EPA Wireless工业实时网络系统的链路可靠性与通信调度研究
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摘要
在工业无线应用中,保证通信的可靠性和实时性是其核心要求。本文从如何解决这一问题入手,首先设计了基于簇树形拓扑结构的EPA无线网络原型系统。之后提出了一种基于通信宏周期的EPA无线通信调度框架。在该框架中,规定了时间隙的使用和节点访问信道的基本方法。
在EPA无线通信宏周期的框架下,本文针对单个报文传递的链路可靠性问题进行深入研究。基于对大量实验数据的分析,设计了一种链路质量评估方法。并将这种方法应用于网络拓扑组织以及路由过程中所需的链路质量评估中,满足了过程数据的可靠传输要求。
针对EPA无线宏周期中,多个报文传输时面临的通信调度问题。首先提出了低负载的高精度时钟同步方法来避免宏周期内的报文发送冲突。该方法是一种基于单报文传递的时钟同步方法,解决了分层多跳的无线网络时钟同步问题。使得一跳之内,主从节点间达到高精度的时钟同步仅需要单个广播报文的传递,最大限度的节约了网络资源。
其次,针对EPA无线宏周期的周期通信阶段,提出了周期时段的时间隙分配优化策略。增加了通信宏周期本身的灵活性,保证了工业网络实时性。在周期时段的时间隙分配方案中,涵盖了实际应用中经常涉及的三种网络工作状态,得到的最短通信帧可以保证实时的通信传输,而且实现了对于单个节点时间隙的连续分配,便于报文和时间隙的融合。时间隙的分配过程本身具有低负载、分布式特性。通过原型系统的验证表明,该方案同样可以达到良好的可靠性。在继承了TDMA通信可靠性的同时,这两种方法可以通过实现数量更少、分布更紧凑的宏周期内通信时间隙,进而降低网络的传输延时。
The prime requirement of industrial wireless is reliable and real-time communication quality. Aiming at these demands, a cluster-tree based prototype wireless network is presented in this thesis, named EPA wireless. After that, a wireless communication macro-cycle and the guideline of corresponding time-slots usage and media access schedule for each wireless device are also proposed.
Under the macro-cycle based communication schedule, our study focuses on the reliable transmission problem of a single wireless message in the first place. Based on large experimental data, a link quality estimator is developed in this thesis, which is used in network topology organization and link quality estimation during message routing, satisfying the requirement of a reliable process data delivery.
Moreover, to deal with the schedule problem of multiple devices' data transmission within a macro-cycle for EPA wireless, a time synchronization method is proposed to avoid timeslot collision. For multi-hop wireless networks, our time synchronization method is based on single-message delivery. Within a single-hop, time synchronization among master and slaves can be achieved precisely through the deliver of just a single broadcast message, maximally saving the network resources.
After that, a set of improved timeslot assignment algorithm for the circle period of communication macro-cycle are also present, which can guarantee real-time transmission and a flexible macro-cycle. The timeslot assignment scheme covers three frequently used working modes in practical applications. The shortest frame formed can guarantee real-time communication and is also facilitated for message and slot integration during message routing, since timeslots allocated to a single node are continuous. During allocation processes, the algorithms are distributed and light-weighted. The experiment resulted from a prototype system shows that our scheme can achieve a good reliability. While inheriting high reliability performance of traditional TDMA, these algorithms can achieve low-latency data transmission with minimized number of conflict-free timeslots.
在EPA无线通信宏周期的框架下,本文针对单个报文传递的链路可靠性问题进行深入研究。基于对大量实验数据的分析,设计了一种链路质量评估方法。并将这种方法应用于网络拓扑组织以及路由过程中所需的链路质量评估中,满足了过程数据的可靠传输要求。
针对EPA无线宏周期中,多个报文传输时面临的通信调度问题。首先提出了低负载的高精度时钟同步方法来避免宏周期内的报文发送冲突。该方法是一种基于单报文传递的时钟同步方法,解决了分层多跳的无线网络时钟同步问题。使得一跳之内,主从节点间达到高精度的时钟同步仅需要单个广播报文的传递,最大限度的节约了网络资源。
其次,针对EPA无线宏周期的周期通信阶段,提出了周期时段的时间隙分配优化策略。增加了通信宏周期本身的灵活性,保证了工业网络实时性。在周期时段的时间隙分配方案中,涵盖了实际应用中经常涉及的三种网络工作状态,得到的最短通信帧可以保证实时的通信传输,而且实现了对于单个节点时间隙的连续分配,便于报文和时间隙的融合。时间隙的分配过程本身具有低负载、分布式特性。通过原型系统的验证表明,该方案同样可以达到良好的可靠性。在继承了TDMA通信可靠性的同时,这两种方法可以通过实现数量更少、分布更紧凑的宏周期内通信时间隙,进而降低网络的传输延时。
The prime requirement of industrial wireless is reliable and real-time communication quality. Aiming at these demands, a cluster-tree based prototype wireless network is presented in this thesis, named EPA wireless. After that, a wireless communication macro-cycle and the guideline of corresponding time-slots usage and media access schedule for each wireless device are also proposed.
Under the macro-cycle based communication schedule, our study focuses on the reliable transmission problem of a single wireless message in the first place. Based on large experimental data, a link quality estimator is developed in this thesis, which is used in network topology organization and link quality estimation during message routing, satisfying the requirement of a reliable process data delivery.
Moreover, to deal with the schedule problem of multiple devices' data transmission within a macro-cycle for EPA wireless, a time synchronization method is proposed to avoid timeslot collision. For multi-hop wireless networks, our time synchronization method is based on single-message delivery. Within a single-hop, time synchronization among master and slaves can be achieved precisely through the deliver of just a single broadcast message, maximally saving the network resources.
After that, a set of improved timeslot assignment algorithm for the circle period of communication macro-cycle are also present, which can guarantee real-time transmission and a flexible macro-cycle. The timeslot assignment scheme covers three frequently used working modes in practical applications. The shortest frame formed can guarantee real-time communication and is also facilitated for message and slot integration during message routing, since timeslots allocated to a single node are continuous. During allocation processes, the algorithms are distributed and light-weighted. The experiment resulted from a prototype system shows that our scheme can achieve a good reliability. While inheriting high reliability performance of traditional TDMA, these algorithms can achieve low-latency data transmission with minimized number of conflict-free timeslots.
引文
[1] J. Polastre, R. Szewczyk, C. Sharp, et al. The mote revolution: Low power wireless sensor network devices. [C]//IEEE Computer Society Technical Committee on Microprocessors and Microcomputers, Stanford University, 2004:1-20
[2] E. Lawrence, K. F. Navarro, D. Hoang, et al. Data collection, correlation and dissemination of Medical Sensor Information in a WSN[C]//Fifth International Conference on Networking and Services, Valencia, Spain. 2009: 402-408
[3] A. Willig. Recent and emerging topics in wireless industrial communication: A selection. [C]//IEEE transactions on industrial informatics. 2008,4(2):102-124
[4] G. Cenna, A. Valenzano, S. Vituri. Wireless Extensions of Wired Industrial Communication Networks[C]// 5th IEEE International Conference on Industrial Informatics. 2007, 1: 273-278
[5] A. Willig, K. Matheus, A. Wolisz. Wireless Technology in Industrial Networks[C]// Proceedings of the IEEE, 2005, 93(6): 1130-1151,
[6] IEEE Std. 802.11, IEEE Standard for Wireless LAN Medium Access Control (MAC) and Physical Layer(PHY) Specification[S], 1997
[7] M. S. Gast. 802.11 Wireless Networks-The Definitive Guide[M]. O'Reilly, Sebastopol, CA, 2002.
[8] IEEE Std. 802.15.1, IEEE Standard for Wireless Medium Access Control(MAC) and Physical Layer(PHY) Specifications for Wireless Personal Area Networks (WPANs)[S], 2002
[9] J. C. Haartsen. The Bluetooth Radio System[C]// IEEE Personal Communications, 2000,7(1):28-36.
[10] IEEE802.15.4: Wireless Medium Access Control(MAC) and Physical Layer(PHY) Specification for Low-Rate Wireless Personal Area Networks(WPAN)[S]. http://www.ieee802.org/,IEEE Computer Society, 2006
[11] ZigBee specification[S]. http://www.zigbee.org: Zigbee-Alliance, 2005
[12] HART Protocol Specification 2.4GHz DSSS O-QPSK Physical Layer Specification. HCF_SPEC-065[S]. http://www.hartcomm.org, 2007
[13] ISA100.1 la Draft standard[S]. http://www.isa.org/, 2007
[14] Technical Overview of the Time Synchronized Mesh Protocol (TSMP). White Paper of Dust Networks. http://www.dustnetworks.com
[15] J. Kwon, G. Ahn, S. Kim, et al. A Study on Energy-Efiicient Tree Routing Protocol Based on Link Quality Metrics for Remote Air environmental Monitoring System[C]//ICROS-SICE International Joint Conference, Fukuoka International Congress Center, Japan, 2009:4863-4867
[16] A. Woo, T. Tong, D. Culler. Taming the Underlying Challenges of Reliable Multihop Routing in Sensor Networks[C]// In Proceedings of the ACM SenSys 03, Los Angeles, CA, 2003:14-27
[17] D. Ganesan, B. Krishnamachari, A. Woo, et al. Complex Behavior at Scale: An experimental study of Low-Power Wireless Sensor Networks.[R]. Technical Report UCLA/CSDTR 02-0013, Comupter Science department, University of California, Los Angeles (UCLA), CA, 2002:1-10
[18] L. C. Zhong, J. Rabaey, C. Guo, et al. Data Link Layer Design for Wireless Sensor Networks[C]//In Processdings of IEEE MILCOM 2001, Washington DC, 2001:1-5
[19] G. Bianchi, L. Fratta, M. Oliveri. Performance evaluation and enhancement of the CSMA/CA MAC Protocol for 802.11 Wireless LANs. [C]//In: Seventh IEEE International Symposium on Personal, Indoor and Mobile Radio Communications, 1996, 2: 392-396
[20] W. R. Heinzelman, C. Anantha, H. Balakrishnan. Energy efficient communication Protocols for Wireless Microsensor Networks[C]//In: The 33rd Annual Hawaii International Conference on System Sciences, Hawaii, USA, 2000: 1-10
[21]A.Ephremides,T.V.Truong.Scheduling broadcasts in multihop radio networks[C]//IEEE Transaction on Communications,1990,38(4):456-460
[22]C.M.Barnhart,J.E.Wieselthier,A.Ephremides.A neural network approach to solving the link activation problem in multihop radio networks.[C]//IEEE Transaction on Communications,1995,43(2/3/4):1277-1283
[23]G.Chakraborty.Genetic algorithm to solve optimum TDMA transmission schedule in broadcast packet radio networks[C]//IEEE Transaction on Communications,2004,52(5):765-777
[24]C.Y.Ngo,Y.O.K.Li.Centralized broadcast scheduling in packet radio networks via genetic-fix algorithms[C]//IEEE Transactions on Communications,2003,51(9):1439-1441
[25]J.Kim,J.Lim,C.Pelczar,et al.RRMAC:A Sensor network MAC for real time and reliable packet transmission[C]//In:IEEE International Symposium on Consumer Electronics,Algarve Portugal,2008:1-4
[26]Texas Instruments Incorporated,MSP430xlxx Family user guide,2006
[27]Texas Instruments Incorporated,MSP430x15x,MSP430x16x,MSP430x161x,MIXED SIGNAL MICROCONTROLLER,2005
[28]杜春雷 ARM体系结构与编程[M].北京:清华大学出版社 2003.
[29]Atmel Corporation,AT91X40 Series datasheet.2002
[30]Silicon Storage Technology,Inc.16 Mbit/32 Mbit/64 Mbit(x16) Multi-Purpose Flash Plus SST39VF1601 datasheet.2003
[31]ASIX Electronics Corporation.AX88796L 3in1 Local Bus Fast Ethernet Controller.2004
[32]Texas Instruments Incorporated,CC2420 2.4GHz IEEE 802.15.4/ZigBee RF Transceiver,2006
[33]冯玉珉 通信系统原理[M].北京:北方交通大学出版社,清华大学出版社 2003:240-263
[34]白木,周洁.扩频通信的原理、工作方式、特点和应用[J].电力系统通信.2002(4):36-39
[35]褚健,金建祥,王宏,等.用于工业测量与控制系统的EPA系统结构与通信规范[M].北京:中华人民共和国国家质量监督检验检疫总局,2006:13
[36]毕宇航,刘明哲,王宏.工业以太网确定性调度的设计与实现[J].微计算机信息,2006(4):7-9
[37]姜秀柱,冯冬芹,徐钊,褚健.基于EPA的工业自动化网络延迟分析及改善[J].自动化仪表,2009,30(7):7-10
[38]IEEE STD.1588,IEEE standard for a precision clock synchronization protocol for network measurement and control systems[S],2002
[39]桂本烜,冯冬芹,褚健,金建祥.IEEE 1588的高精度时问同步算法的分析与实现[J].工业仪表与自动化装置,2006(4):20-23
[40]张赫男,冯冬芹.面向EPA标准的无线网络网关协议栈设计[J].中国仪器仪表-2008年S1期:111-114
[41]A.Woo,D.Culler.Evaluation of Efficient Link Reliability Estimators for Low-Power Wireless Networks[R].Technical Report UCB/CSD 03-1270,Univeristy of California,Berkeley,2002:1-20
[42]C.A.Boano,T.Voigt,A.Dunkels,et al.Poster Abstract:Exploiting the LQI Variance for Rapid Channel Quality Assessment.[C]//IPSN'09,San Francisco,California,USA:369-370
[43]孙佩刚,赵海,罗玎玎等.无线传感器网络链路通信质量测量研究[J].通信学报.28(10):14-22
[44]S.Ganeriwal,R.Kumar,M.B.Srivastava.Timing-sync Protocol for Sensor Networks[C]//.Proceedings of the 1st ACM Conference on Embedded Networked Sensor Systems,Los Angeles,2003:138-149
[45]J.Elson,L Girod,D.Estrin.Fine-grained Network Time Synchronization Using Reference Broadcasts Time Synchronization for Wireless Sensor Networks[C]//Proceedings of the Fifth Symposium on Operating Systems Design and Implementation,Boston,2002:147-163
[46]D.Cox,E.Jovanov,A.Milenkovic.Time synchronization for ZigBee networks[C]//.System Theory,SSST'05.Proceedings of the Thirty-Seventh Southeastern Symposium,2005:135-138
[47]J.ELSON,D.ESTRIN.Time Synchronization for Wireless Sensor Networks[C]//In Proceedings of the 15th International Parallel and Distributed Processing Symposium.San Francisco,CA,U SA;IEEE Computer Society,2001:1965-1970.
[48]P.Su.Delay Measurement Time Synchronization for Wireless Sensor Networks[J].Intel Research,IRB-TR-03-013,June 2003:1-10
[49]W.Masri,Z.Mammeri.QoS Mapping in TDMA tree based clustered WSN between accuracy,density and bandwidth[C]//In:CTRQ'08,International Conference,Bucharest,Romania,2008:71-76
[50]A.Woo,D.Culler.Evaluation of efficient link reliability estimators for low-power wireless sensor networks[R]Technical report UCB/CSD 03-1270,University of California,Berkeley,2002:1-5
[2] E. Lawrence, K. F. Navarro, D. Hoang, et al. Data collection, correlation and dissemination of Medical Sensor Information in a WSN[C]//Fifth International Conference on Networking and Services, Valencia, Spain. 2009: 402-408
[3] A. Willig. Recent and emerging topics in wireless industrial communication: A selection. [C]//IEEE transactions on industrial informatics. 2008,4(2):102-124
[4] G. Cenna, A. Valenzano, S. Vituri. Wireless Extensions of Wired Industrial Communication Networks[C]// 5th IEEE International Conference on Industrial Informatics. 2007, 1: 273-278
[5] A. Willig, K. Matheus, A. Wolisz. Wireless Technology in Industrial Networks[C]// Proceedings of the IEEE, 2005, 93(6): 1130-1151,
[6] IEEE Std. 802.11, IEEE Standard for Wireless LAN Medium Access Control (MAC) and Physical Layer(PHY) Specification[S], 1997
[7] M. S. Gast. 802.11 Wireless Networks-The Definitive Guide[M]. O'Reilly, Sebastopol, CA, 2002.
[8] IEEE Std. 802.15.1, IEEE Standard for Wireless Medium Access Control(MAC) and Physical Layer(PHY) Specifications for Wireless Personal Area Networks (WPANs)[S], 2002
[9] J. C. Haartsen. The Bluetooth Radio System[C]// IEEE Personal Communications, 2000,7(1):28-36.
[10] IEEE802.15.4: Wireless Medium Access Control(MAC) and Physical Layer(PHY) Specification for Low-Rate Wireless Personal Area Networks(WPAN)[S]. http://www.ieee802.org/,IEEE Computer Society, 2006
[11] ZigBee specification[S]. http://www.zigbee.org: Zigbee-Alliance, 2005
[12] HART Protocol Specification 2.4GHz DSSS O-QPSK Physical Layer Specification. HCF_SPEC-065[S]. http://www.hartcomm.org, 2007
[13] ISA100.1 la Draft standard[S]. http://www.isa.org/, 2007
[14] Technical Overview of the Time Synchronized Mesh Protocol (TSMP). White Paper of Dust Networks. http://www.dustnetworks.com
[15] J. Kwon, G. Ahn, S. Kim, et al. A Study on Energy-Efiicient Tree Routing Protocol Based on Link Quality Metrics for Remote Air environmental Monitoring System[C]//ICROS-SICE International Joint Conference, Fukuoka International Congress Center, Japan, 2009:4863-4867
[16] A. Woo, T. Tong, D. Culler. Taming the Underlying Challenges of Reliable Multihop Routing in Sensor Networks[C]// In Proceedings of the ACM SenSys 03, Los Angeles, CA, 2003:14-27
[17] D. Ganesan, B. Krishnamachari, A. Woo, et al. Complex Behavior at Scale: An experimental study of Low-Power Wireless Sensor Networks.[R]. Technical Report UCLA/CSDTR 02-0013, Comupter Science department, University of California, Los Angeles (UCLA), CA, 2002:1-10
[18] L. C. Zhong, J. Rabaey, C. Guo, et al. Data Link Layer Design for Wireless Sensor Networks[C]//In Processdings of IEEE MILCOM 2001, Washington DC, 2001:1-5
[19] G. Bianchi, L. Fratta, M. Oliveri. Performance evaluation and enhancement of the CSMA/CA MAC Protocol for 802.11 Wireless LANs. [C]//In: Seventh IEEE International Symposium on Personal, Indoor and Mobile Radio Communications, 1996, 2: 392-396
[20] W. R. Heinzelman, C. Anantha, H. Balakrishnan. Energy efficient communication Protocols for Wireless Microsensor Networks[C]//In: The 33rd Annual Hawaii International Conference on System Sciences, Hawaii, USA, 2000: 1-10
[21]A.Ephremides,T.V.Truong.Scheduling broadcasts in multihop radio networks[C]//IEEE Transaction on Communications,1990,38(4):456-460
[22]C.M.Barnhart,J.E.Wieselthier,A.Ephremides.A neural network approach to solving the link activation problem in multihop radio networks.[C]//IEEE Transaction on Communications,1995,43(2/3/4):1277-1283
[23]G.Chakraborty.Genetic algorithm to solve optimum TDMA transmission schedule in broadcast packet radio networks[C]//IEEE Transaction on Communications,2004,52(5):765-777
[24]C.Y.Ngo,Y.O.K.Li.Centralized broadcast scheduling in packet radio networks via genetic-fix algorithms[C]//IEEE Transactions on Communications,2003,51(9):1439-1441
[25]J.Kim,J.Lim,C.Pelczar,et al.RRMAC:A Sensor network MAC for real time and reliable packet transmission[C]//In:IEEE International Symposium on Consumer Electronics,Algarve Portugal,2008:1-4
[26]Texas Instruments Incorporated,MSP430xlxx Family user guide,2006
[27]Texas Instruments Incorporated,MSP430x15x,MSP430x16x,MSP430x161x,MIXED SIGNAL MICROCONTROLLER,2005
[28]杜春雷 ARM体系结构与编程[M].北京:清华大学出版社 2003.
[29]Atmel Corporation,AT91X40 Series datasheet.2002
[30]Silicon Storage Technology,Inc.16 Mbit/32 Mbit/64 Mbit(x16) Multi-Purpose Flash Plus SST39VF1601 datasheet.2003
[31]ASIX Electronics Corporation.AX88796L 3in1 Local Bus Fast Ethernet Controller.2004
[32]Texas Instruments Incorporated,CC2420 2.4GHz IEEE 802.15.4/ZigBee RF Transceiver,2006
[33]冯玉珉 通信系统原理[M].北京:北方交通大学出版社,清华大学出版社 2003:240-263
[34]白木,周洁.扩频通信的原理、工作方式、特点和应用[J].电力系统通信.2002(4):36-39
[35]褚健,金建祥,王宏,等.用于工业测量与控制系统的EPA系统结构与通信规范[M].北京:中华人民共和国国家质量监督检验检疫总局,2006:13
[36]毕宇航,刘明哲,王宏.工业以太网确定性调度的设计与实现[J].微计算机信息,2006(4):7-9
[37]姜秀柱,冯冬芹,徐钊,褚健.基于EPA的工业自动化网络延迟分析及改善[J].自动化仪表,2009,30(7):7-10
[38]IEEE STD.1588,IEEE standard for a precision clock synchronization protocol for network measurement and control systems[S],2002
[39]桂本烜,冯冬芹,褚健,金建祥.IEEE 1588的高精度时问同步算法的分析与实现[J].工业仪表与自动化装置,2006(4):20-23
[40]张赫男,冯冬芹.面向EPA标准的无线网络网关协议栈设计[J].中国仪器仪表-2008年S1期:111-114
[41]A.Woo,D.Culler.Evaluation of Efficient Link Reliability Estimators for Low-Power Wireless Networks[R].Technical Report UCB/CSD 03-1270,Univeristy of California,Berkeley,2002:1-20
[42]C.A.Boano,T.Voigt,A.Dunkels,et al.Poster Abstract:Exploiting the LQI Variance for Rapid Channel Quality Assessment.[C]//IPSN'09,San Francisco,California,USA:369-370
[43]孙佩刚,赵海,罗玎玎等.无线传感器网络链路通信质量测量研究[J].通信学报.28(10):14-22
[44]S.Ganeriwal,R.Kumar,M.B.Srivastava.Timing-sync Protocol for Sensor Networks[C]//.Proceedings of the 1st ACM Conference on Embedded Networked Sensor Systems,Los Angeles,2003:138-149
[45]J.Elson,L Girod,D.Estrin.Fine-grained Network Time Synchronization Using Reference Broadcasts Time Synchronization for Wireless Sensor Networks[C]//Proceedings of the Fifth Symposium on Operating Systems Design and Implementation,Boston,2002:147-163
[46]D.Cox,E.Jovanov,A.Milenkovic.Time synchronization for ZigBee networks[C]//.System Theory,SSST'05.Proceedings of the Thirty-Seventh Southeastern Symposium,2005:135-138
[47]J.ELSON,D.ESTRIN.Time Synchronization for Wireless Sensor Networks[C]//In Proceedings of the 15th International Parallel and Distributed Processing Symposium.San Francisco,CA,U SA;IEEE Computer Society,2001:1965-1970.
[48]P.Su.Delay Measurement Time Synchronization for Wireless Sensor Networks[J].Intel Research,IRB-TR-03-013,June 2003:1-10
[49]W.Masri,Z.Mammeri.QoS Mapping in TDMA tree based clustered WSN between accuracy,density and bandwidth[C]//In:CTRQ'08,International Conference,Bucharest,Romania,2008:71-76
[50]A.Woo,D.Culler.Evaluation of efficient link reliability estimators for low-power wireless sensor networks[R]Technical report UCB/CSD 03-1270,University of California,Berkeley,2002:1-5