CN1591513A - 传感器或执行元件连接到总线***上的方法和装置 - Google Patents

传感器或执行元件连接到总线***上的方法和装置 Download PDF

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CN1591513A
CN1591513A CNA2004100749524A CN200410074952A CN1591513A CN 1591513 A CN1591513 A CN 1591513A CN A2004100749524 A CNA2004100749524 A CN A2004100749524A CN 200410074952 A CN200410074952 A CN 200410074952A CN 1591513 A CN1591513 A CN 1591513A
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time
sensor
bus system
signal processing
time control
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CN100466507C (zh
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T·福埃雷尔
R·诺伊尔
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Wago Verwaltungs GmbH
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Wago Verwaltungs GmbH
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Abstract

用于将至少一个传感器(104，200)或执行元件连接到时间控制的总线***(110，205)上的方法，其中，所述传感器(104，200)或执行元件进行信号处理(202和203)，其中，所述信号处理划分为至少两个阶段，而第一阶段(202)中的所述信号处理以比第二阶段(203)中的较快的节拍来进行，其中，在所述阶段中的至少一个中，将所述传感器(104，200)或执行元件同步到所述时间控制总线***的传感器外部的时间(GT，ZT)上。

Description

传感器或执行元件连接到总线***上的方法和装置
技术领域
本发明涉及用于将至少一个传感器或执行元件连接到时间控制的总线***上的一种方法和一种装置，以及涉及一种相应的传感器或执行元件。
现有技术
近年来在现代汽车制造中，或也在机械制造中，尤其是在机床领域中，而且也在自动化和其它的工业应用中，急剧增长地借助一种通信***或总线***将控制设备、传感器和执行元件进行结网。在此，通过将功能分布到多个控制设备上可以达到协同效应。人们在此称之为离散的***。越来越多地通过至少一个总线，或至少一个总线***来实现不同用户之间的通信。通过协议来调节在总线***、访问机制和接收机制，以及故障处理上的通信交往。
在此的一项措施是在时间控制总线***中的时间控制的通信。这种时间控制的通信***的出发点在于，循环地以固定的时间格式发送消息。从***中的空转(freilaufend)的定时器，或主定时器(Zeitmaster)中推导出该时间格式的流程，该定时器或主定时器给定了时间控制总线***的该所谓的全球时间。这样时间控制总线***的实例是符合ISO标准11898-4的时间控制的CAN(控制器区域网络)，所谓的TTCAN或(时间触发的控制器域网络)。在TTCAN中，或也在像软线(FlexRay)那样的其它时间控制的总线***中建立通信回路(例如基本循环Cycle)，这种时间控制的通信***，诸如TTCAN或软线因而主要基于时间控制的周期性的通信，该通信通过给出主要时间的用户，所谓的主定时器，借助时间基准消息或简称基准消息来提供时钟脉冲。直至下一个基准消息为止的周期称为基本循环，划分为可规定数量的时窗，和包括时间控制总线***的循环时间。
控制设备通常在这种时间控制的通信***中具有直接的总线访问，以便交换应用消息。在上述时间控制的总线***中必须符合时间地提供这些消息。例如可以通过采用像OSEK那样的时间控制的操作***来满足该要求。于是从上述全球时间GT中推导出操作***的，例如OSEK时间兼容的OS的时间理解(Zeitverstndnis)。
但是也将传感器和执行元件直接连接在这种具有时间控制通信的结网的***中，即传感器或执行元件的逻辑电路也承担参与总线通信的任务。
在此，在现有技术中在所采用的传感器和执行元件中，不深入讨论总线***的特殊的性能，也就是尤其是时间的特性。这就是说，这种总线***的时间控制的特性不直接由传感器或执行元件来承担，而因此附加于在信号处理范围中的、通常在传感器技术指标中说明的最大允许的相移即时间推移地，还添加了其它的涉及适时性的，传感器中的专门测量数据的时间不可靠性。
在该以下要阐述的本发明的范围中的出发点在于，未来越来越多地建造具有调节回路的车辆***，这些车辆***通过总线***来通信，并因此要考虑数据的时间特性，或数据由于通过总线***的传输的老化。
发明内容
因此本发明的任务是，使得在传感器或执行元件连接到时间控制总线***上时数据的有关适时性的时间偏差最小化。
本发明的优点
为了解决该任务，从用于将至少一个传感器或执行元件连接到时间控制的总线***上的一种方法和一个装置，以及从相应的传感器或执行元件出发，其中，传感器或执行元件进行信号处理，该信号处理划分为至少两个阶段，而在第一阶段中的信号处理以比在第二阶段中更快的节拍来进行。根据本发明如下来实现总线***的时间控制特性的纳入(Einbindung)，即在所述阶段的至少一个中将传感器或执行元件同步到时间控制总线***的传感器外部的时间上，尤其是同步到全球时间或循环时间上。
在第一实施形式中，因此将信号处理的应以较快节拍进行的第一阶段和时间控制总线***的传感器外部的时间进行同步。在第一实施形式中，因此将信号处理的应以较快节拍进行的第一阶段同步到时间控制总线***的传感器外部的时间上。
在一个其它的实施形式中，将信号处理的第二阶段同步到时间控制总线***的传感器外部的时间上。
在传感器外部的时间情况下以有利的方式涉及时间控制总线***的全球时间或循环时间。在一种合理的实施形式中，采用TTCAN作为时间控制的总线***，正如该TTCAN在ISO 11898-4中所说明的那样。
以有利的方式，通过从总线耦连单元的寄存区中读出代表传感器外部时间的时间信息，来实现本发明的同步。在一个其它的实施形式中，通过经过输入路径的读入来获得用于同步的时间信息，其中，时间信息同样从传感器外部时间情况中来推导，并传输到输入路径上。在此可以在外部给定输入路径，也就是通过单独的插头，或又通过通向总线耦连单元的通信连接来实现输入路径，其中，于是从总线耦连单元的传感器外部时间情况中推导出时间信息，并传输到输入路径上。
因此可以将现代传感器或甚至执行元件的处理逻辑电路和与此相联系的计算，或对于测量数据的测量的预处理，调整到就是时间控制总线***的外部给定的、像测量数据的通信循环和发送时刻那样的时间条件上。因此也可以在实时条件下大大超出在现有技术中公开的尺度地，在数据适时性方面降低时间上的不可靠性或推移。
附图说明
以下借助附图中所示的图形来详述本发明。
图1展示了具有至少一个用户和至少一个传感器的时间控制的总线***，以及
图2展示了具有总线接口或总线耦连单元的传感器的方框图。
以下主要说明将传感器连接到时间控制的总线***上，其中，如果执行元件通过时间控制的总线***进行数据交换，则在本发明方面可以类似地实现这些执行元件的连接。
具体实施方式
图1展示了具有用户100，尤其具有控制单元的时间控制的总线***110，该控制单元通过耦连单元102与总线***110相连接。在控制单元100中含有处理单元101以及时间模块103。该控制单元100例如是主总线(Busmaster)，也就是载有时间控制总线***的时间特性的单元。这像开始时所述那样，通过与自己的定时器模块103有关地发送出基准消息来实现，于是从中得出总线***的全球时间。于是从两个基准消息之间的时间中得出总线***的循环时间。
因此例如每个用户具有自己的时基，或像103那样的定时器，该时基在它这方面可以通过内部的装置，诸如时钟、计数器、时钟脉冲发生器、振荡器等等来形成，或可以从外部向各自的用户来传输。每个用户因此具有一个本地时间，而仅仅一个特定的用户，定时器或主定时器400具有突显(exponiert)的位置，使得该定时器或主定时器400的时基作为用于给定全球时间GT的全球时基形成了基础。每个用户现在可以按照该全球时间GT来修正它的时间理解，其方式是从自己的本地时基和涉及对全球时间的偏差(Offset)中进行调整。取决于全球时基的可能的时间漂移，作为两个基准消息之间间距的循环时间于是与全球时间联系在一起。
根据本发明用104示出了相应的传感器，例如车辆中的旋转速率(Drehraten)传感器。所示出的传感器104同样含有总线耦连单元107、附带布置的或包含在耦连单元中的寄存区(Registerbereich)108、以及控制单元或处理单元105，和时间模块106。在该实例中，旋转速率传感器的技术指标说明了在25Hz时具有最大30度的相移。在传感器中在设计时也已由必要的输出滤波器完全利用了该相移。现在，如所示出那样，在具有例如1毫秒循环的现代时间控制的总线***中采用了该传感器。如所述那样，由总线***给定了该时间标度线。因此也就是该传感器的具有测量数据的消息也获得了循环中的某个位置。这就是说，但是在当前的循环中在以后时刻也不再可能发送测量数据。如果现在旋转速率传感器的数字式信号处理异步于总线***的该循环来运行，测量数据适时性的时间的不可靠性则因此得出为1毫秒加上规定的相移。在该实例中，这意味着，在25Hz时为9度的附加的相移也就是已经约为技术指标的三分之一。在整个调节回路中通常还有其它的例如通向执行元件的通信路径，由此，过多的相移因而可能导致整个调节的不稳定性。
除了旋转速率传感器之外，同样的内容例如适用于ESP(电子稳定程序)，也适用于尤其车辆中的另外的传感器用途，像例如在相应调节范围中的车轮转速或发动机转速用的转速传感器(Sensorik)那样，或也适用于HFM(热膜空气质量测量仪)，或也适用于例如与气囊功能有关的用途中的加速度传感器。在所述和其它的传感器用途中，一方面在相移上，另一方面在涉及时间控制总线***和所连接传感器之间的异步性方面的、附加的时间不可靠性上，出现上述的问题。
该问题的解决方案在于，将传感器的内部的数字逻辑电路引到，或同步到时间控制总线***的传感器外部的时间上。因此这就是说，将传感器的内部的逻辑电路引到通信***的全球时间上，或也引到循环时间上，或同步到其上。因此达到了，如此来实现传感器中的测量数据处理，使得在通信循环中在发送消息的计划发送时刻来提供测量数据。图2为此展示了在具有总线***的调节回路中的传感器的方框电路图，其中，如开始时已提及的那样，在调节回路中的执行元件(Aktorik)中也可以应用同一方法，同样还有装置。图2中用200示出了耦连到时间控制总线***205上的传感器或执行元件。201在此表示原来的传感器元件，该传感器元件承担物理地采集各自的流程或改变。方框202象征了以快节拍的，尤其在兆赫段中的传感器信号处理，而方框203象征了以慢节拍的，尤其在千赫段中的传感器信号处理。这就是说，逻辑电路，或传感器元件的信号处理可以粗略划分为方框201、采集、202和203、处理。方框204展示了用于连接到时间控制总线***205上所需要的通信控制器，或作为总线耦连单元(204)的总线接口。该总线耦连单元可以，像用虚线表明的那样，同样含有在传感器200中，或布置在该传感器200的外部。在此用208示出了承担通信控制的实施单元。
通过以快节拍的传感器信号处理来运行传感器元件201，即读出和预处理测量值。这也还可以用模拟技术或又用数字技术来实现。在此之后，通常以数字技术以慢的节拍，尤其在千赫段中，来预处理和处理传感器信号处理的该第一阶段的、即以快节拍、尤其在兆赫段中处理的结果。已提及的输出滤波在此也得到应用。在信号处理的该第二阶段中，在每个处理过程之后将数字式传感器信号置入总线耦连单元204中。尤其在信号处理的第一阶段向信号处理的第二阶段的，即在从快向慢节拍的过渡之间，可能导致开始时所述相移。
在第一变型方案中，已经将信号处理的第一阶段，即以快节拍的阶段，按照方框202同步到时间控制总线***的传感器外部的时间上，即同步到循环时间或全球时间上。一方面这通过读出代表相应的循环时间或全球时间的时间信息是可能的。例如从总线耦连单元107或204的相应的寄存器207或108中实现了这种时间信息。这就是说，通过输入路径206可以从寄存器207中读出用于时间同步的相应的时间信息，以便避免时间的不可靠性，尤其是抖动。在此在含有在传感器中的总线耦连单元中，不必采用在传感器和总线耦连单元之间的，或方框203和总线耦连单元之间的通信路径，而是也可以另行构成输入路径206，使得应该输送一个时间信息，该时间信息从时间控制的总线***的，尤其是总线耦连单元的时间特性中来推导。在此也可以安排该时间信息用的单独的输入插头，其中，该时间信息于是可以源自外部的来源，诸如源自另外的控制设备，同样还有另外的总线用户。到输入插头上的这种传输于是一方面可以是有线的，或也可以又是无线的，例如通过无线电、超声波、红外线等等。由于以慢节拍的，尤其在千赫段中的传感器信号处理同样访问总线***的传感器外部的时间，就是尤其是访问循环时间或全球时间，所以存在着传感器信号处理的第一阶段和第二阶段的同步，使得将数字式传感器信号同步于总线耦连单元中的总线时间地来记录。
第二变型方案来自于，独立于以慢节拍的，即在千赫段中的传感器信号处理地，来进行信号处理的第一阶段，即以快节拍，即在兆赫段中的那个第一阶段。在此如下来选择信号处理第二阶段的节拍，使得相移尽可能地小。现在又将该第二阶段同步到总线***的传感器外部的时间上，就是同步到循环时间或全球时间ZT或GT上。这要么通过直接读取全球时间GT或循环时间ZT，就是读取时基来实现，要么作为寄存器值来实现。另一种可能性是通过处理输入路径的时间信息来同步，尤其是一个专用输入插头，该输入插头提供对时间控制总线***的总线时间的同步，即提供作为硬件信号的全球时间或循环时间。因此在第一和第二信号处理阶段之间实现了微小的相移，并在信号处理的第二阶段的范围中同步于总线耦连单元的总线时间地记录数字的传感器信号。
两个所述变型方案，变型方案1和变型方案2，因此是传感器信号的同步输出，以便使得涉及时间控制总线***的时间特性的时间不可靠性和相移最小化。因此在内部不必暂存测量值，即数据，这仅仅会导致相移的移位，而不会像根据本发明现在达到的那样，导致时间推移的最小化。也可以如下来避免这种暂存，即采用DPRAM或另外的缓冲器方案，例如转换寄存器(Wechselregister)，使得如果在慢的传感器信号处理中，即在第二阶段中应写入一个新的传感器值，总线耦连单元，还有通信控制器则同步于总线时间发送传感器值。因此传感器信号虽然异步于总线时间地被写入，但是同地步发送传感器信号，并如此来实现传感器信号，使得在访问时不导致写读冲突。因此在该最简单的第三变型方案中，即使用DPRAM或另外的像转换寄存器的缓冲器方案，本来仅将通信控制器或总线接口204通过读出循环时间或全球时间，或又通过具有边沿控制的输入插头，与总线时间同步地同步到该总线时间上。为了避免较大的偏差，尤其为了使该偏差最小化，则可以同步地至少进行信号处理的第一阶段。
用刚才所阐述的内容可以说明一种方法和一个装置、一个传感器以及类似地一个执行元件，通过这些来实现传感器或执行元件与时间控制总线***的同步，可以使得所述时间的不可靠性和相移最小化，并可以避免调节中的不稳定性。

Claims (12)

1.用于将至少一个传感器(104，200)或执行元件连接到时间控制的总线***(110，205)上的方法，其中，所述传感器(104，200)或执行元件进行信号处理(202和203)，其中，所述信号处理划分为至少两个阶段，而第一阶段(202)中所述信号处理以比第二阶段(203)中的较快的节拍来进行，其特征在于，
在所述阶段中的至少一个中，将所述传感器(104，200)或执行元件同步到所述时间控制总线***的传感器外部的时间(GT，ZT)上。
2.按权利要求1的方法，其特征在于，
将所述信号处理的第一阶段(202)同步到时间控制总线***(110，205)的传感器外部的时间(GT，ZT)上。
3.按权利要求1的方法，其特征在于，
将所述信号处理的第二阶段(203)同步到时间控制总线***(110，205)的传感器外部的时间(GT，ZT)上。
4.按权利要求1的方法，其特征在于，
在所述传感器外部的时间中涉及所述时间控制总线***(110，205)的全球时间(GT)。
5.按权利要求1的方法，其特征在于，
在所述传感器外部的时间情况中涉及所述时间控制总线***(110，205)的循环时间(ZT)。
6.按权利要求1的方法，其特征在于，
在所述时间控制的总线***(110，205)中涉及一个TTCAN。
7.按权利要求2的方法，其特征在于，
所述同步通过从总线耦连单元(107，204)的寄存区(108，207)中读出代表所述传感器外部时间的时间信息来实现。
8.按权利要求2的方法，其特征在于，
通过读入经过输入路径(206)的时间信息来实现所述同步，其中，从所述传感器外部的时间情况中推导所述时间信息，并在所述输入路径(206)上传输。
9.按权利要求2的方法，其特征在于，
通过读入经过输入路径(206)的时间信息来实现所述同步，其中，从总线耦连单元(204)的传感器外部的时间情况中推导所述时间信息，并在所述输入路径(206)上传输。
10.用于将至少一个传感器(104，200)或执行元件连接到时间控制的总线***(110，205)上的装置，其中，所述传感器(104，200)或执行元件进行信号处理(202和203)，其中，所述信号处理划分为至少两个阶段，而第一阶段(202)中的所述信号处理以比第二阶段(203)中的较快的节拍来进行，其特征在于，
含有着装置(105，208)，这些装置(105，208)在所述阶段中的至少一个中，将所述传感器或执行元件同步到所述时间控制总线***(110，205)的传感器外部的时间(GT，ZT)上。
11.用于连接到时间控制总线***(110，205)上的传感器(104，200)，其中，所述传感器(104，200)执行信号处理(202，203)，其中，所述信号处理划分为至少两个阶段，而第一阶段(202)中所述信号处理以比第二阶段(203)中的较快的节拍来进行，其特征在于，
含有装置(105，208)，这些装置(105，208)在所述阶段中的至少一个中，将所述传感器同步到所述时间控制总线***的传感器外部的时间(GT，ZT)上。
12.用于连接到时间控制总线***(110，205)上的执行元件(104，200)，其中，所述执行元件(104，200)进行信号处理(202，203)，其中，所述信号处理划分为至少两个阶段，而第一阶段(202)中所述信号处理以比第二阶段(203)中的较快的节拍来进行，其特征在于，
含有装置(105，208)，这些装置(105，208)在所述阶段中的至少一个中，将所述执行元件同步到所述时间控制总线***的执行元件外部的时间(GT，ZT)上。
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