Ship equipment distributed control system based on CANopen bus

Abstract

The invention belongs to the technical field of ship control systems, and particularly relates to a distributed control system for ship equipment based on a CANopen bus. Comprising an execution layer and a control layer. The execution layer is composed of a communication unit and a task management unit; the control layer is composed of an electronic control unit arranged on the equipment side and a data management unit arranged on the control side; the communication unit is configured at the side of the main equipment and each equipment to realize CANopen bus message receiving and transmitting, the task management unit creates and manages corresponding tasks of the equipment, and the data management unit creates and maintains necessary database resources of each equipment. According to the invention, efficient acquisition, accurate processing and real-time transmission of digital signals and analog signals can be realized, stable and reliable operation can be realized, and a data basis is provided for ship equipment management and optimization control.

Description

Technical Field

[0001] This invention belongs to the field of ship control system technology, and particularly relates to a distributed control system for ship equipment based on CANopen bus. Background Technology

[0002] Industrial Ethernet, characterized by its high speed, openness, and ease of integration, is widely used in distributed control systems. It employs standard Ethernet communication protocols, enabling data transmission and communication between controllers, I / O devices, and human-machine interfaces. However, existing industrial Ethernet architectures suffer from insufficient real-time performance and master-slave switching efficiency: existing master device redundancy schemes exhibit high switching latency (on the order of 10ms), failing to meet the demands of high-precision real-time control. Furthermore, they are mostly unidirectional and require complex manual configuration, hindering dynamic bidirectional mapping and plug-and-play functionality between CANopen and other protocols, increasing system integration difficulty and cost. System compatibility and scalability are also limited: existing solutions primarily address single problems, lacking a systematic design approach and failing to meet the comprehensive requirements of distributed control systems in the context of intelligent manufacturing. Summary of the Invention

[0003] The purpose of this invention is to provide a distributed control system for ship equipment based on the CANopen bus, which can better realize multi-device control and management and improve the system's real-time performance and task scheduling capabilities.

[0004] To achieve the above objectives, the present invention adopts the following technical solution.

[0005] This application discloses a distributed control system for marine equipment based on the CANopen bus, comprising an execution layer and a control layer; the execution layer consists of a communication unit and a task management unit; the control layer consists of an electronic control unit configured on the equipment side and a data management unit configured on the control side.

[0006] The communication unit is configured on the master device and each device side to realize CANopen bus message transmission and reception, and stores the received and to be sent message information into a specific storage register so that the application layer can perform timing processing;

[0007] The task management unit creates and manages tasks corresponding to the equipment, including creating equipment task data linked lists and defining equipment task attribute tags, task status tags, ID tags, and resource configuration tags to establish a localized database of tasks for the corresponding ship equipment.

[0008] The electronic control unit configures the initialization and fixed task parameters of the corresponding equipment. The electronic control unit triggers and generates control commands based on the sensor signals on the equipment side obtained by the signal acquisition component, which are then directly applied to the equipment side.

[0009] The data management unit creates and maintains the necessary database resources for each device, including establishing an index dictionary for data and resource retrieval and analysis. To ensure the effective transmission and identification of communication data requiring broadcasting, such as ID tags, task resources, resource configurations, and data sequences, an index dictionary consisting of fixed-digit index characters is defined based on the CANopen bus protocol for retrieval and identification. Sub-data contained in the communication data is further identified and analyzed using fixed-digit index characters. Each device independently configures its own index dictionary based on its relevant tasks and available resources, and uses index characters associated with information within the index dictionary to achieve CANopen bus interaction of related information.

[0010] In a further improvement or preferred embodiment of the aforementioned distributed control system for ship equipment based on the CANopen bus, the task management unit is further configured to, during the unloading of necessary tasks, search the task status of other devices in the system, determine whether there are redundant tasks being executed on other devices, and if so, execute the task unloading of this device; otherwise, refuse to execute and provide corresponding feedback.

[0011] In a further improvement or preferred embodiment of the aforementioned distributed control system for ship equipment based on the CANopen bus, the task management unit is further configured to: at the same time point, preferentially execute the task with the highest importance; when a new task is to be executed, insert it into the task execution sequence according to its importance; if the importance of the task execution sequence and the currently executed task is lower than that of the new task, then interrupt the execution of the current task and execute the new task instead.

[0012] Further improvements or preferred embodiments of the aforementioned distributed control system for ship equipment based on the CANopen bus include a signal transmission circuit located outside the electronic control unit for acquiring analog sensing signals (including time-varying data such as voltage and temperature), pulse signals (start signals, forward and reverse signals, etc.), and start / stop control signals, and transmitting the signals to the electronic control unit of the equipment body or external linkage equipment after necessary preprocessing.

[0013] In a further improved or preferred embodiment of the aforementioned distributed control system for ship equipment based on the CANopen bus, the task management unit is further configured to: create new task entries based on the task registration process; perform resource matching analysis of the current local task based on the verification procedure; transfer tasks between devices based on the transfer process when the task scheduling changes or local resources are insufficient to execute the current task; unload tasks according to task scheduling instructions, and determine whether a task is to be executed by traversing the execution sequence of devices by obtaining the task ID tag; determine the importance of tasks based on the device task attributes, and schedule tasks in descending order of importance.

[0014] In a further improvement or preferred embodiment of the aforementioned distributed control system for ship equipment based on the CANopen bus, task transfer refers to the following: through the analysis of the equipment's operating status and parameters by the electronic control unit, when the task cannot obtain the required resources on the current device, the task ID information is broadcast via the CANopen bus. The device determines whether it has the ability to complete the task by retrieving the task chain data. If it does, it broadcasts a response message to the CANopen bus. The device that sent the migration message obtains the response message via the CANopen bus, sends the task-related information to the first responding device, and cancels the sending of the migration task ID information. The responding device obtains the relevant information and determines whether it can be executed on the current device. If it can, it adds the task to the task sequence; otherwise, the task migration is repeated.

[0015] In a further improvement or preferred embodiment of the aforementioned distributed control system for ship equipment based on the CANopen bus, the communication unit is implemented based on the STM32F407 chip or its peripheral CAN controller peripheral. The communication unit is connected to the CAN bus through a level signal conversion module to realize the conversion between pin signals and bus voltage signals.

[0016] In a further improvement or preferred embodiment of the aforementioned distributed control system for ship equipment based on the CANopen bus, the level signal conversion module refers to a high-speed transceiver with bus differential transmission and controller differential reception capabilities.

[0017] In a further improvement or preferred embodiment of the aforementioned distributed control system for marine equipment based on the CANopen bus, the specific storage register includes an IS62WV51216 storage chip.

[0018] Its beneficial effects are as follows:

[0019] The distributed control system for marine equipment based on the CANopen bus in this application realizes multi-device collaborative control by utilizing the CANopen protocol. It can achieve efficient acquisition, accurate processing and real-time transmission of digital and analog signals, and can operate stably and reliably, providing a data foundation for the management and control optimization of marine equipment. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the functional composition of a distributed control system for ship equipment based on the CANopen bus.

[0021] Figure 2 This is a diagram of system initialization. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0023] like Figure 1 As shown, this application relates to a distributed control system for ship equipment based on the CANopen bus, including an execution layer and a control layer; the execution layer consists of a communication unit and a task management unit; the control layer consists of an electronic control unit configured on the equipment side and a data management unit configured on the control side.

[0024] The application layer is used to create ship equipment tasks. Based on system hardware specifications and software protocol rules, it establishes data specifications that can maintain consistency in task IDs, task attributes, task statuses, and resource attributes within the system. It also determines the parallel and mutual exclusion attributes between tasks to prevent conflicts when multiple devices perform parallel tasks on the same device.

[0025] This is used to determine the importance of tasks and thus prioritize their execution. To ensure the normal operation of ship equipment systems, tasks are classified as necessary or unnecessary based on system operation requirements. Necessary tasks are those that maintain the normal operation of equipment systems and require at least one piece of equipment or equipment to be in normal operation. Priorities are determined by the preconditions between tasks. For tasks with similar priorities, tasks with shorter execution times, fewer resources required, and lower preconditions are given higher priority, while tasks with higher preconditions, more resources required, and longer execution times are given lower priority.

[0026] To better control system resource consumption and determine priorities, real-time scheduling control is performed on the task positions in any task sequence broadcast by the CANopen bus. Specifically: the position of the task in the task sequence is defined as... Sequence position of each task ,in This refers to the position of the first task in the sequence, where This refers to the number of times a value is determined to have a lower priority during a priority comparison process. This is the delay weighting coefficient, which is configured to prevent tasks from being suspended for extended periods.

[0027] The execution layer includes a communication unit and a task management unit. The communication unit is configured on the master device and each device side to realize the transmission and reception of CANopen bus messages, and stores the received and to-be-sent message information in a specific storage register to facilitate timing processing by the application layer. The communication unit is based on the STM32F407 chip or its peripheral CAN controller peripheral. The communication unit is connected to the CAN bus through a level signal conversion module to realize the conversion between pin signals and bus voltage signals.

[0028] The task management unit is used to create and manage tasks corresponding to the device, including:

[0029] Create a linked list of equipment task data, and define equipment task attribute tags, task status tags, ID tags, and resource configuration tags to establish a localized database of tasks for the corresponding ship equipment;

[0030] Create new task entries based on the task registration process; perform resource matching analysis for the current local task based on the verification procedure; transfer tasks between devices based on the transfer process when task scheduling changes or local resources are insufficient to execute the current task; unload tasks according to task scheduling instructions; determine whether a task should be executed by traversing the execution sequence of devices by obtaining the task ID tag; determine the importance of tasks based on device task attributes; and schedule tasks in descending order of importance.

[0031] Task transfer refers to the process by which the electronic control unit analyzes the operating status and parameters of the equipment. When a task cannot obtain the required resources on the current equipment, the task ID information is broadcast via the CANopen bus. The equipment determines whether it has the ability to complete the task by retrieving the task chain data. If it does, it broadcasts a response message to the CANopen bus. The equipment that sent the transfer message obtains the response message via the CANopen bus, sends the task-related information to the first responding device, and cancels the sending of the transfer task ID information. The responding device obtains the relevant information and determines whether it can be executed on the current equipment. If it can, it adds the task to the task sequence; otherwise, the task transfer is repeated.

[0032] In particular, for certain specific tasks, it is necessary to ensure that there is at least one corresponding task flow in the system. During the process of unloading the task on a certain device, it is necessary to search the task status of other devices in the system to determine whether there are redundant tasks being executed on other devices. If so, the task unloading of this device will be executed; otherwise, execution will be refused and corresponding information will be returned.

[0033] Specifically, at any given time, the task with the highest importance is prioritized for execution. When a new task is to be executed, it is inserted into the task execution sequence according to its importance. If the importance of the task execution sequence and the currently executed task is lower than that of the new task, the execution of the current task is interrupted and the new task is executed instead.

[0034] The control layer includes an electronic control unit configured on the device side and a data management unit configured on the control side;

[0035] like Figure 2 As shown, the electronic control unit is used to configure the initialization and fixed task parameters of the corresponding equipment. The electronic control unit triggers and generates control commands based on the sensor signals on the equipment side obtained by the signal acquisition component, which are directly applied to the equipment side.

[0036] Specifically, it also includes a signal transmission circuit located outside the electronic control unit for acquiring analog sensing signals (including time-varying data such as voltage and temperature), pulse signals (start signals, forward and reverse signals, etc.), and start / stop control signals, and transmitting the signals to the electronic control unit of the equipment body or external linkage equipment after necessary preprocessing.

[0037] The data management unit is used to create and maintain the necessary database resources for each device, including establishing an index dictionary for data and resource retrieval and analysis. To enable the effective transmission and identification of communication data that needs to be broadcast, such as ID tags, task resources, resource configurations, and data sequences, this application defines an index dictionary composed of index characters with a fixed number of digits for retrieval and identification based on the CANopen bus protocol. Sub-data contained in the communication data is further identified and analyzed using fixed index characters with a smaller number of digits. Each device independently configures its own index dictionary according to its related tasks and available resources, and realizes CANopen bus interaction of relevant information through index characters associated with information in the index dictionary.

[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the essence and scope of the technical solutions of the present invention.

Claims

1. A ship's equipment distributed control system based on CANopen bus, characterized in that, The system comprises an execution layer and a control layer; the execution layer is composed of a communication unit and a task management unit; the control layer is composed of an electronic control unit arranged on the equipment side and a data management unit arranged on the control side; the equipment side comprises left and right shaft overhead platforms, a central control console, a backup central control console and equipment near the machine; The communication unit is arranged on the main equipment and each equipment side to realize CANopen bus message transceiving, and stores the received and to-be-sent message information into a specific storage register to facilitate the timing processing of the application layer; The task management unit creates and manages the corresponding tasks of the equipment, including creating a device task data linked list, defining device task attribute tags, task state tags, ID tags and resource configuration tags to establish a localized database of the tasks of the corresponding ship equipment; The electronic control unit configures the initialization and fixed task parameters of the corresponding equipment, and the electronic control unit triggers and generates control instructions based on the sensor signals of the equipment side obtained by the signal acquisition component and directly applies the control instructions to the equipment side; The data management unit creates and maintains necessary database resources of each equipment, including establishing an index dictionary for realizing data and resource retrieval analysis, defining the index dictionary composed of index symbols with fixed digits based on the CANopen bus protocol to perform retrieval and identification, and further identifying and analyzing the sub-data contained in the communication data by using fixed index symbols with smaller digits; Wherein, each equipment independently configures a dedicated index dictionary according to the tasks and the resources that can be provided by itself, and realizes CANopen bus interaction of related information through index symbols associated with information in the index dictionary.

2. A CANopen bus based distributed control system for marine equipment according to claim 1, characterized in that, The application layer is further included for creating ship equipment tasks, establishing data specifications of task ID, task attribute, task state and resource attribute that are consistent in the system based on system hardware specifications and software protocol rules; determining the parallel attribute and mutual exclusion attribute between tasks to prevent mutual conflict when parallel tasks are performed in the same equipment or multiple equipment; The task importance index is determined to determine the priority of task execution, and the necessary task and the non-essential task are determined according to the system operation requirements to ensure the normal operation of the ship equipment system, the necessary task refers to the task that needs to be normally operated on at least one equipment or device to maintain the normal operation of the equipment system, the priority is determined through the precondition between tasks, for the tasks with close priority, the priority of the task with shorter execution time, less required resources, lower execution precondition requirement is improved, and the priority of the task with higher execution precondition requirement, more required resources and longer execution time is reduced; Real-time scheduling and control of task positions within any task sequence broadcast via the CANopen bus; specifically: defining the position of the task in the task sequence... Sequence position of each task ,in This refers to the position of the first task in the sequence, where This refers to the number of times a value is determined to have a lower priority during a priority comparison process. This is the delay weighting factor, which is configured to prevent tasks from being suspended for extended periods.

3. The CANopen bus based distributed control system for marine equipment according to claim 1, characterized in that, The task management unit is further used for retrieving the task state of other equipment in the system during the unloading process of the necessary task, judging whether there is a redundant task being executed on the other equipment, if yes, the task unloading of the equipment is executed, otherwise, the execution is refused and the corresponding information is fed back.

4. The CANopen bus based distributed control system for marine equipment according to claim 1, characterized in that, The task management unit is also used for executing the task with the highest importance at the same time point, inserting the new task into the task execution sequence according to the importance when the new task is executed, and interrupting the execution of the current task to execute the new task if the importance of the task execution sequence and the current task is lower than that of the new task.

5. The CANopen bus based distributed control system for marine equipment according to claim 1, characterized in that, The signal transmission circuit is arranged outside the electronic control unit and used for acquiring analog quantity sensing signals, pulse signals and start-stop control signals, performing necessary preprocessing on the signals, and transmitting the signals to the electronic control unit of the device body or an external linkage device.

6. The CANopen bus based distributed control system for marine equipment according to claim 1, characterized in that, The task management unit is also used for creating a new task entry based on a task registration process; The local current task is analyzed based on a check procedure; when the task scheduling changes or the local resource is insufficient to execute the current task, the task between devices is transferred based on a transmission process; the task is unloaded according to a task scheduling instruction; whether the task is executed is determined by acquiring a task ID label and traversing the execution sequence of the device; the importance of the task is determined according to the device task attribute; and the task scheduling is performed based on the order from high to low importance.

7. A CANopen bus based distributed control system for marine equipment according to claim 5, characterized in that, The task transfer refers to that, when the task cannot obtain the required resource in the current device, the task ID information is broadcasted through the CANopen bus by the electronic control unit based on the analysis of the device running state and parameters; the device determines whether the device has the ability to complete the task by searching the task chain data; if yes, the device broadcasts a response message to the CANopen bus; the device that sends the migration message obtains the response message through the CANopen bus, sends the task related information to the first responding device, cancels the sending of the migration task ID information, and judges whether the task can be executed in the current device; if yes, the task sequence is added; otherwise, the task transfer is repeated.

8. The CANopen bus based distributed control system for marine equipment according to claim 1, characterized in that, The communication unit is realized based on an STM32F407 chip or a CAN controller peripheral device thereof, and the communication unit is connected with the CAN bus through a level signal conversion module to realize the conversion between the pin signal and the bus voltage signal.

9. A CANopen bus based distributed control system for marine equipment according to claim 7, characterized in that, The level signal conversion module refers to a high-speed transceiver with bus differential transmission and controller differential reception capabilities.

10. The CANopen bus based distributed control system for marine equipment according to claim 1, characterized in that, The specific storage register includes an IS62WV51216 storage chip.

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