CN113741311A - Bus control system and method with sub-period high-frequency processing function - Google Patents
Bus control system and method with sub-period high-frequency processing function Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/21—Pc I-O input output
- G05B2219/21063—Bus, I-O connected to a bus
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention provides a bus control system with a sub-cycle high-frequency processing function and a method, comprising a real-time operating system and a non-real-time operating system which are arranged at a PC end, wherein the real-time operating system and the non-real-time operating system exchange data through a shared memory; the method has the advantages that the sub-period processing unit is arranged in the real-time control system of the PC end, the programmable logic processing unit and the buffer processing unit are arranged in the input/output module, and after the user application program end sets the pre-processing period for input and output in advance, the period processing is carried out, so that the effect of processing sub-period data after subdivision can be achieved, the bus type input/output module can simultaneously send output instructions with higher frequency and control precision, and can also simultaneously receive input data with higher frequency and precision.
Description
Technical Field
The invention relates to the technical field of motion control, in particular to a bus control system with a sub-period high-frequency processing function and a method thereof.
Background
The input/output module is generally used as a part of a controller, especially a hardware controller, and plays a role in processing signals of external input/output equipment. The bus type control scheme comprises a control system and an input/output module, and has the advantages of large controllable scale, flexible configuration, distributed wiring, strong anti-interference capability and the like, and is more and more widely applied to the current intelligent automatic control and precise equipment control of factories. The bus type input/output module can collect and control signals such as digital quantity input/output, analog quantity input/output, pulse width modulation and the like in equipment, and generally performs signal processing with a bus cycle as a minimum unit.
Although the bus-type control scheme has many advantages such as large-scale deployment and flexible configuration, the bus-type control scheme has natural defects for high-frequency signal processing due to the characteristic that the current bus period cannot be too small. For example, due to the bandwidth limitation of the current real-time bus, the processing capability of the controller, the delay of bus communication, and other factors, the frequency corresponding to most bus control cycles can only be 1K to several K, while in high-precision measurement and processing equipment, no part of the input/output signal frequency is several M, and the current bus-type controller and bus-type input/output module schemes are difficult to meet such requirements.
Disclosure of Invention
Aiming at the defects in the technology, the invention provides a bus control system with a sub-period high-frequency processing function and a method thereof, wherein a sub-period processing unit is arranged in a real-time control system of a PC end, and a programmable logic processing unit and a buffer processing unit are arranged in an input/output module, and after a user application program end sets a pre-processing period for input and output in advance, the period processing is carried out, so that the effect of processing sub-period data after subdivision is achieved, the bus type input/output module can simultaneously send output instructions with higher frequency and control precision, and can simultaneously receive input data with higher frequency and precision.
In order to achieve the above object, the present invention provides a bus control method with a sub-cycle high-frequency processing function, which comprises a real-time operating system and a non-real-time operating system installed at a PC end, wherein the real-time operating system and the non-real-time operating system exchange data through a shared memory, and the bus control method further comprises an input/output module, wherein the input/output module is connected to the real-time operating system through a real-time bus; the control method comprises the following steps:
the user application program of the non-real-time operating system sets each input and output as ordinary cycle processing or sub-cycle processing;
storing the setting information to a real-time control kernel of a real-time operating system and a programmable logic processing unit of an input/output module;
when the input and/or the output needs ordinary cycle processing, the real-time control kernel of the real-time operating system calls the ordinary cycle processing unit to perform real-time processing; the micro control unit of the input/output module directly controls the programmable logic processing unit to process;
when input and/or output needs sub-cycle processing, a real-time control kernel of the real-time operating system calls a sub-cycle processing unit to perform real-time processing; the micro control unit of the input/output module controls the buffer processing unit to buffer the sub-period data and then processes the sub-period data through the programmable logic processing unit.
Specifically, the method comprises the following steps: in the step of real-time processing by the real-time control kernel of the real-time operating system calling the sub-cycle processing unit, the sub-cycle processing unit comprises a buffer unit, and the sub-cycle processing is carried out after the buffer unit buffers the sub-cycle data.
Preferably, the method comprises the following steps: and in the step of storing the setting information to the implementation control kernel of the real-time operating system and the programmable logic processing unit of the input/output module, performing sub-cycle processing and size configuration of the buffer unit and the buffer processing unit at the same time.
Specifically, the method comprises the following steps: in the step in which the user application of the non-real-time operating system sets each of the input and output as the normal cycle processing or the sub-cycle processing, a processing cycle of the sub-cycle processing is smaller than that of the normal cycle processing.
Preferably, the method comprises the following steps: after the step of processing the sub-period data by the programmable logic processing unit after the micro control unit of the input/output module controls the buffer processing unit to buffer the sub-period data, the method also comprises the following steps: and judging whether the periodic processing is finished or not, and if not, continuously sharing the processed data as output to the real-time control kernel by the user application program for periodic processing.
A bus control system with a sub-cycle high-frequency processing function comprises a real-time operating system and a non-real-time operating system which are installed at a PC (personal computer) end, wherein the real-time operating system and the non-real-time operating system exchange data through a shared memory; the non-real-time operating system comprises a user application program, wherein the user application program sets each input and output to be common periodic processing or sub-periodic processing and stores the common periodic processing or the sub-periodic processing to a real-time control kernel of the real-time operating system and a programmable logic processing unit of an input/output module; the real-time operating system is provided with a sub-period processing unit and a common period processing unit, the input and output module is provided with a buffer processing unit,
when the input and/or the output needs ordinary cycle processing, the real-time control kernel of the real-time operating system calls the ordinary cycle processing unit to perform real-time processing; the micro control unit of the input/output module directly controls the programmable logic processing unit to process;
when input and/or output needs sub-cycle processing, a real-time control kernel of the real-time operating system calls a sub-cycle processing unit to perform real-time processing; the micro control unit of the input/output module controls the buffer processing unit to buffer the sub-period data and then processes the sub-period data through the programmable logic processing unit.
Specifically, the method comprises the following steps: the sub-period processing unit comprises a buffer unit, and the sub-period processing is carried out after the buffer unit buffers the sub-period data.
Preferably, the method comprises the following steps: and the user application program sets each input and output to be ordinary cycle processing or sub-cycle processing and stores the ordinary cycle processing or the sub-cycle processing to a real-time control kernel of the real-time operating system and a programmable logic processing unit of the input and output module, and simultaneously performs the size configuration of the sub-cycle processing and the buffer processing unit.
Specifically, the method comprises the following steps: the processing cycle of the sub-cycle processing unit is smaller than that of the ordinary cycle processing unit.
Preferably, the method comprises the following steps: the user application program comprises a judging unit, the judging unit judges whether the periodic processing is finished, if not, the user application program takes the processed data as output and continues to share the processed data to the real-time control kernel through the shared memory for periodic processing.
The invention has the beneficial effects that: compared with the prior art, the invention provides a bus control system with a sub-cycle high-frequency processing function and a method thereof, comprising a real-time operating system and a non-real-time operating system which are arranged at a PC end, wherein the real-time operating system and the non-real-time operating system exchange data through a shared memory, and the bus control system also comprises an input/output module which is connected to the real-time operating system through a real-time bus; the method has the advantages that the sub-period processing unit is arranged in the real-time control system of the PC end, the programmable logic processing unit and the buffer processing unit are arranged in the input/output module, and after the user application program end sets the pre-processing period for input and output in advance, the period processing is carried out, so that the effect of processing sub-period data after subdivision can be achieved, the bus type input/output module can simultaneously send output instructions with higher frequency and control precision, and can also simultaneously receive input data with higher frequency and precision.
Drawings
FIG. 1 is a schematic diagram of the system operating principle of the present invention;
FIG. 2 is a schematic flow chart of the present invention;
FIG. 3 is a schematic diagram of a generic cycle of the present invention;
FIG. 4 is a diagram of a sub-cycle of the present invention;
FIG. 5 is a schematic diagram of the bus control system connection according to the present invention;
FIG. 6 is a flow chart of a method of the present invention.
Detailed Description
In order to more clearly describe the present invention, the present invention will be further described with reference to the accompanying drawings.
Because of the bandwidth limitation of the current real-time bus, the processing capacity of the controller, the delay of bus communication and other factors, the frequency corresponding to most of the bus control period can only be 1K to several K, while in high-precision measurement and processing equipment, part of the input and output signal frequency is several M, and the current bus type controller and bus type input and output module schemes are difficult to meet the requirements.
To solve the defects and shortcomings of the prior art, the present invention specifically provides a bus control method with a sub-cycle high-frequency processing function, which includes fig. 1-6, including a real-time operating system and a non-real-time operating system installed at a PC end, wherein the real-time operating system and the non-real-time operating system exchange data through a shared memory, and further including an input/output module connected to the real-time operating system through a real-time bus; the control method comprises the following steps:
the user application program of the non-real-time operating system sets each input and output as ordinary cycle processing or sub-cycle processing;
storing the setting information to a real-time control kernel of a real-time operating system and a programmable logic processing unit of an input/output module;
when the input and/or the output needs ordinary cycle processing, the real-time control kernel of the real-time operating system calls the ordinary cycle processing unit to perform real-time processing; the micro control unit of the input/output module directly controls the programmable logic processing unit to process;
when input and/or output needs sub-cycle processing, a real-time control kernel of the real-time operating system calls a sub-cycle processing unit to perform real-time processing; the micro control unit of the input/output module controls the buffer processing unit to buffer the sub-period data and then processes the sub-period data through the programmable logic processing unit; in practical application, a plurality of bus type input/output modules can be used as slave stations and can be connected with a motion control computer through a real-time bus. The motion control computer is provided with a real-time software control system which is used as a master station for real-time bus control.
In one implementation, the motion control computer consists of a real-time software control system (software) and associated hardware; the real-time software control system consists of a non-real-time operating system and a real-time operating system; the non-real-time operating system and the real-time operating system perform real-time data interaction by virtue of the shared memory, and perform control instruction and state feedback; the non-real-time operating system runs a user application program, and the user application program issues a control instruction and a communication instruction to a real-time control kernel and a real-time communication kernel in the real-time operating system through a shared memory in each bus period through a control interface module and a communication interface module, and receives the returned control and communication states.
Meanwhile, the user application program can set input and output setting information and appoint whether each input and output needs to be subjected to ordinary periodic processing or sub-period processing, and the setting information can be simultaneously stored in a real-time control kernel of the real-time operating system and a programmable logic processing unit of an input and output module, and the configuration of sub-period caching, processing units, the size of a buffering processing unit and the like is well made.
Example 1:
the common cycle is subdivided into 1000 sub-cycles, so that the processing efficiency of each sub-cycle is 1000 times of that of the common cycle, when some input or output data which need to be subdivided and processed at high speed enter the system, the input or output data can be processed through the sub-cycles, transmission and processing according to the common cycle of a bus are not required to be fixed like a traditional bus input and output module, and the frequency and the precision of data processing are improved.
In the present embodiment, mention is made of: in the step of calling the sub-cycle processing unit to perform real-time processing by a real-time control kernel of the real-time operating system, the sub-cycle processing unit comprises a buffer unit, and the sub-cycle processing is performed after the buffer unit caches the sub-cycle data; the buffer unit mainly plays a role of buffering input or output data which are set to be processed in a sub-period, and due to the fact that the processing period of the data is small and the speed is high, the data volume processed in the sub-period is very large in the same time, the buffer unit is set to process the data after buffering, processing burden can be effectively relieved, and processing precision is improved.
In a preferred embodiment, mention is made of: in the step of storing the setting information to the implementation control kernel of the real-time operating system and the programmable logic processing unit of the input/output module, the sub-cycle processing and the size configuration of the buffer unit and the buffer processing unit are simultaneously carried out; the step is mainly used for reading the data size when the normal cycle processing or the sub-cycle processing is set, so as to adjust the data processing size of the sub-cycle and normal cycle processing unit and the data processing size of the buffer unit and the buffer processing unit, and adapt to the upcoming input and output data.
In the present embodiment, mention is made of: in the step of setting each input and output as normal cycle processing or sub-cycle processing by a user application program of a non-real-time operating system, the processing cycle of the sub-cycle processing is less than that of the normal cycle processing; preferably, the processing cycle of the sub-cycle processing is one of 1000 parts or one of 1500 parts or one of 500 parts of the processing cycle of the normal cycle processing.
In a preferred embodiment, mention is made of: after the step of processing the sub-period data by the programmable logic processing unit after the micro control unit of the input/output module controls the buffer processing unit to buffer the sub-period data, the method also comprises the following steps: judging whether the periodic processing is finished or not, if not, continuously sharing the processed data as output to a real-time control kernel by the user application program for periodic processing; the processing of all input or output data is not completed by completing the processing of one cycle, so that the complete data processing can be completed only by performing output or input cycles for multiple times, whether the processing of the data is completed or not can be identified and judged in the judging step, if the processing is completed, the data is directly output, if the processing is not completed, the processed data is required to be continuously shared to a real-time control kernel as output through a user application program for cycle processing, and the complete data processing is completed after multiple cycles.
A bus control system with a sub-cycle high-frequency processing function comprises a real-time operating system and a non-real-time operating system which are installed at a PC (personal computer) end, wherein the real-time operating system and the non-real-time operating system exchange data through a shared memory; the non-real-time operating system comprises a user application program, wherein the user application program sets each input and output to be common periodic processing or sub-periodic processing and stores the common periodic processing or the sub-periodic processing to a real-time control kernel of the real-time operating system and a programmable logic processing unit of an input/output module; the real-time operating system is provided with a sub-period processing unit and a common period processing unit, the input and output module is provided with a buffer processing unit,
when the input and/or the output needs ordinary cycle processing, the real-time control kernel of the real-time operating system calls the ordinary cycle processing unit to perform real-time processing; the micro control unit of the input/output module directly controls the programmable logic processing unit to process;
when input and/or output needs sub-cycle processing, a real-time control kernel of the real-time operating system calls a sub-cycle processing unit to perform real-time processing; the micro control unit of the input/output module controls the buffer processing unit to buffer the sub-period data and then processes the sub-period data through the programmable logic processing unit; in practical application, a plurality of bus type input/output modules can be used as slave stations and can be connected with a motion control computer through a real-time bus. The motion control computer is provided with a real-time software control system which is used as a master station for real-time bus control.
In one implementation, the motion control computer consists of a real-time software control system (software) and associated hardware; the real-time software control system consists of a non-real-time operating system and a real-time operating system; the non-real-time operating system and the real-time operating system perform real-time data interaction by virtue of the shared memory, and perform control instruction and state feedback; the non-real-time operating system runs a user application program, and the user application program issues a control instruction and a communication instruction to a real-time control kernel and a real-time communication kernel in the real-time operating system through a shared memory in each bus period through a control interface module and a communication interface module, and receives the returned control and communication states.
Meanwhile, the user application program can set input and output setting information and appoint whether each input and output needs to be subjected to ordinary periodic processing or sub-period processing, and the setting information can be simultaneously stored in a real-time control kernel of the real-time operating system and a programmable logic processing unit of an input and output module, and the configuration of sub-period caching, processing units, the size of a buffering processing unit and the like is well made.
Example 2:
the common period is subdivided into 1500 sub-periods, so that the processing efficiency of each sub-period is 1500 times of that of the common period, when some input or output data which need to be subdivided and processed at high speed enter the system, the input or output data can be processed through the sub-periods, transmission and processing according to the common period of a bus are not required to be fixed like a traditional bus input and output module, and the frequency and the precision of data processing are improved.
In the present embodiment, mention is made of: the sub-period processing unit comprises a buffer unit, and the sub-period processing is carried out after the buffer unit buffers the sub-period data; the buffer unit mainly plays a role of buffering input or output data which are set to be processed in a sub-period, and due to the fact that the processing period of the data is small and the speed is high, the data volume processed in the sub-period is very large in the same time, the buffer unit is set to process the data after buffering, processing burden can be effectively relieved, and processing precision is improved.
In a preferred embodiment, mention is made of: the user application program sets each input and output as common cycle processing or sub-cycle processing and stores the common cycle processing or the sub-cycle processing to a real-time control kernel of the real-time operating system and a programmable logic processing unit of the input and output module, and simultaneously performs the size configuration of the sub-cycle processing and the buffer processing unit; the step is mainly used for reading the data size when the normal cycle processing or the sub-cycle processing is set, so as to adjust the data processing size of the sub-cycle and normal cycle processing unit and the data processing size of the buffer unit and the buffer processing unit, and adapt to the upcoming input and output data.
In the present embodiment, mention is made of: the processing cycle of the sub-cycle processing unit is smaller than that of the ordinary cycle processing unit; preferably, the processing cycle of the sub-cycle processing is one of 1000 parts or one of 1500 parts or one of 500 parts of the processing cycle of the normal cycle processing.
In a preferred embodiment, mention is made of: the user application program comprises a judging unit, the judging unit judges whether the periodic processing is finished, if not, the user application program takes the processed data as output and continues to share the processed data to the real-time control kernel through the shared memory for periodic processing; the processing of all input or output data is not completed by completing the processing of one cycle, so that the complete data processing can be completed only by performing output or input cycles for multiple times, whether the processing of the data is completed or not can be identified and judged in the judging step, if the processing is completed, the data is directly output, if the processing is not completed, the processed data is required to be continuously shared to a real-time control kernel as output through a user application program for cycle processing, and the complete data processing is completed after multiple cycles.
In a preferred embodiment, mention is made of: the input/output module is preferably provided in plurality, and the plurality of input/output modules are connected by a real-time bus.
The working principle of the system is described in detail as follows:
the bus type input and output modules can be used as slave stations and can be connected with a motion control computer through a real-time bus. The motion control computer is provided with a real-time software control system which is used as a master station for real-time bus control.
The motion control computer is composed of a real-time software control system (software) and related hardware. The real-time software control system consists of a non-real-time operating system and a real-time operating system. The non-real-time operating system and the real-time operating system perform real-time data interaction by virtue of the shared memory, and perform control instruction and state feedback.
The non-real-time operating system runs a user application program, and the user application program issues a control instruction and a communication instruction to a real-time control kernel and a real-time communication kernel in the real-time operating system through a shared memory in each bus period through a control interface module and a communication interface module, and receives the returned control and communication states. Meanwhile, the user application program will set the input/output setting information, and specify whether each input/output needs to be processed in a normal periodic manner or in a sub-period manner (for example, the normal period is subdivided into 1000 sub-periods), and these setting information will be stored in the real-time control kernel of the real-time operating system and the programmable logic processing unit of the input/output module at the same time, and the configuration of the sub-period cache, the processing unit, the size of the buffer processing unit, and the like is made.
The real-time operating system runs the real-time control kernel and the real-time communication kernel, processes the instruction of the user, and performs real-time control and state collection on the control object through the real-time bus. For each input/output point, if periodic processing is needed, the real-time control kernel directly calls a periodic processing unit to perform real-time processing; if the sub-cycle processing is needed, the real-time control kernel caches the input and output instructions of the user to the sub-cycle caching and processing unit, then sends the input and output instructions of the current cycle to the input and output module through the real-time bus by the real-time communication kernel, and receives the current input and output states.
The input and output module is composed of two real-time bus interfaces, a network processing unit, a micro control unit, a buffer processing unit, a programmable logic processing unit and a hardware interface unit. The real-time bus interface is responsible for receiving and sending instructions and state data through the real-time bus and delivering the instructions and the state data to the network processing unit for data processing. The micro control unit is the brain of the input and output unit and is responsible for carrying out comprehensive operation processing on all data and carrying out signal output and acquisition on the hardware interface unit through the programmable logic processing unit. Aiming at each input/output point, if the periodic processing is needed, the micro control unit directly controls the programmable logic processing unit to process; if the sub-period processing is needed, the micro control unit and the programmable logic processing unit buffer and process the sub-period data after being subdivided through the buffer processing unit. The hardware interface unit is divided into a digital input part, a digital output part, an analog input part, an analog output part and a pulse width modulation output part.
A complete workflow of the present application is described below with reference to the accompanying drawings:
starting the system to run, initializing the input and output module, and setting input and output information by the user application program;
setting a common period processing unit and a sub-period buffer processing unit at a control system end;
arranging a buffer processing unit at the input/output module end;
starting the cycle of the real-time bus at the moment;
the user outputs operation instruction information, and the real-time control kernel processes each output;
judging whether each output adopts sub-period processing or not;
if yes, performing sub-period data buffering of at most M periods (M is the set buffer size);
otherwise, adopting normal cycle processing;
after the processing is finished, the processing data of the common cycle and the sub-cycle are sent to an input/output module through a real-time bus;
the micro control unit of the input and output module stores the sub-period data of M periods into the buffer processing unit;
judging whether each output adopts sub-period processing or not;
if so, the programmable logic processing unit outputs the sub-period subdivision processing;
otherwise, the programmable logic processing unit directly processes the output;
meanwhile, the input/output module end receives and reads input data;
judging whether each input adopts sub-period processing or not;
if so, the programmable logic processing unit carries out sub-period subdivision processing, and the data processed by the sub-period is stored in the buffer processing unit after the processing;
otherwise, the programmable logic processing unit directly processes;
the direct processing and sub-period processing data of the programmable logic processing unit are sent to a control system through a real-time bus;
the method comprises the steps that input data are processed through a real-time control kernel, and the input data are processed through a user application program;
judging whether to finish the cycle processing at the user application program end;
if yes, ending directly, otherwise, continuing to cycle the input data.
The invention has the advantages that:
1. the existing bus type input and output module can only process data with a bus cycle as a unit, and the bus type input and output module of the patent can process sub-cycle data after being subdivided.
2. The bus type input and output module can simultaneously send output instructions with higher frequency and control precision and can also simultaneously receive input data with higher frequency and precision.
3. Through the cooperative work of the real-time software control system and the bus type input/output module, the cache and processing unit can be flexibly configured, and the large data storage and processing capacity after the sub-period subdivision processing is carried out on the input/output data of the common period is greatly improved.
The above disclosure is only for a few specific embodiments of the present invention, but the present invention is not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (10)
1. A bus control method with a sub-cycle high-frequency processing function comprises a real-time operating system and a non-real-time operating system which are installed at a PC end, wherein data exchange is carried out between the real-time operating system and the non-real-time operating system through a shared memory; the control method comprises the following steps:
the user application program of the non-real-time operating system sets each input and output as ordinary cycle processing or sub-cycle processing;
storing the setting information to a real-time control kernel of a real-time operating system and a programmable logic processing unit of an input/output module;
when the input and/or the output needs ordinary cycle processing, the real-time control kernel of the real-time operating system calls the ordinary cycle processing unit to perform real-time processing; the micro control unit of the input/output module directly controls the programmable logic processing unit to process;
when input and/or output needs sub-cycle processing, a real-time control kernel of the real-time operating system calls a sub-cycle processing unit to perform real-time processing; the micro control unit of the input/output module controls the buffer processing unit to buffer the sub-period data and then processes the sub-period data through the programmable logic processing unit.
2. The bus control method with a sub-cycle high-frequency processing function as claimed in claim 1, wherein in the step of the real-time control kernel of the real-time operating system calling the sub-cycle processing unit to perform the real-time processing, the sub-cycle processing unit includes a buffer unit, and the sub-cycle processing is performed after the buffer unit buffers the sub-cycle data.
3. The bus control method with a sub-cycle high-frequency processing function according to claim 2, wherein in the step of storing the setting information in the programmable logic processing unit of the control core and the input/output module of the real-time operating system, the sub-cycle processing and the size configuration of the buffer unit and the buffer processing unit are performed simultaneously.
4. The bus control method with a sub-cycle high-frequency processing function according to claim 1, wherein in the step of setting each of the inputs and outputs to the normal cycle processing or the sub-cycle processing by the user application of the non-real-time operating system, the processing cycle of the sub-cycle processing is shorter than that of the normal cycle processing.
5. The bus control method with sub-cycle high-frequency processing function according to claim 1, wherein after the step of processing by the programmable logic processing unit after the micro control unit of the input-output module controls the buffer processing unit to buffer the sub-cycle data, further comprising a step of: and judging whether the periodic processing is finished or not, and if not, continuously sharing the processed data as output to the real-time control kernel by the user application program for periodic processing.
6. A bus control system with a sub-cycle high-frequency processing function comprises a real-time operating system and a non-real-time operating system which are installed at a PC (personal computer) end, wherein data exchange is carried out between the real-time operating system and the non-real-time operating system through a shared memory; the non-real-time operating system comprises a user application program, wherein the user application program sets each input and output to be common periodic processing or sub-periodic processing and stores the common periodic processing or the sub-periodic processing to a real-time control kernel of the real-time operating system and a programmable logic processing unit of an input/output module; the real-time operating system is provided with a sub-period processing unit and a common period processing unit, the input and output module is provided with a buffer processing unit,
when the input and/or the output needs ordinary cycle processing, the real-time control kernel of the real-time operating system calls the ordinary cycle processing unit to perform real-time processing; the micro control unit of the input/output module directly controls the programmable logic processing unit to process;
when input and/or output needs sub-cycle processing, a real-time control kernel of the real-time operating system calls a sub-cycle processing unit to perform real-time processing; the micro control unit of the input/output module controls the buffer processing unit to buffer the sub-period data and then processes the sub-period data through the programmable logic processing unit.
7. The bus control system with a function of sub-cycle high-frequency processing according to claim 6, wherein the sub-cycle processing unit includes a buffering unit for performing sub-cycle processing after the buffering unit buffers the sub-cycle data.
8. The bus control system with a sub-cycle high-frequency processing function according to claim 7, wherein the user application sets each input and output to be normal cycle processing or sub-cycle processing and saves to the real-time control core of the real-time operating system and the programmable logic processing unit of the input-output module while performing the sub-cycle processing and the size configuration of the buffer processing unit.
9. The bus control system with a sub-cycle high-frequency processing function according to claim 6, wherein the processing cycle of the sub-cycle processing unit is smaller than that of the normal cycle processing unit.
10. The bus control system with a sub-cycle high-frequency processing function as claimed in claim 6, wherein the user application program comprises a determination unit, the determination unit determines whether the cycle processing is finished, if not, the user application program uses the processed data as output to be shared in the real-time control kernel through the shared memory to perform the cycle processing.
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