence of the fluctuation of the packet is large. Therefore, it is possible to reduce the influence of packet fluctuations and improve the accuracy of time synchronization.

<Modification>
A plurality of slave nodes 20 may be connected to one master node 10.
In this embodiment, the PTP message is shown as a message transmitted / received between the master node 10 and the slave node 20, but the present invention is not limited to this. For example, a message such as an NTP (Network Time Protocol) message or an SNTP (Simple Network Time Protocol) message may be used, or another message may be used.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes designs and the like that do not depart from the gist of the present invention.

DESCRIPTION OF SYMBOLS 10 ... Master node, 20 ... Slave node, 11 ... Master clock generation part, 12 ... Clock part, 13 ... Packet generation part, 14 ... Communication part, 21 ... Slave clock generation part, 22 ... Clock part, 23 ... Communication part, 24 ... Control unit, 25 ... Calculation unit, 26 ... Average delay time storage unit (storage unit), 27 ... Threshold selection unit, 28 ... Determination unit, 29 ... Time correction unit

Claims (8)

A time synchronization system comprising a master node and a slave node that perform bidirectional communication, and synchronizes the time at the slave node with the time at the master node,
The master node is
A communication unit that transmits and receives control messages to and from the slave node;
The slave node is
A communication unit that transmits and receives control messages to and from the master node;
An arithmetic unit that calculates an average delay time using time information acquired when the communication unit transmits and receives the control message;
When the average delay time calculated by the calculation unit is less than the threshold, the time of the own device is corrected. When the average delay time calculated by the calculation unit is equal to or greater than the threshold, the time of the own device is corrected. Not time correction unit,
A time synchronization system comprising: A storage unit for storing a plurality of the average delay times calculated by the calculation unit;
A threshold selection unit that selects a threshold based on a plurality of statistical values of the average delay time stored in the storage unit,
The time correction unit corrects the time of its own device when the average delay time calculated by the calculation unit is less than the threshold selected by the threshold selection unit, and the average delay calculated by the calculation unit The time synchronization system according to claim 1, wherein the time of the own device is not corrected when the time is equal to or greater than a threshold selected by the threshold selection unit. A time synchronization method comprising a master node and a slave node that perform bidirectional communication, and a time synchronization system that synchronizes the time at the slave node with the time at the master node,
The master node is
A communication step for transmitting and receiving control messages to and from the slave node;
The slave node is
A communication step for transmitting and receiving control messages to and from the master node;
A calculation step of calculating an average delay time using time information acquired when the control message is transmitted and received by the communication step;
When the average delay time calculated by the calculation step is less than a threshold, the time of the own device is corrected, and when the average delay time calculated by the calculation step is equal to or greater than the threshold, the time of the own device is corrected. No time correction step,
A time synchronization method. A storage step in which the slave node stores the average delay time calculated by the calculation step in a storage unit;
A threshold selection step of selecting a threshold based on a plurality of statistical values of the average delay time stored in the storage unit,
In the time correction step, the slave node corrects the time of the own device when the average delay time is less than the threshold, and does not correct the time of the own device when the average delay time is equal to or greater than the threshold. The time synchronization method according to claim 3. A slave node that performs time synchronization with a master node,
A communication unit that transmits and receives control messages to and from the master node;
An arithmetic unit that calculates an average delay time using time information acquired when the communication unit transmits and receives the control message;
When the average delay time calculated by the calculation unit is less than the threshold, the time of the own device is corrected. When the average delay time calculated by the calculation unit is equal to or greater than the threshold, the time of the own device is corrected. Not time correction unit,
A slave node comprising A storage unit for storing a plurality of the average delay times calculated by the calculation unit;
A threshold selection unit that selects a threshold based on a plurality of statistical values of the average delay time stored in the storage unit,
The said time correction part correct | amends the time of an own apparatus, when the said average delay time is less than a threshold value, and does not correct the time of an own apparatus, when the said average delay time is more than a threshold value. Slave node. A time synchronization system that includes a master node and a slave node that perform bidirectional communication, and synchronizes the time at the slave node with the time at the master node, and corresponds to a first computer corresponding to the master node and the slave node A computer program for operating a second computer,
For the first computer,
Executing a communication step of transmitting and receiving control messages to and from the slave node;
For the second computer,
A communication step for transmitting and receiving control messages to and from the master node;
A calculation step of calculating an average delay time using time information acquired when the control message is transmitted and received by the communication step;
When the average delay time calculated by the calculation step is less than a threshold, the time of the own device is corrected, and when the average delay time calculated by the calculation step is equal to or greater than the threshold, the time of the own device is corrected. No time correction step,
A computer program for running. A storage step of storing the average delay time calculated by the calculation step in a storage unit;
A threshold selection step of selecting a threshold based on a plurality of statistical values of the average delay time stored in the storage unit, and
The time correction step corrects the time of the own device when the average delay time is less than the threshold, and does not correct the time of the own device when the average delay time is greater than or equal to the threshold. Computer program.

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