CN112073388A - Time-sensitive heterogeneous network system of industrial control system and management method - Google Patents
Time-sensitive heterogeneous network system of industrial control system and management method Download PDFInfo
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Abstract
The invention discloses a time-sensitive heterogeneous network system of an industrial control system and a management method, and relates to the technical field of network communication. Establishing an industrial network architecture which comprises a bottom device layer, a middle TSN (time sensitive network) switch network and a topmost control layer; the heterogeneous data is converted into TSN streams, the data is upwards transmitted into a central controller through a TSN switch network, the central controller stores, analyzes and calculates the data, and then a generated control instruction is downwards transmitted to field equipment through the TSN switch network to regulate and control the equipment; and introducing a control transmission cooperative strategy, and dynamically updating parameters according to the detection and reconfiguration of a CUC (centralized user configuration) unit and a CNC (centralized network configuration) unit. The invention solves the problem that heterogeneous data under different protocols in the traditional network architecture are difficult to be compatible, ensures the certainty and reliability of industrial data transmission and forwarding, and realizes the optimization of control system performance and the maximization of the resource utilization rate of a network transmission system.
Description
Technical Field
The invention relates to the technical field of network communication, in particular to a time-sensitive heterogeneous network system of an industrial control system and a management method.
Background
The industrial network system is used as a core for realizing the interconnection and intelligence of the industrial system, optimizes production, simplifies flow and increases benefit through the network cooperation of an information system and an industrial physical process, and is vital to promote the rapid growth of national economy and promote the development of digitization, networking and intelligence of industrial manufacturing. The traditional industrial internet of things network architecture is divided into three layers: a sensing layer, a network layer and an application layer. The sensing layer comprises field devices such as various sensors, actuators and the like, and a large amount of data generated by the sensing layer is accessed to the gateway through field buses such as ProfiNet and the like or other communication modes and enters the network layer; the network layer is based on NB-iot, LoRa and other low-power-consumption wide area networks or 3/4/5G, the Internet and other communication networks to form a data transmission network, and reliable transmission of the acquired data is guaranteed; the application layer is mainly responsible for storing and analyzing data and feeding back a processing result to the perception layer through the network layer in the form of a control instruction.
After data generated by a sensing layer in the internet of things network system is transmitted to a central controller of an application layer, a control command generated by the central controller serves as feedback information to achieve a specific control target, but a problem exists in that communication and information transmission are assumed to be perfect, communication failures such as delay or jitter are generally not considered in the controller design technology, control analysis and modeling are assumed to be reliable and real-time in communication among sensors, controllers, actuators and factories, and delay is small or constant. However, these assumptions are often ineffective when exchanging information over industrial networks, since existing network layer protocols do not guarantee time certainty of data transfer. On the other hand, not all data are of the same priority for the control system. The information of the system key state has higher priority and stricter QoS requirement, compared with the information of environment monitoring and the like having lower priority and milder QoS requirement. It follows that status information of different degrees of importance has different priorities from the control system point of view. This requires that the network layer be able to selectively and specifically transmit data based on the importance of the data. The real-time communication technology taking EtherCAT, Profinet and the like as the core in the market is comprehensively popularized and becomes important content for development of various fields. As can be seen from research, these technologies are based on the conventional ethernet technology, but they also have respective proprietary mechanisms, which results in that they are not compatible with each other in the working state, and further development of the real-time ethernet is hindered.
Existing architecture for industrial networks remains substantially conventional. The patent with the domestic application number of CN200620017175.4 and the name of 'industrial control system with network type architecture' provides an industrial control system with network architecture, which has a data link layer and a physical layer of an open system interconnection reference model, adopts a bus standard and comprises an upper computer, a network controller and an industrial controller with a bus control function. The patent with the domestic application number of CN201820659808.4 and the name of 'a network architecture and terminal' proposes a network architecture and terminal, wherein the network architecture comprises a main chip, a local area network access module, a system module, a switch, a first wired network access module and the like. The domain network access module is connected with the system module through the main chip, and the first wired network access module is connected with the system module through the switch, so that the system module can be accessed into the local area network and can be accessed into an external first wired network. The patent with the domestic application number of CN201310714404.2 and the name of 'a distributed network architecture' provides a distributed network architecture, which comprises cloud resources and a plurality of user groups. The architecture can simplify the development complexity of a developer when the distributed network architecture develops an application. The patent of the domestic application number CN201110296156.5 entitled "a network architecture and configuration method thereof" provides a network architecture and configuration method thereof, the network architecture comprises an enterprise head office end device and a plurality of branch office end devices, and provides a network architecture of an enterprise cooperative partner intranet comprising an enterprise and a virtual private network of a branch office thereof connected with the virtual private network and a configuration method thereof. Therefore, most of industrial control network architectures related to the existing patents are based on traditional network forms such as a bus network or a local area network, cannot deal with heterogeneous data from each terminal device, and cannot guarantee real-time and deterministic transmission of data information.
In the prior art, the industrial network architecture is not uniform, the compatibility of heterogeneous data cannot be realized, and an information isolated island in an industrial network is caused; a rapid and reliable protocol conversion mechanism is not adopted, so that the real-time performance and the reliability of global data transmission cannot be ensured; the network transmission system is separated from the control system in design, and the control and regulation are carried out without considering the requirement of controlling the application performance, so that the performance of the control system and the resource utilization rate of the transmission system are influenced.
Therefore, those skilled in the art are devoted to develop a time-sensitive heterogeneous network system and a management method of an industrial control system for implementing real-time communication in case of an industrial field heterogeneous multi-network protocol. The method can be compatible with heterogeneous data, optimize the network and establish a protocol conversion mechanism to ensure that the network follows a uniform standard and ensure that key data are reliably transmitted in real time; and the network transmission system and the control system are mutually cooperated to ensure that the performances of the network transmission system and the control system are optimized.
Disclosure of Invention
In view of the above defects in the prior art, the technical problem to be solved by the present invention is how to provide a flat industrial network architecture that is relatively uniform and complete, relates to multiple communication protocols, and is compatible with heterogeneous data; how to configure network equipment, optimize a network and establish a new protocol conversion mechanism so that the network follows a uniform standard to ensure reliable and real-time transmission of key data; how to cooperate the network transmission system and the control system with each other, the network system takes the performance requirements of the control application into consideration to carry out management and control adjustment, and the performance of the network transmission system and the performance of the control application are ensured to be optimized. A flat industrial communication network architecture based on TSN is designed, and is used for realizing communication between terminal processing units such as an upper controller and the like and a plurality of industrial devices arranged on the site, so that the defects of the traditional industrial network architecture are overcome.
In order to achieve the above object, the present invention provides a time-sensitive heterogeneous network management method for an industrial control system, comprising the steps of:
step 5, the data are upwards transmitted into a central controller through a TSN (time delay network) switch network, the central controller stores, analyzes and calculates the data, and then a generated control instruction is downwards transmitted to field equipment through the TSN switch network to regulate and control the equipment;
and 6, introducing a control transmission cooperative strategy, switching to the step 2 according to the detection and reconfiguration of the CUC and the CNC unit, and dynamically updating configuration parameters by the transmission system according to the performance of the control system.
Further, the industrial network architecture in step 1 includes a bottom device layer, a middle TSN switch network layer, and a topmost control layer.
Further, the step 2 configures the TSN gateway, including determining an IP address and a MAC address, and configuring a MAC address of a device corresponding to the ethernet transport protocol. The gateway also comprises a data transmission path, a data transmission period, a data size and the like, so that the gateway can generate a gating list conveniently.
Further, the step 2 utilizes IEEE 802.1AS protocol to perform clock synchronization on the TSN gateway. And performing clock synchronization on each TSN gateway by utilizing an IEEE 802.1AS protocol, wherein each TSN gateway comprises a master clock port and a plurality of slave clock ports.
Further, the clock roles of the TSN gateway include a master clock and a slave clock.
Further, the TSN protocol conversion method available in step 2 includes two methods, the first method maps a Priority Code Point (PCP) marked by a VLAN and a MAC address of a receiving end to convert the mapping into a TSN stream, and the second method converts the mapping into a TSN stream using an IP address of the receiving end and a Differentiated Services Code Point (DSCP).
Further, the step 3 converts the heterogeneous data stream into the TSN stream by adding a time stamp and setting VLAN priority for the wired protocol.
Further, step 5 is to perform routing and scheduling according to the TSN standard during the process of transmitting the control command to the field device.
Further, the step control transmission cooperation strategy is to use the performance of the control system as a feedback quantity, transmit the result to the CNC unit through the detection of the CUC unit, and dynamically change the parameter configuration of the transmission system.
The invention also provides a time-sensitive heterogeneous network system of the industrial control system, which comprises an equipment layer, a TSN switch network and a control layer;
the bottom layer is the equipment layer and comprises field equipment conforming to different industrial network protocols;
the middle layer is the TSN switch network and comprises a TSN gateway and a switch topology; the TSN gateway converts industrial data into a data stream meeting TSN standards and then enters the switch topology upwards; data are reliably transmitted in real time in the switch topology according to a preset path;
the top layer is the control layer, and comprises a central controller which is responsible for storing and processing data generated by the equipment layer, and transmitting the calculated control instruction to the TSN switch network in a downlink manner, and further transmitting the control instruction to the equipment layer for controlling the normal work of an actuator.
Furthermore, the TSN gateway comprises an embedded processing unit, a multi-module extension unit, an industrial wireless network, an Ethernet interface unit, a TSN switching unit and a system FPGA unit.
In a preferred embodiment of the present invention, an industrial network architecture based on TSN and a management method thereof are provided for implementing real-time communication under the condition of an industrial field heterogeneous multi-network protocol. The method comprises the following steps:
the first step is as follows: an industrial network architecture is established, and a network transmission protocol in the traditional architecture is replaced by a TSN (transmission sequence number) network with stronger instantaneity.
The industrial network architecture comprises a three-layer structure, wherein the bottom layer is an equipment layer and comprises field equipment such as sensors and actuators which accord with different industrial network protocols, and the field equipment can respectively accord with protocols such as WIFI, LTE, Lora, 802.15, RJ45 and field buses. The middle layer is a TSN switch network, containing TSN gateways and switch topologies. The TSN gateway can convert the industrial data meeting the protocols into data streams meeting TSN standards and then upwards enters the topology of the switch. And the data is reliably transmitted in real time in the switch topology according to a preset path. The top layer is a control layer, which comprises a central controller and is responsible for storing and processing data generated by the equipment layer, and transmitting the calculated control instruction to the TSN switch network in a downlink manner, and further transmitting the control instruction to the equipment layer for controlling the normal work of an actuator and the like.
The second step is that: the TSN gateway in the network architecture is configured, and the compatibility problem of different transmission protocols adopted by the TSN gateway to the bottom layer equipment is considered.
The TSN gateway for converting the protocol of the bottom layer equipment comprises a plurality of modules, such as an embedded processing unit, a multi-module extension unit, an industrial wireless network and Ethernet interface unit, a TSN switching unit and a system FPGA unit.
The gateway is configured to determine its IP address and MAC address, and at the same time, the MAC address of the device corresponding to the transmission protocol such as ethernet needs to be configured to ensure the certainty of the transmission path. Then, the clock synchronization is carried out on the gateway by utilizing the IEEE 1588 protocol, and the roles played by the gateway in the whole network are divided into a master clock and a slave clock.
The third step: the heterogeneous data is converted into a TSN stream. The collection of the field device layer by the sensors generates a large amount of heterogeneous data, which respectively come from different wired or wireless networks and comprise periodic data and non-periodic data, and the period between the periodic data is different. In order to be more compatible with heterogeneous data under the industry standard protocol, a TSN gateway is introduced on the way of data generated by each standard protocol in a device layer to a TSN switch network.
The heterogeneous data stream is converted into a TSN stream by the following process: for wired protocols, the data stream is converted to a TSN stream by adding timestamps and setting VLAN priorities.
The fourth step: data needs to meet the TSN standards 802.1Qbv and 802.1Qbu, so as to ensure the selectivity and certainty of forwarding.
In the aspect of the method for ensuring the certainty and the reliability of data stream transmission, two standards of Qbu and Qbv are mainly adopted. 802.1Qbv defines a mechanism for controlling the queued data flows through the TSN switch exit gate, the transmission of messages for these queues being performed during a predetermined time window; under the 802.1Qbu frame preemption mechanism, high-priority data frames can be selectively transmitted, so that the transmission delay and jitter of time-sensitive data frames can be reduced as much as possible.
The fifth step: data are upwards transmitted into the central controller after passing through the TSN switch network, the central controller stores, analyzes and calculates the data, and then generated control instructions are downwards transmitted to the field device layer through the TSN switch network to regulate and control the devices.
Routing and scheduling according to the TSN standard is still required on the way of control commands to the field device layer, if necessary.
And a sixth step: and introducing a control transmission cooperative strategy, and jumping to the second step according to the detection and reconfiguration of the CUC and the CNC unit, so that the transmission system can dynamically update the configuration parameters according to the performance of the control system.
The control transmission cooperation strategy is to take the performance of the control system as a feedback quantity, and transmit the result to the CNC unit through the detection of the CUC unit so as to dynamically change the parameter configuration of the transmission system. When the control performance is poor due to the fact that the transmission delay of the high-priority data frame is too large, parameters of a transmission system in the gateway can be dynamically changed in real time, and therefore the performance of the control system is met.
Compared with the prior art, the invention has the following obvious substantive characteristics and obvious advantages:
1. a TSN (transmission sequence number) network is introduced into a traditional industrial network architecture, and an industrial network architecture which is based on the TSN and can realize heterogeneous data compatibility is further designed. The traditional industrial network architecture is improved and optimized, and the TSN gateway is adopted to carry out unified protocol conversion on wired or wireless data from different protocol standards so as to meet the TSN standard, thereby solving the problem that heterogeneous data under different protocols in the traditional network architecture is difficult to be compatible.
2. And by utilizing an efficient data transmission mechanism of the TSN, the certainty and the reliability of data transmission are ensured. And a plurality of TSN gateways are arranged on a field device layer, so that data under different protocols are converted into TSN streams to enter a TSN switch network. The TSN can ensure the rapid transmission of data inside the TSN switch network, and the certainty and reliability of industrial data transmission and forwarding are ensured.
3. The interaction between the control performance and the network performance of the system under the architecture is considered, and a transmission and control cooperative mechanism is provided to improve the control performance and optimize the network performance to carry out configuration according to needs, so that the performance of the control system is optimized and the resource utilization rate of the network transmission system is maximized.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
FIG. 1 is a TSN-based industrial network architecture diagram of a preferred embodiment of the present invention;
fig. 2 is a diagram of a TSN gateway module in accordance with a preferred embodiment of the present invention;
FIG. 3 is a diagram of the receiver MAC address in accordance with a preferred embodiment of the present invention;
FIG. 4 is a diagram of VLAN tagged receiver MAC address and priority code points in accordance with a preferred embodiment of the present invention;
FIG. 5 is a receiver IP address and Differentiated Services Code Point (DSCP) of a preferred embodiment of the present invention;
FIG. 6 is a control system architecture of a preferred embodiment of the present invention;
FIG. 7 is a flow chart of the architecture of a preferred embodiment of the present invention;
FIG. 8 is a flow chart of the management method of the preferred embodiment of the present invention.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
The invention designs a flat industrial communication network architecture based on TSN, which is used for realizing the communication between terminal processing units such as an upper controller and the like and a plurality of industrial devices arranged on the site, so as to solve the defects of the traditional industrial network architecture.
The system integrally comprises bottom layer equipment such as sensors, actuators and the like, a bottom layer industrial network, a Time Sensitive Network (TSN) gateway, a router, a time sensitive network and a controller. In the framework, data generated by bottom equipment is uploaded to a time sensitive network gateway through a field network, is transmitted to a TSN switch network after protocol conversion of the gateway, and is uploaded to an upper controller. The controller analyzes and processes the data, and then sends the control instruction to the bottom field device after passing through the TSN switch network, so as to adjust the operation of the actuator. The whole architecture has the characteristic of flattening, more paths can be allowed to pass through the network, the requirements of edge calculation and an upper controller are met, the support on the virtual network and virtual machine migration is included, the delay is shortened as much as possible, and the available bandwidth is improved.
By configuring the gateway, different protocols in wireless networks such as WIFI, LTE, Lora and 802.15, wired networks such as dual-wire Ethernet, RJ45 and field bus, and heterogeneous data under different networks can be accessed to the TSN gateway and protocol conversion is completed. Heterogeneous data under each protocol is converted into TSN data streams to enter a TSN switch network through a data frame structure processing method. In order to optimize the data transmission and forwarding process, make the data conform to a unified standard, and ensure reliable real-time transmission of the key data, the patent proposes to adopt an exchanger supporting TSN standards such AS 802.1AS, 802.1Qbv, 802.1Qbu and the like to perform data forwarding, thereby ensuring the transmission real-time performance and reliability under a selective transmission strategy.
The data stream generated by the field device will be divided into different priority data according to the importance and real-time requirements, for example, the data related to the control system has the highest priority, and the other best-effort data has the lowest priority. The queue usage of data frames of different priorities in the network will also be referred to as the impact factor of the control cost and transmission cost functions. Meanwhile, the control cost and the transmission cost are considered, and the total cost is taken as an optimization target and is minimized. The network architecture simultaneously considers the relationship between the utilization condition of network resources and the performance of a control system, so that the performances of the two are optimized.
A management method of an industrial wireless network-oriented time-sensitive network architecture comprises the following steps:
the first step is as follows: and configuring the gateway according to the requirements of the user to ensure that the gateway can realize the access of heterogeneous data.
1.1 the IP address and MAC address of the gateway and the MAC address corresponding to the device generating the heterogeneous data are specified.
1.2 calibrate the gateway's clock to ensure clock synchronization. The synchronous state of the gateway is divided into a synchronous state, an asynchronous state and a master clock state, and the adopted synchronization technology is an IEEE 1588 protocol, namely, the one-way delay and the clock offset are obtained through the mutual communication of a master clock and a slave clock, and then the slave clock and the master clock are kept synchronous through correction.
1.3 convert data stream of other protocol into TSN stream, for wired protocol, such as EtherNet, EtherCat, POWERLINK, Modbus, PROFINET, etc., convert the data stream into TSN stream by adding time stamp and setting VLAN priority. The conversion method is divided into two methods, the first method maps the Priority Code Point (PCP) marked by the VLAN and the MAC address of the receiving end to convert into the TSN stream, and the second method converts into the TSN stream using the IP address of the receiving end and the Differentiated Services Code Point (DSCP). Aiming at wireless protocols, such as WI-FI, LTE, Lora, 802.15.4 and the like, firstly, converting wireless data frames into wired data frames through the steps of frame integrity check, preprocessing, decryption, frame check code calculation and the like, and then converting the wired data frames into TSN streams by using a method of converting wired protocols into TSN, thereby realizing the access of heterogeneous data.
The second step is that: heterogeneous data within the TSN gateway is converted into TSN data streams. The field device layer generates a large amount of heterogeneous data through sensors, including heterogeneous data such as periodic time-sensitive data streams, aperiodic best-effort data streams, wired network data streams, and wireless network data streams. In order to be more compatible with heterogeneous data under the industry standard protocol, a TSN gateway is introduced on the way of data generated by each standard protocol in a device layer to a TSN switch network. The method has the function of converting heterogeneous data generated by different protocols, such as WIFI, LTE, Lora, 802.15, double-wire Ethernet, RJ45, field bus and the like, into data streams meeting TSN standards and then upwards entering a TSN switch network. In the TSN switch network, the TSN data stream is routed and transferred and forwarded in a network topology formed by different switches inside the TSN data stream.
The third step: and routing and GCL configuration are carried out according to information such as network topology, data flow, control performance requirements and the like, so that real-time and reliable data transmission is ensured. In the process of forwarding the data stream, data is transmitted according to the related data transmission standards of TSNs such as 802.1Qbv and 802.1Qbu, so as to ensure the selectivity and the certainty of forwarding. 802.1Qbv defines a mechanism for controlling the queued data flows through the TSN switch exit gate, generating a gating list (GCL) to specify the transmission of data frames, the transmission of messages from these queues being performed during a predetermined time window; under the 802.1Qbu frame preemption mechanism, high-priority data frames can be selectively transmitted, so that the transmission delay and jitter of time-sensitive data frames can be reduced as much as possible. Generally, a periodic time sensitive stream, such as a data stream related to the performance of a control system, is used as a key data stream and is preferentially transmitted; and taking the aperiodic best-effort stream as an unimportant data stream, wherein the stream can be preempted by a critical data stream in the transmission process.
The fourth step: the central controller receives, processes and issues data. Data are upwards transmitted into the central controller after passing through the TSN switch network, the central controller stores, analyzes and calculates the data, and then generated control instructions are downwards transmitted to the field device layer through the TSN switch network to regulate and control the devices. In the process of control command downward transmission, if necessary, the transmission is also forwarded in the TSN switch network according to the TSN standard.
The fifth step: the whole network architecture ensures the coordination of transmission and control. A Centralized User Configuration (CUC) unit within the controller passes information to a Centralized Network Configuration (CNC) unit based on the operational effects of the actuators, as well as analysis and evaluation of the performance requirements and variations of the system controls. The CNC unit changes the relevant configuration of the gateway and the switch according to the instruction of the controller, namely feeds back to the third step to perform the configuration adjustment again.
As shown in fig. 1, the architecture is as follows:
the architecture comprises three layers, wherein the bottom layer is a field device layer and comprises a plurality of field devices, and the network used by each device mainly comprises a wired or wireless network such as a two-wire Ethernet, a field bus, RJ45, WIFI and the like. Data generated by the underlying device is uploaded to the TSN switch network through the TSN gateway. The TSN switch network comprises a number of switches, which are linked to each other to form a network topology. The top layer is a controller which is responsible for processing bottom layer data and generating corresponding control instructions. And finally, the control instruction is transmitted to the field device layer through the TSN switch network to guide the actuator to work.
The first step is as follows: network protocols to which the underlying devices of the industrial field conform are classified, and the field protocols may include wired or wireless networks such as two-wire ethernet, fieldbus, RJ45, WIFI and the like. Each kind of network protocol is respectively accessed to the TSN gateway shown in fig. 2, and the gateway includes a TSN switching unit, a multi-module expansion unit capable of accessing to different protocol ports, an embedded processing unit, a system FPGA, and other modules.
The second step is that: the method comprises the steps of configuring a gateway in advance, determining the number of queues used by an input/output port of the gateway, synchronizing clocks, performing protocol conversion on heterogeneous data streams under different network transmission protocols by using a data protocol conversion mechanism, and converting the data streams into TSN streams by adding timestamps and setting VLAN priority for wired protocols such as EtherNet, EtherCat, POWERLINK, Modbus, PROFINET and the like. The conversion method is divided into two methods, the first method maps the Priority Code Point (PCP) marked by the VLAN and the MAC address of the receiving end to convert into the TSN stream, and the second method converts into the TSN stream using the IP address of the receiving end and the Differentiated Services Code Point (DSCP). FIG. 3 is a receiving end MAC address; FIG. 4 is a VLAN tagged receiver MAC address and priority code point; fig. 5 is a receiving end IP address and Differentiated Services Code Point (DSCP). Aiming at wireless protocols, such as WI-FI, LTE, Lora, 802.15.4 and the like, firstly, converting wireless data frames into wired data frames through the steps of frame integrity check, preprocessing, decryption, frame check code calculation and the like, and then converting the wired data frames into TSN streams by using a method of converting wired protocols into TSN, thereby realizing the access of heterogeneous data. The data stream may be denoted as fi＝[fi.p,fi.ddl,fi.jitter,fi.src,fi.Dst]Wherein each parameter represents the transmission period, maximum transmission time, jitter, number of data stream iThe data transmitting node and the data receiving node.
The third step: in the TSN gateway, the IEEE 802.1Qbv standard is adopted to ensure the real-time property and reliability of data frame transmission, and the opening and closing actions of a transmission gate are controlled through the design of a gating list, so that the data transmission is real-time and the transmission time is determined. At the exit of the TSN gateway, IEEE 802.1Qbu standard is adopted to ensure the selectivity of data frame transmission, the data frames are divided into Express frames and Preemption frames according to priority and criticality, and the former can preempt the transmission of the latter, so as to ensure the priority selection of key data frames for transmission. Through the scheduling and transmission of the TSN switch network, the data frames are orderly transmitted to an upper controller according to the priority and wait for the processing of the controller.
The fourth step: the architecture of the control system is shown in fig. 6, the control system determines the design of the estimator and the controller by collecting useful information, and the overall control performance is maximally improved by considering the time delay and packet loss of data frames existing in the network. The dynamic model of the control system i can be expressed as:
wherein xkControl system state quantity at time k, ukController input at time k, wkIs noise with an average value of 0. The control cost can be expressed as:
in which mathematical operators are defined
In order to make the control performance become excellent, the control cost needs to be reduced by optimizing the scheduling algorithm of the time-sensitive network and further adjusting the state quantity and the input quantity of the control system.
The fifth step: the architecture flow of the whole network is shown in fig. 7, and the specific management mode flow chart is shown in fig. 8. The process can enable transmission and control to be mutually cooperated, and optimize the performance of the transmission system by detecting the performance of the control system, so that the utilization rate of transmission resources is improved as much as possible while the control requirement is ensured. The data of the field device collected by the sensor is upwards transmitted to the TSN gateway, heterogeneous data under different protocols are converted into TSN data streams in the gateway, and meanwhile the data streams are scheduled by standards such as 802.1Qbv and the like in the gateway. And transmitting the scheduled data stream to a network topology to reach a controller. The controller can utilize the data collected by the sensor to process and calculate, generate a control instruction, and then transmit the control instruction downwards to the field device layer to control the actuator. The controller can calculate related control cost while acquiring the state quantity and the input quantity, and if the control cost meets the requirement, the controller can correspondingly configure gateway parameters through the CNC and CUC units to transmit best-effort data streams as much as possible; if the control cost does not meet the requirement, the network management parameters are reconfigured through the CNC and the CUC unit, so that the network resources are more biased to key data streams related to the performance of the control system, and the preferential transmission of the network resources is ensured. By this feedback, the control performance and the transmission performance are optimized.
Compared with the prior art, the invention adopts more advanced TSN technology to ensure the real-time property and the reliability of data transmission for the part of the TSN switch network in the network architecture, and can better meet the requirements of an industrial network control system. The TSN gateway integrates heterogeneous data of different network protocols, so that the TSN gateway meets the unified TSN standard, and the overall compatibility of the network is improved. By combining network standards such AS IEEE 802.1AS, IEEE 802.1Qbv, IEEE 802.1Qbu and the like, the problems of accurate clock synchronization, deterministic real-time data frame transmission and selectable data frame transmission of a network system are solved. And finally, the mutual cooperation of the transmission system and the control system can enable the network system to dynamically follow the performance of the control system in real time, and accordingly make a corresponding response, and the optimization of the performance of the control system and the maximization of the resource utilization of the network system are ensured by optimizing the configuration of network parameters.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A time-sensitive heterogeneous network management method of an industrial control system is characterized by comprising the following steps:
step 1, replacing a network transmission protocol in a traditional architecture by a TSN (transport stream network) network with stronger instantaneity and establishing an industrial network architecture;
step 2, configuring a TSN gateway in a network architecture, wherein the TSN gateway comprises an address, a calibration clock and a TSN stream conversion method;
step 3, entering industrial field data into a TSN gateway for protocol conversion, and converting heterogeneous data into TSN streams;
step 4, the data meet the TSN standard 802.1Qbv and 802.1 Qbu;
step 5, data are transmitted into a central controller after passing through a TSN switch network, the central controller stores, analyzes and calculates the data, and then a generated control instruction is transmitted to field equipment through the TSN switch network to regulate and control the equipment;
and 6, introducing a control transmission cooperative strategy, switching to the step 2 according to the detection and reconfiguration of the CUC and the CNC unit, and dynamically updating configuration parameters by the transmission system according to the performance of the control system.
2. The method for time-sensitive heterogeneous network management of industrial control system according to claim 1, wherein said industrial network architecture of step 1 comprises a bottom device layer, a middle TSN switch network layer, and a top control layer.
3. The time-sensitive heterogeneous network management method of the industrial control system according to claim 1, wherein the step 2 configures the TSN gateway, including a data transmission path, a data transmission period, and a data size.
4. The method for time-sensitive heterogeneous network management of an industrial control system according to claim 1, wherein said step 2 clock-synchronizes said TSN gateway using IEEE 802.1AS protocol, said TSN gateway comprising a master clock port and a slave clock port.
5. The time-sensitive heterogeneous network management method of an industrial control system according to claim 1, wherein the TSN stream conversion method in step 2 includes a first method of mapping a Priority Code Point (PCP) marked by a VLAN and a MAC address of a receiving end to convert the PCP into a TSN stream, and a second method of converting the pcn stream into a TSN stream using a IP address of the receiving end and a Differentiated Services Code Point (DSCP).
6. The time-sensitive heterogeneous network management method of the industrial control system according to claim 1, wherein the step 3 converts heterogeneous data streams into TSN streams by adding time stamps and setting VLAN priority for wired protocols.
7. The method as claimed in claim 1, wherein the step 5 generates the gating list according to the period, the frame length, the source node and the target node of the control command, and the gating list is routed and scheduled in accordance with the TSN standard IEEE 802.1Qbv during the process of transmitting the control command to the field device.
8. The method for time-sensitive heterogeneous network management of industrial control system of claim 1, wherein the step of controlling the transmission coordination strategy is to use the performance of the control system as a feedback quantity, and to transmit the result to the CNC unit through the detection of the CUC unit, thereby dynamically changing the parameter configuration of the transmission system.
9. A time-sensitive heterogeneous network system of an industrial control system is characterized by comprising a device layer, a TSN switch network and a control layer;
the bottom layer is the equipment layer and comprises field equipment conforming to different industrial network protocols;
the middle layer is the TSN switch network and comprises a TSN gateway and a switch topology; the TSN gateway converts industrial data into a data stream meeting TSN standards, and the data stream enters the switch topology; data are reliably transmitted in real time in the switch topology according to a preset path;
the top layer is the control layer, and comprises a central controller which is responsible for storing and processing data generated by the equipment layer, transmitting a calculated control instruction to the TSN switch network and further to the equipment layer, and controlling the normal work of an actuator.
10. The time-sensitive heterogeneous network system of industrial control system of claim 9, wherein the TSN gateway comprises an embedded processing unit, a multi-module extension unit, an industrial wireless network, an ethernet interface unit, a TSN switching unit, and a system FPGA unit.
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