CN109560959B - Heterogeneous time-triggered multi-network redundancy transmission method - Google Patents
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Abstract
The invention discloses a heterogeneous time-triggered multi-network redundant transmission method, which can reduce time delay and further improve network transmission certainty and real-time property. The invention is realized by the following technical scheme: in a plurality of relatively independent redundant transmission networks, abstracting a processing host with the same function partition and a network port thereof into a network node; then, configuring transmission time slots corresponding to the nodes according to the number of the nodes; respectively configuring the planned time schedule to each redundant network; when a network application prepares a data packet to be sent, a source node A copies a message into a plurality of copies, and sends the data to a destination node B by heterogeneous time-triggered transmission (time-triggered transmission scheduling 1, … and time-triggered transmission scheduling N) through a plurality of physical links of relatively independent redundant networks according to different transmission time slots of the redundant networks, and the destination node B selects the data according to the principle of 'taking the first valid data'.
Description
Technical Field
The invention relates to a high-certainty low-delay real-time transmission scheme of an airborne multi-redundancy network.
Background
Information transmission cannot be separated from a network, and the stability and reliability of the network are more and more emphasized by people. In a distributed network system, there are two different message transmission mechanisms: event-triggered mechanisms and time-triggered mechanisms. In the event triggering mechanism, each terminal can randomly send data according to application, and send and receive data frames by adopting a first-come-first-serve sequence, and when a plurality of tasks transmit data simultaneously, the event triggering mode cannot ensure the certainty of communication delay and time; in the time trigger mechanism, the whole system establishes a globally unified clock, and performs data transceiving operation at a specified time in a specified time sequence. Each synchronous node in the time-triggered network can only transmit data at a specified time, and the periodic data transmission operation forms a time division multiple access period. Although the time trigger mechanism can provide a certain network behavior and has a certain fault tolerance capability, the flexibility is poor, and how to combine the advantages of two transmission mechanisms becomes a new subject faced by an airborne bus.
The aviation airborne bus is a way for transmitting and sharing information of the avionic system, and is a skeleton and a nerve of the avionic system. An advanced avionics system adopts a comprehensive system structure, and at the present stage of high comprehensive, modularization and networking, the avionics system bus adopts high-speed Mil-1394B, avionics full-duplex switched Ethernet (AFDX), Fibre Channel (FC), Time Triggered Ethernet (TTE) and other buses. The large aircraft airbus A380 and the Boeing 787 adopt an integrated modular avionics system (IMA) and an AFDX backbone for interconnection, and although the AFDX network adopts a rate constraint mechanism, the end-to-end delay jitter of the AFDX network can reach the order of hundreds of microseconds, which means that the time integrity of the integrated system can still be influenced by uncertain communication transmission. The time-triggered communication interconnection technology with high integrity has accurate distributed clock synchronization capability, can further realize synchronous parallel processing between heterogeneous avionic modules or hosts to form a distributed integrated modular avionic architecture (DIMA), supports a distributed integrated design combining time isolation and partition isolation, has strict time determination, fault tolerance and reconfigurable characteristics, and is a future development direction.
TTE is a communication network based on time-triggered protocol developed on the basis of standard Ethernet, because it integrates standard Ethernet protocol, AFDX protocol and time-triggered protocol together, has the advantages of standard Ethernet and time-triggered communication network at the same time, can transmit Ethernet data stream, AFDX data stream and time-triggered data stream on the same network platform, therefore is especially suitable for being applied to the field of aerospace. TTE has the characteristics of high speed, high reliability, high real-time performance, high compatibility and the like, is suitable for a high-speed network of a distributed integrated electronic system, and is one of the mainstream technologies of the current avionics bus. TTE uses time trigger technique to greatly reduce delay jitter of network, supports 10M/100M/1000Mbps data transmission rate, supports triple redundancy architecture, and has higher security and comprehensive fault-tolerant mechanism. The core advantage of the TTE network is that it enables integrated electronic systems to better support reconfiguration, predictive maintenance, incremental upgrades and certification, enabling stand-alone and general entities to develop truly modular, scalable and optimized integrated architectures, while reducing system complexity and product full life cycle costs.
TTE network scheduling adopts time division multiplexing technology, and ensures that key traffic and non-key traffic are transmitted on the same physical link through time planning without mutual conflict, and the most mature scheduling tool at present is TTE-Plan software and an SMT (surface mount technology) formalized solver developed by the Embedded Stanford International institute. Each synchronous node in the TTE network can only perform data transceiving operation in a specified time sequence and at a specified time, and communication must be completed in respective time slots to ensure that data flows between each other do not collide. TTE technology is based on commercial Ethernet interconnection standard and generalized hardware, replaces event triggering with time triggering, triggers data transmission through reasonable time scheduling, thereby avoids data with high real-time requirement from being blocked in the network, and improves the certainty of data transmission. Unlike event-triggered transmission, time-triggered transmission prepares data and then needs to judge whether the data is in a time slot allowing data transmission or not, and the data can be transmitted only when an allocated time slot is available, so that a waiting time delay exists, but the waiting time delay is determined, and the maximum value of the waiting time delay is one bus cycle. The time-triggered transmission mechanism solves the problems of network possible conflict and data frame congestion queuing by a time-division multiplexing method, and has great advantages in system certainty, reliability and real-time compared with event triggering.
In many industries and enterprise users, there is a requirement for reliability of the network, such as finance, securities, aviation, aerospace, railway, postal and some enterprise users, etc., and the network is not allowed to fail, and once the failure occurs, a very large loss is caused. A specific network consists of all node equipment and connections among the equipment, network faults are mainly divided into node equipment faults and connection faults, and common node equipment faults further comprise hardware faults and software faults. The links involved in a network are very many, and any link has a problem, which can cause the stop of the transmission operation of the whole network.
The network redundancy is a network provided for users for preventing any link in the network from generating problems, which causes the transmission operation stop of the whole network, ensures the smoothness of the network through backup, and reduces the influence caused by the failure of any point on a key data stream, thereby achieving the purpose of reducing the risk of the accidental interruption of the network. Any network which needs to have high reliability or be applied in a critical occasion can adopt network redundancy, and when one path has a fault, the other path can ensure the smooth communication. The implementation of the network redundancy strategy depends on many factors, which depend to a large extent on the application and the existing network topology, i.e. the deployment and location of the systems and devices, and the connection architecture of the cables. The reasonable redundant network design can improve the stable reliability, the safety and the real-time performance of the whole system, but also increases the complexity and the design difficulty of the system.
Network redundancy generally refers to the redundancy of network paths, which is achieved by repeatedly configuring some components of the system. When the system fails, the redundantly configured components intervene and assume the work of the failed component, thereby reducing the down time of the system. After the redundancy design is used, when one path (physical link) in the network is broken due to failure, information can be transmitted through other paths (physical links), and the network has self-healing capability, so that the overall reliability of the system is not influenced when a single component or device fails. The redundancy design increases the complexity and difficulty of system design, but improves the availability and reliability of the system, improves the mean time between failures of the system, and shortens the mean time between failure repairs.
The avionic system has high reliability requirement on a bus network, a network topology structure with a fault-tolerant function is mostly adopted to ensure the high reliability of the system, and the redundancy design of the network is one of the most common effective measures for improving the reliability of the airborne electronic system. For the aviation airborne network adopting the redundancy mode, when one network path has a fault, the other network can be used for replacing the network path so as to improve the reliability of data transmission and further improve the reliability of system tasks. The more the dual-network redundancy and the triple-network redundancy are used in engineering, the more the redundant networks are, the higher the reliability of the network is, however, the higher the cost is, so that the redundancy of the network needs to be determined according to a specific application scenario. For the service transmission data with non-periodic and higher real-time requirement, the data transmission time has certain randomness, the redundant network adopts a time-triggered transmission mode of copying and simultaneously distributing (the redundant network adopts the same time-triggered transmission scheduling), and the situation that the transmission data just misses the transmission time slot can be met, and the data can be transmitted out only by waiting for the next bus period.
For an airborne application scenario, if a non-redundant network is adopted, when any communication link fails, communication fails, so that, in order to improve the reliability of the system, the airborne network often adopts a network transmission architecture with multiple redundancy hot backup, such as dual-network redundancy, triple-network redundancy, and the like. Under the network architecture, when any communication link has a problem, the transmission can be carried out through the other communication link. At present, a multi-network redundant hot backup transmission scheme is generally adopted in both TTE and FC networks.
At present, the common multi-network redundancy is only used for improving the network reliability, and the reliability of the network is improved by adding other backup transmission paths, simply copying and distributing data, and transmitting the data to a destination node through a plurality of relatively independent bus networks.
Disclosure of Invention
The invention aims to provide a heterogeneous time-triggered multi-network redundancy transmission method which can reduce time delay and further improve network transmission certainty and real-time property aiming at the problems that the common multi-network redundancy is only used for improving network reliability and the value of a multi-redundancy network is not fully mined, and in order to fully exert the advantages and the characteristics of the multi-redundancy network and simultaneously combine the consideration of time-triggered deterministic transmission.
The above object of the present invention can be achieved by the following measures, a heterogeneous time-triggered multi-network redundancy transmission method is characterized by comprising the steps of: in a plurality of relatively independent redundant transmission networks, processing hosts with the same function partitions and network ports thereof are abstracted into a network node, and links among the nodes are formed by backbone links of a switched network consisting of switches or a non-switched network without switches; then, according to the number of nodes and the service transmission requirement, determining the bus period of network transmission and the transmission time slot configuration corresponding to each node; determining time-triggered transmission scheduling of each redundant network according to the redundancy of the network, respectively configuring the planned time scheduling to each redundant network, and adopting a time-triggered transmission mode for each redundant network; when a network application prepares a data packet to be sent, a source node A performs framing encapsulation on information, copies the information into a plurality of parts, performs heterogeneous time-triggered data transmission to a destination node B through a plurality of relatively independent physical links of redundant networks according to different transmission time slots of the redundant networks, respectively adopts different time-triggered transmission scheduling time to trigger transmission scheduling 1, … and time-triggered transmission scheduling N through redundant networks 1, … and redundant network N formed by switches, sends the data to the destination node B, and selects the data according to a principle of 'taking the first valid data' after the destination node B receives the message frame.
Compared with the prior art, the invention has the following beneficial effects.
The certainty and real-time of network transmission can be further improved. The invention is based on the low-time-delay and high-certainty time-triggered transmission scheme of a multi-redundancy network, and transmits each redundancy network by adopting different time-triggered scheduling. Each redundant network can adopt different time scheduling tables or adopt the same time scheduling table with asynchronous time scheduling, and different time scheduling tables are respectively configured for the redundant networks corresponding to each node aiming at adopting different scheduling tables; and respectively configuring the same time scheduling tables with asynchronous loading scheduling time for the redundant networks corresponding to the nodes according to the redundant networks and the ports corresponding to the nodes by adopting the same scheduling table mode. Compared with the redundant network which adopts the same time to trigger transmission scheduling, the time certainty and the real-time performance of network transmission can be further improved, and high-speed real-time interconnection transmission with high certainty is realized.
Has lower transmission delay. The invention allocates the planned time schedule to each redundant network respectively, each redundant network uses different time to trigger the schedule for transmission, and the receiving node still uses the principle of 'getting the first effective data' for receiving. Taking dual-network redundancy as an example, the synchronization time offset of the two networks is set to 1/2 of the bus cycle, so that if the data just misses one of the network transmission time slots, the data can be transmitted from the other network only by waiting for about half of the bus cycle at most, and the waiting time delay of data transmission can be reduced by about half. Compared with a common multi-redundancy network transmission mode (the redundancy network adopts the same time to trigger transmission scheduling) of copying and simultaneous distribution, the method can greatly reduce the sending waiting time delay of the data packet, so that the method has lower transmission time delay.
The mode is more flexible. The invention makes full use of the advantages of multiple redundant networks, combines a time-triggered transmission mechanism, and the redundant network time-triggered transmission scheduling is heterogeneous (different time scheduling tables can be respectively adopted, and the same scheduling table with asynchronous time scheduling can also be adopted). Compared with a mode that the redundant network adopts the same time to trigger transmission scheduling, the mode is more flexible, and the transmission delay of data can be reduced while the high reliability of the original network is maintained.
Has universality. The invention improves the time-triggered redundant transmission mechanism of the bottom layer of the redundant network by combining the consideration of the network transmission time determinacy, is transparent relative to the bus network transmission protocol of the upper layer, namely the invention is not related to the used network bus protocol and the topological structure of the bus redundant network, is a universal method and is suitable for all networks adopting multi-redundancy hot backup.
The cost performance is high and easy to realize. The invention does not need to change the network transmission architecture of the original multi-network redundancy, only needs to properly modify the time trigger transmission part of the multi-network redundancy, and can realize the improvement of the original network performance by simple modification. If the FPGA implementation mode is adopted, only corresponding modification needs to be carried out on the sending logic part, and the implementation is very easy. The method can reduce the transmission delay by times while ensuring the reliability of the network, and is a method with higher cost performance.
The invention can be applied to high-speed Ethernet, TTE, FC and other networks adopting multi-network redundancy and other systems using multi-network redundancy hot backup. The method can also be popularized and applied to other network transmission systems with multi-network redundancy.
Drawings
The invention is further illustrated by the following figures and examples.
Fig. 1 is a diagram of heterogeneous time-triggered multi-network redundant transmission according to the present invention.
Fig. 2 is a schematic diagram of an N-redundant network time-triggered transmission slot configuration of a node.
Fig. 3 is a schematic diagram of a redundant network node transceiving configuration.
The specific implementation mode is as follows:
see fig. 1. Firstly, a time schedule table of time-triggered transmission is obtained by adopting a conventional time-triggered transmission design method. And determining a bus period of network transmission and transmission time slot configuration corresponding to each node according to the number of the nodes and the service transmission requirement, and finally obtaining a time scheduling table of a single network.
In a plurality of relatively independent redundant transmission networks, processing hosts with the same function partition and network ports thereof are abstracted into a network node, and links among the nodes are formed by backbone links consisting of switches (if the nodes are non-switching networks, no switches are arranged, such as bus type networks and the like); then, according to the number of nodes and the service transmission requirement, determining the bus period of network transmission and the transmission time slot configuration (including the transmission time slot width and the like) corresponding to each node; determining time-triggered transmission scheduling of each redundant network according to the redundancy of the network, respectively configuring the planned time scheduling to each redundant network, and adopting a time-triggered transmission mode for each redundant network; after framing and packaging the information, the source node A copies the information into a plurality of parts, respectively transmits heterogeneous time-triggered data to the destination node B through a plurality of relatively independent physical links of redundant networks according to different transmission time slots of the redundant networks, respectively transmits the data to the destination node B through the redundant networks 1, … and the redundant network N which are composed of switches by adopting different time-triggered transmission schedules (time-triggered transmission schedule 1, … and time-triggered transmission schedule N), and the destination node B selects the data according to the principle of 'getting the first effective data' after receiving the information frame. The redundant networks can adopt the same time schedule table or different time schedule tables, the time schedule table of each redundant network needs to be independently designed aiming at the mode of adopting different time schedule tables, and the synchronous time offset of each redundant network only needs to be determined aiming at the mode of adopting the same time schedule table; in this embodiment, for convenience of explanation of the mechanism, the description will be focused on the manner of using the same schedule. For example: for networks employing dual redundancy, the schedule time offset for both networks may be set to 1/2 for the bus cycle; for a triple redundant network, the time offset for each network may be set to 1/3 for the bus cycle, and so on.
And respectively configuring the planned time schedule to each redundant network. Configuring different time scheduling tables for the redundant networks corresponding to the nodes respectively in a mode of adopting different scheduling tables; and respectively configuring the same time scheduling tables with asynchronous loading scheduling time for the redundant networks corresponding to the nodes according to the redundant networks and the ports corresponding to the nodes by adopting the same scheduling table mode.
According to the redundancy design of the network in engineering, the system is provided with a plurality of relatively independent transmission networks. The source node a may transmit data to the destination node B via multiple network paths (illustrated as a switched redundant network, but may also be a redundant network of another topology type). Each network adopts a time-triggered transmission mode, but specific time-triggered transmission schedules are different, a source node A sends data to a destination node B according to different transmission time slots of each redundant network, and because certain randomness exists at the moment when the node A prepares the data to be sent, especially non-periodic service data with higher real-time requirements, one network in a plurality of networks can send the data out at first.
See fig. 2. The figure illustrates a transmission mode in which the redundant network uses the same time schedule but the schedule is not synchronized in time. Aiming at N redundant networks consisting of redundant networks 1, … and redundant network N, the bus cycle of each redundant network is T, and the time trigger time slot width of the source node A allowed to be transmitted to the destination node B is Ts. In the example considered an extreme case, the redundant network 1 is at a time t when the source node a is ready for data0Exactly at the end of the time slot, the time slot of the redundant network N has not yet arrived, the time schedule of the network N is offset 1/2 of the bus cycle with respect to the network 1, the data is transmitted through the transmission time slot of the network 1 only until the time slot of the next bus cycle, the data transmission time is delayed by T-TsWhile data transmission through the time slot of the network N only needs to wait for T/2-TsThe data can be sent out. The transmission latency of network N is reduced by T/2 compared to network 1. The destination node B will receive the data from the network N first and then the data from the network 1, and will use the data of the network N and discard the data of the network 1 according to the principle of "getting the first valid data". The time-triggered transmission time slots of the redundant networks are staggered, that is, the absolute time of data transmission through different networks is inconsistent, in the example, the scheduling time of the network 1 and the scheduling time of the network N are offset by 1/2 of a bus cycle, and the maximum waiting time delay of data transmission is reduced by about half.
See fig. 3. By adopting the transmission mode of the invention, in the network node receiving and sending configuration, each network node needs to be configured with a plurality of sending buffers and a plurality of time-triggered transmission scheduling function modules, and one sending buffer corresponds to a unique time-triggered transmission scheduling function module and a receiving and sending network port. If a triple redundant network is adopted, three sending buffers are needed, and the three sending buffers correspond to respective time trigger transmission scheduling function modules and transceiving network ports. The multiple transmit buffers can be conveniently implemented in FPGA using FIFO or ARM. When the upper network transmission protocol and application have data to be sent, firstly, the data packet to be sent is sent to a plurality of buffers of the redundant network time triggered transmission management module at the same time, then, the data of each buffer is triggered to be transmitted by the respective time triggered transmission scheduling module, and the data of the independent triggered buffer is sent to the corresponding network port by each time triggered transmission scheduling module according to the allocation of the time slot. The receiving of all network node data is completely the same as the common multi-network redundant receiving, and the data packets which arrive first and are received correctly are taken for the data from a plurality of networks, and then the received data packets are discarded.
Specifically, in the redundant network time triggered transmission management module, for the redundant network 1, the data packet to be sent by the network node passes through the sending buffer 1, and the time triggered transmission scheduling module 1 transmits the data in the sending buffer 1 to the corresponding network 1 port, and similarly, for the redundant networks 2, … and the redundant network N, the data packet to be sent by the network node passes through the sending buffers 2, … and N and the time triggered transmission scheduling modules 2, … and N and transmits the data in the sending buffers 2, … and N to the corresponding networks 2, … and N ports, respectively. The network 1 port, … and network N port send the received data to the upper network transmission protocol and application module through the receiving redundant management module and the receiving buffer module, the data content of the redundant network receiving data packet is completely the same, and the received data is selected according to the principle of 'getting the first effective data'.
The present invention has been described in detail with reference to the accompanying drawings, but it should be understood that various changes, substitutions of equivalents, and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims. The present invention is not described in detail, but is within the common general knowledge of those skilled in the art.
Claims (5)
1. A heterogeneous time-triggered multi-network redundancy transmission method is characterized by comprising the following steps: in a plurality of relatively independent redundant transmission networks, processing hosts with the same function partitions and network ports thereof are abstracted into a network node, and links among the nodes are formed by backbone links of a switched network consisting of switches or a non-switched network without switches; then, according to the number of nodes and the service transmission requirement, determining the bus period of network transmission and the transmission time slot configuration corresponding to each node; determining time-triggered transmission scheduling of each redundant network according to the redundancy of the network, respectively configuring the planned time scheduling to each redundant network, and adopting a time-triggered transmission mode for each redundant network; when a network application prepares a data packet to be sent, a source node A performs framing encapsulation on information, copies the information into a plurality of parts, performs heterogeneous time-triggered data transmission to a destination node B through a plurality of relatively independent physical links of redundant networks according to different transmission time slots of the redundant networks, respectively adopts different time-triggered transmission scheduling 1, … and time-triggered transmission scheduling N through the redundant networks 1, … and N formed by switches, sends the data to the destination node B, and selects the data according to the principle of 'taking the first valid data' after the destination node B receives the information frame; each redundant network adopts the same time scheduling table or different time scheduling tables, the time scheduling tables of the redundant networks are independently designed aiming at the mode of adopting different time scheduling tables, and the synchronous time offset of each redundant network is only determined aiming at the mode of adopting the same time scheduling table; configuring different time scheduling tables for the redundant networks corresponding to the nodes respectively in a mode of adopting different scheduling tables; respectively configuring the same time scheduling tables with asynchronous loading scheduling time for the redundant networks corresponding to the nodes according to the redundant networks and the ports corresponding to the nodes in a mode of adopting the same scheduling tables; in the network node receiving and sending configuration, each network node is configured with a plurality of sending buffers and a plurality of time-triggered transmission scheduling function modules, and one sending buffer corresponds to a unique time-triggered transmission scheduling function module and a receiving and sending network port; when the upper network transmission protocol and application have data to be sent, firstly, sending a data packet to be sent to a plurality of sending buffers of a redundant network time triggered transmission management module at the same time, then, triggering transmission of the data of each buffer by a respective time triggered transmission scheduling module, and sending the data of the independent triggered buffer to a corresponding network port by each time triggered transmission scheduling module according to the allocation of time slots; in the redundant network time-triggered transmission management module, for the redundant network 1, a data packet to be sent by a network node passes through a sending buffer 1, and the time-triggered transmission scheduling module 1 transmits the data of the sending buffer 1 to a corresponding port of the redundant network 1, and similarly, for the redundant networks 2, … and N, the data packet to be sent by the network node passes through the sending buffers 2, … and N and the time-triggered transmission scheduling modules 2, … and N and transmits the data of the sending buffers 2, … and N to corresponding ports of the redundant networks 2, … and N respectively; the redundant network 1 port, … and redundant network N port send the received data to the upper network transmission protocol and application module through the receiving redundant management module and the receiving buffer module, and select the received data according to the principle of 'getting the first effective data'.
2. The heterogeneous time-triggered multi-network redundancy transmission method of claim 1, wherein: for networks employing dual redundancy, the schedule time offset for both networks may be set to 1/2 for the bus cycle; for a triple redundant network, the time offset for each network may be set to 1/3 for the bus cycle, and so on.
3. The heterogeneous time-triggered multi-network redundancy transmission method of claim 1, wherein: in the extreme case, the redundant network 1 is at the moment when the source node a is ready for datat 0Exactly at the end of the time slot, the time slot of the redundant network N has not yet arrived, the time schedule of the redundant network N is offset 1/2 of the bus cycle relative to the redundant network 1, the data is transmitted through the transmission time slot of the redundant network 1 only can be equal to the time slot of the next bus cycle, the data transmission time is delayed by T-t sAnd the data is transmitted through the time slot of the redundant network N only by waiting for T/2-t sThe data can be sent out.
4. The heterogeneous time-triggered multi-network redundancy transmission method of claim 3, wherein: compared with the redundant network 1, the sending waiting time delay of the redundant network N is reduced, the node B waiting for T/2 destination receives the data from the redundant network N firstly and then receives the data from the redundant network 1, and the data of the redundant network N is used and the data of the redundant network 1 is lost according to the principle of 'getting the first effective data'.
5. The heterogeneous time-triggered multi-network redundancy transmission method of claim 4, wherein: the time-triggered transmission time slots of the redundant networks are staggered, that is, the absolute time of data transmission through different networks is inconsistent, the scheduling time of the redundant network 1 and the redundant network N is shifted by 1/2 of a bus cycle, and the maximum waiting time delay of data transmission is reduced by about half.
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| CN112448844B (en) * | 2020-11-03 | 2023-04-14 | 中国航空工业集团公司西安航空计算技术研究所 | Time-triggered network reconstruction method based on pre-configuration |
| CN112769513A (en) * | 2020-11-10 | 2021-05-07 | 沈阳航盛科技有限责任公司 | TTFC network clock synchronization system and method based on IRIG-B code |
| CN112953803B (en) * | 2021-02-10 | 2022-07-08 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Airborne redundant network data transmission method |
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