CN113347109A - Industrial network heterogeneous flow shaper supporting interconnection of 5G and TSN - Google Patents
Industrial network heterogeneous flow shaper supporting interconnection of 5G and TSN Download PDFInfo
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Abstract
The invention relates to an industrial network technology, in particular to an industrial network heterogeneous flow shaper supporting interconnection of 5G and TSN, which is characterized in that an industrial network end-to-end communication model of interconnection of 5G and TSN is established in advance; establishing the service quality requirement of the heterogeneous industrial task; and establishing a heterogeneous flow shaper and performing differential shaping on the heterogeneous flow. The invention discloses an industrial network heterogeneous flow shaper supporting interconnection of 5G and TSN, which is oriented to end-to-end differentiated service quality requirements of co-network transmission of heterogeneous industrial tasks in a factory intranet, can realize end-to-end communication of various heterogeneous industrial tasks such as control tasks, audio and video tasks, perception tasks and the like, meets different communication requirements of high real-time performance, high bandwidth, high concurrency and the like, and improves the utilization rate of network resources.
Description
Technical Field
The invention relates to an industrial network technology, in particular to an industrial network heterogeneous flow shaper supporting interconnection of 5G and TSN.
Background
Currently, industrial internet factory intranets generally adopt a layered pyramid structure, and an IT network and an OT network are strictly separated. With the continuous and deep development of industrial internet, the factory intranet gradually changes to wireless and flat type, and 5G has become an important technical force for promoting the factory intranet to change type due to its excellent performance of low time delay, high bandwidth and wide connection. However, although the ultra-reliable low-latency communication technology defined by 5G can achieve an air interface latency as low as 1ms, after data is transmitted through a bearer network and a core network, an end-to-end latency will be increased sharply to more than 20ms, and it is difficult to meet the requirements of low latency and high reliability industrial control of a factory intranet. In addition, heterogeneous industrial tasks such as robot control, audio and video, process perception and the like have diversified service quality requirements, and mixed flow common-network transmission must be carried out in a 5G network. However, in the current stage, 5G lacks an effective mechanism to handle the problem of end-to-end common network transmission of heterogeneous industrial tasks, and particularly, a 5G bearer network is difficult to avoid interference of audio and video tasks and perception tasks on strong delay sensitive tasks such as control tasks.
Considering the limitation of 5G in a factory intranet on the end-to-end common network transmission of the heterogeneous industrial tasks, a Time Sensitive Network (TSN) with deterministic characteristics is fused with the 5G to construct a novel industrial network with the 5G and the TSN interconnected, and the end-to-end common network transmission of the heterogeneous industrial tasks can be realized.
Heterogeneous industrial task co-networking transmission requires class shaping to meet different quality of service (QoS) requirements. However, the current single traffic shaping rule adopts a time trigger or event trigger mechanism, and is only suitable for shaping single type traffic with the same QoS transmission requirement, so that it is difficult to perform differentiated shaping on heterogeneous industrial tasks in a factory intranet, and different QoS requirements are ensured to be met. A heterogeneous traffic shaper that combines time-triggered and event-triggered mechanisms is necessary to implement differentiated shaping strategies for different traffic.
Disclosure of Invention
The invention provides a heterogeneous flow shaper for 5G and TSN interconnected industrial networks, and aims at the end-to-end differentiated service quality requirement of heterogeneous industrial task common network transmission, and supports end-to-end common network transmission of various industrial tasks in the 5G and TSN interconnected industrial networks.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: the utility model provides a support 5G and interconnected industry network heterogeneous flow shaper of TSN, locate in industrial base station, industrial switch and the industrial gateway in 5G and interconnected industry network of TSN for carry out differentiation plastic to heterogeneous flow, include:
the queue dividing module is used for dividing the industrial data flow into different flow queues according to the transmission quality requirement of the heterogeneous industrial task; the control tasks are converged into a control flow queue, and the audio and video tasks and the perception tasks are mixed to form a shared flow queue;
and the flow shaping module is used for dividing the time into frames with fixed length and periodic repetition, each frame is further divided into a plurality of time slots, and different shaping rules are adopted for different flow queues to carry out flow shaping.
The industrial network includes: an industrial gateway, an industrial base station, an industrial switch and an industrial terminal;
the industrial gateway simultaneously supports 5G and TSN so as to manage and control the whole industrial network;
the industrial base station is connected with an edge computing server, and provides 5G wireless communication service for industrial terminals in a coverage area of the industrial base station so as to schedule heterogeneous industrial task transmission in real time and provide real-time computing resources;
the industrial switch adopts a TSN protocol to connect industrial base stations and industrial wired terminals which are deployed in areas in a factory;
the industrial terminal comprises an industrial wired terminal and an industrial wireless terminal, the industrial wireless terminal is connected with the industrial base station by adopting a 5G protocol, and the industrial wired terminal is accessed into an industrial network by adopting a TSN protocol.
The industrial network interconnected by the 5G and the TSN comprises the following three end-to-end communication types:
(1) the industrial wireless terminal is communicated with the industrial wired terminal, and an end-to-end communication path comprises the industrial wireless terminal, an industrial base station, an industrial gateway, an industrial switch and the industrial wired terminal;
(2) the industrial wireless terminal is communicated with the industrial wireless terminal, and an end-to-end communication path comprises the industrial wireless terminal, an industrial base station, an industrial switch and an industrial gateway;
(3) the industrial wireless terminal is communicated with the industrial gateway, and the end-to-end communication path comprises the industrial wireless terminal, an industrial base station, an industrial switch and the industrial gateway.
For 5G and TSN interconnected industrial networks, a heterogeneous flow shaper performs differential shaping on heterogeneous flows, and the method comprises the following steps:
dividing the industrial data flow into different flow queues according to the transmission quality requirement of the heterogeneous industrial task; the control tasks are converged into a control flow queue, and the audio and video tasks and the perception tasks are mixed to form a shared flow queue;
dividing time into fixed-length, periodically-repeating frames; each frame is further divided into a plurality of time slots; and in different time slots, different flow queues are subjected to flow shaping by adopting different shaping rules.
The quality of service requirements for heterogeneous industrial tasks are pre-established as follows:
the heterogeneous industrial tasks include at least: a control task, an audio and video task and a perception task;
the control task is used for controlling command transmission, and adopts a periodic short packet to require delay deterministic transmission;
the audio and video task is used for transmitting video data, and adopts a non-periodic long packet so as to carry out high-bandwidth transmission with limited time delay;
the sensing task is used for the data transmission of configuration or monitoring, and adopts non-periodic data packets with variable sizes to carry out high-concurrency communication.
The heterogeneous flow shaper performs differentiated shaping on heterogeneous flows, and specifically comprises the following steps:
the heterogeneous flow shaper controls the opening and closing of an output gate according to the gating list;
opening one or more output gates at any time slot, allowing one or more stream queues to output data;
the opening and closing time of any flow queue output gate is different, and the asynchronous opening and closing of the output gate leads to transmission time slots with different flow.
The heterogeneous traffic shaper rules are as follows:
for the deterministic time delay requirement of the control task, independently dividing a flow queue for the control task, allocating an exclusive time slot, and shaping by adopting a first-in first-out rule;
for the audio and video tasks and the perception tasks, allowing a plurality of audio and video tasks and perception tasks to share a stream queue, and shaping by adopting a credit value rule so as to meet the requirements of high bandwidth and high concurrent communication;
and shaping by adopting a priority rule for the transmission time slot conflict of the audio and video task and the perception task.
The method comprises the following steps of independently dividing a flow queue for a control task, allocating an exclusive time slot, and shaping by adopting a first-in first-out rule, wherein the method comprises the following steps:
the heterogeneous flow shaper divides a dedicated transmission time slot for each control flow queue independently and distinguishes the transmission time slots from the transmission time slots of the audio and video task and the perception task; in the transmission time slot of the control flow, only allowing the output gate of the control flow queue to be in an open state;
when the control task data passes through the heterogeneous flow shaper, queuing and sending the control task data in sequence according to arrival time by adopting a first-in first-out rule;
the transmission time of any control task data being affected by the previous data frame in the control flow queue, i.e.
Wherein d isfIndicating the time delay caused by the first-in-first-out shaping rule,/CIndicating the length of the control task data frame,
and K is the channel capacity.
For the audio and video task and perception task sharing stream queue, shaping by adopting a credit value rule, comprising the following steps:
the shared stream queue is used for controlling the output gates of the audio and video task and the perception task stream queue to be in an open state outside the exclusive time slot of the task stream queue, and competing for using transmission resources; the heterogeneous flow shaper shapes audio and video tasks and perception task flow queues by adopting a credit value rule; in the time slot t, for a plurality of audio and video tasks and perception tasks on the shared stream queue, when the credit value is positive, the corresponding industrial tasks are sent;
the credit value rule is as follows: when the audio and video task or the perception task is in transmission waiting or the credit value is negative, the credit value is increased by the rate uAOr uSCumulative increase with credit max
Or
In contrast, when an audiovisual or perceptual task is transmitted, the credit value is slowed down by a rate vAOr vSCumulative reduction with a minimum of credits
Or
The relationship between the rising rate u and the falling rate v is: k-u, where K is the channel capacity.
The method for shaping the transmission time slot conflict of the audio and video task and the perception task by adopting the priority rule comprises the following steps:
when the transmission time slot conflict of the audio and video task and the perception task has an overlapping condition, namely the overlapping condition is that the opening and closing time relation of the transmission time slot of the stream queue m and the transmission time slot of the stream queue n is
For transmission of audio-video tasks and perception tasksAnd (3) slot conflict, shaping by adopting a priority rule:
when in use
Then, the stream queue m transmits;
when in use
When the flow queue m and the flow queue n are in the same priority, the flow with the higher priority is transmitted in priority;
when in use
Then, transmitting in a flow queue n;
when the transmission time slot conflict of the audio and video task and the perception task has the overlapping covering condition, namely the covering condition is that the opening and closing time relation of the transmission time slot of the stream queue m and the transmission time slot of the stream queue n is
And for the transmission time slot conflict between the audio and video task and the perception task, shaping by adopting a priority rule:
when in use
Then, transmitting in a flow queue n;
when in use
When the flow queue m and the flow queue n are in the same priority, the flow with the higher priority is transmitted in priority;
when in use
Then, transmitting in a flow queue n;
wherein the content of the first and second substances,
respectively representing the transmission slot open time of the stream queue m and the transmission slot open time of the stream queue n,
the transmission slot closing time of the stream queue m and the transmission slot closing time of the stream queue n are respectively indicated.
The invention has the following beneficial effects and advantages:
1. the invention establishes a 5G and TSN interconnected industrial network model, supports common network transmission of various heterogeneous industrial tasks, ensures end-to-end differentiated services, and simultaneously meets the requirements of deterministic time delay of control tasks, high bandwidth communication of audio and video tasks and high concurrent access of perception tasks in the industrial network.
2. The invention has stronger practicability and economic value, can be used for the industrial network construction of intelligent factories, the upgrading and reconstruction of various production lines and the application of intelligent manufacturing new modes such as personalized production and the like.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a schematic diagram of an industrial network interconnecting 5G and TSNs;
fig. 3 is a diagram of a heterogeneous traffic shaper structure;
FIG. 4 is a schematic diagram of credit shaping;
fig. 5 is a schematic diagram of priority shaping.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The invention designs an industrial network heterogeneous flow shaper supporting interconnection of 5G and TSN, and the main idea is to classify heterogeneous data streams according to communication service quality requirements of different industrial tasks, realize differentiated shaping by adopting different rules, and meet communication requirements of various industrial tasks.
The invention mainly comprises the following implementation process, as shown in fig. 1, including the following steps:
step 1: establishing an end-to-end communication model of the industrial network with interconnected 5G and TSN;
step 2: establishing the service quality requirement of the heterogeneous industrial task;
and step 3: and establishing a heterogeneous flow shaper model, and performing differential shaping on heterogeneous flows.
The embodiment is implemented according to the flow shown in fig. 1, and the specific steps are as follows:
1. establishing a 5G and TSN interconnected industrial network, as shown in FIG. 2, comprising: industrial gateway, industrial switch, industrial base station, industrial terminal. The industrial gateway adopts a redundant hot backup mechanism, simultaneously supports 5G and TSN protocols, and manages and controls the whole factory network. And the industrial switch adopts a TSN protocol to connect industrial base stations which are deployed in areas in a factory and industrial wired terminals. The industrial switches are interconnected to form a factory backbone network, and a TSN protocol is adopted to ensure deterministic communication of industrial data. The industrial base station adopts a mobile edge computing architecture, can provide 5G wireless communication service for industrial terminals in the coverage area of the industrial base station, schedules heterogeneous industrial task transmission in real time, and provides real-time computing resources. Based on the above, the industrial base station has the basic functions of a 5G core network, and can provide complete mobile communication service for industrial wireless terminals in the coverage area of the industrial base station. The industrial terminal comprises an industrial wired terminal and an industrial wireless terminal, the industrial wireless terminal is connected with the industrial base station by adopting a 5G protocol, and the industrial wired terminal is accessed into an industrial network by adopting a TSN protocol. Based on the method, the industrial wireless terminals are deployed in a distributed mode, support movement management and can be deployed on equipment such as a mobile robot and an AGV. The industrial wired terminal is fixedly arranged on large-scale industrial equipment such as a production line, a large-scale industrial mechanical arm and the like, and can be directly connected to a factory backbone network.
As can be seen from fig. 2, there are three types of end-to-end communication in the industrial network where 5G and TSN are interconnected.
(1) The industrial wireless terminal is communicated with the industrial wired terminal, and an end-to-end communication path comprises the industrial wireless terminal, an industrial base station, an industrial exchanger, an industrial gateway, the industrial wired terminal and the like;
(2) the industrial wireless terminal is communicated with the industrial wireless terminal, and an end-to-end communication path comprises the industrial wireless terminal, an industrial base station, an industrial switch, an industrial gateway and the like;
(3) the industrial wireless terminal is communicated with the industrial gateway, and the end-to-end communication path comprises the industrial wireless terminal, an industrial base station, an industrial switch, the industrial gateway and the like.
2. And establishing the service quality requirement of the heterogeneous industrial task based on the 5G industrial network interconnected with the TSN.
A large amount of heterogeneous industrial data is generated due to the connection of a large number of industrial equipment for accomplishing different production tasks. There can be three main categories, including: a control task, an audio and video task and a perception task. The control task is mainly used for control command transmission such as motor control, robot motion control and the like, and adopts a periodic short packet to require time delay deterministic transmission; the audio and video task is mainly used for data transmission such as video monitoring and machine vision, and adopts aperiodic long packets to require high-bandwidth transmission with limited time delay; the sensing task is mainly used for data transmission such as configuration, environment monitoring and the like, and adopts a non-periodic data packet with variable size, so that large-scale high-concurrency communication is required without strict time delay constraint.
It is worth noting that the communication delay constraints of different industrial tasks are all end-to-end delays, which are composed of propagation delay, transmission delay, queuing delay and processing delay. The propagation delay represents the delay experienced by the successful reception of the electromagnetic signal transmitted from the transmitting end to the receiving end, and comprises 5G air interface delay and TSN propagation delay; the transmission delay represents the delay experienced by industrial traffic from the first bit to the last bit; the queuing delay represents the delay experienced by the industrial flow waiting for transmission in the industrial equipment; the processing delay means a delay caused by checking, correcting, inquiring path information, and the like.
3. Establishing a heterogeneous flow shaper model, and performing differentiated shaping on heterogeneous flows, as shown in fig. 3, including the following steps:
(1) time is divided into fixed-length, periodically repeating frames. Each frame is further divided into a plurality of time slots with smaller granularity;
(2) dividing the industrial data flow into different flow queues according to the transmission quality requirement of the heterogeneous industrial task; the control tasks are converged into a control flow queue, and the audio and video tasks and the perception tasks are mixed to form a shared flow queue;
(3) and for different flow queues, adopting different shaping rules to carry out flow shaping. Each flow queue is associated with a particular shaping rule and an output gate. The opening and closing of the output gate are determined by the gating list. One or more output gates may be opened, i.e., one or more flow queues are allowed to output data, at any time slot. The opening and closing time of any flow queue output gate is different, and the asynchronous opening and closing of the output gate results in different transmission time slots.
For the deterministic time delay requirement of the control task, independently dividing a flow queue for the control task, allocating an exclusive time slot, and shaping by adopting a first-in first-out rule; and when the control task data passes through the shaper, queuing and sending the control task data in sequence according to the arrival time by adopting a first-in first-out rule. The transmission time of any control task data being affected by the previous data frame in the control flow queue, i.e.
Wherein d isfIndicating the time delay caused by the first-in-first-out shaping rule,/CIndicating the length of the control task data frame,
indicating the maximum data frame length of the control task.
And for the high bandwidth and high concurrent communication requirements of the audio and video tasks and the perception tasks, allowing a plurality of audio and video tasks and the perception tasks to share a stream queue, and shaping by adopting a credit value rule. And outside the exclusive time slot of the control task flow queue, the output gates of the audio and video task and the perception task flow queue are both in an open state, and transmission resources are used competitively. The heterogeneous flow shaper shapes the audio and video task and the perception task flow queue by adopting a credit value rule. In the time slot t, for a plurality of audio and video tasks and perception tasks on the shared stream queue, when the credit value is positive, the corresponding industrial tasks are sent;
when the audio and video task or the perception task is in transmission waiting or the credit value is negative, the credit value is increased by the rate uAOr uSCumulative increase with credit max
Or
In contrast, when an audiovisual or perceptual task is transmitted, the credit value is slowed down by a rate vAOr vSCumulative reduction with a minimum of credits
Or
Wherein, the relationship between the rising rate u and the falling rate v is as follows: k-u, where K is the channel capacity. As shown in fig. 4, at t0At that moment, the audio-video task AV0 arrives at the heterogeneous traffic shaper. Since the sensing task SI0 is being transmitted, AV0 enters a buffer queue and credits are at rate uAVAnd (4) increasing. At t2At the moment the transmission of SI0 is completed, the credit value of AV0 reaches a maximum of
At t2～t4In time, AV0 begins transmission with credit at rate vAVReduced to a minimum
Similarly, at t2At that moment, the sensing task SI1 arrives at the heterogeneous traffic shaper. Since AV0 is being transmitted, SI1 enters the buffer queue and credits are at rate uSIAnd (4) increasing. At t4At that point, the AV0 transmission is complete and the SI1 credit reaches a maximum of
At t4～t5For a period of time, SI1 begins transmission, with credit at a rate vSIReduced to a minimum
And shaping by adopting a priority rule for the transmission time slot conflict of the audio and video task and the perception task. Specifically, when the output gates of the multiple mixed stream queues are in an open state, transmission time slots between the audio and video tasks and the perception tasks are overlapped, and the audio and video tasks and the perception tasks are shaped by using the priority. The priority of the audio and video tasks is higher than that of the perception tasks, and priority differences exist between the audio and video tasks and between the perception tasks.
As shown in fig. 5, there are two cases of overlap and coverage of transmission slot collisions. In the case of overlap, the relation between the open/close times of the transmission slots of the flow queue m and the flow queue n is
When in use
Then, the stream queue m transmits; when in use
When the flow queue m and the flow queue n are in the same priority, the flow with the higher priority is transmitted in priority; when in use
And the stream queue n transmits. Under the covering condition, the opening and closing time relation of the transmission time slots of the flow queue m and the flow queue n is as follows
When in use
Then, transmitting in a flow queue n; when in use
When the flow queue m and the flow queue n are in the same priority, the flow with the higher priority is transmitted in priority; when in use
And the stream queue n transmits.
Claims (10)
1. The utility model provides a support heterogeneous traffic shaper of industrial network of 5G and TSN interconnection, characterized by, locate in industrial base station, industrial switch and the industrial gateway in 5G and the interconnected industrial network of TSN for carry out differentiation plastic to heterogeneous traffic, include:
the queue dividing module is used for dividing the industrial data flow into different flow queues according to the transmission quality requirement of the heterogeneous industrial task; the control tasks are converged into a control flow queue, and the audio and video tasks and the perception tasks are mixed to form a shared flow queue;
and the flow shaping module is used for dividing the time into frames with fixed length and periodic repetition, each frame is further divided into a plurality of time slots, and different shaping rules are adopted for different flow queues to carry out flow shaping.
2. The heterogeneous traffic shaper of industrial network supporting 5G and TSN interconnection according to claim 1, wherein the industrial network comprises: an industrial gateway, an industrial base station, an industrial switch and an industrial terminal;
the industrial gateway simultaneously supports 5G and TSN so as to manage and control the whole industrial network;
the industrial base station is connected with an edge computing server, and provides 5G wireless communication service for industrial terminals in a coverage area of the industrial base station so as to schedule heterogeneous industrial task transmission in real time and provide real-time computing resources;
the industrial switch adopts a TSN protocol to connect industrial base stations and industrial wired terminals which are deployed in areas in a factory;
the industrial terminal comprises an industrial wired terminal and an industrial wireless terminal, the industrial wireless terminal is connected with the industrial base station by adopting a 5G protocol, and the industrial wired terminal is accessed into an industrial network by adopting a TSN protocol.
3. The method according to claim 1, wherein the 5G and TSN interconnected industrial network comprises the following three end-to-end communication types:
(1) the industrial wireless terminal is communicated with the industrial wired terminal, and an end-to-end communication path comprises the industrial wireless terminal, an industrial base station, an industrial gateway, an industrial switch and the industrial wired terminal;
(2) the industrial wireless terminal is communicated with the industrial wireless terminal, and an end-to-end communication path comprises the industrial wireless terminal, an industrial base station, an industrial switch and an industrial gateway;
(3) the industrial wireless terminal is communicated with the industrial gateway, and the end-to-end communication path comprises the industrial wireless terminal, an industrial base station, an industrial switch and the industrial gateway.
4. The method for shaping the heterogeneous traffic of the industrial network supporting interconnection of the 5G and the TSN is characterized in that for the 5G and TSN interconnected industrial network, a heterogeneous traffic shaper carries out differential shaping on heterogeneous traffic, and comprises the following steps:
dividing the industrial data flow into different flow queues according to the transmission quality requirement of the heterogeneous industrial task; the control tasks are converged into a control flow queue, and the audio and video tasks and the perception tasks are mixed to form a shared flow queue;
dividing time into fixed-length, periodically-repeating frames; each frame is further divided into a plurality of time slots; and in different time slots, different flow queues are subjected to flow shaping by adopting different shaping rules.
5. The method for shaping industrial network heterogeneous traffic supporting 5G and TSN interconnection according to claim 4, wherein the quality of service requirements of the pre-established heterogeneous industrial task are as follows:
the heterogeneous industrial tasks include at least: a control task, an audio and video task and a perception task;
the control task is used for controlling command transmission, and adopts a periodic short packet to require delay deterministic transmission;
the audio and video task is used for transmitting video data, and adopts a non-periodic long packet so as to carry out high-bandwidth transmission with limited time delay;
the sensing task is used for the data transmission of configuration or monitoring, and adopts non-periodic data packets with variable sizes to carry out high-concurrency communication.
6. The method for shaping the heterogeneous traffic of the industrial network supporting interconnection of 5G and TSN according to claim 4, wherein the heterogeneous traffic shaper differentially shapes the heterogeneous traffic, specifically:
the heterogeneous flow shaper controls the opening and closing of an output gate according to the gating list;
opening one or more output gates at any time slot, allowing one or more stream queues to output data;
the opening and closing time of any flow queue output gate is different, and the asynchronous opening and closing of the output gate leads to transmission time slots with different flow.
7. The method for shaping the heterogeneous industrial network traffic supporting 5G and TSN interconnection according to claim 4, wherein the rule of the heterogeneous traffic shaper is as follows:
for the deterministic time delay requirement of the control task, independently dividing a flow queue for the control task, allocating an exclusive time slot, and shaping by adopting a first-in first-out rule;
for the audio and video tasks and the perception tasks, allowing a plurality of audio and video tasks and perception tasks to share a stream queue, and shaping by adopting a credit value rule so as to meet the requirements of high bandwidth and high concurrent communication;
and shaping by adopting a priority rule for the transmission time slot conflict of the audio and video task and the perception task.
8. The method for shaping the heterogeneous industrial network traffic supporting 5G and TSN interconnection according to claim 7, wherein the method for separately dividing the stream queues for the control task, allocating dedicated time slots, and shaping by using a first-in first-out rule comprises the following steps:
the heterogeneous flow shaper divides a dedicated transmission time slot for each control flow queue independently and distinguishes the transmission time slots from the transmission time slots of the audio and video task and the perception task; in the transmission time slot of the control flow, only allowing the output gate of the control flow queue to be in an open state;
when the control task data passes through the heterogeneous flow shaper, queuing and sending the control task data in sequence according to arrival time by adopting a first-in first-out rule;
the transmission time of any control task data being affected by the previous data frame in the control flow queue, i.e.
Wherein d isfIndicating the time delay caused by the first-in-first-out shaping rule,/CIndicating the length of the control task data frame,
and K is the channel capacity.
9. The method for shaping the heterogeneous traffic of the industrial network supporting interconnection of 5G and TSN according to claim 7, wherein for the audio and video task and the perception task sharing stream queue, shaping is performed by using a credit rule, comprising the following steps:
the shared stream queue is used for controlling the output gates of the audio and video task and the perception task stream queue to be in an open state outside the exclusive time slot of the task stream queue, and competing for using transmission resources; the heterogeneous flow shaper shapes audio and video tasks and perception task flow queues by adopting a credit value rule; in the time slot t, for a plurality of audio and video tasks and perception tasks on the shared stream queue, when the credit value is positive, the corresponding industrial tasks are sent;
the credit value rule is as follows: when the audio and video task or the perception task is in transmission waiting or the credit value is negative, the credit value is increased by the rate uAOr uSCumulative increase with credit max
Or
In contrast, when an audiovisual or perceptual task is transmitted, the credit value is slowed down by a rate vAOr vSCumulative reduction with a minimum of credits
Or
The relationship between the rising rate u and the falling rate v is: k-u, where K is the channel capacity.
10. The method for shaping the heterogeneous traffic of the industrial network supporting interconnection of 5G and TSN according to claim 7, wherein for the transmission time slot conflict between the audio and video task and the perception task, a priority rule is adopted for shaping, comprising the following steps:
when the transmission time slot conflict of the audio and video task and the perception task has an overlapping condition, namely the overlapping condition is that the opening and closing time relation of the transmission time slot of the stream queue m and the transmission time slot of the stream queue n is
And for the transmission time slot conflict between the audio and video task and the perception task, shaping by adopting a priority rule:
when in use
Then, the stream queue m transmits;
when in use
When the flow queue m and the flow queue n are in the same priority, the flow with the higher priority is transmitted in priority;
when in use
Then, transmitting in a flow queue n;
when the transmission time slot conflict of the audio and video task and the perception task has the overlapping covering condition, namely the covering condition is that the opening and closing time relation of the transmission time slot of the stream queue m and the transmission time slot of the stream queue n is
And for the transmission time slot conflict between the audio and video task and the perception task, shaping by adopting a priority rule:
when in use
Then, transmitting in a flow queue n;
when in use
When the flow queue m and the flow queue n are in the same priority, the flow with the higher priority is transmitted in priority;
when in use
Then, transmitting in a flow queue n;
wherein the content of the first and second substances,
respectively representing the transmission slot open time of the stream queue m and the transmission slot open time of the stream queue n,
the transmission slot closing time of the stream queue m and the transmission slot closing time of the stream queue n are respectively indicated.
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