CN100535814C - Autonomous system with redundant configuration and its configuration method - Google Patents
Autonomous system with redundant configuration and its configuration method Download PDFInfo
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- CN100535814C CN100535814C CNB2007100506367A CN200710050636A CN100535814C CN 100535814 C CN100535814 C CN 100535814C CN B2007100506367 A CNB2007100506367 A CN B2007100506367A CN 200710050636 A CN200710050636 A CN 200710050636A CN 100535814 C CN100535814 C CN 100535814C
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Abstract
The invention discloses a self-controlling system of a redundant configuration, which comprises a plurality of subsystems mutually connected, each subsystem is provided with an input module, an output module, a main controller and a data transmission bus, the input module and the output module are respectively connected with the data transmission bus; the main controller is provided with a bus controller; the quantity of the bus controller of each main controller is equivalent to the quantity of the subsystems, each bus controller of each main controller is respectively connected with the data transmission bus of each subsystem; the input module of each subsystem sends input signal to the bus controller of the subsystem, and sends output signal to the output module of the subsystem after the calculation and processing of the main controller of the subsystem, all output modules are voted according to the output signal and then feedback the voting result to self-own bus controller. The invention is characterized in that: each bus has an only controlling right; only when occupying controlling right, the node has the right of sending data; the controlling right is delivered to network downstream neighbor after the node finishes data sending task.
Description
Technical field
The present invention relates to automatic control system, relate in particular to a kind of robot control system(RCS) and collocation method of redundant configuration.
Background technology
For improving the reliability of robot control system(RCS), adopt the technological means of redundant configuration usually.For example, state, inside and outside steam turbine ETS control system all adopt the triple redundance system, and the control strategy of this system is to take the mode of hardware fully redundance and token to guarantee the high reliability of total system, carries out data transmission by data bus.Data bus adopts the logic token ring to constitute as media access control protocol, each node on the bus is all had the right to obtain token and is sent data, main communication controler is not set on the bus, by polytype data-interface, bus controller, communication module and Bus Interface Unit are realized communication network.This bus is a kind of point-to-point " token bus " system, has a kind of electronics " token " (Token) to send every equipment in network, by its transmission input and diagnostic message.Bus adopts the mode of frequency modulation (FSK) that data-signal is modulated, and represents 0 with high-frequency signal that is:, and low frequency signal represents 1.This modulation system makes that the anti-interference of bus is improved, transmission range increases.And adopt following method assurance communication reliably to carry out: after each data is encoded, send continuously three times, the take over party does three and selects two votings, receive after the complete packet, the take over party can do the redundancy check of CRC ring to whole packet, in case the verification failure, packet can be required to retransmit.
The advantage of this system has been to adopt the mode of the fully redundance of hardware, guarantees that each PLC can receive data from three load modules; After data are encoded simultaneously, can send three times continuously, carry out three the take over party and get two votings.On the mechanism that conflict is avoided, because chosen the mode of token " Token ", have only the equipment that has obtained Token Control power data can be sent on the bus, guaranteed that any time has only an equipment sending data at most, the situation of data collision on the bus can not occur.And according to the working mechanism of Token Ring, any equipment sends after the data, discharges token immediately and uses for other websites, and what token went round and began again cruises in ring, and chance that each station obtains token is identical.Can avoid an equipment to take token for a long time like this, and cause miscellaneous equipment can not send data.
But, yet there is following shortcoming in this system: 1. communication network is by polytype data-interface, formations such as bus controller, communication module and Bus Interface Unit, it is hardware redundancy completely, complex structure, the probability of failure height is in order to reduce the influence of fault to system, fault scanning equipment need be set, increase the burden of PLC.2. because of the communication network architecture complexity, many, the path length of data transmission nodal, data transmission period is long; 3. need three times repeatedly because of every group of data send, the take over party carries out CRC check after receiving complete packet, returns one again and confirms packet, and it is long that data send the time that takies, and response speed is slower.4. owing to above-mentioned 2,3 two reasons, data must adopt high-speed transfer, make the bus protocol of some low speed can not satisfy such requirement.5. do not have master controller on the bus, may cause some the important control information on the PLC not see off in time; After the hold facility token is arranged in the system, can not normally discharge token, can cause the inefficacy of whole piece bus.
Summary of the invention
Purpose of the present invention provides a kind of robot control system(RCS) that does not have above-mentioned shortcoming, this system simple in structure, failure rate is low; Simple and direct and the every group of data of data transfer path need only once send, and response speed is fast; Be applicable to the bus protocol of various speed.
Technical solution of the present invention is as follows:
A kind of robot control system(RCS) of redundant configuration comprises a plurality of interconnected subsystems, and each subsystem has load module, output module, master controller, data transmission bus, and described load module, output module are connected with data transmission bus respectively; Described master controller has bus controller; The quantity of the bus controller of each master controller is identical with the quantity of subsystem, each bus controller of each master controller, the corresponding respectively data transmission bus that connects each subsystem; The load module of each subsystem sends input signal to the bus controller of this subsystem, after the master controller calculation process by this subsystem, output module to this subsystem sends output signal, all output modules are put to the vote according to output signal, voting result are fed back to bus controller separately again.
Described master controller has the bus control right setting module, is used to set bus control right, makes it to possess following characteristic:
Has unique control on every bus;
Only when occupying control, node just has the right that sends data;
Node after finishing data transmission task is handed over control to downstream neighbor.
The establishing method of above-mentioned bus control right is set up the token-passing ring net, and with its initialization, concrete steps are:
1). set up the token-passing ring net
The ID address of each node of-distribution
The token-passing ring net is divided into high, medium and low three ID sections, according to three types of load module nodes, bus controller node, output module node; To be distributed in the identical ID section with category node, and according to the order of load module node → bus controller node → output module node, address pointwise from low to high increases progressively; The more little pairing priority of node in address is high more;
-definition frame form
2). the initialization of token-passing ring net
The node the highest by the address generates token, allows token transmit a week on looped network, determines the position of each node in network.
Based on the data transmission method of above-mentioned token-passing ring net, the node that generates token is to the bus broadcast Frame, and the node on the bus occupies token successively in turn according to the ID address; When the load module node occupies token, will import data and send to bus controller, the input data that bus controller will receive are put the input storage into, receive at every turn the input data after, the request CPU read input, the input storage data are sent to CPU; Again the output data of obtaining from CPU is put into the output block, command signal is placed on the routine storage; The output data of output block is sent to same the output module on the bus, again command signal is sent to the module of appointment, after data send, give the downstream logic neighbours token.
The useful technique effect of native system:
1. simple in structure, hardware is few, failure rate is low;
2. number of nodes is few, and data transfer path is simple and direct, and every group of data need only once send, and response speed is fast, and is highly sensitive;
3. be applicable to the bus protocol of various speed.
Be that example describes the present invention in detail with steam turbine ETS triple redundance system below.
Description of drawings
Fig. 1 is the structured flowchart of steam turbine ETS triple redundance system
Fig. 2 is message body definition figure
Fig. 3 is this robot control system(RCS) data transmission flow process figure
Embodiment
It is that the unit operation parameter that collects is carried out reliable and stable judgement that steam turbine ETS adopts the purpose of triple redundance system, in time provides correct control signal, guarantees the safety of steam turbine.
The design object of triple redundance ETS system is to get reliability and the security that 2 voting mechanism provide high system by 3; System can discern fault and automatically it be diagnosed; Permission is implemented maintenance and is changed parts it under the situation of not interrupt system operation; To system sensor, intelligent object, parts such as switching value carry out self-test.
As shown in Figure 1: this system is coupling-connected to load module on the bus comprising three nothings on the system architecture, three groups are not had the intelligent output module that is of coupled connections, article three, data transmission bus independently, the system diagnostics of three cover independent operatings, three master controllers and be under the jurisdiction of three bus controllers that are used to control three-bus of master controller independently.
Triple redundance ETS system intends adopting does not physically have Coupling Design and separate type circuit design, and it is flexible that system module is changed, and the module replacement cost reduces; The I/O bus that is used for communicating by letter between master controller and the input and output outward intends adopting distributed design thought, and the system I/O of making can other intelligent object state of monitoring system, and reduces system cost.
The hardware components of triple redundance ETS system mainly contains four groups of subsystems and becomes: the input subsystem that is used for the collecting sensor data; The main controller controls subsystem of forming by three isomorphism master controllers; Be used to realize the communication subsystem of communication between each module and the master controller and master control subsystem internal communication; Control the output subsystem of public output load.
The load module group of Fig. 1 is made of three isomorphism modules, and every group is respectively extendible 32 path switching signals input.Output module is made of the source module and the stripping pattern piece of two 16 tunnel outputs, has extensibility.Three load modules in the input group are respectively through bus and master controller (master controller A, master controller B, master controller C), and output module connects.
Each module is carried out following data transmit operation when occupying control:
◆ load module: send input digit amount signal to three bus controllers.
◆ bus controller: the output digital quantity signal that the master control computing is obtained sends to output module.
◆ output module: will export voting result and be sent to bus controller.
Core content of the present invention is to establish bus control right, makes it to possess following characteristic:
Has unique control on every bus;
Only when occupying control, node just has the right that sends data;
Node after finishing data transmission task is handed over control to downstream neighbor.
The method of establishing bus control right is to set up the token-passing ring net, and with its initialization, concrete steps are:
One, the ID address of distributing each node
On a bus of triple redundance ETS system, each node has unique ID address, and each node constitutes a logical cyclic ring network from low to high according to the ID address, and the node of holding token becomes host node, the host node data pass token to the higher downstream logic neighbours in ID address after sending and finishing; The highest node in ID address passes token to the minimum node in ID address.Token on bus according to fixing order transmission, the bus service of equality is provided for each node.
As shown in Figure 1: three independently buses are arranged in the triple redundance ETS system, on every bus load module is arranged, bus controller, output module three category nodes, this three category nodes function is different, the data of transmitting-receiving and the time that occupies token all there are differences, thus when being distributed ID, this three category node should consider similar node is distributed in identical one section, so that when transceive data, can realize unified operation; The transmission of considering token simultaneously should be according to the order of " load module---bus controller--output module ", so load module should be distributed in the lower ID section, bus controller ID section is higher, and the ID section of output module is the highest.
Based on above two aspect situations, in conjunction with the standard frame format of CAN2.0B definition, the ID section of definition load module is 000xx, and promptly the address of a load module can be set among the 00000-00011 one; The ID section of bus controller is set at 001xx; The ID section of output module is set at 01xxx.
The single-chip microcomputer of native system has adopted 16 single-chip microcomputer XC164CS of Infineon, and definition ID: message body 0-15 belongs to node A, and message body 16-31 belongs to Node B.The even number node is for sending message body, and the odd number node is for receiving message body.Message body ID definition is shown in Figure 2.
Two, definition bus message format and data priority
With reference to the CAN2.0B agreement, defined standard frame format.11 ID of use standard, front three (28-26) presentation function sign indicating number, middle four (25-22) expression sends the message address of node, and back four (21-18) do expansion and use.Be defined as follows table shown in relevant in the message with control.
Each node is the priority level difference during Data transmission on bus, and according to the address of node sign indicating number, the more little pairing priority of node in address is high more.
Three, token-ring network initialization
In the netinit stage, token does not transmit on network, on the bus also without any activity, behind the highest node wait timeout in ID address,, notify this node to generate token to bus broadcast network reconfiguration frame, all nodes are after receiving the network reconfiguration frame, ST (token generation source) is set to generate the node ID of token, NID (logic neighbours ID address) is set to ID+1, and wait for the arrival of token.When each node occupies token for the first time, determine own position in looped network, and the downstream logic neighbours of oneself.The method of determining is as follows: each node is after receiving the network reconfiguration frame, and NID is set to ID+1, and when token transmitted a week on looped network after, all nodes had all been determined own position in network.
Each node all will be sought the logic neighbours of oneself when netinit.After receiving token for the first time, at first send token transmission request to the ID+1 address, if received echo reply, illustrate that then the ID+1 node exists, be the logic neighbours of oneself; If do not receive response, then send token transmission request to the ID+1 node, so operation is up to finding the logic neighbours, and logic neighbours address is saved in NID, and is each later on when transmitting token, all directly sends to this logic neighbours.
After token transmitted a week, initialization was finished.After the node that occupies token on the bus is sending data, pass token to the downstream neighbor of oneself, token passing scheme is as follows:
● the node with token is the node transmission exchange of token request of NID to the address.
● the node that receives the exchange of token request obtains token, and returns and obtain token response.
● the node that sends request is receiving that the response back discharges token.
● if the node wait-for-response that sends token request is overtime, and then the NID+1 node sends token transmission request, wait-for-response.So " retransmit token, the address adds 1, wait-for-response ", up to receive have other nodes to obtain the response of token on the bus till, and, its address is kept among the NID the new downstream neighbor of the node that returns response as oneself.
The course of work of native system:
One. based on the data transmission of token-ring network
Triple redundance ETS system has three independent bus lines, and a token is all arranged on every bus, and three tokens transmit on bus separately independently, are independent of each other.The communication of each node realizes in the mode of token transmission on the bus, and the node on the bus occupies token successively in turn according to the ID address.
When load module occupies token, the input data that collect are in real time sent to three bus controllers by the mode of broadcasting, if have then on this bus three main broadcasting input digit amount signals, signal passes token to the bus controller on the master controller A after sending and finishing.
Bus controller has input data storage area and an output data memory block, is respectively applied for to deposit data of obtaining from load module and the output data of obtaining from CPU.Bus controller to the input data processing mode as follows: the input data that will receive are put the input storage into, receive at every turn the input data after, ask CPU to read input immediately, the input storage data are sent to CPU.Bus controller is as follows to the output data processing mode: bus controller is put the output data of obtaining from CPU into output block, and command signal is placed on the routine storage.As bus controller writ of possession bridge queen, the output data of output block is sent to same the output module on the bus, again command signal is sent to the module of appointment, after data send, give the downstream logic neighbours with token.
The data transmission and processing flow process of bus controller as shown in Figure 3.
On same bus, the bus controller of master controller A, B, C successively occupies token, and output data is sent to the output module of this bus, instruction is sent to the module of appointment.
After the bus controller of master controller C sends data, pass token to output module, after output module receives token, output data 3 is got 2 deviation charts that generated of voting send to three bus controllers.Pass token to load module after sending, so just finished scan bus one time, realized that data are from being input to the processing of output.
Two. keep data sync
A) input sampling data is synchronous
The input digit amount signal change frequency that the triple redundance system detects is low, may keep a state for a long time, the situation of high frequency saltus step can not occur, so as long as the sample frequency height of three load modules, renewal speed is fast, can think that then three input signals are synchronous.
For example: three load module sample frequency are 10MHz, some input signals jump to 1 by 0, though three modules are different to the time of input signal sampling, but the time interval can not surpass 10ns, scan period with respect to 20ms can be ignored this time interval, can think that the input signal of gathering is synchronous.
B) token transmits consistance
In the triple redundance system, the scan period of every bus is 20ms, and a token is arranged on every bus, and the node that occupies token becomes interim host node.When input data after saltus step, though three load modules obtain the asynchronism(-nization) of token, the result obtains correct result to system not to be influenced.Be exemplified below:
1) at t0 constantly, input signal jumps to 1 by 0
2) t1 constantly, the α load module occupies token, and input signal " 1 " is broadcast to the α bus controller of three master controls, and the data of β and γ bus controller still " 0 ", the input voting result is " 0 " still.
3) in the t2 moment, the β load module occupies token, and " 1 " is sent to three β bus controllers; In each master control, the data of α β γ bus controller are respectively 1,1,0, and voting result is " 1 ".
4) in the t3 moment, the γ load module occupies token, and " 1 " is sent to three γ bus controllers; In each master control, the data of α β γ bus controller are respectively 1,1,1, and voting result is " 1 ".
So the variation of input quantity obtains embodying in the 20ms-40ms scope in output, though the transmission of three tokens is inconsistent, has still obtained correct result.
Three. the control fault handling
1) token lost is handled
When token is lost, no longer include any activity on the bus.Adopt following processing mode: calculate token and transmit maximum time in a week in bus, each node starts a token waiting timer at every turn after surrendering token.If certain node stand-by period of bus arrives, then node generates token automatically thus, when generating token, this node should generate information to token of bus broadcast, notify the generation of all node tokens, if have other node to occupy token this moment, the node that occupies token sends to this node forbids generating token information, stops to generate token.The token stand-by period is set as follows: token stand-by period=(1+ (HID-ID)/n) * T, T is token transmits a week on bus maximum time, HID is the ID address of bus maximum for this reason, ID ID number of node for this reason, n is the node sum on the bus.When token was lost, the high node in ID address generated token at first automatically, and when each node was received bus data, this timer stopped timing and restarts timing.
2) the token conflict is handled
When having two or more tokens on the bus, need relevant detection and disposal route.Because the CAN controller has possessed the mechanism that solves data collision, the CAN control chip can not provide the relevant information of bus data conflict yet, so need be by sending the situation that exists that data detect token.
When handling token lost,, can generate token automatically if certain node waits for that token is overtime; But may be owing to network delay, token does not just also have biography to come and is not token lost, and will produce two tokens on the bus this moment.For fear of the generation of this situation, when each node generates token automatically, need all to check that the token on the bus occupies situation, if having other node to occupy token this moment, can send to the node that generates token and forbid denying frame, show to generate token.All nodes records produce the ID address of the source node of token, and transmit the address that has also comprised the token source in the frame at token.If under the situation of not receiving any information that regenerates token, a certain node finds that the token source of writing down in token source and the node in the token frame is different, then send token and detect frame to bus, if detect the token conflict this moment, then send the network reconfiguration frame, all nodes are all abandoned token, and wait timeout produces token again automatically.Second kind of situation, if a certain node has been passed to two nodes simultaneously when transmitting token, the token on the network also can produce repetition at this moment.When a certain node leaned on the back in the own network site of living in of discovery, promptly NO information became greatly, then sent token detection frame to bus, if find existing token on the bus, then sent the network reconfiguration frame, and all nodes are abandoned token, and wait timeout regenerates token.
3) node adds and shifts out processing
When node withdraws from looped network, whole network is exerted an influence not quite.The token transmission request that its upstream neighbor sends can not received and be returned, and can seek the logic neighbours again, and logic neighbours' ID address is composed to NID.The network site No that moves back the subsequent node of net node also can correspondingly diminish.But this moment, upstream node should send the communication failure warning message.
When node adds looped network, whether identical ID is at first arranged on the testbus, if the node that refers to has in the same manner been arranged on the network, then send one and deny information to this node, show to add network, and send ID address repetition of alarms information.If there is not the ID address of repetition, then initiate node sends the network reconfiguration frame to bus, and all nodes of whole network all reset to NID this node ID+ 1, and abandon token, regenerate token behind the wait timeout, each node is sought the logic neighbours of oneself again.
Claims (8)
1. robot control system(RCS) redundant configuration method, a robot control system(RCS) is set, this system comprises a plurality of interconnected subsystems, and each subsystem has load module, output module, master controller and data transmission bus, and described load module, output module are connected with data transmission bus respectively; Described master controller has bus controller; The quantity of the bus controller of each master controller is identical with the quantity of subsystem, each bus controller of each master controller, the corresponding respectively data transmission bus that connects each subsystem; The load module of each subsystem sends input signal to the bus controller of this subsystem, after the master controller calculation process by this subsystem, output module to this subsystem sends output signal, all output modules are put to the vote according to output signal, voting result are fed back to bus controller separately again; Described master controller has the bus control right setting module, is used to set bus control right, makes it to possess following characteristic:
Has unique control on-every the bus;
-only when occupying control, node just has a right that sends data;
-node after finishing data transmission task is handed over control to downstream neighbor;
It is characterized in that the setting step of described bus control right is:
1). set up the token-passing ring net
The ID address of each node of-distribution
The token-passing ring net is divided into high, medium and low three ID sections, according to three types of load module nodes, bus controller node, output module node; To be distributed in the identical ID section with category node, and according to the order of load module node → bus controller node → output module node, address pointwise from low to high increases progressively; The low more pairing priority of node in address is high more;
-definition frame form;
2). the initialization of token-passing ring net
The node the highest by the address generates token, allows token transmit a week on looped network, determines the position of each node in network.
2. robot control system(RCS) redundant configuration method according to claim 1 is characterized in that the data transmission step of described token-passing ring net is: the node that generates token is to the bus broadcast Frame, and the node on the bus occupies token successively in turn according to the ID address; When the load module node occupies token, will import data and send to bus controller, the input data that bus controller will receive are put the input storage into, receive at every turn the input data after, the request CPU read input, the input storage data are sent to CPU; Again the output data of obtaining from CPU is put into the output block, command signal is placed on the routine storage; The output data of output block is sent to same the output module on the bus, again command signal is sent to the module of appointment, after data send, give the downstream logic neighbours token.
3. robot control system(RCS) redundant configuration method according to claim 1, it is characterized in that, described definition frame form is the standard frame format in conjunction with the CAN2.0B protocol definition, and the ID section of definition load module is 000xx, and promptly the address of a load module can be set among the 00000-00011 one; The ID section of bus controller is set at 001xx; The ID section of output module is set at 01xxx.
4. robot control system(RCS) redundant configuration method according to claim 1 is characterized in that this robot control system(RCS) also is furnished with the control fault processing module, carries out following fault handling:
1) token lost is handled;
2) the token conflict is handled;
3) node adds and shifts out processing.
5. robot control system(RCS) redundant configuration method according to claim 4, it is characterized in that, described token lost disposal route is: calculate token transmits a week in bus maximum time, each node after surrendering token at every turn, start a token waiting timer, if certain node stand-by period of bus arrives, then node generates token automatically thus, when generating token, this node should generate information to token of bus broadcast, notifies the generation of all node tokens, if having other node to occupy token this moment, the node that occupies token sends to this node forbids generating token information, stops to generate token.
6. robot control system(RCS) redundant configuration method according to claim 5, it is characterized in that, the described token stand-by period is set as follows: token stand-by period=(1+ (HID-ID)/n) * T, T is token transmits a week on bus maximum time, HID is the ID address of bus maximum for this reason, ID ID number of node for this reason, n is the node sum on the bus; When token was lost, the high node in ID address generated token at first automatically, and when each node was received bus data, this timer stopped timing and restarts timing.
7. robot control system(RCS) redundant configuration method according to claim 4 is characterized in that, described token conflict processing method is:
-when handling token lost, if certain node waits for that token is overtime, meeting is automatic to generate token, because network delay, token does not just also have biography to come and is not token lost, and will produce two tokens on the bus this moment; Disposal route is, when each node generates token automatically, checks that all the token on the bus occupies situation, if having other node to occupy token this moment, then sends to the node that generates token and forbids denying frame, shows to generate token; All nodes records produce the ID address of the source node of token, and transmit the address that has also comprised the token source in the frame at token; If under the situation of not receiving any information that regenerates token, a certain node finds that the token source of writing down in token source and the node in the token frame is different, then send token and detect frame to bus, if detect the token conflict this moment, then send the network reconfiguration frame, all nodes are all abandoned token, and wait timeout produces token again automatically;
If-a certain node is when transmitting token, two nodes have been passed to simultaneously, token on the network also can produce repetition at this moment, when a certain node leaned on the back in the own network site of living in of discovery, promptly NO information became greatly, then sent token detection frame to bus, if existing token on the discovery bus, then send the network reconfiguration frame, all nodes are abandoned token, and wait timeout regenerates token.
8. robot control system(RCS) redundant configuration method according to claim 4 is characterized in that, described node adds and shifts out disposal route and is:
-when node withdraws from looped network, the token transmission request that its upstream neighbor sends can not received and be returned, and can seek the logic neighbours again, and logic neighbours' ID address is composed to NID, move back corresponding the diminishing of network site No of the subsequent node of net node, this moment, upstream node sent the communication failure warning message;
-when node adds looped network, whether identical ID is arranged on the testbus at first, if the node of identical address has been arranged on the network, then send one and deny information to this node, show to add network, and send ID address repetition of alarms information; If there is not the ID address of repetition, then initiate node sends the network reconfiguration frame to bus, and all nodes of whole network all reset to NID this node ID+1, and abandon token, regenerate token behind the wait timeout, each node is sought the logic neighbours of oneself again.
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| CN104168168A (en) * | 2013-12-12 | 2014-11-26 | 易程（苏州）智能系统有限公司 | Method for using special frame to control sending by nodes on RS485 bus |
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