WO2010149542A1 - Procédé d'échange dynamique entre groupes de participants actifs dans un système de bus de données sans fil - Google Patents

Procédé d'échange dynamique entre groupes de participants actifs dans un système de bus de données sans fil Download PDF

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Publication number
WO2010149542A1
WO2010149542A1 PCT/EP2010/058400 EP2010058400W WO2010149542A1 WO 2010149542 A1 WO2010149542 A1 WO 2010149542A1 EP 2010058400 W EP2010058400 W EP 2010058400W WO 2010149542 A1 WO2010149542 A1 WO 2010149542A1
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Prior art keywords
group
data
superframe
subscriber
participants
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PCT/EP2010/058400
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German (de)
English (en)
Inventor
Frank Lahner
Peter Thamm
Thomas Völkel
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Siemens Aktiengesellschaft
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Publication of WO2010149542A1 publication Critical patent/WO2010149542A1/fr

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/12—Wireless traffic scheduling
    • H04W72/121—Wireless traffic scheduling for groups of terminals or users
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
    • H04W52/02—Power saving arrangements
    • H04W52/0209—Power saving arrangements in terminal devices
    • H04W52/0212—Power saving arrangements in terminal devices managed by the network, e.g. network or access point is master and terminal is slave
    • H04W52/0216—Power saving arrangements in terminal devices managed by the network, e.g. network or access point is master and terminal is slave using a pre-established activity schedule, e.g. traffic indication frame
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Definitions

  • the invention relates to a method for dynamic switching between groups of active subscribers in a wireless data bus network with data transmission cycles ("superframe"), wherein the data bus network also has only cyclically active participants who temporarily assume a passive mode during pauses.
  • TDMA Time Division Multiple Access In wireless data bus networks, different methods are used to control the access of the communication subscribers to the time slots available during the data transmission cycles.
  • each communication user In a first type, each communication user is granted exclusive access to a channel or time slot. The time slots available in the data transmission cycles are thus permanently allocated to a specific subscriber. These access methods are called time-division multiplexing or "TDMA Time Division Multiple Access.”
  • Access methods according to this principle advantageously have a deterministic cycle time in addition to freedom from collisions, ie there is a maximum latency in the transmission of a message, but the average latency is the maximum possible data traffic and thus can not be reduced even with a temporarily weak data traffic.
  • the communication subscribers can simultaneously access all of the time slots available for one channel or the data slots available in the data transmission cycles and attempt to transmit data telegrams therein. These access methods are called "CSMA Carrier Sense Multiple Access.” To avoid collisions, subscribers who wish to simultaneously access a channel or time slot first listen for a short wait time slot to ensure that it is not occupied by another user in the meantime for the transmission of a data telegram.
  • CSMA Carrier Sense Multiple Access To avoid collisions, subscribers who wish to simultaneously access a channel or time slot first listen for a short wait time slot to ensure that it is not occupied by another user in the meantime for the transmission of a data telegram.
  • the "listening" subscriber assumes that the time slot is free and allocates this data by transmitting their own data.
  • the advantage of this method is that under light load in a wireless communication network
  • the disadvantage is that with high channel load, the latency times due to the repetition of telegrams can become large and no maximum latency can be determined.
  • TDMA methods preferably the deterministic, and of CSMA methods, preferably the short mean latencies
  • Such combined access methods only generate low communication overhead and can be advantageously used in automation and process technology in "self-powered sensors", ie in energy-saving sensors, eg with local power supply via a battery
  • data transmission cycle available time slots are statically fixed is which subscribers can dispose of the respective time slots, that is to say which subscribers may exclusively transmit data in which time slots. If, however, one of the subscribers does not make use of their right to transmit data in the allocated time slot of a data transmission cycle since, for example, there is no data for transmission, other communication subscribers can dynamically alternate this time slot concurrently.
  • Data transmission cycles for example in a TDMA time-division multiplex method, which consist of a multiplicity of permanently allocated time slots and are repeated periodically, are also referred to as superframes.
  • the structure of a superframe is defined, for example, in IEEE802.15.4. This usually has at the beginning a synchronization time slot, at least one subsequent management data time slot and finally a plurality of process data time slots, which are respectively assigned to the individual users of the data bus communication communicating with each other.
  • the management of the superframes ie in particular the acceptance of transmitted user data of the individual subscribers in the process data time slots or the entry and updating of data in the synchronization and management data time slots, which are addressed to all subscribers in the data transmission network, is performed by a central processor
  • the synchronization time slot is a period of time in which the gateway sends a synchronization message in order to define or maintain a common, relative time base in the wireless data transmission network for all distributed subscribers
  • a management data time slot a period of time in which data messages with non-process-critical data can be exchanged between the gateway and the subscribers, eg the sensors and HMI devices of a technical system, eg network configurations, Pa rametrier schemes, diagnostic data and much more.
  • the process data time slots are durations in which, for example, sensors are process-critical. table data, in particular measured values, to the gateway can transmit.
  • the number of timeslots in a superframe, and thus the length of a superframe should be as small as possible to ensure a short overall response time of the wireless data bus network.
  • the equipment of a technical installation in particular the sensors and actuators, are each equipped with a communication module in order to enable a wireless exchange of data.
  • These combinations of resources of a technical system with a connected communication module form subscribers in the wireless data transmission network, to each of which at least one process data slot in the superframe must be reserved.
  • the length of the superframe in a wireless data bus system is thus largely determined by the number of communicating with each other participants.
  • a robotic gripping arm is intended to serve. This has a large number of tool and machining units, which are each equipped with contactless interrogatable sensors. If e.g. due to the
  • the processing unit changed, so must be recorded during their useful life, only the data from the sensors on the now-active processing unit and wirelessly transmitted to a central gateway. All other processing units are inactive, so that in this state of their sensors no variable data is expected or can be detected.
  • Subscribers of this type in a radio-based data bus network are in particular energy self-sufficient subscribers, who have only limited energy resources. For example, they can be powered locally by a battery. Such subscribers of a wireless data transmission system switch off during periods of non-use, in particular for saving energy for a certain pause time. In this so-called “sleep mode" can be an energy self-sufficient Participants temporarily receive no messages from the central gateway and thus may not respond to an upcoming, even the "still sleeping" participants group switching may not or in time.
  • the object of the invention is to specify a wireless data network operated according to the TDMA method, in which the subscribers are subdivided into different groups and the switching time between the groups is as short as possible, taking energy-independent subscribers into account in particular.
  • active and passive subscribers In the case of an active participant, this is a participant who is in active mode as a member of a group in operation. The latter can send process data or a sign of life in the at least one process data time slot allocated in the superframe. Furthermore, the superframe can have at least one management data time slot for the transmission of parameter and diagnostic data. In contrast, a passive subscriber who is in passive mode as a member of a currently inactive group does not have a valid process data slot in the current superframe. Passive subscribers can, however, exchange sign of life telegrams and possibly parameter data or diagnostic messages with the gateway in management time data slots. In the case of passive subscribers, the process functions are temporarily switched off to save energy, in particular the measurement and radio transmission of process values to the gateway.
  • the gateway usually sends a synchronization telegram at the beginning of each superframe in the synchronization time slot. This is received by all participants and allows them to re-synchronize on the radio network. This is particularly important for energy self-sufficient participants, since to put them into sleep mode during breaks to save energy. In doing so, they can not "listen in” to all the synchronization and management telegrams of the gateway and thus lose the common time base of the radio network.
  • the sleep mode is left either by the processing of pending process data or by the generation of a life character telegram or a life character telegram, the participant synchronizes himself again with the synchronization telegram into the network timing.
  • pause times are periods which u.U. may be different for each participant and after the expiry of which each participant must send a life-sign telegram to the central gateway at the latest or be expected by the latter. From this it can be seen for the gateway whether the respective subscriber is still functional, ie at least has sufficient supply energy.
  • the prerequisite for proper operation of the wireless data bus network is that the gateway knows the maximum pause time "Tmax_Pausenzeit" of each subscriber, ie the maximum period between two life-character telegrams. or queried directly from the gateway at the subscriber.
  • the participants in the wireless data bus network are divided into groups.
  • the number of groups and group affiliation of the network participants is mostly determined by the application. This is specified by the user during configuration or can be reconfigured during operation.
  • a participant can also belong to several groups.
  • the groups are each assigned a unique group identifier for identification, which can be parameterized by the user, for example, or automatically generated by the gateway.
  • the gateway automatically distributes the time slots to the subscribers, for example, according to the order of their registration or the order of the confirmations of the upcoming group change sent by them. It is also advantageous if a participant as a member in several groups in each case the same
  • the gateway manages a group list in which the group ID, the group membership and the time slot assignments of the respective superframes are stored by the group participants.
  • An image of the components relevant to a participant from the group list is independently managed by the respective participant as a group membership list.
  • the gateway sends a counter value N with each synchronization telegram in preparation for a pending group change per data transmission cycle. It is decremented during each transmission cycle and represents the number of superframes that are still sent until the group switchover "T_change" is reached.
  • the gateway In addition to the counter value N, the gateway also sends a group ID of the group to which the switch is to be made.
  • the group identifier can be sent during the synchronization time slot in the synchronization telegram together with the count value N or in a subsequent management time slot.
  • the gateway collects confirmation telegrams from the subscribers in the superframes sent until the switchover time "T_change" has been reached
  • all subscribers can transmit acknowledgment messages per transmission cycle in the management time slot of the superframes to the gateway.
  • all participants have equal access to management time slots, so that collisions can not be completely ruled out.
  • active subscribers can alternatively also transmit the acknowledgments in the allocated process data time slots even before a group changeover. before a group switch, passive users use unused process data time slots of other active users for transmission.
  • the gateway At the latest until the first superframe after the entry of a group switch, the gateway expects that all participants, or at least the now active participants, have a confirmation of the group change. However, if the gateway could not receive acknowledgment telegrams from all the subscribers concerned, different approaches are possible. In a first execution, the gateway can extend the countdown by increasing the counter value N.
  • the gateway may generate an error message after a waiting time has elapsed, or it may be the case that a subscriber who is passive before and after the switchover time and active afterwards could not send a confirmation until a group switchover occurred in that either the respective superframe does not have a management time slot or the subscriber concerned has not had an opportunity to access a free process data time slot of another, active subscriber
  • the affected passive subscriber may be in the first superframe after the group After confirming the change, the confirmation is sent to the currently active participant in the new superframe, which is assigned a process data time slot.
  • the structure of the superframe can also be adapted dynamically only passive participants needed and needed Participant may be activated. Rather, it is also switched to a new superframe, which is optimized for the participant structure of the now active group. In this case, in particular the number and duration of the actual required process data and management time slots are optimized for the greatest possible reduction of the superframe.
  • the utilization of the wireless data transmission path can be better adapted to the communication requirements of the subscribers active in the new group, and thus the latency of the system can be reduced.
  • no additional transmission channels are required for this purpose.
  • the new group-specific structure of the superframe is communicated to the subscribers, eg during the "countdown" according to the invention described above, before the group changeover.
  • FIG. 1 shows an exemplary wireless data bus system with a central communication station ("gateway") and three groups of subscribers
  • FIG. 2 shows a data transmission cycle occurring by way of example before and after a switchover between two groups of subscribers of the data bus system of FIG. Superframe ")
  • FIG. 3 shows the example of a group list with the participants of the three groups of the data bus system of Fig. 1
  • Fig. 4 shows the example of a group membership list for a subscriber of the data bus system of Fig. 1, Fig. 5 before and after a group switching according to the invention occurring data transmission cycles
  • FIG. 6 shows exemplary data telegrams of a subscriber who is switched from active to passive mode in the case of a group switchover
  • FIG. 7 shows data transmission cycles ("countdown") occurring before and after a group change according to the invention, as shown in FIG. 5,
  • FIG. 8 exemplary data telegrams of a subscriber which is switched from passive to active mode in the case of group switching
  • FIG. 9 before and after group switching according to the
  • FIG. 10 exemplary data telegrams of a subscriber who remains in active mode despite a group switch, FIG. 11 before and after a group switch according to FIG
  • Fig. 12 exemplary data telegrams of a subscriber, despite a group switching in the passive
  • Fig. 1 shows an exemplary wireless data bus system according to the invention.
  • a central communication subscriber G also called gateway
  • a plurality of communication participants 1 - 9 exchanged.
  • the participants are divided into groups A, B, C.
  • the participants are 1, 2, 5, 7, 9 members of the group A, the participants 1, 3, 5, 8 members of the group B and the participants 1, 3, 4, 6 members of the group C.
  • a group change takes place from the group A subscribers to the group B subscribers.
  • FIG. 2 shows by way of example in each case one immediately before or after the time of a group changeover between the users of groups A and B in the data bus system of FIG. 1 occurring data transmission cycle.
  • Such a data transfer cycle will hereinafter be referred to as "superframe" for brevity.
  • the superframe serving for the data exchange between the subscribers 1, 2, 5, 7, 9 of the group A has 11 time slots prior to group switching.
  • the first time slot represents a synchronization time slot, the two following time slots 2, 3 management data time slots and the remaining time slots 4 to 11 process data time slots.
  • the process data time slots are allocated exclusively to the participating users 1, 2, 5, 7, 9 of group A.
  • An exemplary partition is shown in the group list of FIG. 3. Here are the participants 1, 2, 7 each time slot 4, 5, 8, the participant 5 three time slots 6, 7, 9 and the subscriber 9 two time slots 10, 11 assigned.
  • the superframe is constructed, which after the group switching for data exchange between the participants 1, 3, 5, 8 of the group B is used.
  • This has 9 time slots, again time slot 1 representing a synchronization time slot, the two following time slots 2, 3 management data time slots and the remaining time slots 4 to 9 process data time slots.
  • the process data time slots are allocated exclusively to the participating subscribers 1, 3, 5, 8 of group B.
  • An exemplary division is again shown in the group list of FIG.
  • the superframes are adapted in particular by a corresponding selection of the process data time slots to the expected in the respective group communication needs.
  • the superframe used after group switching is exemplary shorter than the superframe before.
  • the reason for this lies on the one hand in the reduced number of subscribers and on the other hand in the fact that in this case the subscriber 5 is expected to have a considerably lower data transmission volume.
  • the latency of the data transmission network can be optimized.
  • FIG. 4 shows the example of a group membership list. This represents a section from the group list of FIG. 3 for a particular subscriber, here by way of example to the subscriber 5, and makes clear both the group assignment and the respective allocation of process data time slots.
  • FIGS. 5 and 6 a first sequence is shown by way of example. This applies to a subscriber who is switched from active to passive mode with a group switchover.
  • FIG. 5 shows by way of example the stream of data transfer cycles, i. "Superframes", before and after the time “T_change” of the group switchover. These are constructed in accordance with the example of FIG. 2 and shown only symbolically in FIG. Also highlighted is the synchronization time slot SYNC at the beginning of the individual superframes.
  • T change is started in good time before the changeover time, preferably in the synchronization time.
  • slot SYNC of each superframe to transmit the count value N and the group ID of the group to be changed.
  • each subscriber in the data transmission network is given the opportunity to receive these values and thus determine both the point in time of the group switchover and the change of mode expected of him / her.
  • a transition from the active to the passive or from the passive to the active state can occur here, or the respective active or passive state can be maintained.
  • the starting variable of the count value N in the first relevant superframe is selected to be so large that the duration of all data transmission cycles still occurring before the group change occurs, which counts one count and one count
  • Group ID is greater than the largest occurring pause time of a cyclically active participant in the data bus network.
  • FIG. 6 shows, by way of example, the behavior of a subscriber, which is to be switched from active to passive mode with a group changeover.
  • group switching T_change initializes its process functions as parameterized.
  • Fig. 6 shows, by way of example, the behavior of a subscriber, which is to be switched from active to passive mode with a group changeover.
  • This is symbolized in Fig. 6 by an exemplary period Dl "Wake up for process data, vital signs.”
  • the participant enters the passive mode. This is symbolized in Fig.
  • FIGS. 7 and 8 a second sequence is shown by way of example. This concerns a subscriber who is switched from passive to active mode with a group switchover. 7 corresponds to the representation of FIG. 5, so that reference can be made to avoid repetition to the above explanations thereto.
  • the subscriber of FIG. 8 is in passive mode. This is symbolized by an exemplary period D4 "wake up for vital signs, sync.” The subscriber is only activated for a short time in order to send a life character telegram to the gateway and to evaluate the current contents of the synchronization telegram SYNC at the beginning of the superframes.
  • Sync recognizes the participant by evaluating the current content of the synchronization message SYNC that therein a count value N with the value 16 exists and in this way a future group change is announced. The participant calculates from N and the known duration of a superframe the remaining time "T to switch" until the group change.
  • the participant now goes back to sleep mode for exactly this period of time. After the time has elapsed, the participant wakes up again as exactly as possible at the T_change changeover time.
  • This is symbolized in Fig. 8 by an exemplary period D7 "Wake up for group change, confirmation telegram.” It thus activates its process function in the first superframe after the group switchover, confirms the group change in the process data slot assigned to it, and then accepts the data exchange in the This is symbolized in Fig. 8 by another exemplary period D8 "Wake up for process data, vital signs".
  • FIGS. 9 and 10 show by way of example a third sequence. This concerns a subscriber who remains in active mode despite a group switchover.
  • Fig. 9 corresponds to the representation of Fig. 5, so that reference can be made to avoid repetition of the above explanations thereto.
  • the subscriber of FIG. 10 carries out his process functions as parameterized. This is symbolized by the exemplary periods D9, D10 "wake up for vital signs, process data, sync.” Between these periods, the subscriber deactivates properly for the pause time "Tmax pause time".
  • the participant now returns to sleep mode for precisely this period of time. After the time has elapsed, the participant wakes up again as exactly as possible at the changeover time T change. This is symbolized in Fig. 10 by the exemplary period D12 "Wake up for group change, confirmation telegram.” It thus activates its process function in the first superframe after the group switchover, confirms the group change in the process data slot allocated to it, and then carries out the data exchange in the active data exchange This is symbolized in Fig. 10 by another exemplary period D13 "Wake up for process data, vital signs".
  • FIGS. 11 and 12 a fourth sequence is shown by way of example. This concerns a subscriber who remains in passive mode despite a group switchover.
  • Fig. 11 corresponds to the representation of Fig. 5, so that reference can be made to avoid repetition of the above explanations thereto.
  • the subscriber in a period D14 "wake up for vital signs, sync", the subscriber recognizes that he / she is group switching is not affected.
  • the evaluation of the group identifier contained in the synchronization telegram SYNC results in the fact that a switchover is to be made to a group to which the subscriber does not belong. He will be back for the regular
  • the duration of its pause times "Tmax pause time” is inactive and wakes up regularly for sending life-cycle telegrams or for evaluating the current content of the synchronization telegram in the synchronization time slot This is symbolized in Fig. 12 by corresponding periods D15, D16 "wake up for vital signs, sync" which follow each other independently of the time point "T change.”
  • the sign-of-life telegrams can advantageously be sent to the gateway in the management time slot of the respectively active superframe.
  • the invention offers the particular advantage that, even in the presence of subscribers who can temporarily deactivate, i. In particular, in the case of energy self-sufficient participants, group switching can be carried out properly and error-free in each case. There are no accidentally "still sleeping” participants "forgotten”.
  • the advantage associated with the use of such subscribers namely that they can be switched to a passive, energy-saving standby mode, can be used without restriction despite the grouping.
  • Such subscribers are no longer energetically loaded by the switching process according to the invention with the repeated synchronization telegram which contains the group change information and the countdown count value than in normally active phases.
  • the preparation of such group switching i.
  • the countdown while dependent on the "slowest" participant, that is, the participant with the most pause time, will not affect the actual group change in any way and will move very quickly from one superframe to the next.

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  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Small-Scale Networks (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

L'invention concerne un procédé d'échange dynamique entre groupes de participants actifs dans un réseau en bus de données sans fil avec cycles de transmission de données (supertrame). Le réseau en bus de données possède également des participants qui ne sont actifs que cycliquement et passent temporairement dans un mode passif pendant les pauses. Afin de préparer un changement de groupe, il est envoyé à chaque participant, à chaque cycle de transmission de données, un identificateur de groupe indiquant le groupe à changer et une valeur de comptage (N), la valeur de comptage (N) est décrémentée (« compte à rebours ») à chaque cycle de transmission de données et elle est prise assez élevée pour que la durée de tous les cycles de transmission de données se produisant avant le changement de groupe et comprenant une valeur de comptage et un identificateur de groupe soit plus grande que la période de pause maximale d'un participant qui n'est actif que cycliquement sur le réseau en bus de données. Les participants sur le réseau en bus de données, après réception de l'identificateur de groupe et de l'état de la valeur de comptage (« compte à rebours »), déterminent à quel instant doit se produire le changement de groupe et quel est le mode à prendre après le changement de groupe.
PCT/EP2010/058400 2009-06-22 2010-06-15 Procédé d'échange dynamique entre groupes de participants actifs dans un système de bus de données sans fil WO2010149542A1 (fr)

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DE102009030108A DE102009030108B4 (de) 2009-06-22 2009-06-22 Verfahren zum dynamischen Wechsel zwischen Gruppen von aktiven Teilnehmern in einem drahtlosen Datenbussystem
DE102009030108.9 2009-06-22

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