CN212723685U

CN212723685U - Multi-joint time synchronization device

Info

Publication number: CN212723685U
Application number: CN202021349721.0U
Authority: CN
Inventors: 曹何金生
Original assignee: Haiwo Shaoxing Power Technology Co ltd
Current assignee: Haiwo Shaoxing Power Technology Co ltd
Priority date: 2020-07-10
Filing date: 2020-07-10
Publication date: 2021-03-16
Anticipated expiration: 2030-07-10

Abstract

The utility model relates to a colony control technical field especially relates to a synchronous device is realized to many joints. Under the same networking network, for each joint, the current time and the updated time counting parameter are updated by using the received synchronous signals. And counting time by using the updated time parameter in the time period without receiving the synchronous signal. Under the conditions of unstable communication and low synchronous communication frequency, the effective cooperative work of multiple joints can be ensured.

Description

Multi-joint time synchronization device

Technical Field

The utility model relates to a colony control technical field especially relates to a many joints time synchronizer and synchronous method thereof.

Background

In both group control systems and multi-joint synchronous systems, each joint or individual is independently controlled (with its own microcontroller). The crystal oscillators of the microcontrollers of the joints provide basic timing tasks, and due to crystal oscillator errors, timing speed of each joint is different, and time timing difference can occur under the condition of no synchronization. They need to be time synchronized in the process of completing a series of cooperative actions. In many cases, these joints or individuals are not wired and need to communicate with each other wirelessly to synchronize time. In the low-cost networking wireless communication process, packet loss and unstable communication frequently occur, synchronous signals cannot be reliably received every time, meanwhile, in order to reduce power consumption and communication data, the sending frequency of the synchronous signals is not high, so that counting of a long time is completed by means of a local crystal oscillator, and time errors are accumulated in the time. In order to obtain accurate synchronization signals, high requirements are placed on the reliability and power consumption of wireless communication, which is difficult to achieve in some low-cost and small-volume joints or individuals.

Disclosure of Invention

The utility model discloses an overcome prior art not enough, provide a many joints synchronizer at wireless network deployment control to realize many joints time synchronization, under the unstable and not high condition of synchronous communication frequency of communication, can also ensure that many joints can effective collaborative work.

In order to achieve the above object, the present invention provides a multi-joint time synchronizer, which comprises a time updating and timing module and a timing system algorithm control module, wherein under the same networking network, when a joint effectively receives a time synchronization signal for 1 time within a period of time, the time synchronization signal contains a current synchronous time value Tr, then the joint time updating and timing module updates the joint current time to be a synchronous time value Tr, and starts to time; meanwhile, the timing system algorithm control module updates the timing factor according to the error value error of the synchronous time and the local crystal oscillator time Tl, so that the error of the local crystal oscillator timing and the synchronous time is smaller and smaller, and the local time is consistent with the reference time. When the local time of all the joints is consistent with the reference time, realizing the time synchronization among the joints;

the timing system algorithm control module adopts the following specific calculation mode:

receiving a (k +1) th synchronization time updating signal, and calculating an error e (k +1) between the synchronization time Tr and the time Tl of the local time, namely Tr (k +1) -Tl (k + 1); the timing mode of the local time is as follows: t (k) + N w (k), w being a technical factor; when the time signal is updated at the k +1 time, updating w simultaneously; i.e., w (k +1) ═ w (k) + e (k + 1)/N;

similarly, at the time of the k +2 time updating, w (k +2) ═ w (k +1) + e (k + 2)/M;

the interval time between the (k +1) th time and the kth time is indefinite and is a time signal received by two adjacent joints, and the synchronous host possibly sends a plurality of synchronous time signals in the period, only because the network is unstable and is not received by the joints; and when the error e is smaller than the acceptable range, the synchronization time and the local time are considered to realize synchronization, and if the time of all joints in the network is synchronized, the synchronous cooperative work can be realized.

Compared with the prior art, the beneficial effects of the utility model reside in that: after receiving the synchronous signal, the current time of the joint is updated, the time counting parameter is also updated, the time counting is carried out by utilizing the updated time parameter in the time period without receiving the synchronous signal, and the effective cooperative work of the multiple joints can be ensured under the conditions of unstable communication and low synchronous communication frequency.

Drawings

FIG. 1 is a block diagram of the time synchronization of the present invention;

FIG. 2 is a control block diagram of the timing system algorithm of the present invention;

fig. 3 is a schematic diagram of the present invention for updating the local time and the synchronization time.

Detailed Description

The invention will be further described with reference to the accompanying drawings.

The utility model discloses a wireless synchronization time is the reference time. As shown in fig. 1, the time synchronizer of the present invention comprises a wireless time synchronization signal sending module, a time updating and timing module, and a timing system algorithm control module; the wireless time synchronization signal sending module is the same networking network used for sending the time synchronization signal. As shown in fig. 1-3, in the same networking network, when a joint effectively receives a time synchronization signal for 1 time within a period of time, and the time synchronization signal includes a currently synchronized time value Tr, the time updating and timing module of the joint updates the current time of the joint, updates the current time of the joint to the synchronized time value Tr, and starts timing according to the updated time value Tr; meanwhile, the timing system algorithm control module updates the timing factor according to the error value error of the synchronous time and the local crystal oscillator time Tl, so that the error of the local crystal oscillator timing and the synchronous time is smaller and smaller, and the local time is consistent with the reference time. Time synchronization between the joints is achieved when the local time of all the joints coincides with the reference time.

The specific calculation mode adopted by the timing system algorithm control module is as follows:

receiving a (k +1) th synchronization time updating signal, and calculating a time Tl error e (k +1) between the synchronization time Tr and the local time to be Tr (k +1) -Tl (k + 1); the timing mode of the local time is as follows: t (k) + N w (k), w is a technical factor. When the time signal is updated at the k +1 time, updating w simultaneously;

w (k +1) ═ w (k) + e (k +1)/N, similarly at the time update (k +2),

w(k+2)＝w(k+1)+e(k+2)/M

the interval between the (k +1) th time and the (k) th time is indefinite, and is a time signal received by two adjacent joints, and during the interval, the synchronization master possibly sends a plurality of synchronization time signals, only because the network is unstable and is not received by the joints. But this does not affect the timing system algorithmic control of the joint.

When the error e is smaller than the acceptable range, the synchronization time (reference time) and the local time are considered to realize synchronization, and if all the joint time in the network is synchronized, the synchronous cooperative work can be realized.

The above embodiments are only used for illustrating the present invention, and not for limiting the present invention, and those skilled in the relevant technical field can make various changes and modifications without departing from the spirit and scope of the present invention, so that all equivalent technical solutions also belong to the scope of the present invention, and the protection scope of the present invention should be defined by the claims.

Claims

1. A multi-joint time synchronization system, characterized by: the system comprises a wireless time synchronization signal sending module, a time updating and timing module and a timing system algorithm control module; the wireless time synchronization signal sending module is the same networking network used for sending the time synchronization signal; and wherein, under the same networking network, the time updating and timing modules of each joint of the multi-joint time synchronization system can be used for updating the current time of the corresponding joint, so that when the corresponding joint has effectively received 1 time of the time synchronization signal containing the currently synchronized time value Tr within a period of time, updating the current time of the corresponding joint to a synchronous time value Tr, starting timing, and wherein the timing system algorithm control modules of the respective joints are operable to update the timing factor in accordance with the error value error of the synchronization time and the local crystal time Tl concurrently with the updating, so that the error between the timing of the local crystal oscillator and the synchronization time is smaller and smaller, the local time is consistent with the reference time, and finally the local time of all joints is consistent with the reference time, thereby realizing the time synchronization among all joints.