CN100469037C - Layer control tree-shape network based on CAN bus for supporting plug and use - Google Patents
Layer control tree-shape network based on CAN bus for supporting plug and use Download PDFInfo
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- CN100469037C CN100469037C CNB2006100455248A CN200610045524A CN100469037C CN 100469037 C CN100469037 C CN 100469037C CN B2006100455248 A CNB2006100455248 A CN B2006100455248A CN 200610045524 A CN200610045524 A CN 200610045524A CN 100469037 C CN100469037 C CN 100469037C
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Abstract
A hierarchical control tree-network supporting plug and play based on CAN bus is featured as dividing CAN bus network to be at least two layers for forming tree-network of hierarchical control, setting root node at father layer and using it as general control end of network, setting multiple independent arbitration domain at each layer, dividing father layer to be a numbers of network sections with a CAN network bridge on each section being connected with a sub layer, dividing sub layer to be a numbers of network sections being down- connected with a local application.
Description
Technical field
The present invention relates to a kind of Communication Control network field, relate in particular to a kind of hierarchical control tree network of supporting plug and play based on the CAN bus.
Background technology
The CAN2.0 bussing technique obtains to use widely in the Communication Control field with its real-time, reliability and cheap property.But because relation is reciprocity between each node of CAN Control Network, there is not the notion of level, the large-sized multiple layer Communication Control network many for the Control Node number, that node relationships is complicated, itself can't adapt to the CAN technology.The communication traffic of present large-scale collecting and distributing type Control Network, it is big to exist layer interior flow, passes through the inside, substation of the flow little characteristics, particularly Control Network of interlayer, and communication traffic is huge, and these flows often do not need transmission beyond the substation.If Control Network is not carried out layering, the communication information of each node of network will reduce network performance greatly in whole transmission over networks, even causes the network communication paralysis.Therefore, it is necessary Control Network being carried out hierarchical control.
The CAN bussing technique is limited by the electric characteristic of itself, and it drives number of connections less (≤110), uses for large-scale Control Network, need carry out segmentation to it.
The essential information of each contact is safeguarded in the large-scale Communication Control network, and promptly the topological structure of Control Network is safeguarded, also is an insoluble problem.General way is that the wire jumper circuit is set on each contact, and method by hand is provided with its address, the same then contact address table that adopts manual method to refresh network.This method is feasible concerning the less system that does not often change, but to catenet, also is very difficult undoubtedly.
Summary of the invention
Purpose of the present invention is exactly in order to solve the problem that present CAN bus is difficult for making up large-scale control communication network, provide a kind of have simple in structure, convenient to use, the reliability height is easy to the hierarchical control tree network based on the CAN bus of the support plug and play of advantages such as safeguarding.
For achieving the above object, the present invention adopts following technical scheme:
A kind of hierarchical control tree network of supporting plug and play based on the CAN bus, it comprises the CAN bus network, described CAN bus network is divided into two-layer at least, form the hierarchical control tree network, its root node is the master control end of this network at father's layer, and each layer network comprises a plurality of territories of independently arbitrating; Wherein, father's layer divides several network segments, and each network segment is established a CAN bridge 4, and each CAN bridge 4 connects a sublayer, and each sublayer is divided into several network segments again, and connects a local application down.
The described network segment is made up of some network communication nodes, and substation of the common composition of these communication nodes is to realize the arbitration territory control of communication node in the network segment; Each network segment is provided with a CAN bridge 4, and as the root node of this network segment, each network segment is the distribution network segment number all, and all communication nodes in the network segment have identical segment number; Communication node address number divide two parts establishments, promptly network segment numbering area and node serial number district all represent with binary digit; The number of bits in network segment numbering area and node serial number district can be according to the practical application setting, and the number of communication node should be less than 110 in each network segment.
Described CAN bridge 4 is made up of father's layer CAN communication module and sublayer CAN communication module, adopt direct access mechanism between them, not interchangeable between the two use, its inside is finished uploading of data by the controller of CAN bridge 4 and is passed down, and adopts two filtering mechanism that the transmission of information is controlled in the useful effect territory.
In the present invention, father's layer communication module adopts P89C591 and I
2C/ communication handshake circuit, data storage AT24C64 constitute I
2The direct access circuit of C realizes sharing with the valid data of sublayer CAN communication module.
Described CAN bridge 4 sublayer communication modules are in the sublayer of whole network, also are the root modules of this layer network simultaneously, and it receives the data of sublayer communication node according to filtering requirements; After the Data Receiving, judge whether to be uploaded to father's layer,, adopt direct access mechanism, be sent to CAN bridge 4 father's layer communication network as needs by controller.
Described CAN bridge 4 sublayer communication modules are carried out periodic refresh to each communication node of sublayer, according to the application IP addresses signal and the priority requirement of sublayer communication node, dynamically adjust node address; When the node damage occurring or losing phenomenon, reclaim node address, and redistribute.
The node address of described each sublayer communication node is according to the network configuration dynamic change, and carries out self check and send address request signal.
The address request signal that each sublayer communication node sends is with the priority requirement.
The present invention utilizes the CAN2.0 bus network, makes up large-scale hierarchical control tree network, to guarantee real-time, the reliability of catenet, reduces the arbitration territory simultaneously, avoids broadcast storm; In addition, propose in this large-scale hierarchical network, to realize the method for CAN communication contact plug and play.More than 2 realization, can make up non-maintaining to a certain extent large-scale, real-time, a reliable Communication Control network.Such network can be applicable in large scale industry control system (for example flow process enterprise) and the civilian system (for example building intelligent system).
The invention has the beneficial effects as follows: make up the method for large-scale stratiform network based on the CAN bus, whole network is divided into father's layer and sublayer (also can continue to expand to multilayer), can effectively dwindle the network arbitration territory, guarantee the real-time reliability of system; Simultaneously, the present invention propose a kind of in the stratiform network method of CAN communication contact plug and play, can conveniently build the stratiform network, realize that non-maintaining stratiform network expands immediately, can avoid the trouble of manual adjustment contact address, reduce the system maintenance cost greatly.
Description of drawings
Fig. 1 is a structured flowchart of the present invention.
Wherein, 1. root node, 2. father's layer, 3. sublayer, 4.CAN bridge.
Embodiment
The invention will be further described below in conjunction with accompanying drawing and embodiment.
Among Fig. 1, based on CAN bus network electric characteristic require≤110 and the requirement of contact, large-scale stratiform network is an one tree type structure, is referred to as the CAN tree.The root contact 1 of CAN tree is the master control end of stratiform network, plays the effect of the whole network of management, can safeguard the communication contact address information of whole system.The network topology of whole C AN tree is 2 layers of structure---father's layer 2 and sublayer 3 networks, every layer independently forms a plurality of arbitrations territory separately, interlayer is interconnected by CAN bridge 4,2 fens several network segment of father's layer wherein, each network segment is established a CAN bridge 4, each CAN bridge 4 connects a sublayer 3, and each sublayer 3 is divided into several network segments again, and connects a local application down.CAN tree by a CAN network interface card that is positioned at work station as initial, i.e. CAN tree root node 1, along the CAN bus through intermediate contact to each CAN communication contact as terminal point, forms a complete CAN and sets.
Connect by a CAN bridge 4 between father's layer 2 and the sublayer 3 with two CAN communication modules.As shown in Figure 1, CAN bridge 4 is made up of father's layer (upper strata) CAN communication module and sublayer (lower floor) CAN communication module, adopt direct access mechanism between two modules, finish uploading of data field and following the biography by the controller of CAN bridge 4, two CAN communication modules adopt the transmission of two filtering mechanism guarantee informations to be controlled in the useful effect territory.
As shown in Figure 1, CAN bridge 4 sublayer communication modules are its root modules with layer CAN communication contact (the local application).This communication module is not only finished communication function, has following function simultaneously: support PnP device, after in the scope of this root module control, having new CAN communication contact (new local application apparatus) to be connected into network, send address request signal from trend CAN bridge sublayer communication module after this CAN communication contact self check, wherein comprise the priority requirement.All contact default address numberings that newly are connected into network all can be made as the device numbering of forbidding when a system normally moves (for example FFFH).After CAN bridge 4 sublayer communication modules receive this request, in its address maintenance table, inquire about a contact numbering that is not assigned with, according to the priority requirement, send address to this CAN communication contact and determine signal, put this address number simultaneously for distributing.More than work finish after, CAN bridge 4 sublayer communication modules refresh the network address at official hour and safeguard the root contact; If new CAN communication contact priority facility requirement is the highest, need to revise the situation of other communication contact address, after also can judging, realize CAN bridge 4 sublayer communication modules.
CAN bridge 4 sublayer communication modules also have following function: regularly inquire about the sublayer CAN communication contact that it is controlled, lose (or damage) phenomenon if find the CAN contact, after continuing to attempt several times (for example 10 times), the address number that cancellation is lost, refresh address maintenance information, this address number can be proceeded to distribute.Network root contact equipment also has similar functions.
Based on practical application, equipment is divided into some network segments in the stratiform network, and each network segment contains some communication contacts, and its establishment strategy is: the contact address is divided into two sections: network segment numbering area and contact numbering area.Network segment numbering figure place and contact numbering figure place are set (for example network segment numbering is represented with 5 bits, and contact is numbered with 7 binary representations, and whole like this network can be divided into 32 network segments, and each network segment can comprise 110 following contacts at most) according to actual conditions.Wherein each network segment is provided with a CAN bridge 4.Be exemplified below:
Each branch in the CAN tree ground floor is called the network segment.Each network segment is represented its network segment coding with 5 bits, represents with NPID (NetWork Paragraph), can hold 32 network segments altogether.Rule in the practical application can be: 00000: distributing to the tree root contact in the CAN tree, is most important contact in the CAN tree, and name is called NPID0; 00001～11100: have 30 network segments, can require to distribute according to response; The whole network broadcast capability that last segment number 11111 can be distributed in the CAN tree uses, and reinstates during filtration, not as real network segment numbering.All contact address number in the ground floor are 0000000.The network segment address of all devices is identical in the second layer, and the address that can establish CAN bridge 4 sublayer communication modules is 0000001, and all the other communication contacts get final product according to the priority dynamic addressing.
For the characteristics of fully using the CAN bussing technique (reply in non-destructive bus arbitration and the frame, error detection, error notification), With priority, the contact address of using, the information such as attribute that are transmitted data, all in 29 bit identifiers, realize. Adopt net Network segmentation form, tree and the network hierarchy of realization CAN bus; Adopt the form of filtering, prevent non-broadcast data frame The whole network is propagated, and has improved the service efficiency of bus; When definition contact address, pay the utmost attention to the priority level of concrete application. Tool The design philosophy of body is: adopt expansion frame, two filtering mode. To 29 identifiers of expansion frame, carry out science according to application Definition; Utilize two filtering modes that the high position of identifier is filtered, a filter carries out the filtration of device address, another Filter judges whether it is broadcasting, utilizes two filter inclusive-OR operation characteristics, realizes specifying the communication of message. Standard frame Can be used as from now on expansion uses. Because standard frame has precedence over the expansion frame, can be used for emergency management and process.
Claims (4)
1, a kind of hierarchical control tree network of supporting plug and play based on the CAN bus, it comprises CAN bus tree network, it is characterized in that: described CAN bus network is divided into two-layer at least, form the hierarchical control tree network, its root node is at father's layer, be the master control end of this stratiform network, each layer network comprises a plurality of territories of independently arbitrating; Wherein, father's layer divides several network segments, and each network segment is established a CAN bridge, and each CAN bridge connects a sublayer, and each sublayer can be divided into several network segments again, and connects local application down; The described network segment is made up of some network communication nodes, and substation of the common composition of these communication nodes is to realize the arbitration territory control of communication node in the network segment; The CAN bridge that each network segment is provided with is as the root node of this network segment, and each network segment is the distribution network segment number all, and all communication nodes in the network segment have identical segment number; The address number of communication node divides two parts establishment, and promptly network segment numbering area and node serial number district all represent with binary digit; The number of bits in network segment numbering area and node serial number district can be according to the practical application setting, and the number of communication node should be less than 110 in each network segment.
2, the hierarchical control tree network based on the CAN bus of support plug and play according to claim 1, it is characterized in that: described CAN bridge is made up of father's layer CAN communication module and sublayer CAN communication module, adopt direct access mechanism between them, not interchangeable between the two use, its inside is finished uploading of data by the controller of CAN bridge and is passed down, and adopts two filtering mechanism that the transmission of information is controlled in the useful effect territory; Described father's layer CAN communication module adopts P89C591 and I
2C/ communication handshake circuit, data storage AT24C64 constitute I
2The direct access circuit of C realizes sharing with the valid data of sublayer CAN communication module; Described sublayer CAN communication module is in the sublayer of whole network, also is the root module of this layer network simultaneously, and it receives the data of sublayer communication node according to filtering requirements; After the Data Receiving, judge whether to be uploaded to father's layer,, adopt direct access mechanism, be sent to father's layer CAN communication module as needs by controller; Sublayer CAN communication module is also regularly inquired about, its sublayer CAN communication node of being controlled of periodic refresh, according to the application IP addresses signal and the priority requirement of sublayer communication node, dynamically adjusts node address; If find CAN node loss or damage, after continuing to attempt several times, the address number that cancellation is lost, the refresh address maintenance information, this address number can be proceeded to distribute.
3, the hierarchical control tree network based on the CAN bus of support plug and play according to claim 2 is characterized in that: the node address of described each sublayer communication node is according to the network configuration dynamic change, and carries out self check and send address request signal.
4, the hierarchical control tree network based on the CAN bus of support plug and play according to claim 2 is characterized in that: the address request signal that each sublayer communication node sends is with the priority requirement.
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Families Citing this family (7)
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| CN102722146B (en) * | 2012-05-24 | 2013-12-18 | 哈尔滨工程大学 | Distributed system control structure with failure protection function, and failure protection method |
| CN103795587B (en) * | 2012-11-02 | 2018-02-23 | 北汽福田汽车股份有限公司 | A kind of gateway route test method and device |
| CN103714035B (en) * | 2013-12-31 | 2015-07-08 | 北京控制工程研究所 | A Multilayer Software Bus Architecture for Integrated Environment |
| CN103941700B (en) * | 2014-04-28 | 2019-04-30 | 张晓华 | A kind of automation process safety monitoring system based on Modbus agreement |
| CN104597809A (en) * | 2014-12-12 | 2015-05-06 | 徐州重型机械有限公司 | Tree-like CAN (controller area network) bus communication control network for high-altitude fire truck |
| CN108540306B (en) * | 2018-02-28 | 2021-05-25 | 博尔联科（厦门）智能技术有限公司 | A kind of communication control method of network node |
| CN116319148B (en) * | 2023-02-16 | 2024-09-17 | 上汽通用五菱汽车股份有限公司 | UWB intelligent communication interface method and system |
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