WO2005101749A1 - Systeme et procede pour transmettre et evaluer des donnees dans un systeme de bus a topologie annulaire - Google Patents

Systeme et procede pour transmettre et evaluer des donnees dans un systeme de bus a topologie annulaire Download PDF

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Publication number
WO2005101749A1
WO2005101749A1 PCT/EP2005/051638 EP2005051638W WO2005101749A1 WO 2005101749 A1 WO2005101749 A1 WO 2005101749A1 EP 2005051638 W EP2005051638 W EP 2005051638W WO 2005101749 A1 WO2005101749 A1 WO 2005101749A1
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WO
WIPO (PCT)
Prior art keywords
data
evaluation
participant
ring
frame
Prior art date
Application number
PCT/EP2005/051638
Other languages
German (de)
English (en)
Inventor
Werner Harter
Eberhard Boehl
Original Assignee
Robert Bosch Gmbh
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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Priority to JP2007507801A priority Critical patent/JP2007533226A/ja
Priority to EP05742925A priority patent/EP1738532A1/fr
Publication of WO2005101749A1 publication Critical patent/WO2005101749A1/fr

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/42—Loop networks
    • H04L12/427—Loop networks with decentralised control
    • H04L12/433—Loop networks with decentralised control with asynchronous transmission, e.g. token ring, register insertion

Definitions

  • the invention is based on a system and a method for transmitting and evaluating data and at least two participants involved in the evaluation and a corresponding participant in accordance with the preamble of the independent claims.
  • a system is known from WO 02/49271 A2, which shows a ring network in which the individual subscribers are connected by two rings, each with the opposite direction of transmission.
  • the data in rmg-shaped networks are transmitted multiple times in the same direction by means of redundant additional connections via individual nodes, as is shown, for example, in DE 103 07 749 AI.
  • the data in the ring-shaped network are transmitted multiple times in the same or opposite direction across individual nodes by means of redundant additional connections.
  • the entire data frame in which the data is transmitted that is to say the entire frame, is temporarily stored in the network node and is generally only sent out again two frames later, as is the case, for example, in the MOST implementation is provided (see MOST Network Transceiver, OS 8104, DS 8104 EP 4 from Oasis, Silicon Systems, January 2003).
  • this delay in the data in the network limits the number of network nodes, even if the delay per subscriber, that is to say per node, is limited to a single buffered frame.
  • the duration of such a data frame or frame is approximately 22 ⁇ s at a transmission rate of 22.5 Mbit / s and 64 bytes per frame.
  • eight network nodes i.e. nodes, it then takes at least 182 ⁇ s for a buffered frame or 364 ⁇ s for two data frames until the data has been transmitted to all nodes in the network.
  • the necessary transfer of several data and the exchange of intermediate and final results necessary for voting, i.e. an evaluation of the data therefore leads to an unacceptable duration of the voting or evaluation process for a node or
  • the method and the at least one participant and the system for the transmission and evaluation of data with at least two participants involved in the evaluation assume that the data are transmitted in data frames and that each participant in the evaluation is assigned at least one position in the data frame is, the data are transmitted in several transmission paths, each of which forms a ring.
  • one coupling unit per ring is provided in each participant involved in the evaluation in order to achieve the Coupling data of the respective participant involved in the evaluation into the at least one position in the data frame provided for this purpose, the remaining data being passed on unprocessed in the positions of the data frame into which no coupling occurs in this participant.
  • the coupling unit advantageously contains a counter, by means of which the position provided for the data of the subscriber in the data frame is determined.
  • the coupling unit expediently additionally contains a multiplex module, by means of which, depending on a counter reading of the aforementioned counter, the data is coupled in or forwarded according to the position in the data frame.
  • the coupling unit can be accommodated in a control unit described later.
  • the data are advantageously transmitted in binary form as bits, so that at least one bit memory element is provided per ring, by means of which the data to be coupled in is synchronized in the data frame; in particular, it is used for a 5 flip-flop module.
  • an input and an output are provided per ring in each subscriber and such a bit memory element is assigned to each output.
  • an input and an output can also be provided for each O ring in each subscriber and such a bit memory element can be assigned to each of these inputs and each output.
  • this method is advantageously used in a system which maps the transmission paths in a first ring and a second ring, each with the opposite transmission direction.
  • a main subscriber who carries out the evaluation himself and in turn contains or is connected to at least one clock cycle, this clock unit specifying a clock cycle for the transmission of the data for all rings, that is to say all the transmission paths.
  • FIG. 1 shows a system according to the invention with the corresponding voting structure.
  • Figure 2 shows the system when a line break occurs.
  • Figure 3 shows the system when a participant fails.
  • each subscriber is shown in FIG. 4 and the structure of a subscriber with its own time base, that is to say a clock unit, is shown in FIG. 5.
  • FIG. 6 shows an example of a frame structure according to the invention.
  • FIG. 7 shows a master-slave combination in a system according to the invention.
  • Figure 8 shows the failure of the master in the master-slave combination.
  • FIG. 9 shows master failure or failure of the entire master-slave combination and additional Back ⁇ ip master
  • FIG. 10 shows the failure of the master or the master-slave combination with a second error occurring at the same time, such as, for example, selection of a connection or a subscriber with additional backup masters and formation of subsystems.
  • FIG. 11 shows again in FIGS. 11a and 11b a system according to the invention with the corresponding voting structure according to FIG. 1 in FIG. 1a, the participants involved in the evaluation being identified by the hatching.
  • FIG. 11b shows a further data frame according to the invention, which represents the transmission of the data, in particular of the participants involved in the evaluation, and of the control information.
  • FIG. 12 once again shows the coupling units in a subscriber in a simplified manner in the case of an opposite ring structure.
  • Figure 1 shows a Fig 1 shows a Fig ⁇ otmg structure with a master-slave combination 100 with a master 103 and a slave 104.
  • another six participants are shown as slaves, so in particular without their own clock unit from 105 to 110.
  • the connection of the participants 103 to 110 takes place in two opposite rings R1 and R2, so that two redundant ring-shaped data paths, namely R1 and R2, are used in the opposite direction for data transmission.
  • the master-slave combination 100 can additionally increase the reliability by providing two redundant clock units 101 and 102 in addition to a master and a slave that can take over the master functions.
  • only one clock unit can also be provided here is initially assigned to the master, that is to say not contained in it, and in the event of a failure passes the clock information on to the slave 104 in order to maintain operation. It is then necessary that the master 103 and the slave 104 are arranged as neighbors and in close proximity in order to be able to transmit the clock information without problems.
  • a master 200 with a clock unit 201 is shown instead of the master-slave combination 100.
  • the use of the master-slave combination 100 or a sole master 200 is optional and interchangeable. If an error now occurs in the system, for example an interruption in the line as shown here between subscribers 107 and 108, the data transmission in the system can be maintained by redirecting information in the corresponding subscribers. I.e. Even if all connections between two nodes or participants are interrupted, there is still a secure data exchange between all nodes. But this is only due to the fact that, according to the invention, the data of both rings R1 and
  • R2 are always evaluated and processed in each participant and, contrary to the state of the art, there is no simple transmission of the data in one participant.
  • the same situation is shown in FIG. 3, only on the condition that an entire subscriber, here subscriber 107, fails.
  • data transmission can also be maintained here, precisely here in the event of a node or subscriber failing for the remaining subscribers.
  • FIG. 4 now shows the structure of a subscriber in which cross connections between the rings are realized.
  • the subscriber or node has a first input 400E1 and a first output 400A1 as well as a second input 400E2 and a second output 400A2.
  • the two transmission paths corresponding to the rings R1 and R2 can be implemented via these inputs and outputs.
  • a control unit 401 or 402 corresponding to each transmission path is now provided, in which status information is generated.
  • This status information contains, for example, network information regarding the failure of a node or subscriber or else. FeMerinformation or the defect status of a cut connection between two participants. Accordingly, every participant is everyone Control unit 401 or 402 is able to generate such Staras information itself.
  • This Starasinformation can then be exchanged between the rings via the corresponding connection 400V1 or 400V2. This is done by coupling the Staras information using an egg coupling unit 406, in particular into the data frame, which is described in more detail in FIG. 6.
  • 407 serves to determine the exact position of the status information in the frame, which can be done, for example, via a counting device that counts bits or bytes.
  • An evaluation unit 405 is also provided or for the other direction 408 for evaluating the Staras information coming in via the inputs in the frame.
  • These units 405, 406 and 407 can be provided both in the control unit and outside. This also applies to the other direction, for the elements 408, 409 and 410.
  • the evaluation unit 405, now or in the opposite direction 408, is used to evaluate the Staras information and is designed such that when
  • Control connection 401ST2 to switchover element 404 prevents transmission via 400R1 if the error has occurred in the ring R1. This is done in the same way for the other direction via control unit 402 and evaluation unit 408.
  • connection 400V2 is now at least partially activated via control input 402ST1, that is to say transmission of status information or other data up to the whole
  • a connection can additionally be provided between the control units, shown here in dashed lines, in order to make such measures between the control units dependent on corresponding ones Errors or the importance of the errors, which can be entered in a priority table.
  • FIG. 5 now shows the same function for a subscriber with clock unit 511, with control units 501 and 502, evaluation units 505 and 508, detection units 507 and 510, Einkorjpel units 506 and 509, switching elements 503 and 504, the corresponding control inputs 501ST2 and 501ST1 as well as 502ST2 and 502ST1 are provided to activate the connections 500V1 or 500V2, in order to enable data to be coupled into the various rings or to switch input 500E1 to output 500A2 or input 500E2 to output 500A1.
  • This subscriber differs primarily in that it contains a clock unit 511 and can thus act as a master or backup master in the system. Otherwise, the function of the parts mentioned corresponds to that already described in FIG. 4.
  • a connection of the two control units 501 and 502 can also be provided here for tuning.
  • a frame for data transmission is provided by way of example in FIG. 6, so that all data are transmitted in synchronous frames ... Fra es, a specific data area being assigned to each node involved in the voting.
  • the proposed frame starts here with a preamble P, which marks the beginning of the frame.
  • the Staras information which can comprise from one bit to one byte or more bytes, is represented by S.
  • DT1, D-T2 to DTN corresponds to the data areas of the respective participants T1, T2 to TNT, that is to say in the figures previously 103 to 110 and 200, respectively, who are involved in the voting.
  • With CI further control information is provided and with LI l-xx) p information and -EOF indicates the end of frame. According to FIGS.
  • the clock unit can be implemented redundantly and in the event of a master subscriber error, any node that has access to such a clock-generating element, that is to say to such a clock unit, can take over the function.
  • any node that has access to such a clock-generating element that is to say to such a clock unit, can take over the function.
  • either a complete switchover of the data stream, that is to say a diversion from one ring to the other ring, or a bypass can be implemented in less severe cases. I.e. In addition to passing, a correction can also be made by coupling information from the other control unit of the opposite circle, as already described.
  • the information or the data of the system is transmitted in a predetermined length. For example, 32, 64 or 128 bytes or any other frame length can be used. Each frame starts with one
  • Preamble P and the data are coded in such a way that " clock recovery can take place, for example, using a PLL.
  • Data transmission can take place on an electrical physical layer, such as LVDS, low voltage differential signaling using UTP unshared twisted pairs or STP shealded twisted pairs or any other electrical or optical transmission.
  • frame positions DT1, DT2 to DTN are provided according to the respective participant. The length depends on the predeterminable number of participants or nodes Due to the synchronous work of all nodes or participants, ie using the same clock frequency of the same clock, it is possible to bypass all information or the entire data that was not generated by the participant concerned of such a bypass requires ...
  • voting procedure or the evaluation process should be briefly described again.
  • every participant must be able to perform simple arithmetic, logical and comparison operations.
  • a simple or small processor in each voting unit can be used to carry out these tasks.
  • This small processor can then represent or be contained in the control unit in order to control the data flow, to evaluate the status information and to check the correct operation of the participants, as described in FIGS. 4 and 5.
  • the different participants in the system carry out the evaluation procedure, i.e. the voting, independently of one another.
  • Each participant receives input variables, for example from sensors, and uses them for a calculation or calculation process.
  • the input variables of the participants can differ in a tolerable order of magnitude.
  • all input variables could be exchanged, evaluated and replaced at the beginning of the evaluation procedure of the voting depending on the respective calculation.
  • the calculation is then carried out as a second step and the results are exchanged.
  • the voting can be carried out in each participant and the evaluation results can also be exchanged.
  • the actuators can then be influenced by evaluating these volume results in order to achieve the desired system reaction. Participants who produce unacceptable results at the end of the voting procedure can be excluded from the evaluation. This enables the participants, especially those who remain after the expulsion, to act in an adapted manner without a significant influence on the global system behavior.
  • Staras information Information about the different phases Separating this evaluation process from one another can also be included in the Staras information, namely the type of data that is transmitted as well as the validity of this data. Also the system status and the number of active participants as well as the status of these participants with regard to voting. This means that each participant can evaluate the status of each other participant, and if there are differences, errors can be easily identified. This is possible because each participant can receive all the information of all other participants, even if they have been excluded from the voting process. In this way, a participant who has already been excluded can be re-included in the voting process if there is renewed agreement with a result of the evaluation, for example by a master decision. To this
  • the structure is also suitable for other data exchange processes, e.g. suitable as a connection between different bus systems (gateway).
  • the incoming data information must be checked in each participant, for example for code errors, preambles, number of bytes, the frame, the EOF byte, etc.
  • code errors for example for code errors, preambles, number of bytes, the frame, the EOF byte, etc.
  • this, as described above can be excluded.
  • the] - ⁇ »p information LI is introduced after the control information CI in order to transmit information from one ring, that is to say one transmission direction on the other ring or the other transmission direction, to make the subscriber accessible from both transmission directions or both Rings Rl, R2 to determine.
  • Non-master participants since they receive the same information as the master participant, also monitor them and act independently in the event of unexplained master decisions. This means that a master can be actively excluded from the system, as can a faulty non-master; either with a bypass or by redirection without risking serious security risks in the system, so that the highest possible functionality always occurs with one or more errors. This is described again in more detail below with reference to FIGS. 7 to 10.
  • FIG. 7 again shows a system structure with a master SIave arrangement 700, a master 103 and a non-master subscriber 104.
  • block 701 there are redundant ones Clock units 702 and 703 shown that either the master 103 or the.
  • Non-masters 104 can be assigned and can thus specify the clock for the system, i.e. the rings R1 and R2 with the subscribers 105 to 110 and 103 and 104.
  • this master-slave combination 700 with several clock generators or clock units 702 and 703 and spatial proximity between the
  • Such replacement masters or backup masters can also be provided multiple times in the system, so that safety scaling or error scaling is also possible here.
  • the formation of subsystems can take place which in turn can continue to maintain a certain basic function. If three or more participants are still contained in such a subsystem, the voting, that is to say the evaluation, can also continue to be carried out, specifically for the functions which are controlled by these participants. In the case of a further two remaining participants, at least a partial evaluation can be carried out by comparing the functionalities for equality.
  • scaling can take place within the framework of fail-safe or fail-safe by being able to predefine potential sub-networks.
  • a system for safety-critical applications with high real-time requirements can thus be represented.
  • high settling times, in particular the PLL on the new system frequency, ie the new clock had to be expected. Due to the possibility of avoiding this sliding master and the use of the This can be avoided by using the same clock for both rings or transmission paths.
  • complete security can be achieved, since in the present structure, with the corresponding function, complete data exchange is guaranteed when all connections between two subscribers are interrupted or even a total failure of a subscriber, in particular the master.
  • the invention can thus be advantageously used for all safety-critical applications, in particular in X-by-wire systems and especially wherever an evaluation, ie a voting, is carried out.
  • FIG. 11a For such an evaluation is shown again in FIG. 11a according to FIG. 1, the participants involved in the evaluation, here 103, 110, 106 and 107, by means of. the scliraf ⁇ ur have been identified.
  • a corresponding data frame based on FIG. 6 is shown in FIG. 11b with a preamble P, control information S and the data positions of the participants 103, 106, 107 and 110 shown with DT 103, DT 106, DT 107 and DT 110 and the control forrriation CI , which in particular shows the network status, further control information relating to the data frame itself in a field SF and the end of frame EOF.
  • the SF field can also be omitted and this information could also be located in the EOF field.
  • the Staras information of the field S and the other positions in the data frame CI and SF can be as desired at the beginning or at
  • participant data Furthermore, the participant can enter in the common fields such as status information S or status information regarding the frame SF or also CI and EOF data depending on the specifications or agreement in the system.
  • a subscriber is shown at 1200 with regard to the bypass function mentioned and the coupling unit.
  • An input 1200 El and 1200 E2 are shown corresponding to the respective direction of transmission.
  • the outputs 1200 AI and 1200 A2 are also shown according to the respective ring.
  • Coupling units for each transmission direction are shown with 1201 and 1202. These coupling units 1201 and 1202 each contain a counter 1203 and 1204, respectively
  • another bit memory element can also be a flip-flop module, each represented on the input side as blocks 1209 and 1210 , be provided.
  • all safety-critical components can be one
  • a multiplex module 1205 and 1206 and a synchronization flip-flop 1207 and 1208 are introduced in each network node, the multiplex module in each case either the data from the input 1200 El or 1200 E2, possibly via a further synchronization function.
  • a counter module here 1203 or 1204 and in different nodes or participants with different meter readings the bypass can be activated.
  • nodes that are not involved in the voting all data are immediately forwarded unchanged.
  • An exception here is only the control frame component SF or S, provided control information is to be sent and / or other, for example, global network and status information.
  • the partial bypass according to the invention is also possible for MOST applications, in particular if only certain data bytes in the frame are to be replaced. Control is possible via an implemented routing engine in the MOST system.
  • a certain data area in the frame is assigned to nodes.
  • the clock is recovered from the data, so that an additional clock line can be omitted.
  • An additional reset line can also be dispensed with, since the control information can be transmitted in S and / or SF.
  • the system works fully synchronously and can therefore be triggered in time. In contrast to the slave
  • the main subscriber or master sends a data frame with a constant number of bytes, and the subscriber uses the clock that has been recovered from the data.
  • Each participant who takes part in the voting process is assigned data areas or positions in the data frame. He only enters data in the area assigned to him. The other data is bypassed.
  • each network node ie subscriber, can also enter data in a plurality of data areas, in particular also in the control frame area S and / or SF.
  • the solution according to the invention enables the use of the system mentioned with high real-time requirements in safety-critical applications.
  • the voting data, interim results and voting results can be exchanged very quickly, even with high data volumes and many connected participants.

Abstract

La présente invention concerne un système et un procédé pour transmettre et évaluer des données, et au moins deux abonnés concernés par l'évaluation, ainsi que les abonnés correspondants. Selon l'invention: les données sont transmises dans une trame de données et à chaque abonné concerné par l'évaluation, est associée au moins une position dans la trame de données; les données sont transmises sur plusieurs trajectoires de transmission qui ont respectivement une forme annulaire; et chaque anneau comprend une unité d'insertion disposée au niveau de chaque abonné concerné par l'évaluation, afin d'insérer les données relatives à l'abonné respectif, concerné par l'évaluation, dans la/les position(s) de la trame de données, qui sont respectivement prévues à cet effet, les données restantes étant transmises sans être traitées dans les positions de la trame de données, dans lesquelles aucune insertion n'a lieu en ce qui concerne cet abonné.
PCT/EP2005/051638 2004-04-13 2005-04-13 Systeme et procede pour transmettre et evaluer des donnees dans un systeme de bus a topologie annulaire WO2005101749A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2007507801A JP2007533226A (ja) 2004-04-13 2005-04-13 データを伝送し、かつ評価するシステムと方法およびシステムの加入者
EP05742925A EP1738532A1 (fr) 2004-04-13 2005-04-13 Systeme et procede pour transmettre et evaluer des donnees dans un systeme de bus a topologie annulaire

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200410018316 DE102004018316A1 (de) 2004-04-13 2004-04-13 System und Verfahren zur Übertragung und Bewertung von Daten und Teilnehmer des Systems
DE102004018316.3 2004-04-13

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WO2005101749A1 true WO2005101749A1 (fr) 2005-10-27

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EP (1) EP1738532A1 (fr)
JP (1) JP2007533226A (fr)
CN (1) CN1943177A (fr)
DE (1) DE102004018316A1 (fr)
WO (1) WO2005101749A1 (fr)

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JP2010504011A (ja) * 2006-11-27 2010-02-04 ベックホフ オートメーション ゲーエムベーハー マスター／スレーブ構造を有する通信システム

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DE102005016596A1 (de) * 2005-04-11 2006-10-19 Beckhoff Automation Gmbh Teilnehmer, Master-Einheit, Kommunikationssystem und Verfahren zu deren Betreiben
DE102008044776B4 (de) * 2008-08-28 2022-01-05 Bayerische Motoren Werke Aktiengesellschaft Elektrisches Kombiinstrument in einem Kraftfahrzeug
JP6332040B2 (ja) 2015-01-07 2018-05-30 株式会社デンソー 通信システム及びサブマスタノード

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DE19651363A1 (de) * 1996-12-10 1998-06-18 Reinhold Dipl Ing Starflinger Ein Verfahren zur seriellen Übertragung von Daten zwischen Teilnehmern, die kettenförmig zu einer Ringstruktur verbunden sind
DE19906867C1 (de) * 1999-02-18 2000-07-06 Weidmueller Interface Verfahren und Vorrichtung zur seriellen Datenübertragung
DE10307749A1 (de) * 2002-05-22 2003-12-04 Bosch Gmbh Robert Verfahren und Vorrichtung zur Datenübertragung in einem vernetzten Datenübertragungsring sowie entsprechender vernetzter Datenübertragungsring

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19651363A1 (de) * 1996-12-10 1998-06-18 Reinhold Dipl Ing Starflinger Ein Verfahren zur seriellen Übertragung von Daten zwischen Teilnehmern, die kettenförmig zu einer Ringstruktur verbunden sind
DE19906867C1 (de) * 1999-02-18 2000-07-06 Weidmueller Interface Verfahren und Vorrichtung zur seriellen Datenübertragung
DE10307749A1 (de) * 2002-05-22 2003-12-04 Bosch Gmbh Robert Verfahren und Vorrichtung zur Datenübertragung in einem vernetzten Datenübertragungsring sowie entsprechender vernetzter Datenübertragungsring

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010504011A (ja) * 2006-11-27 2010-02-04 ベックホフ オートメーション ゲーエムベーハー マスター／スレーブ構造を有する通信システム
JP4904399B2 (ja) * 2006-11-27 2012-03-28 ベックホフ オートメーション ゲーエムベーハー マスター／スレーブ構造を有する通信システム

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CN1943177A (zh) 2007-04-04
JP2007533226A (ja) 2007-11-15
EP1738532A1 (fr) 2007-01-03

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