CN107894742B - Secure P L C implementation method for rapidly configuring hardware resources - Google Patents
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Abstract
A method for realizing safety P L C of quickly configuring hardware resources includes utilizing P L C operation system kernel software capable of being transplanted in a recombination mode to form P L C operation systems of different types of CPUs, enabling at least two sets of different types of CPUs to simultaneously and respectively run different P L C operation systems, enabling multiple systems to synchronously run cross detection, enabling the multiple systems to comprise a main P L C operation system and a slave P L C operation system, outputting I/O voting, handing final results to an execution mechanism, and forming a safety P L C product according to requirements of safety system certification.
Description
Technical Field
The invention relates to a secure P L C implementation method for rapidly configuring hardware resources, and belongs to the technical field of rapid customization and research and development of secure P L C.
Background
The safety P L C belongs to the safety system category, the core content of which is that one system at least comprises two sets of CPUs with different series types, and simultaneously runs different P L C operating systems respectively, and the multiple systems run cross detection synchronously to meet the requirements of safety control, however, the rapid customization and research and development of the existing safety P L C face the following technical problems:
1) the invention aims at the problem that the compiling and developing environments of CPUs of different series and manufacturers are different and the problem of rapid development of a P L C compiling and analyzing operation system needs to be solved on the premise of ensuring the reliability and stability of a program, and realizes monitoring through a P L C operation method capable of being recombined and transplanted, wherein the monitoring is that the consistency of compiling and analyzing contents corresponding to a single P L C operation system stored under different CPUs is realized.
2) The P L C product serialization adapting to different application requirements needs different I/O points and communication mode differential customization development, and in a traditional mode, differential software needs to be developed for realization, so that the development difficulty is greatly increased, and the problems of long development period, poor software stability and consistency and the like exist.
The method of the invention is realized by the security P L C based on the configuration of hardware resources, namely different P L C systems in the security P L C are respectively constructed by means of the configurable P L C.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a secure P L C implementation method for rapidly configuring hardware resources.
The technical scheme of the invention is as follows:
a secure P L C implementation method for rapidly configuring hardware resources comprises forming P L C operating systems of different types of CPUs by using kernel software of a P L C operating system capable of being transplanted by recombination;
running P L C core software in the P L C operating system, wherein the software comprises upper computer software and a bottom driver;
the upper computer software mainly comprises configuration software;
the bottom-layer driving software is mainly a P L C terminal monitoring program;
the compiling software loaded in the P L C operating system adopts a modular design concept and supports the editing, compiling and downloading of ladder diagrams, statement tables and sequential function diagrams, the configuration software comprises hardware resource configuration and realizes the rapid reorganization of P L C, the P L C terminal monitoring program supports P L C analysis, configuration parameter analysis, process control, motion control, standard Modbus communication and the like, and P L C operating systems of different types of CPUs can be formed through reorganization and transplantation.
The modular, configurable and reconfigurable design concept is adopted to realize the rapid migration and development of the P L C operating system software, and P L C operating systems of different types of CPUs can be formed through recombination and migration.
The invention can also combine with P L C operating system core software to construct a configurable P L C rapid customization hardware platform, realize the construction of multiple P L C hardware supporting different I/O points and communication modes, and rapidly form a serialized P L C product;
when at least two different types of CPUs simultaneously and respectively run different P L C operating systems, the method comprises the following specific steps:
1) the multi-system comprises a master P L C operating system and a slave P L C operating system;
2) I/O voting output and delivering the final result to an execution mechanism;
3) the safety system certification requirement refers to the IEC61508 standard formally published by the International electrotechnical Commission in 2000, and is named as functional safety of Electrical/electronic/programmable electronic safety-related systems.
In the step 1), the multi-system synchronous operation cross detection includes:
1.1) the master P L C operating system and the slave P L C operating system run synchronously;
1.2) step 1.1) storing the running results of all the main P L C operating systems and the auxiliary P L C operating systems in the same format;
1.3) the master P L C operating system reads the results of the slave P L C operating system through a serial port.
The invention realizes the customization of any I/O point and the selection of the communication mode in the CPU hardware resource range through configuration, quickly forms the I/O point and the communication mode, and provides safety guarantee for the research and development of P L C application.
Preferably, in step 2), the I/O voting output includes:
2.1) if the I/O voting output is the switching value, judging that the operation result is correct when the voting output results of the main P L C operation system and the slave P L C operation system are both 1 or 0, otherwise, judging that the operation result is wrong;
2.2) if the I/O voting output is high-speed pulse counting, judging that the running result is correct when the voting output results of the main P L C operating system and the slave P L C operating system are different by no more than 1, otherwise, judging that the running result is wrong;
2.3) if the I/O voting output is analog, judging that the operation result is correct when the voting output results of the main P L C operation system and the slave P L C operation system are different in thousandth, or else, judging that the operation result is wrong;
and the P L C operating system which sends out the wrong voting output result is overhauled, and a multi-P L C operating system judges and executes a task after the overhaul is finished.
Preferably, according to the present invention, as described in the above 2.1), 2.2), and 2.3), if the operation result is wrong, an alarm is triggered, and corresponding error information is uploaded to the upper computer: a human decides which voting output result is correct.
According to the invention, the method for forming the P L C operating system of the different types of CPUs by using the nucleus software of the P L C operating system which can be transplanted by recombination comprises the following steps:
(1) generating a hardware resource configuration parameter table;
according to the customization requirements of P L C products, the P L C hardware determines the I/O points and types according to the control requirements and the functions of P L C, and different models of P L C are built within the range allowed by the I/O resources of the CPU hardware;
the method for determining the hardware resource configuration parameters comprises the following steps:
(1.1) selecting the I/O points of P L C, firstly considering the control requirement and considering the spare allowance, wherein the I/O points are usually determined according to the actual requirements of input and output signals of a controlled object and the 10% -30% spare amount;
(1.2) developing a PCB (printed circuit board) P L C-PCB according to the I/O resource requirement;
(1.3) generating a hardware resource configuration parameter table P L C-CS by using hardware configurable software to realize the autonomous configuration of the P L C hardware resource, wherein the hardware configurable software is the software commonly used by the technical personnel in the field and has the function of realizing the hardware resource configuration parameter table P L C-CS;
for better explaining the hardware configurable software, the operation interface is as shown in fig. 1, an I/O port type column L1 is a list of available P L C common types, an I/O port access name column L3 is automatically generated after L1 is selected, I/O port access is a P L C variable needed by P L C user program programming, an I/O port number column L2 is selected, all available CPU corresponding pins under the column L1 type are listed, and then a "hardware resource configuration parameter table P L C-CS" is generated by increasing row by row;
(2) downloading the hardware resource configuration parameter table P L C-CS into a P L C-PCB parameter configuration storage area F L ASH, downloading a P L C monitoring program into a P L C-PCB program storage area F L ASH, and completing the construction of P L C;
the P L C monitor is a technology well known to those skilled in the art, and is a bottom-level driver at the hardware platform end, including hardware parsing, statement parsing, communication interface driving, and so on, and the monitor includes a fusion technology of different P L C, and the monitor is a monitor specially developed for configurable P L C, but is unique for different P L C;
(3) the constructed P L C runs an implementation process, and when the P L C runs:
(3.1) reading a hardware resource configuration parameter table P L C-CS to finish I/O drive analysis and finish autonomous configuration of hardware resources;
and (3.2) running a P L C monitoring program, wherein the P L C running completely has the P L C function, programming a ladder diagram and a statement table, and realizing the functions of logic control, arithmetic operation, timing, counting, data processing, PID operation and communication.
Preferably, in the step (1), the P L C configuration parameter establishment is realized through QT software, a P L C-CS parameter file is formed according to a parameter table data structure, the parameter file is downloaded into a P L C hardware circuit through a serial port, and the configuration parameters P L C-CS are called when P L C is operated to complete I/O drive configuration, wherein the parameter table data structure is as follows:
p L C-CS parameter table structure:
| ① | ② | ④ |
| p L C I/O port type | P L C I/O Port position | CPU I/O port Pi.j |
① P L C I/O port type, configured as switch input (DI), switch output (DO), Analog Input (AI) and Analog Output (AO) according to the requirement of P L C model;
② P L C I/O port position, configuring the path number position of the selected type according to the requirement of the P L C model;
④ CPU I/O port Pi.j is divided into multiple I/O ports P0.0, P0.1,. Pi.j,. and the CPU I/O port Pi.j corresponding to the P L C I/O port is set in this field.
According to the invention, the P L C-CS parameter table structure also comprises P L C I/O port parameters, wherein the parameters are set for the configured I/O port according to the requirement of the P L C model;
preferably, according to the present invention, the method for calling the configuration parameter P L C-CS when the P L C is executed in step (3) to complete the I/O driver configuration parsing includes:
| ① | ② | ③ | ④ |
| p L C I/O port type | P L C I/O Port position | P L C I/O Port parameters | CPU I/O port Pi.j |
When P L C is operated, P L C operating system software firstly calls configuration parameters P L C-CS, and I/O driving configuration of an I/O port corresponding to a CPU is completed according to the types of P L CI/O port type switching value input (DI), switching value output (DO), analog value input (AI) and analog value output (AO) according to the records of a parameter table, and the implementation method is as follows:
① P L C I/O port type, reading L C I/O port type, calling different configuration programs according to different types of P L C port switching value input (DI), switching value output (DO), analog value input (AI) and analog value output (AO);
② P L C I/O port position, finishing configuration procedure in turn according to P L C I/O port position;
③ P L C I/O port parameter, according to PP L C I/O port parameter, configuring the corresponding I/O port according to the configuration parameter;
④ CPU I/O port Pi.j, selecting the CPU I/O port Pi.j corresponding to the currently configured P L C I/O port to perform I/O drive configuration.
The technical advantages of the invention are as follows:
from the perspective of market demand and realization of commercialization, the multi-channel system safety P L C construction technology (at least two channels) is adopted, a double P L C system is constructed based on a configurable P L C platform, and the multi-channel system safety P L C is formed by combining the multi-system self-diagnosis technology.
Drawings
FIG. 1 is a schematic diagram of the interface operation of the hardware configurable software according to the present invention;
FIG. 2 is a flow chart of the I/O voting output of the present invention;
FIG. 3 is a schematic diagram of a double safety system P L C for constructing I/O points, wherein the double self-diagnosis technology comprises a multi-system synchronous operation cross detection technology and an I/O voting output technology, and the double channels refer to double P L C system channels;
FIG. 4 is a schematic diagram of P L C for constructing different I/O points in the invention, wherein the types of CPUs of different P L C are different, such as L PC2368 of Arm series adopted by P L C1, STM32 series or MSP430 series adopted by P L C2, and the like.
Detailed Description
The invention is described in detail below with reference to the following examples and the accompanying drawings of the specification, but is not limited thereto.
As shown in fig. 1-4.
Examples 1,
A secure P L C implementation method for rapidly configuring hardware resources comprises forming P L C operating systems of different types of CPUs by using kernel software of a P L C operating system capable of being transplanted by recombination;
when at least two different types of CPUs simultaneously and respectively run different P L C operating systems, the method comprises the following specific steps:
1) the multi-system comprises a master P L C operating system and a slave P L C operating system;
2) I/O voting output and delivering the final result to an execution mechanism;
3) the safety system certification requirement refers to the IEC61508 standard formally published by the International electrotechnical Commission in 2000, and is named as functional safety of Electrical/electronic/programmable electronic safety-related systems.
In the step 1), the multi-system synchronous operation cross detection includes:
1.1) the master P L C operating system and the slave P L C operating system run synchronously;
1.2) step 1.1) storing the running results of all the main P L C operating systems and the auxiliary P L C operating systems in the same format;
1.3) the master P L C operating system reads the results of the slave P L C operating system through a serial port.
The invention realizes the customization of any I/O point and the selection of the communication mode in the CPU hardware resource range through configuration, quickly forms the I/O point and the communication mode, and provides safety guarantee for the research and development of P L C application.
In step 2), the I/O voting output includes:
2.1) if the I/O voting output is the switching value, judging that the operation result is correct when the voting output results of the main P L C operation system and the slave P L C operation system are both 1 or 0, otherwise, judging that the operation result is wrong;
2.2) if the I/O voting output is high-speed pulse counting, judging that the running result is correct when the voting output results of the main P L C operating system and the slave P L C operating system are different by no more than 1, otherwise, judging that the running result is wrong;
2.3) if the I/O voting output is analog, judging that the operation result is correct when the voting output results of the main P L C operation system and the slave P L C operation system are different in thousandth, or else, judging that the operation result is wrong;
and the P L C operating system which sends out the wrong voting output result is overhauled, and a multi-P L C operating system judges and executes a task after the overhaul is finished.
Examples 2,
The method for implementing secure P L C for rapidly configuring hardware resources in embodiment 1 is different from the above-mentioned methods 2.1), 2.2), and 2.3), and if the decision result is incorrect, an alarm is triggered, and meanwhile, corresponding error information is uploaded to an upper computer, so that a human decision is made as to which voting output result is correct.
Examples 3,
The secure P L C implementation method for fast configuring hardware resources as described in embodiment 1, wherein the difference is that the method for forming P L C operating systems of different types of CPUs by using the P L C operating system kernel software capable of being transplanted recombinantly includes:
(1) generating a hardware resource configuration parameter table;
according to the customization requirements of P L C products, the P L C hardware determines the I/O points and types according to the control requirements and the functions of P L C, and different models of P L C are built within the range allowed by the I/O resources of the CPU hardware;
the method for determining the hardware resource configuration parameters comprises the following steps:
(1.1) selecting the I/O points of P L C, firstly considering the control requirement and considering the spare allowance, wherein the I/O points are usually determined according to the actual requirements of input and output signals of a controlled object and the 10% -30% spare amount;
(1.2) developing a PCB (printed circuit board) P L C-PCB according to the I/O resource requirement;
(1.3) generating a hardware resource configuration parameter table P L C-CS by using hardware configurable software to realize the autonomous configuration of the P L C hardware resource, wherein the hardware configurable software is the software commonly used by the technical personnel in the field and has the function of realizing the hardware resource configuration parameter table P L C-CS;
for better explaining the hardware configurable software, the operation interface is as shown in fig. 1, an I/O port type column L1 is a list of available P L C common types, an I/O port access name column L3 is automatically generated after L1 is selected, I/O port access is a P L C variable needed by P L C user program programming, an I/O port number column L2 is selected, all available CPU corresponding pins under the column L1 type are listed, and then a "hardware resource configuration parameter table P L C-CS" is generated by increasing row by row;
(2) downloading the hardware resource configuration parameter table P L C-CS into a P L C-PCB parameter configuration storage area F L ASH, downloading a P L C monitoring program into a P L C-PCB program storage area F L ASH, and completing the construction of P L C;
the P L C monitor is a technology well known to those skilled in the art, and is a bottom-level driver at the hardware platform end, including hardware parsing, statement parsing, communication interface driving, and so on, and the monitor includes a fusion technology of different P L C, and the monitor is a monitor specially developed for configurable P L C, but is unique for different P L C;
(3) the constructed P L C runs an implementation process, and when the P L C runs:
(3.1) reading a hardware resource configuration parameter table P L C-CS to finish I/O drive analysis and finish autonomous configuration of hardware resources;
and (3.2) running a P L C monitoring program, wherein the P L C running completely has the P L C function, programming a ladder diagram and a statement table, and realizing the functions of logic control, arithmetic operation, timing, counting, data processing, PID operation and communication.
Examples 4,
The secure P L C implementation method for rapidly configuring hardware resources, as described in embodiment 3, is different in that, in the step (1), the establishment of the P L C configuration parameters is implemented by QT software, a P L C-CS parameter file is formed according to a parameter table data structure, and the parameter file is downloaded to a P L C hardware circuit through a serial port, so as to call the configuration parameters P L C-CS when the P L C is run, thereby completing I/O driver configuration, where the parameter table data structure is as follows:
p L C-CS parameter table structure:
| ① | ② | ④ |
| p L C I/O port type | P L C I/O Port position | CPU I/O port Pi.j |
① P L C I/O port type, configured as switch input (DI), switch output (DO), Analog Input (AI) and Analog Output (AO) according to the requirement of P L C model;
② P L C I/O port position, configuring the path number position of the selected type according to the requirement of the P L C model;
④ CPU I/O port Pi.j, which is divided into multiple I/O ports P0.0, P0.1, Pi, j, and the CPU I/O port Pi.j corresponding to the P L C I/O port is set in this field.
Examples 5,
The method for implementing secure P L C for rapidly configuring hardware resources according to embodiment 4, wherein the P L C-CS parameter table structure further includes P L C I/O port parameters, wherein the parameters are set for the configured I/O port according to the requirements of P L C model, and the method is null when no type parameter exists;
the implementation method for calling the configuration parameters P L C-CS when the P L C is operated in the step (3) to complete the I/O drive configuration analysis comprises the following steps:
| ① | ② | ③ | ④ |
| p L C I/O port type | P L C I/O Port position | P L C I/O Port parameters | CPU I/O port Pi.j |
When P L C is operated, P L C operating system software firstly calls configuration parameters P L C-CS, and I/O driving configuration of an I/O port corresponding to a CPU is completed according to the types of P L CI/O port type switching value input (DI), switching value output (DO), analog value input (AI) and analog value output (AO) according to the records of a parameter table, and the implementation method is as follows:
① P L C I/O port type, reading L C I/O port type, calling different configuration programs according to different types of P L C port switching value input (DI), switching value output (DO), analog value input (AI) and analog value output (AO);
② P L C I/O port position, finishing configuration procedure in turn according to P L C I/O port position;
③ P L C I/O port parameter, according to PP L C I/O port parameter, configuring the corresponding I/O port according to the configuration parameter;
④ CPU I/O port Pi.j, selecting the CPU I/O port Pi.j corresponding to the currently configured P L C I/O port to perform I/O drive configuration.
Claims (5)
1. A safe P L C implementation method for rapidly configuring hardware resources is characterized in that the experimental method comprises the steps of forming P L C operating systems of different types of CPUs by using P L C operating system core software which can be recombined and transplanted;
when at least two different types of CPUs simultaneously and respectively run different P L C operating systems, the method comprises the following specific steps:
1) the multi-system comprises a master P L C operating system and a slave P L C operating system;
2) I/O voting output and delivering the final result to an execution mechanism;
3) forming a secure P L C product according to the requirements of the security system certification;
the multisystem synchronous operation cross detection comprises the following steps:
1.1) the master P L C operating system and the slave P L C operating system run synchronously;
1.2) step 1.1) storing the running results of all the main P L C operating systems and the auxiliary P L C operating systems in the same format;
1.3) the master P L C operating system reads the results of the slave P L C operating system through a serial port;
in step 2), the I/O voting output includes:
2.1) if the I/O voting output is the switching value, judging that the operation result is correct when the voting output results of the main P L C operation system and the slave P L C operation system are both 1 or 0, otherwise, judging that the operation result is wrong;
2.2) if the I/O voting output is high-speed pulse counting, judging that the running result is correct when the voting output results of the main P L C operating system and the slave P L C operating system are different by no more than 1, otherwise, judging that the running result is wrong;
2.3) if the I/O voting output is analog, judging that the operation result is correct when the voting output results of the main P L C operation system and the slave P L C operation system are different in thousandth, or else, judging that the operation result is wrong;
the P L C operating system which sends out the wrong voting output result is overhauled, and a judgment execution task of a multi-P L C operating system is issued after the overhaul is finished;
the method for forming the P L C operating system of different types of CPUs by utilizing the nucleus software of the P L C operating system capable of being transplanted by recombination comprises the following steps:
(1) generating a hardware resource configuration parameter table;
(2) downloading the hardware resource configuration parameter table P L C-CS into a P L C-PCB parameter configuration storage area F L ASH, downloading a P L C monitoring program into a P L C-PCB program storage area F L ASH, and completing the construction of P L C;
(3) the constructed P L C runs an implementation process, and when the P L C runs:
(3.1) reading a hardware resource configuration parameter table P L C-CS to finish I/O drive analysis and finish autonomous configuration of hardware resources;
(3.2) running P L C monitor program.
2. The method for realizing the safety P L C for rapidly configuring the hardware resources according to claim 1, wherein the method comprises the steps of 2.1), 2.2) and 2.3), if the decision result is wrong, an alarm is triggered, and meanwhile, corresponding error information is uploaded to an upper computer, and the upper computer judges which voting output result is correct manually.
3. The safe P L C implementation method for rapidly configuring hardware resources according to claim 1, wherein in the step (1), the establishment of P L C configuration parameters is implemented through QT software, a P L C-CS parameter file is formed according to a parameter table data structure, the parameter file is downloaded into a P L C hardware circuit through a serial port to call the configuration parameters P L C-CS when P L C is operated, and I/O drive configuration is completed, wherein the parameter table data structure is as follows:
p L C-CS parameter table structure:
① P L C I/O port type, configured as switch input (DI), switch output (DO), Analog Input (AI) and Analog Output (AO) according to the requirement of P L C model;
② P L C I/O port position, configuring the path number position of the selected type according to the requirement of the P L C model;
④ CPU I/O port Pi.j, which is divided into multiple I/O ports P0.0, P0.1, Pi, j, and the CPU I/O port Pi.j corresponding to the P L C I/O port is set in this field.
4. The safe P L C implementation method for rapidly configuring hardware resources as claimed in claim 3, wherein the P L C-CS parameter table structure further comprises P L C I/O port parameters, wherein parameters are set for configured I/O ports according to the requirements of P L C model, and the configuration is null when no type parameter exists;
。
5. The secure P L C implementation method for rapidly configuring hardware resources according to claim 4, wherein the step (3) of invoking the configuration parameter P L C-CS when running P L C, and the implementation method for completing I/O driven configuration resolution comprises:
When P L C is operated, P L C operating system software firstly calls configuration parameters P L C-CS, and I/O driving configuration of an I/O port corresponding to a CPU is completed according to the types of P L CI/O port type switching value input (DI), switching value output (DO), analog value input (AI) and analog value output (AO) according to the records of a parameter table, and the implementation method is as follows:
① P L C I/O port type, reading L C I/O port type, calling different configuration programs according to different types of P L C port switching value input (DI), switching value output (DO), analog value input (AI) and analog value output (AO);
② P L C I/O port position, finishing configuration procedure in turn according to P L C I/O port position;
③ P L C I/O port parameter, according to PP L C I/O port parameter, configuring the corresponding I/O port according to the configuration parameter;
④ CPU I/O port Pi.j, selecting the CPU I/O port Pi.j corresponding to the currently configured P L C I/O port to perform I/O drive configuration.
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