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IRIS Università Degli Studi Di Ferrara Università degli Studi di Ferrara DOTTORATO DI RICERCA IN SCIENZE DELL’INGEGNERIA CICLO XXVI COORDINATORE Prof. Trillo Stefano Nuove architetture di controllo distribuito per automazione di macchine da lavoro e agricole Settore Scientifico Disciplinare ING-INF/05 Dottorando Tutore Dott. Dian Massimo Prof. Ruggeri Massimiliano _______________________________ _______________________________ Anni 2011/2013 Sommario 1 SOMMARIO 1 Sommario .................................................................................................................................................. 1 2 Premessa ................................................................................................................................................... 4 3 Nuovi protocolli di comunicazione ad alto throughput su macchine agricole e movimento terra .......... 7 3.1 Introduzione ...................................................................................................................................... 7 3.2 La norma ISO 11783 e il comitato ISO ............................................................................................... 7 3.3 Lo Standard ISO 11783 ...................................................................................................................... 8 3.3.1 La Struttura ................................................................................................................................ 9 3.3.2 Parte fisica ................................................................................................................................. 9 3.3.3 Parte di comunicazione ........................................................................................................... 10 3.3.4 Parte di applicazione ............................................................................................................... 18 3.4 Motivazioni della ricerca ................................................................................................................. 29 3.5 Requisiti della rete del futuro .......................................................................................................... 30 3.6 Differenze fra CAN ed Ethernet ....................................................................................................... 31 3.7 Competitors - CAN ........................................................................................................................... 33 3.7.1 Flexray...................................................................................................................................... 34 3.7.2 CAN-FD ..................................................................................................................................... 34 3.8 Competitors - Ethernet fieldbuses .................................................................................................. 35 3.8.1 Ethercat ................................................................................................................................... 35 3.8.2 Powerlink ................................................................................................................................. 36 3.8.3 TTEthernet ............................................................................................................................... 37 3.8.4 Stack TCP/IP ............................................................................................................................. 37 3.9 La sintesi della tecnologia ................................................................................................................ 39 3.10 Task 0 – Analisi di prestazioni con Stack TCP/IP .............................................................................. 42 3.10.1 Scopo ....................................................................................................................................... 42 3.10.2 Testbench ................................................................................................................................ 44 3.10.3 Test .......................................................................................................................................... 47 1 Sommario 3.10.4 Risultati – test “Crossed” ......................................................................................................... 50 3.10.5 Risultati – test “Multiple host hub” ......................................................................................... 51 3.10.6 Risultati – test “Performance Switch” ..................................................................................... 51 3.10.7 Conclusioni .............................................................................................................................. 52 3.11 Task 1 Proof of concept ................................................................................................................... 53 3.11.1 Introduzione ............................................................................................................................ 53 3.11.2 Test bench ............................................................................................................................... 53 3.11.3 Test su trasferimento di Object Pool ....................................................................................... 57 3.11.4 Risultati e conclusioni .............................................................................................................. 59 3.11.5 Conclusioni .............................................................................................................................. 60 3.12 Task 2 – Porting stack ISO 11783 over Ethernet.............................................................................. 61 3.12.1 Introduzione ............................................................................................................................ 61 3.12.2 Gateway ISOBUS-IP .................................................................................................................. 62 3.12.3 Indirizzamento ......................................................................................................................... 62 3.12.4 Routing..................................................................................................................................... 63 3.12.5 Address Claiming ..................................................................................................................... 64 3.12.6 Protocolli di trasporto e incapsulamento ................................................................................ 67 3.12.7 Priorità ..................................................................................................................................... 68 3.12.8 Nuovi messaggi ad alto throughput ........................................................................................ 68 3.12.9 Realizzazione ........................................................................................................................... 70 3.12.10 TestBench e risultati ............................................................................................................ 73 3.12.11 Conclusioni .......................................................................................................................... 76 4 Safety nelle macchine agricole e movimento terra a livello di ECU ........................................................ 77 4.1 Introduzione .................................................................................................................................... 77 4.2 Safety e safety systems ................................................................................................................... 77 4.3 Normative di riferimento................................................................................................................. 78 4.4 Un caso di studio ............................................................................................................................. 81 2 Sommario 4.5 Ipotesi .............................................................................................................................................. 81 4.6 Hardware Category .......................................................................................................................... 83 4.7 Architettura hardware ..................................................................................................................... 84 4.7.1 Doppio microcontrollore ......................................................................................................... 85 4.7.2 Ingressi ridondati ..................................................................................................................... 86 4.7.3 Uscite con feedback ................................................................................................................. 87 4.7.4 Energizzazione a doppia conferma .......................................................................................... 87 4.7.5 Reset Gerarchico ..................................................................................................................... 88 4.7.6 Periferiche di comunicazione .................................................................................................. 88 4.8 Protocollo di comunicazione fra SMC e MMC ................................................................................. 89 4.9 Gestione dei fault ...........................................................................................................................
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