CN106292385A - The hot redundancy control system of a kind of dual CAN bus and method - Google Patents
The hot redundancy control system of a kind of dual CAN bus and method Download PDFInfo
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- CN106292385A CN106292385A CN201510240105.9A CN201510240105A CN106292385A CN 106292385 A CN106292385 A CN 106292385A CN 201510240105 A CN201510240105 A CN 201510240105A CN 106292385 A CN106292385 A CN 106292385A
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- control unit
- bus
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0421—Multiprocessor system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25032—CAN, canbus, controller area network bus
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Hardware Redundancy (AREA)
Abstract
The present invention discloses a kind of hot redundancy control system and the method for dual CAN bus, this system includes: main control unit, instruction for system sends control data to specify from control unit by arbitrary bus in two CAN, and receive response data and judge whether receive this response data in the maximum response time of agreement, if then continuing the instruction according to system to send control data to specify from control unit by arbitrary bus in two buses, if otherwise controlling data to what this was specified from control unit transmission by another bus in two buses；From control unit, for receiving the control data of main control unit transmission and sending response data by sending the bus controlling data identical with main control unit to main control unit.Technical scheme of the present invention, it is achieved that the hot redundancy of bus based on dual CAN bus control system, increases substantially the reliability of System control bus.
Description
Technical field
The present invention relates to the reliability design of CAN (Controller Area Network) bus.More specifically
Ground, relates to hot redundancy control system and the method for a kind of dual CAN bus.
Background technology
At present, along with application and the development of bussing technique, CAN have become as the domestic test of missile with
Commonly used a kind of of the industry such as control system, military control system controls bus.For total based on CAN
The industry of line, military control system, the reliability of CAN directly influences the reliability of whole system
Index.
CAN for standard controls bus, and its reliability is largely determined by transmission line, interface electricity
The design of hardware and software levels such as road, control circuit and control program.On the premise of ripe design of hardware and software,
Its reliability is difficult to have and improves greatly.
Accordingly, it is desirable to provide the hot redundancy control system of a kind of dual CAN bus and method.
Summary of the invention
It is an object of the invention to provide a kind of hot redundancy control system and the method for dual CAN bus, solve
Based on the judgement that dual CAN bus data interaction is abnormal, the real-time switching control problem of active and standby bus, it is achieved
The hot redundancy of bus based on dual CAN bus control system, increases substantially the reliability of System control bus,
Solve the integrity problem of control system data interaction industrial, military.
For reaching above-mentioned purpose, the present invention uses following technical proposals:
The hot redundancy control system of a kind of dual CAN bus, this system includes: main control unit, at least
Individual from control unit, the first CAN and the second CAN；
Main control unit, is used for the instruction of the hot redundancy control system according to dual CAN bus by first
In CAN or the second CAN, arbitrary bus sends control data to specify from control unit,
And receive by the response data sent from control unit specified, and judge the maximum response time in agreement
The most whether receive this response data, if then continuing the finger of the hot redundancy control system according to dual CAN bus
Make and being sent from control unit to specify by arbitrary bus in the first CAN or the second CAN
Control data, if otherwise by another bus in the first CAN or the second CAN to this appointment
From control unit send control data；
From control unit, for receive control data that main control unit sends and by with main control unit
Send the bus controlling data identical and send response data to main control unit.
Preferably, main control unit includes:
Control data transmission blocks and response data receives and judge module；
Controlling data transmission blocks, the instruction for the hot redundancy control system according to dual CAN bus is passed through
In first CAN or the second CAN, arbitrary bus sends control number to specify from control unit
According to, or according to response data receive with judge module resend instruction by the first CAN or the
In two CAN, another bus sends control data to what this was specified from control unit；
Response data receives and judge module, for receiving by the number of responses sent from control unit specified
According to, and judge whether receive response data in the maximum response time of agreement,
The most not to controlling data transmission blocks transmission instruction, control data transmission blocks and continue basis
The instruction of the hot redundancy control system of dual CAN bus is by the first CAN or the second CAN
Arbitrary bus controls data to sending from control unit of specifying,
Instruction is resend if it is not, then send to control data transmission blocks.
Preferably, include from control unit:
Control data reception module and response data sending module；
Control data reception module, for receiving the control data that main control unit sends；
Response data sending module, for control data reception module receive control data time by with
Main control unit sends the bus controlling data identical and sends response data to main control unit.
Preferably, the maximum response time of agreement is 1 to 50ms.
The hot redundancy control method of the dual CAN bus of a kind of system mentioned above, the method includes walking as follows
Rapid:
S1, utilize main control unit according to the instruction of the hot redundancy control system of dual CAN bus by first
In CAN or the second CAN, arbitrary bus sends control data to specify from control unit；
S2, utilization receive the control data of main control unit transmission from control unit and utilize from control unit
When receiving control data by sending the identical bus of control data with main control unit to main control list
Unit sends response data；
S3, utilize main control unit to receive by the response data sent from control unit specified, and judge
Whether response data is received in the maximum response time of agreement,
The most then proceed to step S1,
If it is not, then utilize main control unit by total with the first CAN in step S1 or the 2nd CAN
Another bus that in line, arbitrary bus is different controls data to sending from control unit of specifying, and proceeds to step
S2。
Preferably, in step S3, the maximum response time of agreement is 1 to 50ms.
Beneficial effects of the present invention is as follows:
Technical scheme of the present invention, solve can based on the abnormal judgement of dual CAN bus data interaction, main,
The standby real-time switching control problem of bus, it is achieved that the hot redundancy of bus based on dual CAN bus control system,
Increase substantially the reliability of System control bus, solve industry, military control system data interaction can
By sex chromosome mosaicism.
Accompanying drawing explanation
Below in conjunction with the accompanying drawings the detailed description of the invention of the present invention is described in further detail.
Fig. 1 illustrates the hot redundancy control system schematic diagram of dual CAN bus.
Fig. 2 illustrates the hot redundancy control method flow chart of dual CAN bus.
Detailed description of the invention
In order to be illustrated more clearly that the present invention, below in conjunction with preferred embodiments and drawings, the present invention is done into one
The explanation of step.Parts similar in accompanying drawing are indicated with identical reference.Those skilled in the art
Should be appreciated that following specifically described content is illustrative and be not restrictive, should not limit with this
Protection scope of the present invention.
As it is shown in figure 1, the data interaction of the hot redundancy control system of the dual CAN bus of the present embodiment offer
Using master slave mode, this system includes: main control unit, at least one is from control unit, a CAN
Bus and the second CAN；
Double CAN control the main control unit of interface and connecting respectively from control unit of double CAN control interface
Access the first CAN and the second CAN, the first CAN and the second CAN mutual
Independent, backup each other；
Main control unit, is used for the instruction of the hot redundancy control system according to dual CAN bus by first
In CAN or the second CAN, arbitrary bus sends control data to specify from control unit,
And receive by the response data sent from control unit specified, and judge the maximum response time in agreement
The most whether receive this response data, if then continuing the finger of the hot redundancy control system according to dual CAN bus
Make and being sent from control unit to specify by arbitrary bus in the first CAN or the second CAN
Control data, if otherwise by another bus in the first CAN or the second CAN to this appointment
From control unit send control data, the selection of the first CAN or the second CAN is by master control
Unit processed controls, and in the hot redundancy control system of dual CAN bus, main control unit is unique；
Main control unit includes:
Control data transmission blocks and response data receives and judge module；
Controlling data transmission blocks, the instruction for the hot redundancy control system according to dual CAN bus is passed through
In first CAN or the second CAN, arbitrary bus sends control number to specify from control unit
According to, or according to response data receive with judge module resend instruction by the first CAN or the
In two CAN, another bus sends control data to what this was specified from control unit；
Response data receives and judge module, for receiving by the number of responses sent from control unit specified
According to, and judge arranged from control unit transmission control data to specify by control data transmission blocks
Maximum response time in whether receive this response data,
If receiving by the response data sent from control unit specified in maximum response time, the most not
Send instruction to controlling data transmission blocks, control data transmission blocks and continue the heat according to dual CAN bus
The instruction of redundancy control system by arbitrary bus in the first CAN or the second CAN to appointment
From control unit send control data,
If failing to receive the response data sent from control unit by specifying in maximum response time,
Then sending to control data transmission blocks and resend instruction, the maximum response time wherein arranged is from control
Data transmission blocks processed starts timing to specify from control unit transmission control data, and the maximum of agreement rings
The hot redundancy control system of the restriction scope foundation dual CAN bus between the Ying Shi real-time to controlling bus
Demand is set, and is set as 1～50ms in the present embodiment；
From control unit, receive and respond, for passive, the data interaction requirement that main control unit sends, from
The bus that control unit response main control unit is used must send data message with main control unit and be made
Bus consistent, in the hot redundancy control system of dual CAN bus at least one from control unit, from
Control unit can only receive control data that main control unit sends and respond；
Include from control unit:
Control data reception module and response data sending module；
Control data reception module, for receiving the control data that main control unit sends；
Response data sending module, for control data reception module receive control data time by with
Main control unit sends the bus controlling data identical and sends response data to main control unit.
As in figure 2 it is shown, the hot redundancy control method of the dual CAN bus of the present embodiment offer includes walking as follows
Rapid:
Step1, to utilize main control unit to be initiated by the first CAN and the second CAN respectively right
All data exchange channel inspections from control unit, check normal rear employing the first CAN or second
In CAN, arbitrary bus carries out data interaction；
Step2, utilize the control data transmission blocks hot redundancy according to dual CAN bus of main control unit
Control system instruction by arbitrary bus in the first CAN or the second CAN to specify from
Control unit sends and controls data；
Step3, utilization receive, from the data reception module that controls of control unit, the control that main control unit sends
Data and utilize from the response data sending module of control unit control data reception module receive control
Sent to main control unit by the bus identical with controlling data transmission blocks transmission control data during data
Response data；
Step4, utilize main control unit response data receive with judge module receive by specify from control
Unit send response data, and judge by the control data transmission blocks of main control unit to specify from
Control unit sends and controls data play whether receive this response data in the maximum response time of agreement,
The most then proceed to step Step2,
If it is not, then utilize the response data of main control unit to receive send mould with judge module to controlling data
Block sends and resends instruction；
Step5, the control data transmission blocks of main control unit is utilized to receive according to response data and judge mould
Resending of block instructs by appointing in the first CAN in step Step2 or the second CAN
Another bus that one bus is different sends control data to what this was specified from control unit, proceeds to step
Step3。
Wherein
In step Step4 agreement maximum response time be from control data transmission blocks to specify from control
Unit processed sends control data and starts timing, and the restriction scope of the maximum response time of agreement is according to double CAN
The real-time demand controlling bus is set by the hot redundancy control system of bus, sets in the present embodiment
It is 1～50ms.
Obviously, the above embodiment of the present invention is only for clearly demonstrating example of the present invention, and
It is not the restriction to embodiments of the present invention, for those of ordinary skill in the field,
Can also make other changes in different forms on the basis of described above, here cannot be to all
Embodiment give exhaustive, every belong to the obvious change that technical scheme extended out
Change or change the row still in protection scope of the present invention.
Claims (6)
1. the hot redundancy control system of a dual CAN bus, it is characterised in that this system includes: main
Control unit, at least one is from control unit, the first CAN and the second CAN；
Main control unit, is used for the instruction of the hot redundancy control system according to dual CAN bus by first
In CAN or the second CAN, arbitrary bus sends control data to specify from control unit,
And receive by the response data sent from control unit specified, and judge the maximum response time in agreement
The most whether receive described response data, if then continuing the hot redundancy control system according to dual CAN bus
Instruction is sent out from control unit to specify by arbitrary bus in the first CAN or the second CAN
Send control data, if otherwise by another bus in the first CAN or the second CAN to described
Sending from control unit of specifying controls data；
From control unit, for receive control data that main control unit sends and by with main control unit
Send the bus controlling data identical and send response data to main control unit.
The hot redundancy control system of dual CAN bus the most according to claim 1, it is characterised in that
Described main control unit includes:
Control data transmission blocks and response data receives and judge module；
Controlling data transmission blocks, the instruction for the hot redundancy control system according to dual CAN bus is passed through
In first CAN or the second CAN, arbitrary bus sends control number to specify from control unit
According to, or according to response data receive with judge module resend instruction by the first CAN or the
In two CAN, another bus sends control data to what this was specified from control unit；
Response data receives and judge module, for receiving by the number of responses sent from control unit specified
According to, and judge whether receive described response data in the maximum response time of agreement,
The most not to controlling data transmission blocks transmission instruction, control data transmission blocks and continue basis
The instruction of the hot redundancy control system of dual CAN bus is by the first CAN or the second CAN
Arbitrary bus controls data to sending from control unit of specifying,
Instruction is resend if it is not, then send to control data transmission blocks.
The hot redundancy control system of dual CAN bus the most according to claim 1, it is characterised in that
Described include from control unit:
Control data reception module and response data sending module；
Control data reception module, for receiving the described control data that main control unit sends；
Response data sending module, for control data reception module receive control data time by with
Main control unit sends the bus controlling data identical and sends response data to main control unit.
The hot redundancy control system of dual CAN bus the most according to claim 1, it is characterised in that
The maximum response time of described agreement is 1 to 50ms.
5. a hot redundancy control method for the dual CAN bus of system as claimed in claim 1, it is special
Levying and be, the method comprises the steps:
S1, utilize main control unit according to the instruction of the hot redundancy control system of dual CAN bus by first
In CAN or the second CAN, arbitrary bus sends control data to specify from control unit；
S2, utilization receive the control data of main control unit transmission from control unit and utilize from control unit
When receiving control data by sending the identical bus of control data with main control unit to main control list
Unit sends response data；
S3, utilize main control unit to receive by the response data sent from control unit specified, and judge
Described response data whether is received in the maximum response time of agreement,
The most then proceed to step S1,
If it is not, then utilize main control unit by total with the first CAN in step S1 or the 2nd CAN
Another bus that in line, arbitrary bus is different to described specify from control unit send control data, proceed to
Step S2.
The hot redundancy control method of dual CAN bus the most according to claim 5, it is characterised in that
In described step S3, the maximum response time of agreement is 1 to 50ms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510240105.9A CN106292385A (en) | 2015-05-13 | 2015-05-13 | The hot redundancy control system of a kind of dual CAN bus and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510240105.9A CN106292385A (en) | 2015-05-13 | 2015-05-13 | The hot redundancy control system of a kind of dual CAN bus and method |
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| CN201510240105.9A Pending CN106292385A (en) | 2015-05-13 | 2015-05-13 | The hot redundancy control system of a kind of dual CAN bus and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110718847A (en) * | 2019-10-15 | 2020-01-21 | 武汉锐科光纤激光技术股份有限公司 | Multi-module optical fiber laser with function of monitoring abnormity of optical module in real time |
| US12021346B2 (en) | 2019-10-15 | 2024-06-25 | Wuhan Raycus Fiber Laser Technologies Co., Ltd. | Multi-module fiber laser capable of monitoring abnormalities of optical modules in real time |
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| JP7114753B2 (en) | 2019-10-15 | 2022-08-08 | ウーハン レイカス ファイバ レーザ テクノロジー カンパニー リミテッド | Multi-module optical fiber laser with real-time monitoring of optical module anomalies |
| US12021346B2 (en) | 2019-10-15 | 2024-06-25 | Wuhan Raycus Fiber Laser Technologies Co., Ltd. | Multi-module fiber laser capable of monitoring abnormalities of optical modules in real time |
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