阅读说明：本技术 一种基于星载rs485双总线自适应控制方法 (Satellite-borne RS 485-based dual-bus self-adaptive control method ) 是由 璩泽旭 袁素春 张建华 郑小松 方火能 徐晓沛 张曦 于 2021-07-20 设计创作，主要内容包括：一种星载RS485双总线设计的控制系统及传输方法,RS485双总线分为A总线和B总线,采用交叉备份设计,A、B总线相互独立,互不影响。RS485总线包含一个主节点和多个从节点,如果任意节点其中一条总线出现故障,卫星无需额外发送指令切换备份,故障节点可以自动跳转到另一条好的总线,并上报遥测信息,且总线上其他节点不受影响。该方法硬件面积小,总线自适应切换方法资源占用率低,易于采用FPGA或CPU实现。该方法已在某型号在轨成功应用,表现良好,充分验证了该方法的有效性和高可靠性。总线最大可以支持32个总线节点,可以应用于设备内部各板卡之间通信,也可以运用于设备间的传输,在通信和遥感领域应用广。(A control system and a transmission method of a satellite-borne RS485 dual-bus design are disclosed, wherein the RS485 dual-bus is divided into a bus A and a bus B, a cross backup design is adopted, and A, B buses are independent and do not influence each other. The RS485 bus comprises a main node and a plurality of slave nodes, if one of the buses of any node fails, the satellite does not need to additionally send an instruction to switch backup, the failed node can automatically jump to the other good bus and report telemetering information, and other nodes on the bus are not affected. The method has small hardware area, low resource occupancy rate of the bus self-adaptive switching method and easy realization by adopting FPGA or CPU. The method is successfully applied in an on-orbit mode in a certain model, the performance is good, and the effectiveness and the high reliability of the method are fully verified. The bus can support 32 bus nodes at most, can be applied to communication among all board cards in equipment, can also be applied to transmission among equipment, and is widely applied to the fields of communication and remote sensing.)

1. A self-adaptive control method based on satellite-borne RS485 double buses is disclosed, wherein the double buses comprise a bus A and a bus B, and a master node and a plurality of slave nodes are arranged on the RS485 bus, and the self-adaptive control method is characterized by comprising the following steps:

for the main controller:

after being electrified, the master node defaults to work on the bus A, and sequentially sends polling telemetry commands to all the slave nodes; for each slave node, the master node sends a polling telemetry command to the slave node repeatedly and repeatedly through the bus A and the bus B, when the slave node recognizes that the bus data is consistent with the ID of the slave node, the master node returns telemetry data, and the master node determines that the master node is communicated with the slave node through the bus A or the bus B after the master node is started up;

for the slave controller:

each slave node is in an A bus state by default after being powered on or reset; and switching the slave nodes between the A bus and the B bus at certain time intervals until the A bus or the B bus receives a telemetry fetching instruction sent by the master node, returning telemetry data to the master node through the corresponding bus, and working on the corresponding bus.

2. The self-adaptive control method based on the satellite-borne RS485 double buses as claimed in claim 1, wherein each slave node is independent of each other and switches between an A bus and a B bus.

3. The self-adaptive control method based on the satellite-borne RS485 double buses as claimed in claim 1, wherein the mode that the master node sequentially passes through the A bus and the B bus and repeatedly sends the polling telemetry command to the slave node for multiple times is as follows:

the master node firstly sends a polling telemetry fetching command to the slave node through the A bus, if the telemetry information of the slave node is not received within a certain time, the master node is switched to the B bus, and sends the telemetry fetching command to the slave node again, and the switching is repeated for a plurality of times until the telemetry data returned by the slave node is received; and if the telemetry data returned by the slave node is not received after switching for multiple times, the master node jumps to the next slave node to send the telemetry command.

4. The self-adaptive control method based on the satellite-borne RS485 double buses as claimed in claim 1, wherein the RS485 bus adopts a master-slave response mode, the master node is an initiator of the bus, and only one node on the bus is used as a sending end.

5. The self-adaptive control method based on the satellite-borne RS485 double-bus as claimed in claim 1, wherein any one node on the RS485 bus is set to be in a receiving state when the node does not transmit data.

6. The adaptive control method based on the RS485 double buses on the satellite, according to claim 1, wherein the switching time interval between the A bus and the B bus of the slave node is larger than the time interval of the master node for sending the polling telemetry command, and the two time intervals are not integer multiples.

7. The self-adaptive control method based on the satellite-borne RS485 double buses as claimed in claim 1, wherein when a slave node is in a state of receiving the telemetry command on a certain bus, if a complete telemetry command frame is not received within a certain time, a frame header of the telemetry command is searched again.

8. The self-adaptive control method based on the satellite-borne RS485 double buses as claimed in claim 1, wherein after a complete telemetering instruction fetching command is received on a certain bus by the slave node, the checksum of the telemetering instruction fetching is judged, and telemetering is returned regardless of whether the checksum is correct or not.

9. The self-adaptive control method based on the satellite-borne RS485 double buses as claimed in claim 1, wherein after a slave node initially enters a certain bus receiving state, whether bus switching is successfully completed or not is judged, and if the bus switching is successfully completed, the slave node is locked on the bus when being started.

10. A dual-bus system based on satellite-borne RS485 is characterized by comprising a master controller, a slave controller and an RS85 dual-bus, wherein the master controller is used as a master node, the slave controller is used as a slave node, and the control method of any one of claims 1 to 9 is adopted for data transmission.

Technical Field

The invention relates to a satellite-borne RS 485-based dual-bus self-adaptive control method, and belongs to the technical field of control buses.

Background

Data transmission between or within devices within a satellite is generally classified into 2 types, one being service data; the other is control data. The service data volume is large, the transmission rate is high, and the LVDS interface, the 2711 interface or the optical fiber interface and the like are generally adopted. The control data is used for remote control commands and telemetry data of the device, etc. The controlled data volume is small, the transmission rate is low, but the reliability requirement is extremely high, and an LVDS interface, an RS422 interface or an RS485 interface and the like are generally adopted. Once a problem occurs in the control bus, the function of the device will fail, and even the satellite will fail, so the control bus must have high reliability.

In addition, as the satellite functions more and more, the devices in the satellite are more and more diverse, and the functions are more and more powerful. The satellite-borne equipment develops towards miniaturization, integration and intellectualization. The traditional control bus adopts a point-to-point design method, the design is simple, but the used signals are more, the devices are more, the occupied board area is larger, and the volume, the weight and the cost of the equipment are large and relatively high. The RS485 bus has the advantages of more nodes, low power consumption, long transmission and the like, and the board area is saved; however, the method has the problems of more use limitation, inflexible operation, relatively low reliability and the like, and has a gap with the requirements of high reliability of transmission required by a control bus interface, no influence on the transmission of other nodes on the whole bus due to the failure of any node and the like, so that the traditional control bus still adopts a point-to-point design method, and a bus mode is rarely adopted.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the control system and the transmission method of the satellite-borne RS485 dual-bus design are used for overcoming the defects of the prior art, the number of chips can be reduced, the area of a single board can be reduced, the satellite cost can be reduced, and meanwhile, the reliability and the flexibility of a control bus of satellite-borne equipment can be improved. The RS485 double buses are divided into a bus A and a bus B, and adopt a cross backup design, and the A, B buses are independent and do not influence each other. The RS485 bus comprises a main node and a plurality of slave nodes, if one of the buses of any node fails, the satellite does not need to additionally send an instruction to switch backup, the failed node can automatically jump to the other good bus and report telemetering information, and other nodes on the bus are not affected. The method has small hardware area, low resource occupancy rate of the bus self-adaptive switching method and easy realization by adopting FPGA or CPU. The method is successfully applied in an on-orbit mode in a certain model, the performance is good, and the effectiveness and the high reliability of the method are fully verified. The bus can support 32 bus nodes at most, can be applied to communication among all board cards in equipment, can also be applied to transmission among equipment, and is widely applied to the fields of communication and remote sensing.

The purpose of the invention is realized by the following technical scheme:

the embodiment of the invention provides a satellite-borne RS 485-based double-bus self-adaptive control method, wherein a double bus comprises a bus A and a bus B, a master node and a plurality of slave nodes are arranged on the RS485 bus, and the method comprises the following steps:

for the main controller:

after being electrified, the master node defaults to work on the bus A, and sequentially sends polling telemetry commands to all the slave nodes; for each slave node, the master node sends a polling telemetry command to the slave node repeatedly and repeatedly through the bus A and the bus B, when the slave node recognizes that the bus data is consistent with the ID of the slave node, the master node returns telemetry data, and the master node determines that the master node is communicated with the slave node through the bus A or the bus B after the master node is started up;

for the slave controller:

each slave node is in an A bus state by default after being powered on or reset; and switching the slave nodes between the A bus and the B bus at certain time intervals until the A bus or the B bus receives a telemetry fetching instruction sent by the master node, returning telemetry data to the master node through the corresponding bus, and working on the corresponding bus.

In an embodiment of the present invention, each slave node switches between the a bus and the B bus independently.

In an embodiment of the present invention, a manner in which a master node sends a polling telemetry command to a slave node repeatedly and repeatedly through a bus a and a bus B is as follows:

the master node firstly sends a polling telemetry fetching command to the slave node through the A bus, if the telemetry information of the slave node is not received within a certain time, the master node is switched to the B bus, and sends the telemetry fetching command to the slave node again, and the switching is repeated for a plurality of times until the telemetry data returned by the slave node is received; and if the telemetry data returned by the slave node is not received after switching for multiple times, the master node jumps to the next slave node to send the telemetry command.

In an embodiment of the invention, the RS485 bus adopts a master-slave response mode, a master node is an initiator of the bus, and only one node on the bus is used as a sending end.

In an embodiment of the present invention, any node on the RS485 bus is set to a receiving state when the node does not transmit data.

In an embodiment of the invention, the switching time interval of the slave node between the A bus and the B bus is greater than the time interval of the master node sending the polling telemetry command, and the two time intervals are not in integral multiple relation.

In an embodiment of the invention, when a slave node is in a state of receiving a telemetry command on a certain bus, if a complete telemetry command frame is not received within a certain time, a frame header of the telemetry command is searched again.

In one embodiment of the invention, after the slave node receives a complete telemetering instruction on a certain bus, the checksum of the telemetering instruction is judged, and telemetering is returned no matter whether the checksum is correct or not.

In an embodiment of the present invention, after a slave node initially enters a certain bus receiving state, it is first determined whether bus switching is successfully completed, and if so, the slave node is booted and locked on the bus this time.

The embodiment of the invention provides a satellite-borne RS 485-based dual-bus system which comprises a master controller, a slave controller and an RS85 dual-bus, wherein the master controller is used as a master node, the slave controller is used as a slave node, and the control method is adopted for data transmission.

Compared with the prior art, the invention has the following beneficial effects:

(1) the RS485 double-bus self-adaptive control method can automatically complete the satellite without ground operation, thereby reducing the operation cost;

(2) the RS485 dual-bus design has high reliability, each node works independently, the fault of any node does not influence the work of other nodes, and only the fault node needs to be switched autonomously;

(3) the RS485 dual-bus design can support 32 slave nodes at most, namely 32 devices, has strong expansibility and basically covers satellite engineering application;

(4) the frame check judgment is added between the master node and the slave node, so that misjudgment caused by interference can be prevented, and the reliability of the on-satellite product is improved;

(5) the master controller has a mechanism of polling the slave nodes for 3 times, so that the abnormal bus locking caused by one-time polling failure is prevented, and the master-slave switching time is different, so that the bus locking can be finished in the shortest time;

(6) the invention has low resource occupancy rate, the master controller and the slave controller are suitable for FPGA and CPU, and the invention has wide application range in embedding and transplanting.

Drawings

Fig. 1 is an RS485 bus topology.

Fig. 2 is a schematic diagram of dual bus adaptive switching.

FIG. 3 is a flow chart of host bus adaptive switching.

FIG. 4 is a flow chart of adaptive switching from a controller bus.

Fig. 5 is a schematic diagram of master node RS485 bus switching.

Fig. 6 is a schematic diagram of slave node RS485 bus switching.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

In order to improve the high reliability of the satellite-borne equipment, the RS485 bus adopts a cross backup design, namely a double bus. Collectively referred to herein as a bus and B bus, which are completely independent and hot-backed up from each other, as shown in fig. 1.

There are a plurality of nodes on the bus, there are and only 1 master node, and the others are slave nodes. Each node has both a and B buses, and the A, B buses are in backup relationship with each other. The RS485 transceiver data signals include single-ended transmit and receive signals DI (receive), RO (transmit), differential signal P, N, and control signals DE (control transmit on or off, high on), RE (control receive on or off, low on) that control the transmit or receive state of the transceiver. In order to prevent any node from affecting other nodes on the bus after short circuit, a 100-200 omega resistor needs to be connected in series at the differential end of each slave node on hardware for fault isolation, and the resistance value needs to be calculated according to the equivalent resistor of the whole network.

Data transmission on the bus is communicated according to an agreed asynchronous serial port protocol, and the protocol comprises information such as a frame header (SOF), an equipment address (ID), a Data Type (Type), a Data Length (Length), effective Data (Data), Check (Check), a frame End (EOF) and the like. The master node acts as the control hub and each node has its ID and is unique. Data on the bus is recognizable by each node and is only received if the data ID matches its own ID. The bus communication adopts a master-slave response mode, a master node is an initiator of a bus, and only one node on the bus is used as a sending end. Any node on the bus, including the master node, is set to a receiving state when not sending data, so that the two nodes are prevented from being set to a sending state at the same time, otherwise, the number loss and the number error can be caused after the bus conflicts. In the power-on process or the state that the interface chip is not controlled, it is required to ensure that each node is in a closed state to prevent a plurality of nodes from being in a transmitting state, DE of the RS485 transceiver is pulled down through 1k omega-4.7 k omega, and RE is pulled up through 1k omega-4.7 k omega.

A satellite-borne RS 485-based dual-bus self-adaptive control method and a bus system comprise:

each node on the RS485 bus only works on one bus, and the A bus is defaulted after the power is on. The master and slave nodes must work on the same bus, and if a master node switches, each slave node needs to switch. If a certain slave node is switched, the master node only switches the slave node, other slave nodes are kept unchanged, and the switching of the nodes is independent. The design method of the invention is shown in a block diagram in fig. 2, wherein a master controller and a slave controller internally comprise a dual-bus self-adaptive switching mechanism of master nodes and slave nodes, and the controllers of each slave node are completely the same and have stronger universality. The following describes the master and slave controllers, respectively.

The external signals of the controllers of the master node and the slave node are shown in table 1.

TABLE 1

(1) Main controller self-adaptive switching mechanism

After the master node is powered on, polling telemetry commands are sent to all slave nodes at regular intervals M (s, generally set to be 1), when the slave nodes recognize that bus data are consistent with self IDs, telemetry data are returned, and the maximum time for waiting for feedback is set to be TN (us). After the system is powered on, the main node works on the A bus by default. If the master node does not receive the telemetry information of the slave node within T microseconds, the master node automatically switches to the B bus and sends a telemetry fetching instruction to the slave node again. If corresponding telemetering data is received within T microseconds, the master node is powered on at this time, and the slave node communicates with the master node through the B bus. If telemetry data is still not received, the A bus is automatically switched to poll, and the switching is repeated for 3 times. If no data is returned after 3 times of switching, the main node automatically jumps to the instruction sending of the next node. A flow chart of the host controller bus adaptive switching mechanism is shown in fig. 3.

For any slave node W, the specific flow of the master controller adaptive handover for the slave node is as follows:

1) and step one, jumping from the last slave node W-1 to the slave node W by the master controller, firstly judging whether the slave node is started, if so, switching to step two, and if not, directly jumping to polling of the next node W + 1. The A, B buses of the first RS485 step are all in a transmission and reception disabled state, DE-ma ═ 0 ', RE-ma ═ 1', DE-mb ═ 0 ', RE-mb ═ 1';

2) and step two, the link enters an A/B bus judgment state, a judgment state control signal Flag _ AB, wherein Flag _ AB is equal to '0' to indicate an A bus, Flag _ AB is equal to '1' to indicate a B bus, the default state of Flag _ AB is '0', and the link is powered on or reset to enter the default state, namely the A bus. The A, B bus of step two RS485 is in the transmission and reception disabled state, DE-ma ═ 0 ', RE-ma ═ 1', DE-mb ═ 0 ', RE-mb ═ 1'. If the slave node W works on the bus A, entering a third step, and if not, entering a sixth step;

3) and step three, the link enters a bus A idle state, waits for sending a telemetry fetching instruction, and enters a step four if the telemetry fetching instruction is sent after the waiting time reaches T1 (microseconds), otherwise, the link is still in the bus A idle state, namely the step three. The A, B buses of the third RS485 are all in a transmission and reception disabled state, DE-ma is equal to '0', RE-ma is equal to '1', DE-mb is equal to '0', and RE-mb is equal to '1';

4) and step four, the step is a link of sending and taking the telemetering instruction, the telemetering instruction is frame format data with a specific ID, the step five is carried out after all the frame format data are sent, and otherwise, the step is waited to be sent. All buses a in the step four RS485 are in a sending state, buses B are in a sending and receiving prohibition state, DE-ma is equal to '1', RE-ma is equal to '1', DE-mb is equal to '0', and RE-mb is equal to '1';

5) and step five, entering a state of waiting for the telemetering return of the slave node W after the telemetering instruction is sent, entering step six if the telemetering information is not received within the set time T less than or equal to T microseconds, and entering step seven if the telemetering information is not received. All the buses a in the step five RS485 are in a receiving state, the bus B is in a sending and receiving prohibition state, DE-ma is equal to '0', RE-ma is equal to '0', DE-mb is equal to '0', and RE-mb is equal to '1';

6) step six, the link enters a B bus idle state, waits for sending a telemetry fetching instruction, enters a step eight if the waiting time reaches T1 and then sends the telemetry fetching instruction, and otherwise, is still in the B bus idle state, namely the step six. The A, B buses of the step six RS485 are all in a sending and receiving prohibition state, DE-ma is equal to '0', RE-ma is equal to '1', DE-mb is equal to '0', and RE-mb is equal to '1';

7) and step seven, the link is in a state of receiving the telemetering return of the slave node W, and after the receiving is finished, the identification signal Flag _ AB of the AB bus is set to '0', and the telemetering polling of the next node W +1 is simultaneously entered. All buses a in the step seven RS485 are in a receiving state, buses B are in a sending and receiving prohibition state, DE-ma is equal to '0', RE-ma is equal to '0', DE-mb is equal to '0', and RE-mb is equal to '1';

8) and step eight, the step is a link of sending and taking the telemetering instruction, the telemetering instruction is frame format data with a specific ID, the step nine is carried out after all the frame format data are sent, and otherwise, the step nine is carried out to wait for the sending to be finished. All the buses a in the step eight RS485 are in a transmission and reception prohibition state, the bus B is in a transmission state, DE-ma is equal to '0', RE-ma is equal to '1', DE-mb is equal to '1', and RE-mb is equal to '1';

9) step nine, entering a state of waiting for the remote sensing return of the slave node W after the remote sensing instruction is sent, and entering step ten if the remote sensing information is received within the set time T less than or equal to T microseconds. And if the telemetering information is not received within the time T less than or equal to T microseconds and the switching times of the AB bus are not more than 3 times, entering the step three. And if the telemetry information is not received within T microseconds which is less than or equal to T microseconds and the switching frequency of the AB bus reaches 3 times, jumping to the telemetry polling of the next node W + 1. All buses a in the step nine RS485 are in a transmission and reception prohibition state, buses B are in a transmission and reception state, DE-ma is equal to '0', RE-ma is equal to '1', DE-mb is equal to '0', and RE-mb is equal to '0';

step ten, the link is to receive the telemetering return state of the slave node W, and after the receiving is finished, the identification signal Flag _ AB of the AB bus is set to '1', and the telemetering polling of the next node W +1 is simultaneously entered. All the buses a in the step ten RS485 are in the transmission/reception disabled state, the bus B is in the reception state, DE-ma is equal to '0', RE-ma is equal to '1', DE-mb is equal to '0', and RE-mb is equal to '0'.

(2) Slave controller adaptive handover mechanism

The RS485 bus adopts a master-slave response mode, and the slave node is in the A bus state by default after being powered on or reset. If a telemetry fetching command sent by the master node is received within a preset time K (s, which is generally set to 3), the slave node works on the A bus and returns telemetry data. Otherwise, jumping to B bus receiving state. The bus switching time of the slave controller A, B is K seconds, K is required to be larger than M, and the bus switching time can not be multiplied, so that the switching time of the master and slave controllers is staggered, and the situation that the master node and the slave node are always on different buses can not happen. A flow chart for the adaptive switching mechanism from the controller bus is shown in fig. 4.

The specific flow of the self-adaptive switching of the slave node is as follows:

1) firstly, judging whether the switching of the A bus is successfully completed or not after the slave node is powered on or reset, successfully indicating that the A bus is communicated with the master node, and locking the starting-up to the A bus unless the power is turned on again or a reset signal is sent. And if the A bus switching is not finished, the step two is entered. The A, B buses of the first RS485 are all in a receiving state, DE-sa is equal to '0', RE-sa is equal to '0', DE-sb is equal to '0', and RE-sb is equal to '0';

2) and step two, the link enters a state of receiving a telemetering instruction, if the telemetering instruction is received within K seconds, the step three is carried out, and otherwise, the step six is carried out. The A, B buses of the second RS485 are all in a receiving state, DE-sa is equal to '0', RE-sa is equal to '0', DE-sb is equal to '0', and RE-sb is equal to '0';

3) and step three, the link is used for receiving and taking a telemetering instruction state, the step four is carried out after the receiving is finished, and otherwise, the instruction is always received. A timeout protection mechanism is designed, and when the complete frame is not received within a specified time, the frame head of the telemetry command is searched again. The A, B buses of the third RS485 are all in a receiving state, DE-sa is equal to '0', RE-sa is equal to '0', DE-sb is equal to '0', and RE-sb is equal to '0';

4) and step four, after receiving the complete instruction, judging the checksum, returning to telemetering immediately no matter whether the checksum is correct or not, and entering step five. The telemetry data contains a checksum correctness identification bit. The A, B buses of the step four RS485 are all in a receiving state, DE-sa is equal to '0', RE-sa is equal to '0', DE-sb is equal to '0', and RE-sb is equal to '0';

5) and step five, the link is that the slave node sends the telemetering data state, and the RS485 bus is locked in the A bus state after the telemetering data is sent. Step five, the bus a of the RS485 is in a transmitting state, the bus B is in a receiving state, DE-sa is equal to '1', RE-sa is equal to '1', DE-sb is equal to '0', and RE-sb is equal to '0';

6) and step six, the link enters a B bus receiving state and judges whether the B bus switching is successfully completed. Successfully indicates that the B bus is communicated with the main node, and the starting-up is locked on the B bus unless the power is turned on again or a reset signal is sent. If the B bus switch is not completed, step seven is entered. The A, B buses of the sixth RS485 are all in a receiving state, DE-sa is equal to '0', RE-sa is equal to '0', DE-sb is equal to '0', and RE-sb is equal to '0';

7) and step seven, the link enters a state of receiving a telemetering instruction, if the telemetering instruction is received within K seconds, the step eight is carried out, and if the telemetering instruction is not received within K seconds, the step one is carried out. The A, B buses of the step seven RS485 are all in a receiving state, DE-sa is equal to '0', RE-sa is equal to '0', DE-sb is equal to '0', and RE-sb is equal to '0';

8) step eight, the link is to receive and fetch the state of the telemetering instruction, and the step nine is entered after the reception is finished, otherwise, the instruction is received all the time. There is also a timeout protection mechanism, which searches the frame header of the telemetry command again when the complete frame is not received within a specified time. The A, B buses of the step eight RS485 are all in a receiving state, DE-sa is equal to '0', RE-sa is equal to '0', DE-sb is equal to '0', and RE-sb is equal to '0';

9) step nine, after receiving the complete instruction, judging the checksum, returning to telemetering immediately no matter whether the checksum is correct or not, and entering step ten. The A, B buses of the step nine RS485 are all in a receiving state, DE-sa is equal to '0', RE-sa is equal to '0', DE-sb is equal to '0', and RE-sb is equal to '0';

10) step ten, the link is that the slave node sends the telemetering data state, and the RS485 bus is locked in the B bus state after the telemetering data is sent. The a bus of step ten RS485 is in the receiving state, the B bus is in the transmitting state, DE-sa is equal to '0', RE-sa is equal to '0', DE-sb is equal to '1', and RE-sb is equal to '1'.

The control system and the transmission method adopting the satellite-borne RS485 dual-bus design provided by the invention are fully verified on the latest data processor, and are subjected to environmental test examination, so that the performance is good.

FIG. 5 shows the master node adaptively switching the RS485 bus state, operating on the A bus by default. And determining whether the slave node works on the A bus or the B bus by polling telemetry, and when the A bus is determined to work normally, subsequently communicating through the A bus. If the A bus works abnormally, the B bus is switched to. And when the B bus works normally, the subsequent communication is carried out through the B bus. And powering on or sending a reset instruction, and working on the A bus by default.

Fig. 6 shows the adaptive switching of the operating state from the node, operating on the a bus by default. If a remote control command sent by the master node is received on the A bus, locking the A bus. The slave node controller will re-detect the power failure or send a reset command. If A, B bus does not receive remote control command in a certain time, the slave node controller will keep switching buses until some bus receives corresponding command and locks on the bus. The switching time of the slave nodes is staggered with the switching time of the master node, and the master node controller has 3 times of bus switching functions for each slave node, so that the bus switching accuracy and reliability of the master node and the slave node are ensured, and the bus time is not excessively occupied.

Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.