CN108737238A - Support the control looped network HardCnet chainlink control methods of distributed blackboard pattern interaction - Google Patents
Support the control looped network HardCnet chainlink control methods of distributed blackboard pattern interaction Download PDFInfo
- Publication number
- CN108737238A CN108737238A CN201810523058.2A CN201810523058A CN108737238A CN 108737238 A CN108737238 A CN 108737238A CN 201810523058 A CN201810523058 A CN 201810523058A CN 108737238 A CN108737238 A CN 108737238A
- Authority
- CN
- China
- Prior art keywords
- data
- blackboard
- node
- looped network
- hardcnet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/42—Loop networks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/42—Loop networks
- H04L12/422—Synchronisation for ring networks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/42—Loop networks
- H04L12/437—Ring fault isolation or reconfiguration
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Small-Scale Networks (AREA)
Abstract
The present invention discloses a kind of control looped network HardCnet chainlink control methods for supporting distributed blackboard pattern interaction, including：A, using the general Industrial Ethernet physical-layer techniques of ring control network link layer combined standard, using neighbor controller or intelligent body equipment as network node, and loop configuration control network is formed；B, each node, by realizing that blackboard writes data to the transmission data of the autonomous equality of looped network adjacent node；C, each node, by looped network adjacent node, other network node datas being forwarded to realize the maintenance of sub- blackboard data and dynamic data blackboard collection；D, each node, by backing up the reading for forwarding the data that itself is needed in data to realize blackboard data and sharing；E, the blackboard data erasing process that life cycle terminates is realized；F, the blackboard data erasing process realized two-way converting, overlap erasing.Using the present invention, the autonomous of data interaction, equality, shared and transmission time certainty can be controlled, distributed network bandwidth is realized and receives and dispatches the high efficiency that cache resources utilize, realize higher intelligentized control method.
Description
Technical field
The present invention relates to automatic control system and network transmission technologies more particularly to a kind of distributed blackboard pattern of support to hand over
Mutual control looped network HardCnet chainlink control methods, are adapted to carry out and automatically control, be particularly suitable for large-scale distributed control
In system (Distributed Control System, DCS), realize advanced MAS control system, multi-controller or
Control data independence, equality, sharing interaction, transmission time certainty between multiple agent equipment, and it is distributed
The ring control network that network bandwidth and transmitting-receiving cache resources high efficiency utilize.
Background technology
Large size automatic control system at present, such as DCS control systems, especially high intelligent control system, electric power, metallurgy,
The all trades and professions such as chemical industry, new energy are being widely used.And the dispersion of its control function, policer operation are concentrated, are taken into account point
And autonomous and comprehensive coordination technical characterstic, the crucial control net dependent on realization control data transmission.
Up to hundred kinds of control network technology for controlling data transmission in the world today between realization multi-controller, becomes international mark
Accurate have Profinet, MODBUS TCP/IP, Ethernet IP, Ethercat etc., the EAP standards in China be also wherein it
One.The control network technology of also a large amount of non-international standards.These technologies respectively have feature, basic to meet respectively control data transmission
Demand, and play an important role in respective control system.But it takes a broad view of current control network technology and also has deficiency, many aspects
It needs to keep punching perfect.
In large-scale DCS control systems, in especially advanced multiple agent intelligence control system, it is desirable that control data tool
Height independence and equality that preparation is sent, the efficient sharing of reception, transmission time certainty, distributed network bandwidth and receipts
The high efficiency that hair cache resources utilize.
And the ethernet technology for controlling the network technology overwhelming majority at present dependent on IEC802.3 agreements is realized.
Existing ethernet technology is not to control data transmission specifically for control system and design, and concentration is used to deposit
Middle exchange forwarding mechanism is preserved, and is solved using csma/collision detection (CSMA/CD) conflict yielding mechanism
Conflict is sent, independence, equality and the time determinability of control data transmission have substantially been affected, network physical is opened up
The distributed network bandwidth of the safety and transmission data flutterred and the validity of cache resources utilize.It can not solve big load
The certainty reliability transmission of data can not solve the problems, such as that network storm and caused network congestion, cannot down to paralysis
Improve the high efficiency of Internet usage.
In addition centralized network physical link, reliability can not be solved thoroughly dependent on interchanger.Although some are controlled
Network technology processed improves the reliability of link using IEC802.5 token-ring networks, but the timesharing feature of token, leads to network section
Point can not height independence using looped network carry out transmission data.And complicated token arbitration algorithm, the transmission on segmented network
Bandwidth and transmitting-receiving caching are unable to get and make full use of, and also result in inefficient data transmission, cannot be satisfied the efficient biography of control data
It is defeated.
Although the Ethercat of ring network structure can solve centrally stored concentration and concentrate exchange forwarding mechanism and CSMA/CD not
Certainty, the inefficient sex chromosome mosaicism of token ring, but the master-slave communication mode of its one master and multiple slaves more cannot achieve network node certainly
Main, equality data transmission and shared and distributed network bandwidth and the efficient utilization for receiving and dispatching cache resources.
The ring network structure resilient packet ring mechanism of IEC802.17 standards is closest to solve the problems, such as this, but its data link
Transmitting-receiving mode, data frame format, and the data of transmission remain unchanged towards traditional ICP/IP protocol data transport service theory, add
Shortage market product support, still cannot be satisfied special Control-oriented field, for realize controller or intelligent body equipment association
With work, and to the independence of data transmission, equality, the requirement of transmission time certainty.
Invention content
In view of this, the main purpose of the present invention is to provide a kind of intelligent control nets for supporting blackboard pattern to interact
HardCnet link transmission methods, to realize independence, equality, sharing and the transmission time of control data interaction really
The high efficiency that qualitative property, distributed network bandwidth and transmitting-receiving cache resources utilize, to support the coordination of various advanced complexity
The higher intelligentized control method of system is realized in the implementation of control strategy.
In order to achieve the above objectives, the technical proposal of the invention is realized in this way：
A kind of control looped network HardCnet chainlink control methods for supporting distributed blackboard pattern interaction, including：
A, using HardCnet link-layer technologies combined standard Industrial Ethernet physical-layer techniques, by neighbor controller or intelligence
For energy body equipment as network node, structure, which joins end to end, forms loop configuration control network；
B, each node, by realizing that blackboard writes oneself of data to the transmission data of looped network adjacent node, autonomous equality
Hair process；
C, each node, by looped network adjacent node, forward other network node datas realize sub- blackboard data with
And the repeating process that dynamic data blackboard collection maintains；
D, each node forwards sharing for the reading of the data itself needed in data realization blackboard data by reading
Journey；
E, operation is amputated by the bit stream data for belonging to a certain looped network node for terminating life cycle in forwarding data frame,
The life cycle of realization terminates the blackboard data erasing process of data erasing；
F, simultaneously bi-directionally forwarded using autonomous data, and on the looped network node of coincidence by the autonomous data bit stream from forwarding
Operation, the two-way converting of realization, the blackboard data erasing process for overlapping erasing are amputated in frame.
Wherein：The HardCnet link layers, link data frame format, i.e. subdata blackboard data structure.
The HardCnet link layers, looped network node will send the data bit bit stream of the transmission of the independence in caching, and lead to
The mechanism realization for using " confluence forwarding, wrong phase hair are new " is crossed, to looped network adjacent node, autonomous, equality transmission data is write black
Plate process.
By looped network node forward data when, this node by autonomous data in the way of bit bit stream, seamless rank
It is connected to forwarding data bit stream tail portion, before forwarding frame synchronization tail field, new complete forwarding data frame is constituted, turns according to original
" confluence forwarding " process of originating party to Consecutive forwarding.
Local node autonomous data is when waiting for subdata blackboard to do " confluence forwarding ", i.e., when will lead to " synchronizing the wrong phase ",
By the node as the i.e. new distributed subdata blackboard of new forwarding data, " the wrong phase is sent out new " directly sent to looped network physical layer
Process.
Wherein：" wrong phase hair new " refers to, network node etc. data to be forwarded do " confluence forwarding " operation when, etc.
Wait for that the time has been more than to ensure the controlling cycle accurate minimum stand-by period set set, it is necessary to directly by autonomous data,
The operation forwarded to network bi-directional as new forwarding data.In the looped network that HardCnet link layers, looped network node will receive
The autonomous data of other upper nodes, does physical layer forwarding, to realize to looped network adjacent segments on bit bit stream original direction
Point forwards the data blackboard of other network node datas to transmit the process maintained.
In HardCnet link layers, network node is divided by the other network node address that will be recorded in shared address pool
And in the forwarding data that are received contained address information is not matched in each node autonomous data section, then will be received
Forward data in the successful node of address matching autonomous data bit bit stream, backup in this node order caching, realize from
From the reading of the forwarded data of master backup and the process of sharing blackboard on looped network.
In HardCnet link layers, by the setting max-forwards number in the data that network node is independently sent, namely
Life cycle MTC fields, and make MTC often forward and once subtract 1, and when being kept to 0, forward node is by the data bit stream from forwarding data
Middle amputation, to which the life cycle realized terminates the erasing of the blackboard data of data erasing.
In HardCnet link layers, looped network node forwards autonomous data simultaneously in the opposite both direction of ring-network topology,
And at the looped network node for forwarding coincidence, it is amputated from forwarding data, the two-way converting, coincidence to realize are wiped black
The erasing of plate data.
In HardCnet link layers, looped network node is numbered by the way that order of transmission is arranged in autonomous data, is set in memory field
Stand autonomous data corresponding with address in shared address pool order of transmission storage table, and in two-way converting data share oneself
The order of transmission number for sending out data, matches with sequence number in order of transmission storage table, and mismatch then updates order storage table,
Matching is then determined as the process that forwarding overlaps.
The control looped network HardCnet chainlink control methods of the support distribution blackboard pattern interaction of the present invention, have as follows
Advantageous effect：
The present invention is in multiple agent Theory of Automatic Control, mostly intelligently in such a way that blackboard pattern is transmitted into row information
The typical mode of collaboration data sharing and synchronization is realized between body or controller.The control network chain road realized using the present invention
Layer, is aided with the Industrial Ethernet physical-layer techniques means of standard Maturation, and neighbor controller or multiple agent equipment is hand-in-hand
Connection, forms it into the control net of a loop configuration.And transmitted by the controller or intelligent body equipment as looped network node
From master data namely autonomous data, forwarded successively along on looped network node, and as the shared data of network node, namely
Forward data.Forwarding data are required it and its network node are forwarded to back up and read, and are exactly to be shared to synergistic data.So that
Each frame forwarding data are realized as tossing about some subdata blackboard on looped network node, and entire looped network is together with forwarding data
It is realized as a full data structure blackboard.The blackboard data system is recorded will to be wiped after life cycle.
The ring control network link mechanism of this blackboard pattern, for advanced DCS control systems, especially multiple agent
It is that exogenous data is independently shared to its controller or intelligent body equipment autonomously transmission data, when realizing transmission for control system
Between certainty, the one kind for the data interaction demand of high efficiency that distributed network bandwidth and transmitting-receiving cache resources utilize it is objective and
Appropriate engineering practice.Using the loop network link technology realized of the present invention, at present Nuclear Safety grade DCS control systems,
It is applied in the critical systems such as power distribution system network formula self-healed protection control network, it solves the complex control data of system
Transmission requirement, ensure that the implementation of Advanced Control Strategies, obtain the approval of user, from now on will in automatic control system,
It is used widely in large-scale DCS system, especially multiple agent intelligence control system.
Description of the drawings
Fig. 1 is that loop configuration of the embodiment of the present invention controls schematic network structure；
Fig. 2 is that the embodiment of the present invention controls network chain circuit-switched data transmission mechanism schematic diagram；
Fig. 3 is the subdata blackboard structure schematic diagram of control net of the embodiment of the present invention；
Fig. 4 is the blackboard wiring method schematic diagram of looped network node data " confluence forwarding " mode that the present invention realizes；
Fig. 5 is the blackboard wiring method schematic diagram of looped network node data " synchronizing the wrong phase " mode that the present invention realizes；
Fig. 6 is the method schematic diagram of the looped network blackboard digital independent of the present invention；
Fig. 7 is the blackboard data method for deleting schematic diagram that the life cycle of the present invention terminates；
Fig. 8 is the two-way converting of the present invention, overlaps the blackboard erasing method schematic diagram of erasing.
Specific implementation mode
Below in conjunction with the accompanying drawings and the embodiment of the present invention the present invention is described in further detail.
Core of the invention thought is：In order to realize that the present invention supports the control looped network of distributed blackboard pattern interaction
HardCnet chainlink control methods：
First, control system ring control network HardCnet link-layer technologies are used, the Industrial Ethernet of standard is aided with
Neighbor controller or intelligent body equipment are joined end to end and (are connected hand in hand), form the control of loop configuration by physical-layer techniques
Network.
Secondly, in order to realize that looped network node data blackboard is written, on ring control network link layer, arbitrary controller section
Point, using the mechanism of " confluence forwards, and wrong phase hair is new ", to not used the adjacent looped network object connected by other joint constraints
Layer is managed, that is to say autonomous, equality, sends data to networked physics layer, which is also referred to as " autonomous data ", should
It is exactly blackboard write operation to send operation.The blackboard write operation of the autonomous data of " confluence forwarding, wrong phase hair are new " mechanism includes
Following operation：
First, confluence forwarding, i.e. autonomous data import the subdata blackboard write operation of forwarding data.Turn in looped network node
When sending out data, when that is to say transmission subdata blackboard, this node is sent into the autonomous data in caching, according to the side of bit bit stream
Formula constitutes new complete forwarding data before seamless linking to forwarding data bit stream tail portion, and forwarding frame synchronization tail field
Frame realizes the write operation on sub- blackboard according to former routing direction Consecutive forwarding.
Second, wrong phase hair is new, the wrong phase refers to synchronizing the wrong phase, and hair refers to newly the write-in that autonomous data becomes new subdata blackboard
Operation.Autonomous data etc. data to be forwarded namely when subdata blackboard, lead to " synchronizing the wrong phase ", will be by the node as new
Forwarding data, namely new subdata blackboard directly sends to looped network physical layer.
Third, synchronizing the wrong phase, i.e., any looped network node autonomous data postpones sending time, has been more than to ensure controlling cycle
Certainty requires and after the cycle synchronisation deviation threshold limiting set up, residing transmission state.The cycle synchronisation deviation critical limit
It is worth setting range formula：
Δ Tmin (minimum frame gap) < Δs T (threshold limiting) < Δs Tmax (allowing periodic deviation)
Wherein, Δ Tmin indicates that time interval minimum between two frames on looped network, Δ Tmax indicate to control data on node
The worst error that sending cycle is allowed takes the 1 ‰ of sending cycle.
Again, the method that subdata blackboard is transmitted and maintained is realized.Ring control network link layer, looped network node will receive
Looped network on the autonomous data containing other nodes subdata blackboard, along former routing direction looped network in a manner of data bit bit stream
Physical layer forwards, which is also referred to as " forwarding data ", which is exactly blackboard data transfer and the method for maintenance.
4th, realize blackboard digital independent or shared method.Ring control network link layer, network node use blackboard number
According to node address matches mechanism, by the autonomous data bit of the successful node of address matching in the sub- blackboard data received
Stream, backups in this node order caching, the blackboard digital independent to realize or sharing method.Also contain in this method following
Two links：
First, memory field is arranged in this node, the node address of other node datas to be sharing is given and is stored, to real
Existing shared node address pool method.
Second, this node is when receiving sub- blackboard data, by the node address of each autonomous data in blackboard data,
It is compared respectively with each address in shared address pool, address is identical to be thought to match, to the blackboard number realized
According to node address matches mechanism.
5th, the method for realizing the erasing of blackboard data.In ring control network link layer, network node subdata blackboard
In, it that is to say in forwarding data, the expired corresponding bit bit stream of node autonomous data amputated from forwarding frame bit bit stream,
New forwarding data frame forwarding, the blackboard data erasing operation method of realization are formed later.The erasing of blackboard data includes two kinds of sides
Formula：
First, the data erasing that life cycle terminates.Max-forwards time are arranged in network node in the data independently sent
Number namely life cycle MTC fields, and so that MTC is often forwarded and once subtract 1, when MTC is kept to 0, judgement life cycle terminates, and turns
Hair node immediately amputates the data bit stream from forwarding data, and the data bit stream after amputation forms new forwarding data, namely
New subdata blackboard.
Second, two-way converting, coincidence erasing.Order of transmission number field is arranged in looped network node in autonomous data, and will
Autonomous data forwards simultaneously in the opposite both direction of looped network physical topology.Meanwhile the other nodes of looped network are being locally located together
Enjoy the corresponding order of transmission number table of node address, and by the two-way subdata blackboard received, namely in forwarding data, it is each
The order of transmission coding of the corresponding autonomous data of a shared node, is numbered with the order of transmission of order of transmission number table table record
It compares, it is identical to think to overlap, it differs, is given and updated with new order of transmission number.For the forwarding data of coincidence,
Forward node immediately amputates the data bit stream from forwarding data, and the data bit stream after amputation forms new forwarding data,
I.e. new subdata blackboard.
Finally, subdata blackboard data structure.Ring control network link layer, by two equal autonomous datas of looped network node
Length field, Node Address field, lifetime field, spontaneous sequence number field, spontaneous application data field and CRC words
The autonomous data of Duan Zucheng；And by isl frame synchronization head file, the autonomous data and chain of multiple nodes being connected with bit
The forwarding data frame format and data of road frame synchronization tail field composition, are subdata blackboard structure.
Fig. 1 is that loop configuration of the embodiment of the present invention controls schematic network structure.
As shown in Figure 1, the loop configuration controls network, including following link：
1, the physical layer of control net directly uses standard industry ethernet physical layer agreement, such as the use 1. identified in figure
The physical layer transmission medium of 100/1000Mbps cables or optical fiber, Phy chip technologies；
2, controller uses asic chip or fpga chip, if 2. identified in figure, realizes the blackboard pattern of the present invention
Ring control network HardCnet link layer mechanisms.Such chip is referred to as HardCnet controllers, provides double physical layer interfaces and connects
Enter ability；
3, the HardCnet controllers and double physical layer interfaces that controller uses, no repetition are pulled with neighbor controller
Palmistry connects, and so that all controllers is constituted an annular link, realizes an annular control net, and realized just inside loop
Anti- Double-direction double-ring data transmission.
Fig. 2 is that the embodiment of the present invention controls network chain circuit-switched data transmission mechanism schematic diagram.
As shown in Fig. 2, the control network chain circuit-switched data transmission mechanism, includes the following links：
1, it is 1. 2. identified in figure and transmits simultaneously existing all subdata blackboards, that is, forwarding number on looped network physical link
According to.
2, by the left side PHY chip 3. identified, and operation, the sub- blackboard that will 6. identify are received using the bit stream 5. identified
Data are forwarded to HardCnet chains road.
3, by the autonomous data confluence forwarding operation 7. identified, the link layer 10. identified is sent to the autonomous number of buffer area
According to, to subdata blackboard do confluence forwarding operation.
4, by the forwarding digital independent sharing operation 8. identified, by the forwarding digital independent locally needed storage to 9. marking
Know link layer order caching area.
5, operation is forwarded by the bit stream 10. identified, by the subdata blackboard after remittance autonomous data, PHY to the right
Chip forwards.
Fig. 3 is the subdata blackboard structure schematic diagram of control net of the embodiment of the present invention.
As shown in figure 3, the subdata blackboard structure of the control net, specifically includes following link：
1, sub- blackboard data structure using arbitrary autonomous data successively seamless connection to by the way of forwarding data end, from
And generate elastic lump frame mode tissue and forwarding autonomous data；
2, elastic lump frame shares synchronizing frame head and synchronous postamble；
3, autonomous data is made of LE, address, SEQ, MTC, control data, CRC, specific as follows：
LE fields：Length is 2Bytes, refers to first LE field of autonomous data to crc field whole byte number；
Address field：Length is 1Bytes, refers to the loop network control device node address belonging to autonomous data
MTC fields：Length is 1Bytes, refers to autonomous data max-forwards number；
SEQ fields：Length is 2Bytes, refers to this autonomous data order of transmission；
Crc field：Length is 4Bytes, refers to and calculates LE to crc field whole byte crc value；
Data field：Refer to the local autonomous transmission control data of storage, length LE.
Fig. 4 is the blackboard wiring method schematic diagram of looped network node data " confluence forwarding " mode that the present invention realizes.
As shown in figure 4, the blackboard wiring method of looped network node data confluence pass-through mode, includes the following steps：
Step 41：When HardCnet controllers receive subdata blackboard, and it is local when having autonomous data, turned using confluence
Subdata blackboard is written in autonomous data by originating party formula；
Step 42：Used confluence pass-through mode is：It (will 2. be identified by the data generated from master data confluence
Autonomous data), according to the corresponding bit of each data byte, step-by-step is continuously connected, autonomous data bit bit stream (i.e. 3.
The forwarding data of mark) last bit after, and before synchronous tail bit stream, the data that are generated from master data confluence
At (autonomous data 2. identified) bit stream, new forwarding data frame namely new subdata blackboard are formed, position is done to physical layer
Circulation hair.
Fig. 5 is the blackboard wiring method schematic diagram of looped network node data " synchronizing the wrong phase " mode that the present invention realizes.
As shown in figure 5, the looped network node data synchronize the blackboard wiring method of wrong phase mode, include the following steps：
Step 51：When HardCnet controllers, when not detecting subdata blackboard, and local autonomous data faces and synchronizes mistake
Then using wrong phase mode is synchronized subdata blackboard is written in autonomous data by the phase；
Step 52：It is used to synchronize wrong phase pass-through mode and be：Wrong phase autonomous data is synchronized by what is 1. identified, according to every
The corresponding bit of one data byte, occupies at the autonomous data bit stream 2. identified, forms independent forwarding data frame, Ye Jixin
Subdata blackboard, do bit stream forwarding to physical layer.
Fig. 6 is the method schematic diagram of the looped network blackboard digital independent of the present invention；
As shown in fig. 6, the method for the looped network blackboard digital independent, includes the following steps：
Step 61：After HardCnet controllers receive subdata blackboard, to just like the autonomous data 1. 3. identified
Address field does shared address pool address matching operation；
Step 62：For the forwarding data of address matching 1. identified, bit stream backup operation is carried out, and be stored in and 2. identify
HardCnet controller order cachings in, to realize needs data sharing backup, complete the reading of blackboard.
Fig. 7 is the blackboard data method for deleting schematic diagram that the life cycle of the present invention terminates.
As shown in fig. 7, the blackboard data method for deleting that the life cycle terminates, includes the following steps：
Step 71：HardCnet controllers, the contained MTC words 4. identified in arbitrary autonomous data in subdata blackboard
Section does MTC numerical value and does the processing that subtracts 1, calculates after being equal to 0, which, which is judged as life cycle, terminates.
Step 72：After life cycle, by the shearing link 2. identified, the forwarding that the life cycle 1. identified is terminated
Data are sheared from subdata blackboard, and the forwarding data 5. 6. identified are connected by bit bit stream, and it is black to generate new subdata
Plate is forwarded to physical layer, and work is clashed to realize autonomous data blackboard.
Fig. 8 is the two-way converting of the present invention, overlaps the blackboard erasing method schematic diagram of erasing.
As shown in figure 8, the blackboard method for deleting of the two-way converting, coincidence erasing, includes the following steps：
Step 81：HardCnet controllers, the contained address word 5. identified in arbitrary autonomous data in subdata blackboard
Section is made to share address matching；
Step 82：HardCnet controllers, the contained address word 5. identified in arbitrary autonomous data in subdata blackboard
Section, which sends sequence number, to be matched, and equal then matching is correct, otherwise updates storage order of transmission record with new SEQ fields；
Step 83：It for shared address matching, sends sequence number and does the forwarding data of successful match 1. identified, do and 2. identify
Shearing manipulation, and the forwarding data to 6. 7. identifying by bit bit stream be connected, generate new subdata blackboard to physical layer turn
Hair clashes work to realize from data blackboard；
Finally, it is seen that the present invention is advanced, realizes autonomous node, equality, shared, transmission time certainty, distribution
Network bandwidth and the control data interaction of high efficiency feature that utilizes of transmitting-receiving cache resources.For large-scale control system, DCS systems
System, especially MAS control system implement complicated advanced control strategy, provide strong support.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the scope of the present invention.
Claims (10)
1. a kind of control looped network HardCnet chainlink control methods for supporting distributed blackboard pattern interaction, which is characterized in that packet
It includes：
A, using the general Industrial Ethernet physical-layer techniques of HardCnet link-layer technologies combined standards, by neighbor controller or
For intelligent body equipment as network node, structure, which joins end to end, forms loop configuration control network；
B, each node, by realizing that blackboard writes the spontaneous mistake of data to the transmission data of looped network adjacent node, autonomous equality
Journey；
C, each node, by looped network adjacent node, other network node datas being forwarded to realize distribution formula blackboard data
And the repeating process that dynamic data blackboard collection maintains；
D, each node forwards the shared procedure of the reading of the data itself needed in data realization blackboard data by reading；
E, operation is amputated by the bit stream data for belonging to a certain looped network node for terminating life cycle in forwarding data frame, realized
Life cycle terminate data erasing blackboard data erasing process；
F, simultaneously bi-directionally forwarded using autonomous data, and on the looped network node of coincidence by the autonomous data bit stream from forwarding frame in
Amputation operation, the two-way converting of realization, the blackboard data erasing process for overlapping erasing.
2. the control looped network HardCnet chainlink control methods of distributed blackboard pattern interaction are supported according to claim 1,
It is characterized in that, the HardCnet link layers, link data frame format, i.e., distributed subdata blackboard data structure.
3. the control looped network HardCnet chainlink control methods of distributed blackboard pattern interaction are supported according to claim 1,
It is characterized in that, the HardCnet link layers, looped network node will send the data bit bit stream of the transmission of the independence in caching,
It is realized by using the mechanism of " confluence forwarding, wrong phase hair are new ", to looped network adjacent node, autonomous, equality transmission data is write
Blackboard process.
4. the control looped network HardCnet chainlink control methods of distributed blackboard pattern interaction are supported according to claim 3,
It is characterized in that, by looped network node forward data when, this node by autonomous data in the way of bit bit stream, it is seamless
It is connected forwarding data bit stream tail portion, before forwarding frame synchronization tail field, new complete forwarding data frame is constituted, according to original
" confluence forwarding " process of routing direction Consecutive forwarding.
5. the control looped network HardCnet chainlink control methods of distributed blackboard pattern interaction are supported according to claim 3,
It is characterized in that, local node autonomous data will cause " synchronizing the wrong phase " when waiting for subdata blackboard to do " confluence forwarding "
When, by the node as the i.e. new distributed subdata blackboard of new forwarding data, " the wrong phase hair directly sent to looped network physical layer
Newly " process.
6. the control looped network HardCnet chainlink control methods of distributed blackboard pattern interaction are supported according to claim 1,
It is characterized in that, in HardCnet link layers, looped network node is by the autonomous data of other nodes on the looped network received, to bit
Bit stream original does physical layer forwarding on direction, to realize to looped network adjacent node, forwards other network node datas
It is distributed formula blackboard and transmits the process maintained.
7. the control looped network HardCnet chainlink control methods of distributed blackboard pattern interaction are supported according to claim 1,
It is characterized in that, in HardCnet link layers, network node by other network node address for will being recorded in shared address pool,
Contained address information is matched in each node autonomous data section respectively and in the forwarding data that are received, then will be received
Forwarding data in the successful node of address matching autonomous data bit bit stream, backup in this node order caching, realize
From the reading of the forwarded data of master backup and the process of sharing blackboard from looped network.
8. the control looped network HardCnet chainlink control methods of distributed blackboard pattern interaction are supported according to claim 1,
It is characterized in that, in HardCnet link layers, by the way that max-forwards number is arranged i.e. in the data that network node is independently sent
Life cycle MTC fields, and make MTC often forward and once subtract 1, and when being kept to 0, forward node is by the data bit stream from forwarding data
Middle amputation, the life cycle of realization terminate the erasing of the blackboard data of data erasing.
9. the control looped network HardCnet chainlink control methods of distributed blackboard pattern interaction are supported according to claim 1,
It is characterized in that, in HardCnet link layers, looped network node turns autonomous data simultaneously in the opposite both direction of ring-network topology
Hair, and forwarding at the looped network node overlapped, it is amputated from forwarding data, two-way converting, coincidence erasing to realize
Blackboard data erasing.
10. supporting the control looped network HardCnet links control of distributed blackboard pattern interaction according to claim 9
Method, which is characterized in that in HardCnet link layers, looped network node is numbered by the way that order of transmission is arranged in autonomous data,
The order of transmission storage table of autonomous data corresponding with address in shared address pool is set up in memory field, and in two-way converting data
The order of transmission of shared autonomous data is numbered, and is matched with sequence number in order of transmission storage table, and then update time is mismatched
Sequence storage table, matching are then determined as the process that forwarding overlaps.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810523058.2A CN108737238A (en) | 2018-05-28 | 2018-05-28 | Support the control looped network HardCnet chainlink control methods of distributed blackboard pattern interaction |
| CN201811574219.7A CN109495364B (en) | 2018-05-28 | 2018-12-21 | Distributed control network BSR link control method in blackboard sharing mode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810523058.2A CN108737238A (en) | 2018-05-28 | 2018-05-28 | Support the control looped network HardCnet chainlink control methods of distributed blackboard pattern interaction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108737238A true CN108737238A (en) | 2018-11-02 |
Family
ID=63936476
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810523058.2A Pending CN108737238A (en) | 2018-05-28 | 2018-05-28 | Support the control looped network HardCnet chainlink control methods of distributed blackboard pattern interaction |
| CN201811574219.7A Active CN109495364B (en) | 2018-05-28 | 2018-12-21 | Distributed control network BSR link control method in blackboard sharing mode |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811574219.7A Active CN109495364B (en) | 2018-05-28 | 2018-12-21 | Distributed control network BSR link control method in blackboard sharing mode |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN108737238A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113821940A (en) * | 2021-11-22 | 2021-12-21 | 湖南高至科技有限公司 | Simulation platform based on distributed blackboard mechanism |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1276262A1 (en) * | 2001-07-10 | 2003-01-15 | Lucent Technologies Inc. | Communication network ring with data splitting in the nodes |
| CN1581813A (en) * | 2003-08-01 | 2005-02-16 | 光桥科技（中国）有限公司 | Method for conducting data transmission using logic loop network in ethernet |
| CN1859289A (en) * | 2005-12-07 | 2006-11-08 | 华为技术有限公司 | Method and device for transfer message |
| CN101047632B (en) * | 2006-05-10 | 2010-09-22 | 华为技术有限公司 | Method and system for removing ring identification nonmatched message on RPR ring network |
| CN100550810C (en) * | 2006-09-25 | 2009-10-14 | 华为技术有限公司 | The method of bearing point end-to-end protocol (EEP), Apparatus and system on Resilient Packet Ring |
| CN100479408C (en) * | 2007-03-12 | 2009-04-15 | 中兴通讯股份有限公司 | A method for implementing the forward table in the stack system |
| CN101247290B (en) * | 2008-03-14 | 2010-12-08 | 中兴通讯股份有限公司 | Ethernet switchboard high temperature ageing real-time monitoring method and system |
| CN103117933B (en) * | 2013-03-04 | 2015-12-23 | 中国科学院高能物理研究所 | The method and system of data is transmitted in multi-point communication network |
| CN105450489B (en) * | 2015-12-02 | 2018-08-24 | 大连理工计算机控制工程有限公司 | The preferential efficient field bus systems of HEBus and communication means for realizing most short message of output |
-
2018
- 2018-05-28 CN CN201810523058.2A patent/CN108737238A/en active Pending
- 2018-12-21 CN CN201811574219.7A patent/CN109495364B/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113821940A (en) * | 2021-11-22 | 2021-12-21 | 湖南高至科技有限公司 | Simulation platform based on distributed blackboard mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109495364B (en) | 2021-06-04 |
| CN109495364A (en) | 2019-03-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102325019B (en) | Clock synchronization method of real-time industrial Ethernet EtherCAT redundant system | |
| CN102237718B (en) | Method and device of operating wind power electric field power network with improved data transmission protocol | |
| CN102710484B (en) | Ring redundant real-time Ethernet communication method | |
| CN100589433C (en) | Method and system for providing clock synchronization by packet network | |
| CN104980224A (en) | FC-AE-1553 data exchange mode design method, FC-AE-1553 data exchange mode network control method and FC-AE-1553 data exchange mode energy saving method | |
| CN102082695B (en) | Hot standby redundancy network system and redundancy realization method | |
| CN102801597A (en) | Ethernet-based train communication network implementation method | |
| CN102394787A (en) | Dual-link redundancy control method based on EPA switch | |
| CN104426720A (en) | Network relay system and switching device | |
| CN104518973A (en) | SDN (software defined network) environment based reliable multicast data transport method | |
| CN108270652A (en) | A kind of high speed real-time bus system and its data processing method | |
| CN105259814A (en) | Multi-robot system and communication system thereof | |
| CN102158384A (en) | Novel MRing Ethernet ring network protection technology | |
| JP5491623B2 (en) | Address refresh method and system | |
| CN108462537B (en) | Method for realizing one-master multi-slave communication | |
| CN108737238A (en) | Support the control looped network HardCnet chainlink control methods of distributed blackboard pattern interaction | |
| CN103560939A (en) | Scheme for avoiding deadlock in multi-ring interconnect, with additional application to congestion control | |
| CN110519136A (en) | A kind of RS485 multi-machine communication system of adaptive networking | |
| CN104184678A (en) | Method for dropping frame duplicates to achieve highly-reliable seamless redundancy ring network | |
| CN104753899B (en) | A kind of open bus structures with multi-tier structure | |
| CN102111299A (en) | Redundant network system and method for realizing redundancy | |
| CN106100995B (en) | A kind of method for routing suitable for power line carrier communication network network | |
| CN106603364A (en) | Ethernet communication method for real-time transmission | |
| CN101582848A (en) | Cross-ring protection method and system of resilient packet ring (RPR) | |
| KR101442567B1 (en) | Seamless network communication method using frame based routing on the ring topology |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181102 |