CN113848779A

CN113848779A - Controller, industrial control system and data transmission method

Info

Publication number: CN113848779A
Application number: CN202111082214.4A
Authority: CN
Inventors: 范福基; 孙凌丽; 贾峰; 黄玲; 李蒙
Original assignee: Beijing Hollysys Co Ltd
Current assignee: Beijing Hollysys Co Ltd
Priority date: 2021-09-15
Filing date: 2021-09-15
Publication date: 2021-12-28
Anticipated expiration: 2041-09-15
Also published as: CN113848779B

Abstract

The embodiment of the disclosure provides a controller applied to an industrial control system, a data transmission method and the industrial control system. Wherein the controller includes: the system comprises an operation central processing unit CPU, a communication central processing unit CPU, a field programmable gate array FPGA module and a data transmission interface module; the operation CPU is set to execute configuration information analysis and/or execute a control operation program; the communication CPU is set to realize a communication protocol stack; the FPGA module is set to realize the media access control MAC layer logic supporting the time-sensitive network TSN interface; the data transmission interface module is also arranged to be controlled to receive and/or send data according to the instruction of the communication CPU; the data transmission interface module is set to realize the access of external equipment. The parallel controller scheme provided by the embodiment of the disclosure realizes the TSN standard, and can effectively ensure high certainty of data transmission in an industrial control system.

Description

Controller, industrial control system and data transmission method

Technical Field

The invention relates to the field of industrial control, in particular to a controller applied to an industrial control system, a data transmission method and the industrial control system.

Background

The service requirements in the industrial control field are increasingly complex, a lot of service flows need to be transmitted among controllers, between the controllers and upper computer software, between the controllers and third-party equipment in the industrial control field, the requirements on the safety and the real-time performance of data transmission are higher and higher, the requirements are not only limited to jitter and time delay, but also the requirements on transmission frames can be reached in a high-determination and predictable time. However, the traditional standard ethernet is a best-effort network per se, and under the condition of high communication load, the certainty and real-time performance of data transmission cannot be realized, so in an industrial control system network with high performance requirements, a controller human-computer interface network, a machine vision acquisition input network, an inter-station communication real-time network, an extended network for communication between a controller and a third party and the like are generally designed separately as required, and are networked independently, and the network structure is complex. The network deployment requires that a single industrial controller respectively supports the networking interfaces, the requirement on communication peripheral resources of the industrial controller is high, and the design cost of the controller is also high.

Disclosure of Invention

The embodiment of the disclosure provides a controller and a data transmission method applied to an industrial control system, and provides a new industrial control system network architecture, the controller realizes a TSN standard to ensure high certainty of data transmission in the industrial control system, a daisy chain networking mode is adopted to effectively save network switching equipment and reduce complexity of a control network, and the reliability of the industrial control system is integrally improved.

The embodiment of the present disclosure provides a controller, which is applied to an industrial control system, and includes:

the system comprises an operation central processing unit CPU, a communication central processing unit CPU, a field programmable gate array FPGA module and a data transmission interface module;

the operation CPU is set to execute configuration information analysis and/or execute a control operation program;

the communication CPU is set to realize a communication protocol stack;

the FPGA module is set to realize the media access control MAC layer logic supporting the time-sensitive network TSN interface; the data transmission interface module is also arranged to be controlled to receive and/or send data according to the instruction of the communication CPU;

the data transmission interface module is set to realize the access of external equipment.

An embodiment of the present disclosure further provides an industrial control system, including:

the system comprises an upper computer and a plurality of controllers according to any one embodiment of the disclosure;

a first controller of the plurality of controllers is configured to communicate with the upper computer through a data transmission interface module; the data transmission interface module is also used for communicating with other controllers; the data transmission interface module is also used for communicating with the controlled equipment;

the other controllers except the first controller in the plurality of controllers are set to communicate with the other controllers through the data transmission interface module; the data transmission interface module is also used for communicating with the controlled equipment;

the upper computer and the plurality of controllers form a daisy chain topology structure.

The embodiment of the present disclosure further provides a data transmission method, which is applied to the controller according to any embodiment of the present disclosure, and the method includes:

a communication CPU in the controller receives configuration information from an upper computer;

the communication CPU forwards the configuration information to an operation CPU in the controller;

the operation CPU determines a communication task according to the configuration information and issues communication configuration information corresponding to the communication task to the communication CPU;

the communication CPU configures the communication parameters of the communication CPU according to the communication configuration information;

wherein the communication task comprises at least one of the following attributes:

control object, control instruction, information reporting object, information content reporting and control interval;

the communication configuration information includes at least one of:

communication time setting parameters, communication message priority and application layer protocol.

Other aspects will be apparent upon reading and understanding the attached drawings and detailed description.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic diagram of a controller according to an embodiment of the disclosure;

FIG. 2 is a schematic diagram of another controller according to an embodiment of the disclosure;

FIG. 3 is a schematic diagram of another controller according to an embodiment of the disclosure;

FIG. 4 is a schematic structural diagram of another controller according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of another controller according to an embodiment of the disclosure;

FIG. 6 is a schematic structural diagram of another controller according to an embodiment of the present disclosure;

FIG. 7 is a schematic diagram of another controller according to an embodiment of the disclosure;

FIG. 8 is a schematic diagram of an industrial control system according to an embodiment of the disclosure;

FIG. 9 is a schematic block diagram of another industrial control system in accordance with an embodiment of the present disclosure;

fig. 10 is a flowchart of a data transmission method in an embodiment of the disclosure.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

In order to effectively improve the high certainty of data transmission in the industrial control system, the embodiment of the present disclosure provides a controller, which is applied to the industrial control system, as shown in fig. 1, including,

an operation central processing unit CPU101, a communication central processing unit CPU102, a field programmable gate array FPGA module 103 and a data transmission interface module 104;

the operation CPU101 is configured to execute configuration information analysis and/or execute a control operation program;

the communication CPU102 is configured to implement a communication protocol stack;

the FPGA module 103 is configured to implement Media Access Control (MAC) layer logic supporting a time-sensitive network TSN interface; the data transmission interface module is also arranged to be controlled to receive and/or send data according to the instruction of the communication CPU 102;

the data transmission interface module 104 is configured to enable access of an external device.

In some exemplary embodiments, the external device includes at least one of:

host computer, other controllers and controlled equipment.

The controlled device is also called an instrument device, and refers to various field industrial devices in an industrial control system, namely, a controlled \ managed object in the industrial control system, and comprises an input device, also called an acquisition device, wherein the device is controlled by a controller to acquire field data, such as acquisition pressure, temperature, a switch state value, video, image and other field data; the device also comprises an output device which is controlled by the controller to execute output information or control instructions, such as opening a control switch; other types of devices in an industrial control system are also included and are not limited to the above examples.

It should be noted that, in the embodiment of the present disclosure, controlling "control" in the controlled device in the industrial control system not only refers to issuing and executing a control command, but also includes data acquisition and reporting, device diagnosis, and the like, which generally refers to data interaction and control actions in the industrial control field. Various logic modules described in the embodiments of the present disclosure adopt a hardware description language to implement related function modules, such as a first interface logic, a second interface logic, a first TSN MAC logic, a second TSN MAC logic, a data exchange and configuration management logic, a protocol stack call function interface logic, and the like.

In some exemplary embodiments, as shown in fig. 2, 3 and 4, the communication CPU102 includes: an FPGA driver module 1021, a transport/network layer protocol stack 1022, and an application layer protocol stack 1023;

the application layer protocol stack 1023 is used for interacting with the operation CPU101 and providing an application layer data communication interface;

the transport/network layer protocol stack 1022 is configured to interact with the application layer protocol stack 1023 to provide a transport/network layer data communication interface;

the FPGA driving module 1021 includes: a first interface logic 10211, a second interface logic 10212, and a protocol stack call function interface logic 10213;

the first interface logic 10211 is configured to manage the MAC layer logic in the FPGA module 103;

the second interface logic 10212 is used for interacting with the FPGA module 103 to realize data communication with an external device;

the protocol stack calls function interface logic 10213 to provide API interface functions to the transport/network layer protocol stack 1022.

In some exemplary embodiments, the application layer protocol stack 1023 supports at least one of the following application layer protocols: modbus protocol, OPCUA protocol. Optionally, other application layer protocols may also be supported, not limited to the aspects of the examples of embodiments of the present disclosure.

In some demonstrative embodiments, transport/network layer protocol stack 1022 may support at least one of the following transport layer or network layer protocols: TCP/IP Protocol (Transmission Control Protocol/Internet Protocol ), UDP Protocol (User Datagram Protocol). Optionally, other transport/network layers may also be supported, not limited to the aspects of the examples of embodiments of the present disclosure.

The Modbus protocol is a serial communication protocol, and was published in 1979 by Modicon corporation (now Schneider Electric) for communication using a Programmable Logic Controller (PLC). Modbus has become an industry standard (De factor) for industrial field communication protocols and is now a common connection between industrial electronic devices. The OPC Architecture (OLE for Process Control Architecture) is a technical solution created by the OPC Foundation (OPC Foundation), is safer, more reliable, and more neutral (independent of the supplier), and is a solution for transmitting raw data and pre-processed information to a production planning or Enterprise Resource Planning (ERP) system in the manufacturing site. The opua protocol is an important communication protocol in industry 4.0, and is a set of application layer protocols for implementing a new generation of OPC standards. Application layer communication protocols such as OPCUA and Modbus realize the encapsulation and sending of transmission messages by calling a TCP/IP protocol stack, thereby realizing the transmission of Modbus-TCP and OPCUA protocols in a high-certainty network.

In some exemplary embodiments, the transport/Network layer protocol stack 1022 is a TCP/IP protocol stack, and implements grouping of TCP packets by setting and transceiving via a Virtual Local Area Network (VLAN) that supports packets.

In some exemplary embodiments, the first Interface logic 10211 implements a low-speed Interface for low-speed data transmission between the communication CPU102 and the FPGA module 103, for example, a QSPI (Queued Serial Peripheral Interface, Queued SPI, also referred to as 6-wire SPI) signal, an interrupt signal, and/or a GPIO (General-purpose input/output) signal, and the first Interface logic 10211 is configured to manage the MAC layer logic in the FPGA module 103.

In some exemplary embodiments, the second interface logic 10212 implements a high speed interface for high speed data transfer between the communication CPU102 and the FPGA module 103 for data communication between the controller and external devices. In some example embodiments, the second Interface logic 10212 implements an RGMII Interface (Reduced Gigabit Media Independent Interface).

In some example embodiments, the protocol stack call function interface logic 10213 provides API interface functions called by upper layer protocol stack code.

In some exemplary embodiments, as shown in fig. 3, the communication CPU102 further includes: an arithmetic CPU interface module 1024;

the operation CPU interface module 1024 is configured to provide a data interaction interface between the application layer protocol stack 1023 and the operation CPU 101; the FPGA driving module 1021 and the operation CPU101 are also arranged to provide a data interaction interface.

In some exemplary embodiments, the FPGA driving module 1021 further includes a network configuration logic 10214, and the FPGA driving module 1021 interacts with the operation CPU interface module 1024 through the network configuration logic 10214 to obtain the communication configuration information.

In some exemplary embodiments, the operation CPU interface module 1024 includes a PCIe interface and PCIe interface logic, and the communication CPU102 performs high-speed communication with the operation CPU through the PCIe interface logic to provide a data interaction interface for the application layer protocol stack 1023 and the FPGA driver module 1021.

In some exemplary embodiments, as shown in fig. 4, the communication CPU102 further includes: an operating system 1025. In some exemplary embodiments, the operating system 1025 is a Linux OS. Alternatively, other operating systems may be employed, not limited to the aspects of the examples of embodiments of the present disclosure.

In some exemplary embodiments, as shown in fig. 5, the FPGA module 103 includes: a first TSN MAC logic 1031, a second TSN MAC logic 1032, and a data exchange and configuration management logic 1033;

the first TSN MAC logic 1031 is a TSN-capable MAC logic for interacting with the second interface logic 10212 of the FPGA driving module 1021 in the communication CPU102 to implement communication with the communication CPU 102;

the second TSN MAC logic 1032 is a MAC logic for interacting with the data transmission interface module 104 to implement TSN support for communication with an external device;

the data exchange and management logic 1033 is configured to interact with the first interface logic 10211 of the FPGA driving module 1021 in the communication CPU102 to obtain configuration management data from the communication CPU102, and is further configured to configure and manage the first TSN MAC logic 1031 and the second TSN MAC logic 1032.

In some exemplary embodiments, the configuration management data from the communications CPU102 includes: configuration management data for configuring or managing the first TSN MAC logic 1031; further comprising: configuration management data for configuring or managing the second TSN MAC logic 1032. The data exchange and management logic 1033 may perform configuration management on the first TSN MAC logic 1031 and/or the second TSN MAC logic 1032 according to the configuration management data.

In some example embodiments, the first TSN MAC logic 1031 and the second TSN MAC logic 1032 each implement a TSN standard such as ieee802.1as, ieee802.1qbv, and/or ieee802.1qbu.

It should be noted that the second TSN MAC logic 1032 is configured to perform high-speed reliable data transmission with the data transmission interface module 104. The first TSN MAC logic 1031 is used for high-speed reliable data transmission with the communication CPU 102.

In some exemplary embodiments, the second TSN MAC logic 1032 implements a TSN MAC logic corresponding to the two-wire ethernet interface, and completes service data communication with an external two-wire ethernet device.

In some exemplary embodiments, the second TSN MAC logic 1032 implements a TSN MAC logic corresponding to a gigabit ethernet interface, and completes traffic data communication with an external gigabit ethernet device.

In some exemplary embodiments, the FPGA module 103 includes 2 second TSN MAC logics 1032, where one second TSN MAC logic 1032 implements a TSN MAC logic corresponding to a two-wire ethernet interface to complete service data communication with an external two-wire ethernet device; another second TSN MAC logic 1032 implements a TSN MAC logic corresponding to the gigabit ethernet interface to complete service data communication with an external gigabit ethernet device.

Optionally, the FPGA module 103 may further include more second TSN MAC logics 1032, which respectively implement TSN MAC logics corresponding to a two-wire ethernet interface or TSN MAC logics corresponding to a gigabit ethernet interface.

In some exemplary embodiments, the first TSN MAC logic 1031 implements an RGMII interface to interact with the communication CPU102 to complete traffic data communication with the communication CPU 102.

In some exemplary embodiments, the data exchange and management logic 1033 is configured for low speed data transfer with the communications CPU102 to obtain configuration management data, e.g., for transmitting QSPI signals, interrupt signals, and/or GPIO signals, etc.

In some exemplary embodiments, the data exchange and management logic 1033 is further configured to perform one or more of the following functions:

time synchronization, traffic priority setting, traffic scheduling, and frame snapping.

In some exemplary embodiments, the time synchronization function includes at least one of the following sub-functions:

IEEE 1588PTP clocks, receive and transmit timestamps over ethernet frames, optimal master clock selection, path delay measurement.

In some exemplary embodiments, the traffic prioritization function comprises: dividing the Ethernet data traffic into different types, and setting transmission priority for each type; this function is the basis for subsequent traffic scheduling and frame snapping.

In some exemplary embodiments, the traffic scheduling function comprises: and a gate control switch mechanism based on accurate time is adopted, and the flow queues can be scheduled only when the transmission gate is opened. To ensure low jitter. In some exemplary embodiments, Time Aware Shaper (TAS) based gating techniques assign specific time slots to critical data with higher priority and preferentially ensure transmission of important data frames within a specified time node. The traffic scheduling function of the data exchange and management logic 1033 controls the opening and closing of the transmission gates according to the gate control list in the communication configuration data.

In some exemplary embodiments, the frame snapping function comprises: the high-priority flow interrupts the transmission of the low-priority flow to perform preemption transmission; and the low-priority traffic (message) with interrupted transmission is not discarded, and the transmission is continued after the transmission of the high-priority traffic is finished. Namely, the traffic communication with high priority is not influenced by the traffic communication with low priority, and the time delay is reduced.

In some exemplary embodiments, as shown in fig. 6, the data transmission interface module 104 includes at least one of the following sub-modules:

a two-wire ethernet interface sub-module 1041, a gigabit ethernet interface sub-module 1042;

the two-wire ethernet interface submodule 1041 includes a two-wire physical layer PHY chip 10411, and the two-wire ethernet interface submodule 1041 is configured to support and satisfy the requirement

Accessing the meter equipment of the 802.3cgTM standard;

the gigabit ethernet interface sub-module 1042 includes a gigabit ethernet physical layer PHY chip 10421, and the gigabit ethernet interface sub-module 10421 is configured to support access of a gigabit ethernet interface device.

In some exemplary embodiments, the data transmission interface module 104 further includes: a configuration data interface submodule 1043; the configuration data interface sub-module 1043 includes an ethernet physical layer PHY chip 10431, and the configuration data interface sub-module 1043 is configured to provide web debugging and configuration functions, so as to configure and debug the relevant parameters of the controller, thereby facilitating the field debugging of the controller.

In some example embodiments, the ethernet physical layer PHY chip 10431 is a gigabit ethernet physical layer PHY chip.

In some exemplary embodiments, as shown in fig. 7, the data transmission interface module 104 includes: a two-wire ethernet interface submodule 1041, two gigabit ethernet interface submodules 1042, and a configuration data interface submodule 1043. Wherein, the two-wire system Ethernet interface sub-module 1041 is used for access satisfaction

802.3cgTM standard instrumentation; the first gigabit ethernet interface sub-module 1042-1 is used for accessing an upper computer to acquire configuration data or report the configuration data; the second gigabit ethernet interface submodule 1042-2 is configured to access another controller to forward or receive data to be forwarded. Alternatively, the first gigabit ethernet interface submodule 1042-1 is configured to access another controller 1, and the second gigabit ethernet interface submodule 1042-2 is configured to access another controller 2. Or, the first gigabit ethernet interface submodule 1042-1 is configured to access another controller 1, and the second gigabit ethernet interface submodule 1042-2 is configured to access a controlled device of the gigabit ethernet interface.

It should be noted that, each controller determines the interface sub-module included in the data transmission interface module 104 according to the external device that needs to be accessed, and is not limited to the aspect described in the embodiment of the present disclosure. Accordingly, the second TSN MAC logic 1032 in the FPGA module 103 corresponds to each interface sub-module in the data transmission interface module 104.

It can be seen that, in the controller provided in the embodiments of the present disclosure, the controller includes an arithmetic CPU and a communication CPU, and data interaction is performed between the arithmetic CPU and the communication CPU through a high-speed interface. Configuration information analysis and execution control operation programs are completed in an operation CPU of the controller so as to complete input of field control data, logic operation and control data output, and the operation content is equivalent to that of the traditional industrial controller; the communication CPU is focused on the related functions of the communication protocol stack; the PFGA module realizes the MAC layer logic corresponding to the multiple network interfaces, supports the TSN standard, is controlled by the communication CPU to be matched with the PHY chip in the data transmission interface module, and realizes high-determination data receiving and transmitting.

An industrial control system is further provided in the embodiments of the present disclosure, as shown in fig. 8, including an upper computer 801 and a plurality of controllers 802;

a first controller 802-1 of the plurality of controllers 802 is configured to communicate with the upper computer 801 through a data transmission interface module; the data transmission interface module is also set to communicate 802-i with other controllers; the data transmission interface module is also used for communicating with the controlled equipment 803;

the other controllers 802-i of the plurality of controllers, other than the first controller, are configured to communicate 802 with the other controllers via the data transfer interface module; is also arranged to communicate with the controlled device 803 through the data transmission interface module;

the host computer 801 and the plurality of controllers 802 form a daisy chain topology.

It should be noted that fig. 8 is a schematic diagram of an industrial control system, which only shows a part of controlled devices controlled by the controllers 802-i, 802-N; one controller only embodies one controlled device. When the scheme provided by the embodiment of the present disclosure is implemented, each controller in the system may control one or more controlled devices of the same type or different types, which is not limited to the aspect of the example of the present disclosure.

The embodiment of the present disclosure further provides an industrial control system, as shown in fig. 9, the upper computer and the N controllers form a daisy chain topology structure, the controller 1 is connected to the upper computer and the controller 2, the controller N is connected to the controller N-1, and the industrial control system is further connected to a two-wire ethernet device and a gigabit ethernet device.

Accordingly, the data transmission interface module in the controller N as shown in fig. 9 at least includes 3 sub-interface modules: the two-wire system Ethernet interface sub-module is connected with two-wire system Ethernet equipment; one of the two gigabit Ethernet interface sub-modules is connected with the controller N-1, and the other is connected with gigabit Ethernet equipment.

It can be seen that the industrial control system provided in the embodiment of the present disclosure uses a controller supporting a TSN as a core, and adopts a daisy chain networking manner, so that on the basis of ensuring high-certainty data transmission, network switches can be greatly reduced, external network connection is simplified, the complexity of a communication circuit and the overhead of communication software of the industrial controller are reduced, the controller can concentrate more precious resources on control logic operation, and the reliability of industrial control is improved.

An embodiment of the present disclosure further provides a data transmission method, which is applied to the controller according to any embodiment of the present disclosure, as shown in fig. 10, and includes:

1001, a communication CPU in a controller receives configuration information from an upper computer;

step 1002, the communication CPU forwards the configuration information to an operation CPU in the controller;

step 1003, the operation CPU determines a communication task according to the configuration information and issues communication configuration information corresponding to the communication task to the communication CPU;

and 1004, configuring the communication parameters of the communication CPU according to the communication configuration information.

the communication configuration information includes at least one of:

It can be seen that the operation CPU determines the communication tasks corresponding to the control functions to be executed by the operation CPU according to the configuration information, issues the communication configuration information corresponding to the communication tasks to the communication CPU, and the communication CPU configures the communication parameters of the operation CPU according to the communication configuration information. And in the subsequent operation process, the operation CPU controls the communication CPU to communicate with external controlled equipment or an upper computer according to the configured communication parameters so as to complete the control task.

In some exemplary embodiments, the method further comprises:

step 1005, the operation CPU determines a forwarding strategy according to the configuration information and issues the forwarding strategy to the communication CPU;

and the forwarding strategy is used for controlling the communication CPU to forward data to other controllers or upper computers.

In some exemplary embodiments, the configuration information defines the packet and priority of the data to be forwarded by the controller, and the arithmetic CPU determines the forwarding policy according to the content: and the data packet identifier and the corresponding priority to be forwarded send the forwarding strategy to the communication CPU. And in the subsequent data processing process, the communication CPU forwards the grouped data corresponding to the data grouping identification defined by the forwarding strategy according to the forwarding strategy, and in the forwarding process, when the data with high priority comes together with the data with low priority, the communication CPU forwards the data with high priority preferentially.

It can be seen that, according to the above step 1001-.

The industrial control network constructed by the controller provided by the embodiment of the disclosure adopts a daisy chain networking mode, and the controller needs to forward data from other controllers to an upper computer or forward data from the upper computer or a second other controller to a first other controller besides realizing the control function of the controller. And determining a forwarding strategy corresponding to the controller according to the configuration information sent by the upper computer. And issuing a forwarding strategy to the communication CPU, and after the subsequent communication CPU receives the related data, forwarding the data according to the forwarding strategy without submitting the data to the operation CPU. Therefore, the data forwarding efficiency can be improved.

In some exemplary embodiments, there is also provided a data transmission method, including:

and when the control task execution condition is met, the operation CPU controls the communication CPU to execute the communication task to interact with an upper computer and/or controlled equipment so as to complete the control task.

Wherein, satisfying the control task execution condition at least comprises one of the following:

the set control interval is reached;

the set control task time point is reached;

a set triggering event occurs.

From the above examples, those skilled in the art can know other situations that satisfy the control task execution condition, and are not limited to the aspects of the examples of the embodiments of the present disclosure.

and receiving data, and the communication CPU forwards the data to other controllers or upper computers according to the forwarding strategy.

According to the data transmission method, the controller provided by the embodiment of the disclosure adopts a structure of an operation CPU + a communication CPU + an FPGA module + a data transmission interface module, so that the operation CPU is ensured to be dedicated to analyzing configuration information and executing a control operation program, the communication CPU is dedicated to a communication protocol stack, the FPGA module is matched with the data transmission interface module, and is adapted to external devices to be accessed by each controller to realize an MAC logic supporting the TSN standard, so that high reliability of data transmission in an industrial control network is ensured, the operation CPU, the parallel processing of the communication CPU and the FPGA module are realized, and the processing efficiency of the controller is remarkably improved. The daisy chain networking architecture taking the controller as the core reduces the network complexity, reduces the communication processing overhead of the industrial controller and further improves the reliability of the whole industrial control system.

It will be understood by those of ordinary skill in the art that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed by several physical components in cooperation. Some or all of the components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A controller applied to an industrial control system is characterized by comprising:

the communication CPU is set to realize a communication protocol stack;

2. The controller of claim 1,

the communication CPU includes: the FPGA driver module, the transmission/network layer protocol stack and the application layer protocol stack;

the application layer protocol stack is used for interacting with the operation CPU and providing an application layer data communication interface;

the transmission/network layer protocol stack is used for interacting with the application layer protocol stack and providing a data communication interface of the transmission/network layer;

the FPGA driving module comprises: the first interface logic, the second interface logic and the protocol stack call function interface logic;

the first interface logic is used for configuring and managing MAC layer logic in the FPGA module;

the second interface logic is used for realizing data communication with external equipment by interacting with the FPGA module;

the protocol stack calls functional interface logic to provide an API interface function to the transport/network layer protocol stack.

3. The controller of claim 2,

the communication CPU further includes: an operation CPU interface module;

the operation CPU interface module is set to provide a data interaction interface between the application layer protocol stack and the operation CPU; and the data interaction interface between the FPGA driving module and the operation CPU is also provided.

4. The controller of claim 1,

the FPGA module comprises: the system comprises a first TSN MAC logic, a second TSN MAC logic and a data exchange and configuration management logic;

the first TSN MAC logic is TSN-supporting MAC logic used for realizing communication with a communication CPU through interaction with second interface logic of an FPGA driving module in the communication CPU;

the second TSN MAC logic is TSN-supported MAC logic used for realizing communication with external equipment in an interactive mode with the data transmission interface module;

the data exchange and management logic is used for interacting with a first interface logic of an FPGA driving module in the communication CPU to acquire configuration management data from the communication CPU, and is also used for configuring and managing the first TSN MAC logic and the second TSN MAC logic.

5. The controller of claim 1,

the data transmission interface module at least comprises one of the following sub-modules:

a two-wire system Ethernet interface sub-module and a gigabit Ethernet interface sub-module;

the two-wire system Ethernet interface submodule comprises a two-wire system physical layer PHY chip and is used for supporting and meeting the requirement

Accessing the meter equipment of the 802.3cgTM standard;

the gigabit Ethernet interface sub-module comprises a gigabit Ethernet physical layer (PHY) chip and is used for supporting the access of gigabit Ethernet interface equipment.

6. The controller of claim 2,

the application layer protocol stack supports at least one of the following application layer protocols:

modbus protocol, OPCUA protocol;

the transport/network layer protocol stack supports at least one of the following transport layer or network layer protocols:

TCP/IP protocol, UDP protocol.

7. An industrial control system, comprising:

an upper computer and a plurality of controllers as claimed in any one of claims 1 to 6;

8. A data transmission method applied to the controller according to any one of claims 1 to 6, comprising:

the communication configuration information includes at least one of:

9. The method of claim 8,

the method further comprises the following steps:

the operation CPU determines a forwarding strategy according to the configuration information and issues the forwarding strategy to the communication CPU;

10. The method of claim 9,

the method further comprises the following steps:

when the control task execution condition is met, the operation CPU controls the communication CPU to execute the communication task to interact with an upper computer and/or controlled equipment so as to complete the control task;

alternatively, the first and second electrodes may be,