CN-122027394-A - Annular chain type synchronous data updating method and system

CN122027394ACN 122027394 ACN122027394 ACN 122027394ACN-122027394-A

Abstract

The application provides a method and a system for updating annular chain type synchronous data, which are characterized in that a data frame is transmitted in a unidirectional circulation manner in an annular link, each node only processes one exclusive data field, so that 'in-situ coverage and relay transmission' is realized, a double-ring redundancy fault tolerance mechanism is arranged, path switching is carried out when node equipment fails, the length of the data frame is not required to be changed when a newly added node is inserted, synchronous updating of all-link data can be completed in a single circulation through fixed transmission period and strict time sequence control, communication load is obviously reduced, real-time performance of a system is improved, each node equipment only needs to transmit data required by a next-hop node, multi-node data superposition can be avoided, and invalid data transmission is reduced.

Inventors

LAI YONGZHEN
Zhuo Shaofeng
OU XINMU
FU CHUNQI
Tao Yanjie
XU ZHANGHE

Assignees

福建富昌维控电子科技股份有限公司

Dates

Publication Date: 20260512
Application Date: 20251224

Claims (10)

1. A method of annular chain type synchronization data updating, comprising: S1, a master node device generates an initial data frame and sends the initial data frame to a next slave node device, wherein the data frame comprises a general header field, a proprietary data field and a check field, and the length of the data frame is always unchanged in the transmission process; s2, the slave node equipment receives the data frame, extracts the exclusive data of the slave node equipment from the exclusive data field and sends the exclusive data of the slave node equipment to a local controller; S3, judging whether the current node is an end feedback node by the slave node equipment, if the current node is not the end feedback node, acquiring control data of the next slave node equipment through a preset instruction library, and writing the control data into an exclusive data field of the data frame; and S4, the slave node equipment inquires a routing mapping table of the universal header field of the data frame, forwards the data frame to the next routing node equipment, and the next routing node equipment repeatedly executes the steps S2 and S3 until the data frame is sent to the tail end feedback node, the tail end feedback node sends the data frame with the local feedback data to the master node equipment, and the master node equipment extracts the local feedback data, completes a round of data synchronization and waits for an initiation instruction to generate the data frame of the next period.
2. The method according to claim 1, wherein in step S2, the slave node device parses a common header field in the data frame after receiving the data frame, calculates a check value of the entire data frame and compares the check value with the check field in the data frame, and if the check fails, the slave node device discards the data frame, records an event to a local error log and waits for processing a data frame of a next period.
3. The method of claim 1, wherein the new data frame is obtained by recalculating the check value of the data frame after updating the proprietary data field and writing the new check value into the check field.
4. The method of claim 1, wherein the dedicated data field is used to store control data sent by the node device to the next node device, wherein the common header field is used to store a transmission period identifier, a frame sequence number, and a routing mapping table, and wherein the check field is used to store a check value of a data frame.
5. The method of claim 1, wherein when all node devices are operating normally, all data frames are transmitted on the primary ring, and the backup ring is in a blocked state; The main ring and the standby ring are logic rings with opposite directions on physical topology.
6. The method of claim 1, wherein if the current node device finds that the transmission of the data frame is overtime or the link detection message has a next hop failure, the node devices at both ends of the failed node immediately activate the backup ring port and broadcast a topology change notification to the whole network, and the master node device and all the slave node devices transmit the subsequent data frames through the new failure-free topology path.
7. The method of claim 1, wherein all node devices perform timing synchronization of full link traffic based on the transmission period identification of the generic header and a preset fixed communication period.
8. The method of claim 1, wherein when there is an additional node device inserted into the link path, updating a routing mapping table in the generic header of the data frame or adjusting the semantics of the proprietary data field, keeping the length of the data frame unchanged.
9. A system for annular chain type synchronization data updating, comprising: The initial module is used for generating an initial data frame by the master node equipment and transmitting the initial data frame to the next slave node equipment, wherein the data frame comprises a general header field, a proprietary data field and a check field, and the length of the data frame is always unchanged in the transmission process; The receiving module is used for receiving the data frame from the node equipment, extracting the exclusive data of the node equipment from the exclusive data field and sending the exclusive data of the node equipment to the local controller; The in-situ coverage module is used for judging whether the current node is an end feedback node or not by the slave node equipment, acquiring control data of the next slave node equipment through a preset instruction library if the current node is not the end feedback node, and writing the control data into an exclusive data field of the data frame; And the feedback module is used for inquiring a routing mapping table of the universal header field of the data frame by the slave node equipment, forwarding the data frame to the next routing node equipment, and repeatedly executing the receiving module and the in-situ coverage module by the next routing node equipment until the data frame is sent to the tail end feedback node, wherein the tail end feedback node sends the data frame with the local feedback data to the master node equipment, and the master node equipment extracts the local feedback data, completes a round of data synchronization and waits for an initiation instruction to generate the data frame of the next period.
10. A computer program product having one or more computer programs thereon, which, when executed by a computer processor, implements the method of any of claims 1-8.

Description

Annular chain type synchronous data updating method and system Technical Field The application relates to the technical field of industrial real-time communication and distributed control systems, in particular to a method and a system for updating annular chain type synchronous data. Background In the current industrial control system, especially in early industrial ethernet protocol and partial robot joint communication schemes, a data transmission mode based on a bus (such as EtherCAT) or a master-slave polling architecture is mostly adopted, and in a ring link or a multi-hop link (such as equipment a→b→d→e→a), the conventional protocol usually adopts a mechanism of "full packet broadcasting" or "step-by-step forwarding of complete frames", that is, each node receives a complete data frame containing all downstream node data, only extracts a required portion thereof, and the rest data continues to be transmitted. The communication scheme in the prior art is large in data redundancy, fixed positions are pre-allocated for each node in a data frame, each data frame needs to carry data fields of all subsequent nodes, the length of the data frame is in direct proportion to the number of the nodes, so that the effective load is low in proportion to the number of the nodes, the bandwidth utilization rate is low, secondly, due to superposition of processing delays of all nodes, time delay of receiving instructions by end nodes is obvious, synchronization is poor, control requirements of microsecond-level coordination are difficult to meet, furthermore, if a new node needs to reconstruct the whole data frame structure, the flexibility of a protocol is insufficient, and the system expansibility is limited, and besides, the transmission of redundant data can increase the power consumption of a communication module, so that the use of battery-powered equipment (such as a mobile mechanical arm) is not facilitated. In order to solve the above problems, the present application provides a method and system for updating ring-shaped chain type synchronous data. Disclosure of Invention The present application proposes the following technical solution to one or more of the above technical drawbacks of the prior art. Based on the first aspect of the application, a method for updating annular chain type synchronous data is provided, which comprises the following steps: S1, a master node device generates an initial data frame and sends the initial data frame to a next slave node device, wherein the data frame comprises a general header field, a proprietary data field and a check field, and the length of the data frame is always unchanged in the transmission process; s2, the slave node equipment receives the data frame, extracts the exclusive data of the slave node equipment from the exclusive data field and sends the exclusive data of the slave node equipment to a local controller; S3, judging whether the current node is an end feedback node by the slave node equipment, if the current node is not the end feedback node, acquiring control data of the next slave node equipment through a preset instruction library, and writing the control data into an exclusive data field of the data frame; and S4, the slave node equipment inquires a routing mapping table of the universal header field of the data frame, forwards the data frame to the next routing node equipment, and the next routing node equipment repeatedly executes the steps S2 and S3 until the data frame is sent to the tail end feedback node, the tail end feedback node sends the data frame with the local feedback data to the master node equipment, and the master node equipment extracts the local feedback data, completes a round of data synchronization and waits for an initiation instruction to generate the data frame of the next period. The application can obviously reduce the data redundancy, thoroughly eliminates the structural redundancy generated by bearing irrelevant node data, realizes microsecond full-link synchronization, and has good expansibility and practicability. Further, in step S2, the slave node device analyzes the common header field in the data frame after receiving the data frame, calculates the check value of the entire data frame and compares the check value with the check field in the data frame, if the check fails, the slave node device discards the data frame, records the event to the local error log, and waits for processing the data frame of the next period. The system works periodically, and the node can directly wait for the next period to process a new data frame when encountering faults, so that the design ensures the certainty and the instantaneity of the system and accords with the characteristics of an industrial control scene. Furthermore, after updating the exclusive data field, the check value of the data frame is recalculated, and the new check value is written into the check field to obtain a new data frame. The step ensures the consistency