RTEthernet中改进的FTA时钟同步算法研究

doi:10.16180/j.cnki.issn1007-7820.2023.01.010

Abstract

Abstract:

In view of the problems that node clock drift, network link delay and poor synchronization ability in Ethernet, this study constructs a clock synchronization system model based on the communication principle of RTEthernet protocol. By studying the composition and working principle of RTEthernet, three factors affecting the time synchronization precision of real-time Ethernet-drift rate, network transmission delay and clock Byzantine fault are considered. Based on this, the original FTA clock synchronization algorithm is analyzed, and it is found that its fault tolerance performance is obviously reduced when Byzantine faults increase. The idea of " fault-tolerant midpoint " is introduced to improve it and RTE-FTM algorithm is proposed. Through the CANoe simulation platform, two Byzantine faults and no Byzantine faults in the system (seven nodes) are compared and analyzed, and the precision loss rate of the system is reduced by 3.1%, which verifies the convergence and effectiveness of the algorithm.

Key words: Ethernet, RTEthernet, drift rate, network transmission delay, clock for Byzantine failure, fault-tolerant midpoint, RTE-FTM, convergence

CLC Number:

TP393

ZHANG Yuhui,ZHANG Fengdeng,ZHANG Haitao. Research on Improved FTA Clock Synchronization Algorithm in RTEthernet[J].Electronic Science and Technology, 2023, 36(1): 67-74.

Figures/Tables 9

Figure 1.

Figure 2.

Figure 3.

Figure 4.

Table 1.

Pseud code Parameters"

符号	说明
f	容忍的故障节点数
$P q i$	节点q在第i轮时钟同步时读取的所有时钟差值数列
$T q N O W$	表示节点q当前的逻辑时钟值
AD $J q i$	节点q在第i轮时钟同步的校正项
$T q i$	第i轮中q节点应该发送同步消息的逻辑时刻
Tⁱ	表示进入第i轮的逻辑时钟值
descend ( $P q i$ )	将数列 $P q i$ 降序排列后的数列
throw ( $P q i$ )	表示去掉 $P q i$ 中f个最大值与最小值后的数列
median ( $P q i$ )	求数列 $P q i$ 中值的函数
MED	MED( $P q i$ )
GET[q]	存放获取到的时钟值数列
send ()	发送时钟值函数

Table 1.

Figure 5.

Table 2.

Figure 6.

Figure 7.

References 19

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参数	符号	数值/μs
最大时钟漂移率	ρ	100
初始同步精密度	φ_int	20
消息传输延迟(中值)	δ	7.5
传输延迟不确定度	ε	2.5
通信循环	R_i	5 000
ST段长度	gST	3 000
DYN段长度	gDYN	1 900
NIT段长度	gNIT	100

Research on Improved FTA Clock Synchronization Algorithm in RTEthernet

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