DE10340165A1 - Verfahren und Vorrichtung zur Anbindung von Sensoren oder Aktoren an ein Bus-System - Google Patents
Verfahren und Vorrichtung zur Anbindung von Sensoren oder Aktoren an ein Bus-System Download PDFInfo
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- DE10340165A1 DE10340165A1 DE10340165A DE10340165A DE10340165A1 DE 10340165 A1 DE10340165 A1 DE 10340165A1 DE 10340165 A DE10340165 A DE 10340165A DE 10340165 A DE10340165 A DE 10340165A DE 10340165 A1 DE10340165 A1 DE 10340165A1
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- sensor
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- bus system
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- signal processing
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- 238000012545 processing Methods 0.000 claims abstract description 48
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Classifications
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- H04L65/10—Architectures or entities
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- H04L65/1043—Gateway controllers, e.g. media gateway control protocol [MGCP] controllers
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- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
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- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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Abstract
Verfahren zur Anbindung wenigstens eines Sensors (104, 200) oder Aktors an ein zeitgesteuertes Bussystem (110, 205), wobei der Sensor (104, 200) oder Aktor eine Signalverarbeitung (202 u. 203) durchführt, wobei die Signalverarbeitung in wenigstens zwei Phasen aufgeteilt ist und die Signalverarbeitung in einer ersten Phase (202) in einem schnelleren Takt als in einer zweiten Phase (203) abläuft, wobei der Sensor (104, 200) oder Aktor in wenigstens einer der Phasen an eine sensorexterne Zeit (GT, ZT) des zeitgesteuerten Bussystems synchronisiert wird.
Description
- Stand der Technik
- Die Erfindung betrifft ein Verfahren und eine Vorrichtung zur Anbindung wenigstens eines Sensors oder Aktors an ein zeitgesteuertes Bus-System sowie einen entsprechenden Sensor oder Aktor gemäß den unabhängigen Ansprüchen.
- Die Vernetzung von Steuergeräten, Sensorik und Aktorik mit Hilfe eines solchen Kommunikationssystems bzw. eines Bus-Systems hat in den letzten Jahren beim Bau von modernen Kraftfahrzeugen oder auch im Maschinenbau, insbesondere im Werkzeugmaschinenbereich, als auch in der Automatisierung und weiteren Industrieanwendungen drastisch zugenommen. Synergieeffekte durch Verteilung von Funktionen auf mehrere Steuergeräte können dabei erzielt werden. Man spricht hierbei von verteilten System. Die Kommunikation zwischen verschiedenen Teilnehmern findet mehr und mehr über wenigstens einen Bus bzw. wenigstens ein Bus-System statt. Der Kommunikationsverkehr auf dem Bus-System, Zugriffs- und Empfangsmechanismen sowie Fehlerbehandlungen werden über ein Protokoll geregelt.
- Ein Ansatz dabei ist die zeitgesteuerte Kommunikation bei zeitgesteuerten Bus-Systemen. Solche zeitgesteuerten Kommunikationssysteme gehen davon aus, dass die Botschaften zyklisch in einem festen zeitlichen Schema gesendet werden. Der Ablauf für dieses zeitliche Schema wird von einem freilaufenden Zeitgeber oder Zeitmaster im System abgeleitet, der diese sogenannte globale Zeit oder global Time für das zeitgesteuerte Bus-System vorgibt. Ein Beispiel für so ein zeitgesteuertes Bus-System ist der dem ISO- Standard 11898-4 entsprechende zeitgesteuerte CAN(Controller Area Network), das sogenannte TTCAN oder (Time Triggered Controller Area Network). Im TTCAN oder auch anderen zeitgesteuerten Bus-Systemen wie dem FlexRay, werden Kommunikationsrunden (zum Beispiel Basic Cycle), aufgebaut, solche zeitgesteuerten Kommunikationssysteme wie beispielsweise der TTCAN oder FlexRay basieren somit im Wesentlichen auf einer zeitgesteuerten, periodischen Kommunikation, die durch einen hauptzeitgebenden Teilnehmer, den sogenannten Zeitmaster, mit Hilfe einer Zeitreferenznachricht oder kürzer Referenznachricht, getaktet wird. Die Periode bis zur nächsten Referenznachricht wird als Basiszyklus bezeichnet, unterteilt sich in eine vorgebbare Anzahl von Zeitfenstern und umfasst die Zykluszeit des zeitgesteuerten Bus-Systems.
- Üblicherweise haben Steuergeräte in solchen zeitgesteuerten Kommunikationssystemen direkten Buszugriff, um Applikationsnachrichten auszutauschen. Dies Nachrichten müssen in oben beschriebenen zeitgesteuerten Bus-Systemen zeitgerecht bereitgestellt werden. Diese Anforderung kann beispielsweise durch die Verwendung eines zeitgesteuerten Betriebssystems wie OSEK erfüllt werden. Das Zeitverständnis des Betriebssystems, beispielsweise OSEKtime-kompatibles OS wird dann von der oben beschriebenen globalen Zeit oder global Time GT abgeleitet.
- In solchen vernetzten Systemen mit zeitgesteuerter Kommunikation werden aber auch Sensoren und Aktoren direkt angeschlossen, d.h. die Logik des Sensors oder Aktors übernimmt auch die Aufgabe, am Busverkehr teilzunehmen.
- Dabei wird im Stand der Technik bei den verwendeten Sensoren und Aktoren nicht auf das spezielle Verhalten, also insbesondere das zeitliche Verhalten, des Bus-Systems eingegangen. D.h., dass das zeitgesteuerte Verhalten solcher Bus-Systeme nicht direkt vom Sensor oder Aktor übernommen wird und sich somit zusätzlich zu der normalerweise in der Sensorspezifikation beschriebenen, maximal zulässigen Phasendrehung, also einer zeitlichen Verschiebung im Rahmen der Signalverarbeitung, noch weitere, zeitliche Unsicherheiten bezogen auf die Aktualität, speziell der Messdaten bei Sensoren, hinzukommen.
- Im Rahmen dieser nachfolgend zu erläuternden Erfindung wird davon ausgegangen, dass zukünftig vermehrt Fahrzeugsysteme mit Regelschleifen aufgebaut werden, die über Bus- Systeme kommunizieren und somit das zeitliche Verhalten bzw. die Alterung der Daten durch den Transport über das Bus-System zu berücksichtigen sind.
- Es ist daher Aufgabe der Erfindung, zeitliche Abweichungen bezogen auf die Aktualität der Daten bei der Anbindung von Sensoren oder Aktoren an ein zeitgesteuertes Bus-System zu minimieren.
- Vorteile der Erfindung
- Zur Lösung dieser Aufgabe wir von einem Verfahren und einer Vorrichtung zur Anbindung wenigstens eines Sensors oder Aktors an ein zeitgesteuertes Bus-Systems sowie entsprechendem Sensor oder Aktor ausgegangen, wobei der Sensor oder Aktor eine Signalverarbeitung durchführt, welche in wenigstens zwei Phasen aufgeteilt ist und die Signalverarbeitung in einer ersten Phase in einem schnelleren Takt als in einer zweiten Phase abläuft. Die Einbindung des zeitgesteuerten Verhaltens des Bus-Systems erfolgt erfindungsgemäß dadurch, dass der Sensor oder Aktor in wenigstens einer der Phasen an eine sensorexterne Zeit, insbesondere die globale Zeit oder die Zykluszeit des zeitgesteuerten Bus-Systems synchronisiert wird.
- In einer ersten Ausführungsform wird somit die erste im schnelleren Takt abzuarbeitende Phase der Signalverarbeitung und die sensorexterne Zeit des zeitgesteuerten Bus-Systems synchronisiert. In einer ersten Ausführungsform wird somit die erste im schnelleren Takt abzuarbeitende Phase der Signalverarbeitung an die sensorexterne Zeit des zeitgesteuerten Bus-Systems synchronisiert.
- In einer weiteren Ausführungsform wird die zweite Phase der Signalverarbeitung an die sensorexterne Zeit des zeitgesteuerten Bus-Systems synchronisiert.
- Vorteilhafter Weise handelt es sich bei der sensorexternen Zeit um die globale Zeit oder die Zykluszeit des zeitgesteuerten Bus-Systems. In einer zweckmäßigen Ausführungsform wird als zeitgesteuertes Bus-System ein TTCAN eingesetzt, wie dieser in der ISO 11898-4 beschrieben ist.
- Vorteilhafter Weise erfolgt die erfindungsgemäße Synchronisierung durch Auslesen einer Zeitinformation, welche die sensorexterne Zeit repräsentiert, aus Registerbereichen einer Busankoppeleinheit. In einer weiteren Ausführungsform wird die Zeitinformation zur Synchronisierung durch Einlesen über einen Eingangspfad gewonnen, wobei die Zeitinformation ebenfalls aus der sensorexternen Zeit abgeleitet ist und auf den Eingangspfad übertragen wird. Dabei kann der Eingangspfad extern vorgegeben sein, also über einen separaten Pin oder aber über die Verbindung zur Busankoppeleinheit realisiert sein, wobei dann eine Zeitinformation aus einer sensorexternen Zeit einer Busankoppeleinheit abgeleitet wird und auf den Eingangspfad übertragen wird.
- Damit ist es möglich, die Verarbeitungslogik eines modernen Sensors oder auch Aktors und die damit verbundene Berechnung bzw. Aufbereitung der Messungen zu Messdaten auf die extern vorgegebenen zeitlichen Bedingungen eben des zeitgesteuerten Bus-Systems wie Kommunikationszyklus und Sendezeitpunkt für die Messdaten abgestimmt werden. Damit können zeitliche Unsicherheiten oder Verschiebungen im Hinblick auf die Aktualität der Daten auch unter Echtzeitbedingungen weit über das im Stand der Technik bekannte Maß hinaus reduziert werden.
- Zeichnung
- Die Erfindung wird nachfolgend anhand der in der Zeichnung dargestellten Figuren näher erläutert. Dabei zeigt
-
1 ein zeitgesteuertes Bus-System mit mindestens einem Teilnehmer und wenigstens einem Sensor sowie -
2 eine Blockbilddarstellung des Sensors mit einer Busschnittstelle oder Busankoppeleinheit. - Im Weiteren wird hauptsächlich die Anbindung eines Sensors an das zeitgesteuerte Bus-System beschrieben, wobei die Ankopplung von Aktoren im Hinblick auf die Erfindung analog erfolgen kann, wenn diese einen Datenaustausch über das zeitgesteuerte Bus-System durchführen.
- Beschreibung der Ausführungsbeispiele
-
1 zeigt ein zeitgesteuertes Bus-System110 mit einem Teilnehmer100 , insbesondere einer Steuereinheit, die über eine Ankoppeleinheit102 mit dem Bus-System110 verbunden ist. In der Steuereinheit100 enthalten ist eine Verarbeitungseinheit101 sowie ein Zeitbaustein103 . Diese Steuereinheit100 ist beispielsweise der Busmaster, also die Einheit, die das zeitliche Verhalten des zeitgesteuerten Bus-Systems trägt. Dies erfolgt, wie eingangs beschrieben, beispielsweise durch Aussenden einer Referenznachricht abhängig vom eigenen Zeitgeberbaustein103 , woraus sich dann die globale Zeit des Bus-Systems ergibt. Aus der Zeit zwischen zwei Referenznachrichten ergibt sich dann die Zykluszeit des Bus-Systems. - So besitzt beispielsweise jeder Teilnehmer eine eigene Zeitbasis bzw. einen Zeitgeber, wie
103 , die ihrerseits durch ein internes Mittel, wie beispielsweise eine Uhr, einen Zähler, einen Taktgenerator, einen Oszillator u.s.w., gebildet oder von extern zum jeweiligen Teilnehmer übertragen werden kann. Somit besitzt jeder Teilnehmer eine lokale Zeit und lediglich ein spezieller Teilnehmer, der Zeitgeber oder Zeitmaster400 besitzt eine exponierte Stellung, so dass dessen Zeitbasis als globale Zeitbasis zur Vorgabe der globalen Zeit GT die Grundlage bildet. Auf diese globale Zeit GT kann nun jeder Teilnehmer sein Zeitverständnis korrigieren, indem aus der eigenen lokalen Zeitbasis und einem Offset bezogen auf die globale Zeit eine Abstimmung erfolgt. Abhängig von möglichen Zeitdriften der globalen Zeitbasis hängt dann die Zykluszeit als Abstand zwischen zwei Referenznachrichten mit der globalen Zeit zusammen. - Mit
104 ist erfindungsgemäß ein entsprechender Sensor, beispielsweise ein Drehratensensor bei einem Fahrzeug, dargestellt. Der dargestellte Sensor104 enthält ebenfalls eine Busankoppeleinheit107 , einen beigeordneten oder in der Ankoppeleinheit enthaltenen Registerbereich108 , sowie eine Steuer- bzw. Verarbeitungseinheit105 und einen Zeitbaustein106 . In diesem Beispiel beschreibt die Spezifikation eines Drehratensensors die Phasendrehung bei 25 Hertz mit maximal 30 Grad. Diese Phasendrehung wird im Sensor bei der Auslegung durch die notwendigen Ausgangsfilter auch bereits ausgenutzt. Dieser Sensor wird nun in einem modernen zeitgesteuerten Bus-System, wie dargestellt, mit zum Beispiel einem Zyklus von 1 Millisekunde eingesetzt. Dieses Zeitraster wird vom Bus-System, wie beschrieben, vorgegeben. So erhält also auch die Nachricht mit den Messdaten für diesen Sensor eine bestimmte Position im Zyklus. Das heißt aber auch ein Senden der Messdaten zu einem späteren Zeitpunkt im aktuellen Zyklus ist nicht mehr möglich. Falls nun die digitale Signalverarbeitung vom Drehratensensor asynchron zu diesem Zyklus des Bus-Systems läuft, ergibt sich damit eine zeitliche Unsicherheit für die Aktualität der Messdaten von 1 Millisekunde plus der spezifizierten Phasendrehung. Das bedeutet in diesem Beispiel eine zusätzliche Phasendrehung bei 25 Hertz von 9 Grad, also schon etwa ein Drittel der Spezifikation. Im gesamten Regelkreis gibt es üblicherweise noch weitere Kommunikationswege, zum Beispiel zu den Aktoren, wodurch ein Zuviel an Phasendrehung somit zur Instabilität der gesamten Regelung führen kann. - Gleiches gilt neben dem Drehratensensor beispielsweise für ESP (Electronic Stability Programm), auch für andere Sensoranwendungen, insbesondere im Fahrzeug, wie Drehzahlsensorik, zum Beispiel für Raddrehzahlen oder Motordrehzahlen im Rahmen der entsprechenden Regelung, oder auch den HFM (Heissfilmluftmassenmesser) oder auch den Beschleunigungssensor, beispielsweise in einer Verwendung in Zusammenhang mit der Airbagfunktion. Bei den genannten und weiteren Sensoranwendungen tritt das oben beschriebene Problem zum einen der Phasendrehung auf, zum anderen der zusätzlichen zeitlichen Unsicherheiten bezüglich der Asynchronität zwischen zeitgesteuertem Bus-System und dem angebundenen Sensor.
- Die Lösung dieses Problems besteht darin, dass die interne Digitallogik des Sensors an eine sensorexterne Zeit des zeitgesteuerten Bus-Systems herangeführt bzw. synchronisiert wird. Das heißt also, die interne Digitallogik des Sensors wird insbesondere an die globale Zeit oder auch die Zykluszeit des Kommunikationssystems herangeführt bzw. darauf synchronisiert. Damit wird erreicht, dass die Messdatenverarbeitung im Sensor so erfolgt, dass die Messdaten zum geplanten Sendezeitpunkt der Sendenachricht im Kommunikationszyklus bereitstehen.
2 zeigt dazu ein Blockschaltbild zu Sensoren in Regelkreisen mit Bus-Systemen, wobei, wie schon eingangs erwähnt, das selbe Verfahren respektive die Vorrichtung auch bei der Aktorik im Regelkreis anwendbar ist. In2 ist mit200 ein Sensor oder Aktor dargestellt, der an ein zeitgesteuertes Bus-System205 angekoppelt ist. Dabei bezeichnet201 das eigentliche Sensorelement, welches die physikalische Erfassung der jeweiligen Abläufe bzw. Veränderungen aufnimmt. Block202 symbolisiert die Sensorsignalverarbeitung im schnellen Takt, insbesondere im Megahertzbereich und Block203 die Sensorsignalverarbeitung im langsamen Takt, insbesondere im Kilohertzbereich. Das heißt, die Logik, bzw. die Signalverarbeitung des Sensorelements kann grob in die Blöcke201 , Erfassung,202 und203 , Verarbeitung, unterteilt werden. Block204 zeigt den zur Anbindung an das zeitgesteuerte Bus-System205 notwendigen Kommunikationskontroller oder Businterface als Busankoppeleinheit (204 ). Diese Busankoppeleinheit kann, wie mit der gestrichelten Linie angedeutet, ebenfalls im Sensor200 enthalten sein oder extern zu diesem angeordnet werden. Mit208 ist dabei eine Ausführungseinheit dargestellt, welche die Steuerung der Kommunikation übernimmt. - Das Sensorelement
201 wird durch die Sensorsignalverarbeitung im schnellen Takt betrieben, also die Messwerte ausgelesen und vorverarbeitet. Dies kann auch noch in Analogtechnologie oder aber in Digitaltechnologie erfolgen. Das Ergebnis dieser ersten Phase der Sensorsignalverarbeitung, also der Verarbeitung im schnellen Takt, insbesondere im Megahertzbereich, wird danach in einem langsameren Takt, insbesondere im Kilohertzbereich, aufbereitet und verarbeitet, in der Regel in Digitaltechnologie. Dabei findet auch die bereits erwähnte Ausgangsfilterung Anwendung. In dieser zweiten Phase der Sensorsignalverarbeitung wird nach jedem Verarbeitungsdurchgang das digitale Sensorsignal in die Busankoppeleinheit204 eingestellt. Insbesondere zwischen der Übergabe der ersten Phase der Sensorsignalverarbeitung zur zweiten Phase der Sensorsignalverarbeitung, also vom schnellen zum langsamen Takt, kann es zu der eingangs beschriebenen Phasendrehung kommen. - In einer ersten Variante wird bereits die erste Phase der Sensorsignalverarbeitung, also die Phase im schnellen Takt, entsprechend Block
202 , an die sensorexterne Zeit des zeitgesteuerten Bus-Systems, also die Zykluszeit oder die globale Zeit, synchronisiert. Dies ist zum einen möglich durch Auslesen einer Zeitinformation, die die entsprechende Zykluszeit oder globale Zeit repräsentiert. Eine solche Zeitinformation wird beispielsweise aus den entsprechenden Registern207 oder108 der Busankoppeleinheit107 bzw.204 ermöglicht. D.h. über den Eingangspfad206 kann aus dem Register207 die entsprechende Zeitinformation zur Zeitsynchronisierung ausgelesen werden, um zeitliche Unsicherheiten, insbesondere Jitter, zu vermeiden. Dabei muss nicht der Kommunikationsweg zwischen Sensor und Busankoppeleinheit bzw. Block203 und Busankoppeleinheit bei im Sensor enthaltener Busankoppeleinheit Verwendung finden, sondern der Eingangspfad206 kann auch anderweitig gestaltet sein, so dass eine Zeitinformation, die aus dem zeitlichen Verhalten des zeitgesteuerten Bus-Systems, insbesondere der Busankoppeleinheit, abgeleitet ist, zuzuführen. Dabei ist es auch möglich, einen separaten Eingangspin für diese Zeitinformation vorzusehen, wobei diese dann aus einer externen Quelle stammen kann, wie zum Beispiel einem anderen Steuergerät, respektive einem anderen Busteilnehmer. Diese Übertragung an den Eingangspin kann dann zum einen leitungsgebunden sein, oder aber auch leitungslos, beispielsweise über Funk, Ultraschall, Infrarot, u.s.w.. Da die Sensorsignalverarbeitung im langsamen Takt, also im Kilohertzbereich, ebenfalls auf die sensorexterne Zeit des Bus-Systems, eben insbesondere Zykluszeit oder globale Zeit, zugreift, ist die Synchronisierung der ersten und zweiten Phase der Sensorsignalverarbeitung gegeben, so dass das digitale Sensorsignal synchron zur Buszeit in der Busankoppeleinheit geschrieben wird. - Eine zweite Variante ergibt sich daraus, dass die erste Phase der Sensorsignalverarbeitung, also diejenige im schnellen Takt, also im Megahertzbereich, unabhängig von der Sensorsignalverarbeitung im langsamen Takt, also im Kilohertzbereich, erfolgt. Dabei wird die Taktung der zweiten Phase der Signalverarbeitung so gewählt, dass die Phasendrehung möglichst gering ist. Nun wird diese zweite Phase aber an die sensorexterne Zeit des Bus-Systemes, eben die Zykluszeit bzw. globale Zeit, ZT bzw. GT synchronisiert. Dies erfolgt entweder durch direktes Lesen der globalen Zeit GT oder der Zykluszeit ZT, eben von der Zeitbasis oder als Registerwert. Eine andere Möglichkeit ist die Synchronisation durch Verarbeitung der Zeitinformation des Eingangspfades, insbesondere in spezieller Eingangspin, der die Synchronisierung zur Buszeit des zeitgesteuerten Bus-Systems, also globaler Zeit oder Zykluszeit, als Hardwaresignal bereitstellt. Dadurch erfolgt eine geringe Phasendrehung zwischen erster und zweiter Signalverarbeitungsphase und das digitale Sensorsignal wird im Rahmen der zweiten Phase der Signalverarbeitung synchron zur Buszeit in der Busankoppeleinheit geschrieben.
- Beide genannten Varianten, Variante
1 und Variante2 , stellen somit eine synchronisierte Ausgabe des Sensorsignals dar, um zeitliche Unsicherheiten und die Phasendrehung, bezogen auf das Zeitverhalten des zeitgesteuerten Bus-Systems, zu minimieren. Somit müssen die Messwerte, also die Daten, intern nicht zwischengespeichert werden, was lediglich zu einer Verlagerung der Phasendrehung und nicht, wie nun erfindungsgemäß erreicht, zu einer Minimierung dieser Zeitverschiebungen führen würde. Eine solche Zwischenspeicherung könnte auch dadurch vermieden werden, dass ein DPRAM oder ein anderes Pufferkonzept, wie zum Beispiel Wechselregister, eingesetzt werden, so dass, wenn in der langsamen Sensorsignalverarbeitung, also in der zweiten Phase, ein neuer Sensorwert eingeschrieben werden soll, die Busankoppeleinheit, respektive der Kommunikationskontroller, synchron zur Buszeit den Sensorwert versendet. So wird das Sensorsignal zwar asynchron zur Buszeit geschrieben, wird aber synchron versendet und so realisiert, dass es zu keinem Schreib-Lese-Konflikt beim Zugriff kommt. Damit muss in dieser einfachsten, dritten Variante, also mit DPRAM oder einem anderen Pufferkonzept, wie Wechselregister, eigentlich nur der Kommunikationskontroller bzw. das Businterface204 durch Auslesen der Zykluszeit oder der globalen Zeit oder aber durch einen Eingangspin mit Flankensteuerung synchron zur Buszeit an diese synchronisiert werden. Um größere Abweichungen zu vermeiden, insbesondere, um diese zu minimieren, kann dann wenigstens die erste Phase der Signalverarbeitung synchronisiert erfolgen. - Mit dem soeben Beschriebenen lässt sich ein Verfahren und eine Vorrichtung, ein Sensor sowie analog ein Aktor angeben, durch welche eine Synchronisierung des Sensors oder Aktors auf das zeitgesteuerte Bus-System erfolgt, so dass die genannten zeitlichen Unsicherheiten und Phasendrehungen minimiert und Instabilitäten in Regelungen vermieden werden können.
Claims (12)
- Verfahren zur Anbindung wenigstens eines Sensors (
104 ,200 ) oder Aktors an ein zeitgesteuertes Bussystem (110 ,205 ), wobei der Sensor (104 ,200 ) oder Aktor eine Signalverarbeitung (202 u.203 ) durchführt, wobei die Signalverarbeitung in wenigstens zwei Phasen aufgeteilt ist und die Signalverarbeitung in einer ersten Phase (202 ) in einem schnelleren Takt als in einer zweiten Phase (203 ) abläuft, dadurch gekennzeichnet, dass der Sensor (104 ,200 ) oder Aktor in wenigstens einer der Phasen an eine sensorexterne Zeit (GT, ZT) des zeitgesteuerten Bussystems synchronisiert wird. - Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die erste Phase (
202 ) der Signalverarbeitung an die sensorexterne Zeit (GT, ZT) des zeitgesteuerten Bussystems (110 ,205 ) synchronisiert wird. - Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die zweite Phase (
203 ) der Signalverarbeitung an die sensorexterne Zeit (GT, ZT) des zeitgesteuerten Bussystems (110 ,205 ) synchronisiert wird. - Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass es sich bei der sensorexternen Zeit um die Globale Zeit (GT) des zeitgesteuerten Bussystems (
110 ,205 ) handelt. - Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass es sich bei der sensorexternen Zeit um die Zykluszeit (ZT) des zeitgesteuerten Bussystems (
110 ,205 ) handelt. - Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass es sich bei dem zeitgesteuerten Bussystem (
110 ,205 ) um ein TTCAN handelt. - Verfahren nach Anspruch 2, dadurch gekennzeichnet, dass die Synchronisierung durch Auslesen einer Zeitinformation, welche die sensorexterne Zeit repräsentiert, aus Registerbereichen (
108 ,207 ) einer Busankoppeleinheit (107 ,204 ) erfolgt. - Verfahren nach Anspruch 2, dadurch gekennzeichnet, dass die Synchronisierung durch Einlesen einer Zeitinformation über einen Eingangspfad (
206 ), erfolgt, wobei die Zeitinformation aus der sensorexternen Zeit abgeleitet ist und auf dem Eingangspfad (206 ) übertragen wird. - Verfahren nach Anspruch 2, dadurch, gekennzeichnet, dass die Synchronisierung durch Einlesen einer Zeitinformation über einen Eingangspfad (
206 ) erfolgt, wobei die Zeitinformation aus einer sensorexternen Zeit einer Busankoppeleinheit (204 ) abgeleitet ist und auf dem Eingangspfad (206 ) übertragen wird. - Vorrichtung zur Anbindung wenigstens eines Sensors (
104 ,200 ) oder Aktors an ein zeitgesteuertes Bussystem (110 ,205 ), wobei der Sensor (104 ,200 ) oder Aktor eine Signalverarbeitung (202 u.203 ) durchführt, wobei die Signalverarbeitung in wenigstens zwei Phasen aufgeteilt ist und die Signalverarbeitung in einer ersten Phase (202 ) in einem schnelleren Takt als in einer zweiten Phase (203 ) abläuft, dadurch gekennzeichnet, dass Mittel (105 ,208 ) enthalten sind, welche in wenigstens einer der Phasen den Sensor oder den Aktor an eine sensorexterne Zeit (GT, ZT) des zeitgesteuerten Bussystems (110 ,205 ) synchronisieren. - Sensor (
104 ,200 ) zur Anbindung an ein zeitgesteuertes Bussystem (110 ,205 ), wobei der Sensor (104 ,200 ) eine Signalverarbeitung (202 ,203 ) durchführt, wobei die Signalverarbeitung in wenigstens zwei Phasen aufgeteilt ist und die Signalverarbeitung in einer ersten Phase (202 ) in einem schnelleren Takt als in einer zweiten Phase (203 ) abläuft, dadurch gekennzeichnet, dass Mittel (105 ,208 ) enthalten sind, welche in wenigstens einer der Phasen den Sensor an eine sensorexterne Zeit (GT, ZT) des zeitgesteuerten Bussystems synchronisieren. - Aktor (
104 ,200 ) zur Anbindung an ein zeitgesteuertes Bussystem (110 ,205 ), wobei der Aktor (104 ,200 ) eine Signalverarbeitung (202 ,203 ) durchführt, wobei die Signalverarbeitung in wenigstens zwei Phasen aufgeteilt ist und die Signalverarbeitung in einer ersten Phase (202 ) in einem schnelleren Takt als in einer zweiten Phase (203 ) abläuft, dadurch gekennzeichnet, dass Mittel (105 ,208 ) enthalten sind, welche in wenigstens einer der Phasen den Aktor an eine aktorexterne Zeit (GT, ZT) des zeitgesteuerten Bussystems synchronisieren.
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US6925549B2 (en) * | 2000-12-21 | 2005-08-02 | International Business Machines Corporation | Asynchronous pipeline control interface using tag values to control passing data through successive pipeline stages |
ATE386297T1 (de) * | 2001-03-15 | 2008-03-15 | Bosch Gmbh Robert | Verfahren und vorrichtung zur synchronisation der globalen zeit von mehreren bussen sowie entsprechendes bussystem |
CN1254727C (zh) * | 2001-07-11 | 2006-05-03 | 仁宝电脑工业股份有限公司 | 可携式计算机的周边装置 |
DE60138182D1 (de) * | 2001-07-26 | 2009-05-14 | Bayerische Motoren Werke Ag | Uhrensynchronisation in einem verteilten System |
DE10145219A1 (de) * | 2001-09-13 | 2003-04-03 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Erzeugung von Programmunterbrechungen bei Teilnehmern eines Bussystems und Bussystem |
US7256505B2 (en) * | 2003-03-05 | 2007-08-14 | Microstrain, Inc. | Shaft mounted energy harvesting for wireless sensor operation and data transmission |
US7081693B2 (en) * | 2002-03-07 | 2006-07-25 | Microstrain, Inc. | Energy harvesting for wireless sensor operation and data transmission |
DE60302697T2 (de) * | 2002-04-16 | 2006-08-03 | Robert Bosch Gmbh | Verfahren zum Synchronisieren von Uhren in einem verteilten Kommunikationssystem |
-
2003
- 2003-09-01 DE DE10340165A patent/DE10340165A1/de not_active Withdrawn
-
2004
- 2004-08-31 US US10/930,289 patent/US7721030B2/en not_active Expired - Fee Related
- 2004-09-01 CN CNB2004100749524A patent/CN100466507C/zh not_active Expired - Fee Related
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2007107414A1 (de) * | 2006-03-22 | 2007-09-27 | Robert Bosch Gmbh | Verfahren und datenübertragungssystem zur übergabe von daten zwischen dem datenübertragungssystem und einem host-prozessor eines teilnehmers eines datenübertragungssystems |
US7995620B2 (en) | 2006-03-22 | 2011-08-09 | Robert Bosch Gmbh | Method and data transmission system for transferring data between the data transmission system and a host processor of a participant in a data transmission system |
DE102008040024A1 (de) | 2008-06-30 | 2009-12-31 | Robert Bosch Gmbh | Steuerungsnetzwerk für Kraftfahrzeuge |
DE102010030422A1 (de) | 2010-06-23 | 2011-12-29 | Robert Bosch Gmbh | Verfahren, Vorrichtung und Schnittstelle zur Datenübertragung mit variabler Datenrate |
WO2011161153A1 (de) | 2010-06-23 | 2011-12-29 | Robert Bosch Gmbh | Verfahren und vorrichtung zur datenübertragung mit variabler bitlänge |
DE102011077493A1 (de) | 2010-06-23 | 2012-04-26 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Datenübertragung mit variabler Bitlänge |
CN103038757A (zh) * | 2010-06-23 | 2013-04-10 | 罗伯特·博世有限公司 | 用于在可变位长度的情况下进行数据传输的方法和设备 |
US9645958B2 (en) | 2010-06-23 | 2017-05-09 | Robert Bosch Gmbh | Method and device for transmitting data having a variable bit length |
WO2016177689A1 (de) | 2015-05-04 | 2016-11-10 | Valeo Schalter Und Sensoren Gmbh | Betreiben einer detektionseinrichtung eines kraftfahrzeugs zum erfassen eines umgebungsbereiches nebst einer solchen detektionseinrichtung |
DE102015106848A1 (de) | 2015-05-04 | 2016-11-10 | Valeo Schalter Und Sensoren Gmbh | Betreiben einer Detektionseinrichtung eines Kraftfahrzeugs zum Erfassen eines Umgebungsbereiches nebst einer solchen Detektionseinrichtung |
CN112714719A (zh) * | 2018-07-26 | 2021-04-27 | 法雷奥开关和传感器有限责任公司 | 用于车辆状态的自动监控的信号发送的***和用于监控车辆状态信号发送设备的方法 |
CN112714719B (zh) * | 2018-07-26 | 2024-05-31 | 法雷奥开关和传感器有限责任公司 | 用于车辆状态的自动监控的信号发送的***和用于监控车辆状态信号发送设备的方法 |
Also Published As
Publication number | Publication date |
---|---|
US20050066101A1 (en) | 2005-03-24 |
CN100466507C (zh) | 2009-03-04 |
CN1591513A (zh) | 2005-03-09 |
US7721030B2 (en) | 2010-05-18 |
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