CN105955101A - Control method, scheduling processor and controller - Google Patents
Control method, scheduling processor and controller Download PDFInfo
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- CN105955101A CN105955101A CN201610270912.XA CN201610270912A CN105955101A CN 105955101 A CN105955101 A CN 105955101A CN 201610270912 A CN201610270912 A CN 201610270912A CN 105955101 A CN105955101 A CN 105955101A
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- controller
- control
- controlled
- request
- control request
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/30—Arrangements for executing machine instructions, e.g. instruction decode
- G06F9/30003—Arrangements for executing specific machine instructions
- G06F9/30076—Arrangements for executing specific machine instructions to perform miscellaneous control operations, e.g. NOP
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/30—Arrangements for executing machine instructions, e.g. instruction decode
- G06F9/30094—Condition code generation, e.g. Carry, Zero flag
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- Automation & Control Theory (AREA)
- Programmable Controllers (AREA)
Abstract
The invention comprises a control method, a scheduling processor and a controller, the method comprises the steps: the controller caches a control request sent by the scheduling processor through an instruction memory part of a preset fast register; the controller acquires sensor parameters through a sensor which is connected with the controller, and the controller updates the sensor parameters saved in a data memory part of the register through the acquired sensor parameters; according to the updated sensor parameters and the control request respectively saved in the data memory part and the instruction memory part, the controller generates a control instruction of a controlled terminal and writes the generated control instruction in the instruction memory part; the controller executes the control instruction saved in the instruction memory part to control a controlled device; and according to the invention, the scheduling speed and efficiency of a task executed by the controller can be improved.
Description
Technical field
The present invention relates to automatic control technology field, in particular to a kind of control method, scheduling
Processor and controller.
Background technology
At present, in order to realize automated production, usually utilize the microcontroller such as MCU, CPU, DSP
Device carries out production activity according to people's requirement set in advance, and microcontroller needs to pass through sensor acquisition
External data carries out calculating and formed certain signal output, such as produces the signal controlling switch,
The signal of driving motor, and show the display signal of certain numerical value, to carrying out production activity
Controlled plant operates.
In most microcontroller, microcontroller has input signal concurrently simultaneously, process computing and
Three kinds of functions of output signal.Real-time for running after software programming in microcontroller has strict
Requirement.Microcontroller should be controlled computing to input port, receives the data that sensor transmits,
Also to carry out these data processing calculating, then output port is controlled computing.Three is mutual
Fighting for the hardware resource of limited microcontroller, therefore people can use real time operating system micro-to carry out
The distribution of controller resource and adjustment.
After needing the element generation extending the function of microcontroller and connection to increase, the most single micro-
The when that controller controlling two motors simultaneously, the complexity of this sequential and distribution can be in geometry level
The lifting of number, considerably increases the early stage debugging difficulty of microcontroller.And, real time operating system is originally
Body is as the software system of a high complexity, it is also desirable to takes a substantial amount of time and carries out debugging to ensure
The stability of product, and the requirement to peopleware is the highest, is testing and is ultimately forming product
Also hidden danger can be there is in stability.
Summary of the invention
In view of this, the purpose of the embodiment of the present invention is to provide a kind of control method, dispatch processor
And controller, during to reduce the debugging to microcontroller and the debugging difficulty of real time operating system and consumption
Between.
First aspect, embodiments provides a kind of control method, including:
The command storage unit buffer scheduling processor of the controller fast register by presetting sends
Controlling request, wherein, described controller is for controlling the controlled plant corresponding with described controller
System, described fast register also includes data store；
Described controller obtains sensor parameters by the sensor being connected with described controller, and passes through
The described sensor parameters got, to the sensing of storage in the described data store of described depositor
Device parameter is updated operation；
Described controller is according to being respectively stored in described data store and described command storage unit
Sensor parameters after renewal and described control request, generate the control instruction of described controlled terminal, and
The control instruction generated is write described command storage unit；
Described controller performs the described control instruction of storage in described command storage unit, to described controlled
Equipment is controlled.
In conjunction with first aspect, embodiments provide the first possible embodiment party of first aspect
Formula, wherein, described method also includes:
Described controller obtains the control of described controlled plant return and has asked information, and by described finger
Make information cache in the described command storage unit of described depositor；
Described control request is completed information by described depositor and feeds back to described tune by described controller
Degree processor so that described control request is completed information and returns to user by described dispatch processor.
In conjunction with first aspect, embodiments provide the embodiment party that the second of first aspect is possible
Formula, wherein, described method also includes:
When performing current control instruction, it is new that dispatch processor described in described monitoring control devices sends
Control request；
The described new request that controls monitored is write the described finger of described depositor by described controller
Make in storage part；
Described controller generates corresponding control instruction to described controlled according to the described new request that controls
Terminal is controlled.
In conjunction with first aspect, embodiments provide the third possible embodiment party of first aspect
Formula, wherein, described controller receives, by the depositor preset, the control request that dispatch processor sends,
Including:
Described controller is by a kind of communication mode in following communication, the institute that will get
State control request and be sent to the controller that described controller identifier is corresponding, described communication bag
Include: universal asynchronous receiving-transmitting transmitter (Universal Asynchronous Receiver/Transmitter,
UART), I2C bus (Inter-Integrated Circuit, I2C), controller local area network
(Controller Area Network, CAN) and Ethernet.
Second aspect, embodiments provides a kind of control method, including:
Dispatch processor obtains the control request that user sends, and carrying user in described control request needs
The device identification of controlled plant to be controlled；
Described dispatch processor is according to the device identification got, from the controlled plant prestored and control
In the mapping table of device processed, determine and the controlled plant that described device identification is corresponding is controlled
The mark of controller；
The described control request got, according to the mark of described controller, is sent out by described dispatch processor
Give the controller that the mark of described controller is corresponding so that described controller controls request according to described
The controlled plant that described device identification is corresponding is controlled.
The third aspect, embodiments provides a kind of controller, including:
Command reception module, at by the command storage unit buffer scheduling of default fast register
The control request that reason device sends, wherein, described controller is for corresponding with described controller controlled
Equipment is controlled, and described fast register also includes data store；
Data acquisition module, obtains sensor for the sensor by being connected with described controller and joins
Number, and by the described sensor parameters got, in the described data store of described depositor
The sensor parameters of storage is updated operation；
Directive generation module, for according to being respectively stored in described data store and described instruction storage
The sensor parameters after renewal in portion and described control request, the control generating described controlled terminal refers to
Order, and the control instruction generated is write described command storage unit；
Instruction performs module, for performing the described control instruction of storage in described command storage unit, right
Described controlled plant is controlled.
In conjunction with the third aspect, embodiments provide the first possible embodiment party of the third aspect
Formula, wherein, described method also includes:
Acquisition module, has asked information for obtaining the control of described controlled plant return, and by institute
State and instructed information cache in the described command storage unit of described depositor；
Return module, feed back to described for described control request being completed information by described depositor
Dispatch processor so that described control request is completed information and returns to user by described dispatch processor.
In conjunction with the third aspect, embodiments provide the embodiment party that the second of the third aspect is possible
Formula, wherein, described method also includes:
Monitoring modular, for when performing current control instruction, monitors described dispatch processor and sends
New control request；
Writing module, for writing the described new request that controls monitored described in described depositor
In command storage unit；
Real-time control module, for generating corresponding control instruction to institute according to the described new request that controls
State controlled terminal to be controlled.
In conjunction with the third aspect, embodiments provide the third possible embodiment party of the third aspect
Formula, wherein, the command reception module of described controller is led to by the one in following communication
Letter mode, is sent to, by the described control request got, the controller that described controller identifier is corresponding,
Described communication includes: universal asynchronous receiving-transmitting transmitter (Universal Asynchronous
Receiver/Transmitter, UART), I2C bus (Inter-Integrated Circuit, I2C),
Controller local area network (Controller Area Network, CAN) and Ethernet.
Fourth aspect, embodiment of the present invention one dispatch processor, including:
Control acquisition request module, for obtaining the control request that user sends, in described control request
Carry user and need the device identification of the controlled plant controlled；
Determine module, for according to the device identification got, from the controlled plant prestored and control
In the mapping table of device processed, determine and the controlled plant that described device identification is corresponding is controlled
The mark of controller；
Sending module, for the mark according to described controller, sends out the described control request got
Give the controller that the mark of described controller is corresponding so that described controller controls request according to described
The controlled plant that described device identification is corresponding is controlled.
A kind of control method, dispatch processor and the controller that the embodiment of the present invention provides, by arranging
Controller, when the controlled plant corresponding with this controller is controlled, quickly posted by default
The control request that the command storage unit buffer scheduling processor of storage sends, and according to controlling request and obtaining
The sensor parameters taken generates the control instruction of controlled terminal, and is entered controlled plant by control instruction
Row controls, and is adjusted task and the resource of microprocessor by real time operating system in prior art
Degree is compared, by controller perform the schedule speed of control instruction faster, in hgher efficiency and permissible
Save the system resource of dispatch processor, when needing that the control function of existing controller is extended
Time, only need to be set up the contact of dispatch processor and controller by communication network, it is not necessary to by software people
Member carries out substantial amounts of debugging to microcontroller and real time operating system, is greatly saved spent by debugging
Time.
For making the above-mentioned purpose of the present invention, feature and advantage to become apparent, preferable reality cited below particularly
Execute example, and coordinate appended accompanying drawing, be described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below will be to required in embodiment
Accompanying drawing to be used is briefly described, it will be appreciated that the following drawings illustrate only some of the present invention
Embodiment, is therefore not construed as the restriction to scope, for those of ordinary skill in the art,
On the premise of not paying creative work, it is also possible to obtain other relevant accompanying drawings according to these accompanying drawings.
Fig. 1 shows in a kind of control method that the embodiment of the present invention 1 is provided using motor as controlled
The application schematic diagram of equipment；
Fig. 2 shows in a kind of control method that the embodiment of the present invention 1 is provided using controller as holding
The flow chart of row main body；
Fig. 3 shows in a kind of control method that the embodiment of the present invention 2 is provided and makees with dispatch processor
Flow chart for executive agent；
Fig. 4 shows the structural representation of a kind of controller that the embodiment of the present invention 3 provided.
Detailed description of the invention
The assembly of inventive embodiments can be arranged with various different configurations and design.Therefore, below
The detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit claimed basis
The scope of invention, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention,
The every other enforcement that those skilled in the art are obtained on the premise of not making creative work
Example, broadly falls into the scope of protection of the invention.
Increase when the element of the function and connection that need extension microcontroller produces in view of in correlation technique
After how, the when that the most single microcontroller controlling two motors simultaneously, this sequential and distribution
Complexity can lifting in geometrical progression, considerably increase the early stage debugging difficulty of microcontroller.And,
Real time operating system itself is as the software system of a high complexity, it is also desirable to take a substantial amount of time
Carry out debugging to ensure the stability of product, and the requirement to peopleware be the highest, test and
Ultimately form and in the stability of product, also can there is hidden danger.Based on this, embodiments provide one
Plant control method and dispatch processor, be described below by embodiment.
Embodiment 1
Present embodiments provide a kind of control method.The executive agent of the present embodiment is controller, passes through
Dispatch processor receives the control request that user sends, and is controlled process and the execution asked, right
Controlled plant is controlled.
See Fig. 1, it is shown that in the present embodiment, the connection of controller, dispatch processor and controlled plant
Relation.
Controller, can use existing any single-chip microcomputer or micro-control unit (MCU), to right
The controlled plant answered is controlled, and repeats the most one by one.
Dispatch processor, can use existing any MCU, central processing unit (CPU) or number
The control request that user is sent by word signal processor (Digital Signal Processor, DSP) is carried out
Scheduling, repeats the most one by one.
Controlled plant, includes but not limited to: motor and industrial robot etc..
Seeing Fig. 2, the present embodiment provides a kind of control method, including:
The command storage unit buffer scheduling processor of step 200, the controller fast register by presetting
The control request sent.
Wherein, controller is used for being controlled the controlled plant corresponding with controller, fast register
Also include data store.Controller, is only controlled the controlled plant having corresponding relation with it,
When not having dispatch processor to intervene, controller can run according to pre-set programs, is having dispatch processor
During intervention, controller will ask to run according to the control of dispatch processor.
The control request that user can first be triggered by dispatch processor encodes, then by the control after coding
Request processed is sent to controller.
Control request, hold except being triggered by user and passing to controller by dispatch processor
Outside row, it is also possible to the sensing that the sensor arranged according to controlled plant voluntarily by controller is obtained
Device parameter is generated by internal algorithm and controls request, is controlled controlled plant.
Controller receives, by the depositor preset, the control request that dispatch processor sends, including: control
Device processed, by a kind of communication mode in following communication, receives the control that dispatch processor sends
System request, this communication includes: universal asynchronous receiving-transmitting transmitter UART, I2C bus, control
General ability territory network C AN processed and Ethernet.
Step 202, controller obtain sensor parameters by the sensor being connected with controller, and pass through
The sensor parameters got, is carried out more the sensor parameters of storage in the data store of depositor
New operation.
Sensor, is used for by controlled plant during performing control instruction, and Real-time Collection is controlled to be set
Standby parameter, and the parameter of the controlled plant collected is sent to controller.
After step 204, controller are according to the renewal being respectively stored in data store and command storage unit
Sensor parameters and control request, generate the control instruction of controlled terminal, and the control of generation referred to
Make write instruction storage part.
In above-mentioned steps 204, controller is according to being respectively stored in data store and command storage unit
In renewal after sensor parameters and control request, generate controlled end by the built-in algorithm of processor
The control instruction of end.
Step 206, controller perform the control instruction of storage in command storage unit, carry out controlled plant
Control.
In sum, a kind of control method that the embodiment of the present invention provides, by the controller arranged,
When the controlled plant corresponding with this controller is controlled, by the instruction of default fast register
The control request that storage part buffer scheduling processor sends, and according to controlling request and the sensor obtained
Parameter generates the control instruction of controlled terminal, and is controlled controlled plant by control instruction, with
The task of microprocessor is scheduling comparing with resource by prior art by real time operating system, logical
Cross controller perform the schedule speed of control instruction faster, in hgher efficiency and scheduling office can be saved
The system resource of reason device, when needing to be extended the control function of existing controller, only need to lead to
Cross communication network and set up the contact of dispatch processor and controller, it is not necessary to by peopleware to microcontroller
Device and real time operating system carry out substantial amounts of debugging, are greatly saved the time spent by debugging.
The implementation status controlling request, above-mentioned control method method is triggered in order to make user it will be seen that
Further comprising the steps of (1) to step (2):
(1) information has been asked in the control that controller acquisition controlled plant returns, and instruction is completed letter
Breath is cached in the command storage unit of depositor；
(2) control request is completed information by depositor and feeds back to dispatch processor by controller so that
Control request is completed information and returns to user by dispatch processor.
In step 2 above, controller identifier and the control preset please to control to have asked information to include
Seek mark.
In correlation technique, when user triggers new after triggering control request the most again
When controlling request, the control request that user can be set out by the real-time operation decorum again is put in execution queue,
And after current control request execution completes, just may proceed to perform to be buffered in the control performed in queue
Request, it is thus impossible to the control request triggered user in time carries out corresponding, so, in order in time
The control request that response user triggers, above-mentioned control method further comprising the steps of (1) to step (3):
(1) when performing current control instruction, the new control that monitoring control devices dispatch processor sends
System request；
(2) in the new command storage unit controlling request write depositor that controller will monitor；
(3) controlled terminal is controlled by controller according to the new control instruction controlling request generation corresponding
System.
In sum, during performing current control instruction, monitoring control devices dispatch processor
When the new control sent is asked, controller can generate corresponding control instruction according to the new request that controls
Controlled terminal is controlled, thus the control request triggered user in time carries out corresponding.
Embodiment 2
The executive agent of the present embodiment is dispatch processor, and control request user sent is sent to refer to
Fixed controller processes and performs, thus to needing the control performed request to be scheduling.
See Fig. 3, a kind of control method that the present embodiment provides, comprise the following steps:
Step 300, dispatch processor obtain the control request that user sends.
Wherein, control that request carries user and need the device identification of the controlled plant controlled.
Wherein, user passes through the input equipment of used computing terminal, sends control to dispatch processor
System request.
Being provided with the terminal of dispatch processor, the computing terminal that can use with user is same server,
Can also be different server with the computing terminal used.
In addition to the device identification of the controlled plant controlled except carrying user to need in controlling to ask, also wrap
Include expectation controlled plant and carry out instructing the controling parameter of respective operations.
Step 302, dispatch processor are according to the device identification got, from the controlled plant prestored
With in the mapping table of controller, determine and the controlled plant that device identification is corresponding is controlled
The mark of controller.
Wherein, controlled plant and the mapping table of controller, it is stored in advance in and dispatch deal is installed
In the storage medium of the terminal of device.
From the mapping table of the controlled plant prestored and controller, determine device identification
The mark of the controller that corresponding controlled plant is controlled, comprises the following steps (1) to step (2):
(1) from storage medium, controlled plant and the mapping table of controller are obtained；
(2) device identification in being asked by control, to controlled plant and the mapping table of controller
Carry out traversing operation, determine the mark to the controller that the controlled plant that device identification is corresponding is controlled
Know.
It is, of course, also possible in other way from the mapping table of controlled plant and controller really
Make the mark to the controller that the controlled plant that device identification is corresponding is controlled, the most one by one
Repeat.
The control got request, according to the mark of controller, is sent to by step 304, dispatch processor
The controller of the mark correspondence of controller so that controller is corresponding to device identification according to controlling request
Controlled plant is controlled.
Dispatch processor is in the scheduling process being controlled request, main by communication disruption acceptance
Control request is scheduling by reason program and communication disruption router, wherein, at communication disruption acceptance
Reason program, once has PERCOM peripheral communication to enter trigger immediately, updates depositor array and reset master
Program circulates；Communication disruption router, can be partially completed at main program cycle and i.e. be transmitted, also
Can repeat to send by intervalometer timing.
In sum, the embodiment of the present invention provide a kind of control method, by arrange controller pair with
When the controlled plant that this controller is corresponding is controlled, stored by the instruction of default fast register
The control request that portion's buffer scheduling processor sends, and according to controlling request and the sensor parameters obtained
Generate the control instruction of controlled terminal, and by control instruction, controlled plant is controlled, with existing
The task of microprocessor is scheduling comparing with resource by technology by real time operating system, by control
Device processed perform the schedule speed of control instruction faster, in hgher efficiency and dispatch processor can be saved
System resource, when needing the control function of existing controller is extended, only need to be by logical
Communication network sets up the contact of dispatch processor and controller, it is not necessary to by peopleware to microcontroller and
Real time operating system carries out substantial amounts of debugging, is greatly saved the time spent by debugging.
Embodiment 3
Seeing Fig. 4, the present embodiment provides a kind of controller, for performing described by above-described embodiment 1
Control method, controller includes:
Command reception module 400, for by the command storage unit buffer scheduling of default fast register
The control request that processor sends, wherein, controller is for entering the controlled plant corresponding with controller
Row controls, and fast register also includes data store；
Data acquisition module 402, obtains sensor parameters for the sensor by being connected with controller,
And by the sensor parameters got, to the sensor parameters of storage in the data store of depositor
It is updated operation；
Directive generation module 404, for according to being respectively stored in data store and command storage unit
Sensor parameters after renewal and control request, generate the control instruction of controlled terminal, and by generation
Control instruction write instruction storage part；
Instruction performs module 406, for performing the control instruction of storage in command storage unit, sets controlled
For being controlled.
Triggered the implementation status controlling request to make user it will be seen that, controller noted above also includes:
Acquisition module, the control returned for obtaining controlled plant has been asked information, and will have been instructed
Become information cache in the command storage unit of depositor；
Return module, feed back to dispatch processor for control request being completed information by depositor,
Make dispatch processor that control request is completed information and return to user.
In correlation technique, when user triggers new after triggering control request the most again
When controlling request, the control request that user can be set out by the real-time operation decorum again is put in execution queue,
And after current control request execution completes, just may proceed to perform to be buffered in the control performed in queue
Request, it is thus impossible to the control request triggered user in time carries out corresponding, so, in order in time
The control request that response user triggers, controller noted above also includes:
Monitoring modular, for when performing current control instruction, it is new that monitoring and dispatching processor sends
Control request；
Writing module, in the new command storage unit controlling request write depositor that will monitor；
Real-time control module, for generating corresponding control instruction to controlled end according to the new request that controls
End is controlled.
In the present embodiment, the command reception module of controller is by following communication
Planting communication mode, receive the control request that dispatch processor sends, communication includes: general
Asynchronous receiving-transmitting transmitter UART, I2C bus, controller local area network CAN and Ethernet.
The present embodiment also provides for a kind of dispatch processor, for performing the control that above-described embodiment 2 describes
Method, this dispatch processor includes:
Control acquisition request module, for obtaining the control request that user sends, control request is carried
User is had to need the device identification of the controlled plant controlled；
Determine module, for according to the device identification got, from the controlled plant prestored and control
In the mapping table of device processed, determine the control that the controlled plant that device identification is corresponding is controlled
The mark of device；
Sending module, for the mark according to controller, is sent to control by the control got request
The controller that the mark of device is corresponding so that controller is according to controlling request to corresponding controlled of device identification
Equipment is controlled.
In sum, a kind of dispatch processor of embodiment of the present invention offer and controller, by arranging
The controller pair controlled plant corresponding with this controller when being controlled, quickly deposited by default
The control request that the command storage unit buffer scheduling processor of device sends, and according to controlling request and obtaining
Sensor parameters generate the control instruction of controlled terminal, and by control instruction, controlled plant is carried out
Control, by real time operating system, task and the resource of microprocessor are scheduling in prior art
Compare, by controller perform the schedule speed of control instruction faster, in hgher efficiency and can save
The about system resource of dispatch processor, when needing the control function of existing controller is extended,
Only need to be set up the contact of dispatch processor and controller by communication network, it is not necessary to by peopleware couple
Microcontroller and real time operating system carry out substantial amounts of debugging, are greatly saved the time spent by debugging.
What the embodiment of the present invention was provided is controlled the computer program of method, including storing
The computer-readable recording medium of program code, before the instruction that described program code includes can be used for performing
Method described in the embodiment of the method for face, implements and can be found in embodiment of the method, does not repeats them here.
Those skilled in the art is it can be understood that arrive, for convenience and simplicity of description, above-mentioned
The specific works process of the system, device and the unit that describe, is referred in preceding method embodiment
Corresponding process, does not repeats them here.
In several embodiments provided herein, it should be understood that disclosed system, device
And method, can realize by another way.Device embodiment described above is only signal
Property, such as, the division of described unit, being only a kind of logic function divides, actual can when realizing
There to be other dividing mode, the most such as, multiple unit or assembly can in conjunction with or be desirably integrated into
Another system, or some features can ignore, or do not perform.Another point, shown or discussed
Coupling each other or direct-coupling or communication connection can be by some communication interfaces, device or
The INDIRECT COUPLING of unit or communication connection, can be electrical, machinery or other form.
The described unit illustrated as separating component can be or may not be physically separate,
The parts shown as unit can be or may not be physical location, i.e. may be located at a ground
Side, or can also be distributed on multiple NE.Can select therein according to the actual needs
Some or all of unit realizes the purpose of the present embodiment scheme.
It addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit
In, it is also possible to it is that unit is individually physically present, it is also possible to two or more unit are integrated in
In one unit.
If described function realizes using the form of SFU software functional unit and as independent production marketing or make
Used time, can be stored in a computer read/write memory medium.Based on such understanding, this
Part that prior art is contributed by bright technical scheme the most in other words or this technical scheme
Part can embody with the form of software product, and this computer software product is stored in a storage
In medium, including some instructions with so that a computer equipment (can be personal computer, take
Business device, or the network equipment etc.) perform completely or partially walking of method described in each embodiment of the present invention
Suddenly.And aforesaid storage medium includes: USB flash disk, portable hard drive, read only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or light
The various medium that can store program code such as dish.
The above, the only detailed description of the invention of the present invention, but protection scope of the present invention not office
Being limited to this, any those familiar with the art, can in the technical scope that the invention discloses
Readily occur in change or replace, all should contain within protection scope of the present invention.Therefore, the present invention
Protection domain should described be as the criterion with scope of the claims.
Claims (10)
1. a control method, it is characterised in that including:
The command storage unit buffer scheduling processor of the controller fast register by presetting sends
Controlling request, wherein, described controller is for controlling the controlled plant corresponding with described controller
System, described fast register also includes data store；
Described controller obtains sensor parameters by the sensor being connected with described controller, and passes through
The described sensor parameters got, to the sensing of storage in the described data store of described depositor
Device parameter is updated operation；
Described controller is according to being respectively stored in described data store and described command storage unit
Sensor parameters after renewal and described control request, generate the control instruction of described controlled terminal, and
The control instruction generated is write described command storage unit；
Described controller performs the described control instruction of storage in described command storage unit, to described controlled
Equipment is controlled.
Method the most according to claim 1, described method also includes:
Described controller obtains the control of described controlled plant return and has asked information, and by described finger
Make information cache in the described command storage unit of described depositor；
Described control request is completed information by described depositor and feeds back to described tune by described controller
Degree processor so that described control request is completed information and returns to user by described dispatch processor.
Method the most according to claim 1, described method also includes:
When performing current control instruction, it is new that dispatch processor described in described monitoring control devices sends
Control request；
The described new request that controls monitored is write the described finger of described depositor by described controller
Make in storage part；
Described controller generates corresponding control instruction to described controlled according to the described new request that controls
Terminal is controlled.
Method the most according to claim 1, it is characterised in that described controller is by presetting
Depositor receive dispatch processor send control request, including:
Described controller, by a kind of communication mode in following communication, receives described scheduling
The control request that processor sends, described communication includes: universal asynchronous receiving-transmitting transmitter
UART, I2C bus, controller local area network CAN and Ethernet.
5. a control method, it is characterised in that including:
Dispatch processor obtains the control request that user sends, and carrying user in described control request needs
The device identification of controlled plant to be controlled；
Described dispatch processor is according to the device identification got, from the controlled plant prestored and control
In the mapping table of device processed, determine and the controlled plant that described device identification is corresponding is controlled
The mark of controller；
The described control request got, according to the mark of described controller, is sent out by described dispatch processor
Give the controller that the mark of described controller is corresponding so that described controller controls request according to described
The controlled plant that described device identification is corresponding is controlled.
6. a controller, it is characterised in that including:
Command reception module, at by the command storage unit buffer scheduling of default fast register
The control request that reason device sends, wherein, described controller is for corresponding with described controller controlled
Equipment is controlled, and described fast register also includes data store；
Data acquisition module, obtains sensor for the sensor by being connected with described controller and joins
Number, and by the described sensor parameters got, in the described data store of described depositor
The sensor parameters of storage is updated operation；
Directive generation module, for according to being respectively stored in described data store and described instruction storage
The sensor parameters after renewal in portion and described control request, the control generating described controlled terminal refers to
Order, and the control instruction generated is write described command storage unit；
Instruction performs module, for performing the described control instruction of storage in described command storage unit, right
Described controlled plant is controlled.
Controller the most according to claim 6, described method also includes:
Acquisition module, has asked information for obtaining the control of described controlled plant return, and by institute
State and instructed information cache in the described command storage unit of described depositor；
Return module, feed back to described for described control request being completed information by described depositor
Dispatch processor so that described control request is completed information and returns to user by described dispatch processor.
Controller the most according to claim 6, described method also includes:
Monitoring modular, for when performing current control instruction, monitors described dispatch processor and sends
New control request；
Writing module, for writing the described new request that controls monitored described in described depositor
In command storage unit；
Real-time control module, for generating corresponding control instruction to institute according to the described new request that controls
State controlled terminal to be controlled.
Controller the most according to claim 6, it is characterised in that the instruction of described controller
Receiver module, by a kind of communication mode in following communication, receives described dispatch processor
The control request sent, described communication includes: universal asynchronous receiving-transmitting transmitter UART,
I2C bus, controller local area network CAN and Ethernet.
10. a dispatch processor, it is characterised in that including:
Control acquisition request module, for obtaining the control request that user sends, in described control request
Carry user and need the device identification of the controlled plant controlled；
Determine module, for according to the device identification got, from the controlled plant prestored and control
In the mapping table of device processed, determine and the controlled plant that described device identification is corresponding is controlled
The mark of controller；
Sending module, for the mark according to described controller, sends out the described control request got
Give the controller that the mark of described controller is corresponding so that described controller controls request according to described
The controlled plant that described device identification is corresponding is controlled.
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