嵌入式网络控制器的研究与设计
摘要
随着计算机技术、通信技术、集成电路技术和控制技术的发展,传统的工业控制领域正经历着一场前所未有的变革,开始向网络化方向发展。但许多传统的工业设备基于ProfiBus、FF、CAN、Lon Work等现场总线的通信方式构成的网络控制系统,它们一方面无法直接与以太网相连,另一方面,它们采用的协议的标准不统一,给各个厂商设备的一致性和互操作性造成了很大的障碍。因此,当前的工业控制技术有了新的发展方向即工业以太网技术。而目前许多的厂商转而采用的IPv4工业以太网技术应用工业控制,但它存在实时性问题。本文将从基于IPv4工业以太网的实时性的发展需求出发,研究了下一代网络协议——IPv6协议,将其应用于网络控制系统中,利用报头中的流类别字段来部分的提高系统的实时性,减少端到端的时延。
本文首先分析了网络控制系统的发展历程,指出目前的IPv4工业以太网嵌入式网络控制系统中存在的网络地址的枯竭、网络信息传输时延、数据包丢失和数据的时序乱序等问题。接着,从网络通信的角度出发分析了全双工交换式以太网、虚拟局域网、Qos服务质量和IPv6技术四种工业以太网实时性的解决方案,并对本中使用的实时性改进方案进行理论上的分析。接着,分析和研究了IPv6协议栈,并通过利用在IPv6报头的流标签字段设置优先级,来保证所设计的嵌入式IPv6协议栈的实时性,并将其移植了到硬件方面选用以LPC2210控制器为核心,并配有RTL8019AS以太网接口,软件方面选用μC/OS-II操作系统为核心的开发环境中。最后,对基于IPv6的网络控制系统的性能进行分析,通过组建实验室中的支持双协议栈的网络环境,通过改变网络中的流量干扰器的发包情况,来控制网络中的时延,验证在不同负载的网络环境下,两种不同通信协议方式在控制系统中的差别。实验表明采用改进后的支持优先级IPv6协议栈进行通信在实时性控制和数据丢包控制方面比采用标准的IPv4协议栈好,进而表现出来的系统的动态性能和稳态性能也将好于IPv4。
目前,工业以太网统一标准没有被制定出来,同时考虑到网络技术的发展IPv6纵将会代替IPv4,可以以IPv6协议为基础,结合工业以太网的实时性需求,通过更改某些未统一标准定义的字段,来保证网络的实时性,制定一种基于IPv6的工业以太网的统一标准应用于网络控制中。本文只是进行了一部分的尝试,为下一步的网络控制系统的发展和研究提供一种方向。
With the development of computer, as well as communication and control technology, the traditional industry control field is going through an unprecedented change, developing towards network. But many traditional industry equipments constitute lightweight networks based on correspondence connection such as the ProfiBus、FF、CAN、Lon Work. On the one hand, those equipments cannot connect with the Internet/Intranet directly. On the other hand, the agreement standard is not unified, which created a significant obstacle for various manufacturers. Therefore, the current industrial control technology had a new development direction of industry Ethernet technology. But at present many manufacturers adopted IPv4 industry Ethernet technology application industrial control, but exists real-time problem. In order to meet the future industry control needs, this paper has researched the next generation network protocol——IPv6 protocol, and applies it in the network control system to partly enhance real-time of system and reduce the end-to-end delay.
First,this paper analyzed the development process of network control systems, pointed out some flaws in Industrial Ethernet of IPv4, such as short of network address, network transmission retards, data packet loss and chaotic. Then from the perspective of network communication gives four ways to improve the real-time of network control systems. They are the full-duplex switched Ethernet, VLAN, Qos service quality and the IPv6 technology. Then, from theory point of view, analysis the real-time strategy which used in this paper. In this paper, on hardware side, selected LPC2210 controller and is equipped with RTL8019AS Ethernet interface. On software side selectedμC / OS-II operating system. Then, design of embedded IPv6 protocol stack and ported to the above platform. Finally, the paper analysis the performance of network control system based on IPv6. Based on setting up laboratory environment to support dual-stack network, throght change the jammer's bidding to control the network delay, this paper verified the difference between two different communication protocol ways in control system.
Experiments show that use of the improved IPv6 protocol stacks, which support for priority communicate in control system is better than the standard IPv4 protocol stack, in the field of real-time and data packet. At the same time demonstrated the system's dynamic performance and steady-state performance will be better than the IPv4 .
At present, the industry Ethernet unified standards have not been worked out, taking into account the longitudinal development of Internet technology IPv6 will replace IPv4, at present the IPv6 protocol some standards has not been formally identified, we can use this feature and conjunction with the need of industrial Ethernet, change some head label of IPv6 in order to ensure the real-time of Ethernet, develop an uniform standards based on IPv6 for industrial Ethernet networks control. This article is part of the attempts carried out for the next stage of the network control system to provide a direction for development and research.
本文首先分析了网络控制系统的发展历程,指出目前的IPv4工业以太网嵌入式网络控制系统中存在的网络地址的枯竭、网络信息传输时延、数据包丢失和数据的时序乱序等问题。接着,从网络通信的角度出发分析了全双工交换式以太网、虚拟局域网、Qos服务质量和IPv6技术四种工业以太网实时性的解决方案,并对本中使用的实时性改进方案进行理论上的分析。接着,分析和研究了IPv6协议栈,并通过利用在IPv6报头的流标签字段设置优先级,来保证所设计的嵌入式IPv6协议栈的实时性,并将其移植了到硬件方面选用以LPC2210控制器为核心,并配有RTL8019AS以太网接口,软件方面选用μC/OS-II操作系统为核心的开发环境中。最后,对基于IPv6的网络控制系统的性能进行分析,通过组建实验室中的支持双协议栈的网络环境,通过改变网络中的流量干扰器的发包情况,来控制网络中的时延,验证在不同负载的网络环境下,两种不同通信协议方式在控制系统中的差别。实验表明采用改进后的支持优先级IPv6协议栈进行通信在实时性控制和数据丢包控制方面比采用标准的IPv4协议栈好,进而表现出来的系统的动态性能和稳态性能也将好于IPv4。
目前,工业以太网统一标准没有被制定出来,同时考虑到网络技术的发展IPv6纵将会代替IPv4,可以以IPv6协议为基础,结合工业以太网的实时性需求,通过更改某些未统一标准定义的字段,来保证网络的实时性,制定一种基于IPv6的工业以太网的统一标准应用于网络控制中。本文只是进行了一部分的尝试,为下一步的网络控制系统的发展和研究提供一种方向。
With the development of computer, as well as communication and control technology, the traditional industry control field is going through an unprecedented change, developing towards network. But many traditional industry equipments constitute lightweight networks based on correspondence connection such as the ProfiBus、FF、CAN、Lon Work. On the one hand, those equipments cannot connect with the Internet/Intranet directly. On the other hand, the agreement standard is not unified, which created a significant obstacle for various manufacturers. Therefore, the current industrial control technology had a new development direction of industry Ethernet technology. But at present many manufacturers adopted IPv4 industry Ethernet technology application industrial control, but exists real-time problem. In order to meet the future industry control needs, this paper has researched the next generation network protocol——IPv6 protocol, and applies it in the network control system to partly enhance real-time of system and reduce the end-to-end delay.
First,this paper analyzed the development process of network control systems, pointed out some flaws in Industrial Ethernet of IPv4, such as short of network address, network transmission retards, data packet loss and chaotic. Then from the perspective of network communication gives four ways to improve the real-time of network control systems. They are the full-duplex switched Ethernet, VLAN, Qos service quality and the IPv6 technology. Then, from theory point of view, analysis the real-time strategy which used in this paper. In this paper, on hardware side, selected LPC2210 controller and is equipped with RTL8019AS Ethernet interface. On software side selectedμC / OS-II operating system. Then, design of embedded IPv6 protocol stack and ported to the above platform. Finally, the paper analysis the performance of network control system based on IPv6. Based on setting up laboratory environment to support dual-stack network, throght change the jammer's bidding to control the network delay, this paper verified the difference between two different communication protocol ways in control system.
Experiments show that use of the improved IPv6 protocol stacks, which support for priority communicate in control system is better than the standard IPv4 protocol stack, in the field of real-time and data packet. At the same time demonstrated the system's dynamic performance and steady-state performance will be better than the IPv4 .
At present, the industry Ethernet unified standards have not been worked out, taking into account the longitudinal development of Internet technology IPv6 will replace IPv4, at present the IPv6 protocol some standards has not been formally identified, we can use this feature and conjunction with the need of industrial Ethernet, change some head label of IPv6 in order to ensure the real-time of Ethernet, develop an uniform standards based on IPv6 for industrial Ethernet networks control. This article is part of the attempts carried out for the next stage of the network control system to provide a direction for development and research.
引文
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[13]刘丽娜.嵌入式系统综述[J].科技创新导报,2009,11:22.
[14] Mo-Yuen Chow. Newtork-Based Control Systems: A Tutorial, 2001,1593-1602.
[15] WeiZhang, Michael S. Barnicky, Stephen M.Philips.Stability of Networked Control Systems[J].IEEE Contorl Systems Magazine,2001,84-99.
[16] J.Nilsson. Real-time Conrtol Systems with Delays,PhD Dissertation,DePt.Automatic Control,Lund Institute of Technology,Lund,Sweden,1998.
[17] G.C.Walsh,H.Ye and L,Bushnell.Stability Analysis of Networked Control Systems,Proc.of ACC,San Diego,CA,June 1999,2876-2880.
[18] P.Otanez, J.Parrott, J.Moyne, et al. The implications of Ethernet as a Control Network [C]. Global Powertrain Conference, 2002(8):677-686.
[19] Feng-Lilian,James Moyne,Dawn Tilbury.Network Design Consign for Distribute Control System[J].IEEE transactions on control system technology.2002,10(2):297-306.
[20]江华丽,王平.网络化控制的嵌入式研究[J].电子测量技术,2009,32(5):120-123.
[21] S.KWeon, K.G. Shin. Statistical real-time communication over Ethernet for rnanufacturing automation systems [C].Real-Time Technology and Applications Symposium, 1999. Proceedings of the Fifth IEEE, 1999, Page(s):192-202.
[22]康葆荣.工业以太网实时性问题及解决方案[J].计算机开发与应用,2006(07):38-40.
[23]张军.工业以太网实时性解决方案[J].自动化与仪器仪表,2006(03):l-3,16.
[24] W Zhang . Stabability Analysis of Networked Control Systems[D ]. CaseWestern Reserve University, 2001.
[25] Minyi Huang, Subhrakanti Dey.Stability of Kalman filtering with Markovian packet losses [ J ]. Automatica, 161-167.
[26]宰守刚,王智,孙优贤等.交换机在工业以太网中的应用探讨[J].化工自动化及仪表,2003,30 (1):48-51.
[27]王啸,吴也文.虚拟局域网技术.2002(20):16-18.
[28]王硕,周听宇.VLAN技术在以太网中的实现.Applications of the Computer System.2001,7:20-22.
[29]邬春学,郭贤辉.远程NCS调度策略研究[J].计算机科学,2009,5.36(5):56-59.
[30] Deb S S, Woodward M E. A Delay-constrained Qos Routing Algorithm Based on Fano’Method[C].Processing of International Conferernce on Mobile Communications and Learing Technologies.2006.
[31]刘朝晖.自动化技术的三大革新[J].仪器仪表标准化与计量.2002,2:22-25.
[32]岳成庆.基于双协议栈的IPv6网络性能测试系统的实现[J].计算机应用,2006,26:228-230.
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