CN116249195A - Cooperative control-based data communication method and system - Google Patents

Cooperative control-based data communication method and system Download PDF

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Publication number
CN116249195A
CN116249195A CN202211630945.2A CN202211630945A CN116249195A CN 116249195 A CN116249195 A CN 116249195A CN 202211630945 A CN202211630945 A CN 202211630945A CN 116249195 A CN116249195 A CN 116249195A
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China
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control terminal
service
slave control
current
slave
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黄培光
杜宪宇
董志飞
陈智超
李明慧
王筱
闫帅
包阔
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Shangfei Intelligent Technology Co ltd
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Shanghai Aircraft Manufacturing Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • H04W56/001—Synchronization between nodes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J3/00—Time-division multiplex systems
    • H04J3/02—Details
    • H04J3/06—Synchronising arrangements
    • H04J3/0635—Clock or time synchronisation in a network
    • H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention discloses a data communication method and system based on cooperative control. The method comprises the following steps: determining that a pre-scheduling result between the master control terminal and each slave control terminal meets the condition of a preset standard through an application scheduler, and transmitting a service control period calculated based on the network state of a current service network and the communication service interaction condition between the master control terminal and each slave control terminal to the master control terminal; generating appointed execution time of the slave control terminal based on a service control period and the current system time of the master control terminal through the master control terminal, and transmitting a control instruction service message which is generated based on the current service requirement and contains the appointed execution time of the slave control terminal to each slave control terminal in a redundant data transmission mode; and the current service requirement is realized by each slave control terminal according to the appointed execution time of the slave control terminal in the control instruction service message. By the technical scheme, the wireless transmission jitter influence can be reduced, and the time certainty of cooperative control is improved.

Description

Cooperative control-based data communication method and system
Technical Field
The invention relates to the technical field of industrial wireless control, in particular to a data communication method and system based on cooperative control.
Background
In the implementation process of the industrial real-time cooperative control service, a plurality of industrial terminals are generally required to work cooperatively in a networking way, and according to the control instruction of the main control terminal, a plurality of slave control terminals synchronously execute the instruction at a designated moment, so that the transmission delay and jitter requirements of the control instruction initiated by the main control terminal are higher in order to ensure the implementation efficiency of the cooperative control service.
Because the existing fifth generation (5th Generation,5G) network is affected by the uncertainty of wireless air interface transmission, the transmission delay and jitter from the master control terminal to the slave control terminal are difficult to accurately control. So that the typical application of the current 5G network technology in the industrial field is still focused on large bandwidth applications such as visual detection and augmented Reality (AR/VR), and remote control with low requirement on real-time synchronism, but cannot be directly applied to industrial wireless real-time cooperative control. Therefore, how to reduce the wireless transmission jitter influence of the 5G network, improve the time certainty of cooperative control and reduce the transmission delay is a problem to be solved in the industrial wireless real-time cooperative control process.
Disclosure of Invention
The invention provides a data communication method and a data communication system based on cooperative control, which can reduce the influence of wireless transmission jitter and improve the time certainty of cooperative control.
According to an aspect of the present invention, there is provided a cooperative control-based data communication method including:
determining that a pre-scheduling result between a master control terminal and each slave control terminal meets the condition of a preset standard through an application scheduler, calculating a service control period based on the network state of a current service network and the communication service interaction condition between the master control terminal and each slave control terminal, and transmitting the service control period to the master control terminal;
receiving the service control period through a master control terminal, generating a designated execution time of a slave control terminal based on the service control period and the current master control terminal system time, generating a control instruction service message containing the designated execution time of the slave control terminal based on the current service demand, and transmitting the control instruction service message to each slave control terminal in a redundant data transmission mode;
and receiving the control instruction service message through each slave control terminal, and realizing the current service requirement according to the appointed execution time of the slave control terminal contained in the control instruction service message.
According to another aspect of the present invention, there is provided a cooperative control-based data communication system including:
The application orchestrator is used for determining that the preadjusting result between the master control terminal and each slave control terminal meets the condition of a preset standard, calculating a service control period based on the network state of the current service network and the communication service interaction condition between the master control terminal and each slave control terminal, and issuing the service control period to the master control terminal;
the main control terminal is used for receiving the service control period, generating a designated execution time of the slave control terminal based on the service control period and the current main control terminal system time, generating a control instruction service message containing the designated execution time of the slave control terminal based on the current service requirement, and transmitting the control instruction service message to each slave control terminal in a redundant data transmission mode;
the slave control terminal is used for receiving the control instruction service message and realizing the current service requirement according to the appointed execution time of the slave control terminal contained in the control instruction service message.
According to the technical scheme, an application orchestrator is used for determining that a preset orchestration result between a master control terminal and each slave control terminal meets the condition of a preset standard, calculating a service control period based on the network state of a current service network and the communication service interaction condition between the master control terminal and each slave control terminal, and issuing the service control period to the master control terminal; receiving a service control period through a master control terminal, generating a designated execution time of a slave control terminal based on the service control period and the current master control terminal system time, generating a control instruction service message containing the designated execution time of the slave control terminal based on the current service requirement, and transmitting the control instruction service message to each slave control terminal in a redundant data transmission mode; the slave control terminals receive the control instruction service message, and the current service requirement is realized according to the appointed execution time of the slave control terminals contained in the control instruction service message, so that the problems of transmission delay and jitter existing when the wireless network is utilized to transmit the instruction are solved, the jitter influence of wireless transmission can be reduced, and the time certainty of cooperative control is improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a data communication method based on cooperative control according to a first embodiment of the present invention;
fig. 2 is a flowchart of a data communication method based on cooperative control according to a second embodiment of the present invention;
FIG. 3 is a flow chart of an alternative cooperative control-based data communication method according to a second embodiment of the present invention;
FIG. 4 is a flow chart of a cooperative control-based instruction transmission according to a second embodiment of the present invention;
fig. 5 is a schematic structural diagram of a data communication device based on cooperative control according to a third embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "preset," "current," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a cooperative control-based data communication method according to an embodiment of the present invention, where the present embodiment is applicable to reducing transmission delay and jitter existing in a wireless network, and the method may be performed by a cooperative control-based data communication system, and the cooperative control-based data communication system may be implemented in a form of hardware and/or software. As shown in fig. 1, the method includes:
s110, determining that a pre-scheduling arrangement result between the master control terminal and each slave control terminal meets the condition of a preset standard through an application scheduler, calculating a service control period based on the network state of a current service network and the communication service interaction condition between the master control terminal and each slave control terminal, and transmitting the service control period to the master control terminal.
The application orchestrator may refer to a device that performs scheduling on a communication process between a master control terminal and a slave control terminal, and combines service characteristics with an actual state of a network according to scheduling results. The main control terminal may refer to a terminal that initiates a service requirement. The slave control terminal may refer to a terminal that performs a service requirement. It should be noted that, in the embodiment of the present invention, the number of slave control terminals corresponding to the same master control terminal is not limited. The current service network may refer to a network used when the master control terminal communicates with the slave control terminals. In the embodiment of the present invention, the current service network may be a 5G network.
The pre-scheduling orchestration result may refer to a result that the application orchestrator orchestrates by pre-orchestrating the network state of the current traffic network with the traffic flow between the master control terminal and the slave control terminal. The preset criterion may refer to a preset condition for determining the pre-scheduling arrangement result. For example, the condition that the communication traffic flow between the master control terminal and the slave control terminal is normally performed in the current traffic network may be mentioned. The communication service interaction condition may refer to a condition when the master control terminal and the slave control terminal perform data communication in the current service network. For example, it may be the actual situation of the current service network. The service control period may refer to a time when service data is delayed to be transmitted in the current service network. Which is typically obtained from the propagation delay of the current traffic network.
In an alternative embodiment, determining, by the application orchestrator, that the pre-scheduling orchestration result between the master control terminal and each slave control terminal meets the conditions of the preset criteria comprises: scheduling communication services between a master control terminal and each slave control terminal through an application scheduler, generating a pre-scheduling result, and determining that the pre-scheduling result meets a preset standard when the pre-scheduling result is normally executed. Specifically, firstly, registering communication service with an application orchestrator by a master control terminal and each slave control terminal, and reporting identity of each terminal, namely, the master control terminal or the slave control terminal, the number of periodic service flows, an address and a port of a source inter-network protocol (Internet Protocol, IP), a protocol, an IP address and a port of a destination port, a service data transmission period, a data packet size, a time delay and an expected task starting time; and the application orchestrator counts the service flow generated when the master control terminal and each slave control terminal interact, judges whether the communication service between the master control terminal and each slave control terminal can be successfully realized in the current service network according to the network state of the current service network, issues the judging result to the master control terminal and each slave control terminal as a pre-scheduling orchestration result, and determines that the pre-scheduling orchestration result meets the preset standard when the pre-scheduling orchestration result is that the pre-scheduling orchestration result can be normally executed in the current service network.
On the basis of the above example, when the pre-scheduling result meets the condition of the preset standard, the application scheduler may also issue the pre-scheduling result to the current service network, so that the current service network may allocate network parameters for the service flows between the master control terminal and each slave control terminal when the service data is transmitted, and reduce the transmission delay.
S120, receiving the service control period through the master control terminal, generating a designated execution time of the slave control terminal based on the service control period and the current master control terminal system time, generating a control instruction service message containing the designated execution time of the slave control terminal based on the current service requirement, and transmitting the control instruction service message to each slave control terminal in a redundant data transmission mode.
The current system time of the main control terminal may refer to the current system time of the main control terminal. The slave control terminal specifying the execution time may refer to the time when the master control terminal wishes the slave control terminal to fulfill the current service requirement. The current traffic demand may refer to a traffic that the master control terminal wishes to implement from the control terminal. For example, corresponding execution operations may be included. Specifically, if the main control terminal is computer equipment in the field of aircraft manufacturing, the slave control terminal is a jacking device, and the current service requirement can be action measures required by each jacking device when the aircraft wings are in butt joint. The control instruction service message may refer to a message including the current service requirement and the execution time specified by the slave control terminal, so that the slave control terminal can complete the current service requirement at the execution time specified by the slave control terminal according to the control instruction service message.
Specifically, after receiving the service control period, the master control terminal can obtain the current service requirement to be completed by the slave control terminal according to the scheduling schedule, further, the designated execution time of the slave control terminal is generated by combining the service control period and the current master control terminal system time, and a control instruction service message containing the designated execution time of the slave control terminal and the current service requirement is generated and issued to each slave control terminal, so that each slave control terminal can receive a consistent control instruction, and the cooperative control service is realized. Therefore, the service control period is added in the appointed execution time of the control terminal, so that the transmission delay existing when the current service network transmits the instruction can be reduced, and the timeliness of the cooperative control service is improved. Meanwhile, the jitter influence existing when the current service network transmits the instruction can be reduced by a redundant data transmission mode, the reliability of air interface transmission is improved, and the integrity of the control instruction service message is ensured.
It is noted that the master control terminal transmits the control command service message to each slave control terminal at the same time point in a manner of redundant data transmission. Specifically, if the master control terminal is a computer device, the slave control terminal is a jacking device, and the current service requirement is an action measure required to be taken by each jacking device when the aircraft wing is in butt joint, the master control terminal can send the action measure required to be taken by each jacking device and the appointed execution time to each slave control terminal participating in the aircraft wing butt joint task at the set time point, so that the cooperative control service is realized.
S130, receiving the control instruction service message through each slave control terminal, and realizing the current service requirement according to the appointed execution time of the slave control terminal contained in the control instruction service message.
Specifically, after receiving the control instruction service message, each slave control terminal can analyze and obtain the appointed execution time and the current service requirement of the slave control terminal contained in the control instruction service message, and further execute the operation corresponding to the current service requirement at the appointed execution time of the slave control terminal, so as to realize the current service requirement.
In an optional implementation manner, the current service requirement is realized by each slave control terminal according to the execution time designated by the slave control terminal and included in the control instruction service message, which includes: judging whether the appointed execution time of the slave control terminal lags behind the current system time of the slave control terminal or not by analyzing the appointed execution time of the slave control terminal and the current service requirement contained in the control instruction service message by each slave control terminal; and when the appointed execution time of each slave control terminal is delayed from the current slave control terminal system time, each slave control terminal data-buffers the current service demand until the current slave control terminal system time reaches the appointed execution time of the slave control terminal, so as to realize the current service demand.
The current slave control terminal system time may refer to the current system time of the slave control terminal. Specifically, after the control instruction service message is acquired from the control terminal, the control instruction service message is analyzed, the appointed execution time of the slave control terminal and the current service requirement in the control instruction service message are acquired, further, the appointed execution time of the slave control terminal is compared with the current slave control terminal system time, whether the appointed execution time of the slave control terminal is behind the current slave control terminal system time or not is judged, if yes, the current service requirement is cached until the current slave control terminal system time reaches the appointed execution time of the slave control terminal, and the operation corresponding to the current service requirement is executed, so that the current service requirement is realized; otherwise, if not, discarding the control instruction service message, and not executing the current service requirement in the control instruction service message. Therefore, accurate time service of each slave control terminal can be realized, and the time certainty of cooperative control is ensured.
According to the technical scheme, an application orchestrator is used for determining that a preset orchestration result between a master control terminal and each slave control terminal meets the condition of a preset standard, calculating a service control period based on the network state of a current service network and the communication service interaction condition between the master control terminal and each slave control terminal, and issuing the service control period to the master control terminal; receiving a service control period through a master control terminal, generating a designated execution time of a slave control terminal based on the service control period and the current master control terminal system time, generating a control instruction service message containing the designated execution time of the slave control terminal based on the current service requirement, and transmitting the control instruction service message to each slave control terminal in a redundant data transmission mode; the slave control terminals receive the control instruction service message, and the current service requirement is realized according to the appointed execution time of the slave control terminals contained in the control instruction service message, so that the problems of transmission delay and jitter existing when the wireless network is utilized to transmit the instruction are solved, the jitter influence of wireless transmission can be reduced, and the time certainty of cooperative control is improved.
On the basis of the above embodiment, after implementing the current service requirement by each slave control terminal according to the execution time specified by the slave control terminal included in the control instruction service message, the method further includes: and generating an execution status message by the slave control terminal according to the execution condition of the current service demand, and feeding back the execution status message to the master control terminal, so that the master control terminal adjusts the current service demand according to the execution status message.
The execution status message may refer to a message including status information when the control terminal executes an operation corresponding to the current service requirement. For example, the status information of the service message of the receiving control instruction may be included, and the specific execution status information of the current service requirement may also be included. Specifically, after each slave control terminal executes the operation corresponding to the current service requirement, the execution status message can be sent to the master control terminal, so that the master control terminal timely knows whether the slave control terminal normally receives the control instruction service message within the set time and whether the slave control terminal executes the operation corresponding to the current service requirement at the execution time appointed by the slave control terminal, and further, the master control terminal can adjust the current service requirement according to the execution status message fed back by each slave control terminal, thereby providing an effective basis for cooperative control of the next period.
Example two
Fig. 2 is a flowchart of a data communication method based on cooperative control according to a second embodiment of the present invention, where the embodiment is based on the foregoing embodiment, and specifically in this embodiment, the operation of calculating, by an application orchestrator, a service control period based on a network state of a current service network and a communication service interaction situation between a master control terminal and each slave control terminal may be further detailed, and the method specifically includes: calculating the predicted network transmission delay from the master control terminal to each slave control terminal based on the time slot ratio and the wireless channel quality of the current service network by an application orchestrator; and calculating a service control period by an application orchestrator based on the predicted network transmission delay and the allowance parameter corresponding to the communication service interaction condition. As shown in fig. 2, the method includes:
s210, scheduling communication services between the master control terminal and each slave control terminal through an application scheduler, generating a pre-scheduling result, and determining that the pre-scheduling result meets a preset standard when the pre-scheduling result is normally executed.
In an alternative embodiment, scheduling, by the application scheduler, communication traffic between the master control terminal and each slave control terminal, generating a pre-scheduling result includes: receiving a main control terminal and business application service requests initiated by each slave control terminal through an application orchestrator; the method comprises the steps that an application orchestrator is used for obtaining communication service interaction conditions of a master control terminal and each slave control terminal under a service application service request, and generating a pre-scheduling orchestration result based on network parameters of a current service network; the pre-scheduling arrangement result comprises the result that whether the communication service between the master control terminal and each slave control terminal can be successfully realized in the current service network.
Wherein the business application service request may refer to an access request of the communication business. By way of example, the IP address of the master control terminal, the number of slave control terminals accessed, the IP address of each slave control terminal, the service data transmission period, the size of the service data packet, and the like may be included. Specifically, the master control terminal and each slave control terminal initiate a service application service request to the application orchestrator, and then the application orchestrator counts service flows of the master control terminal and each slave control terminal, compares the service flows with network parameters of the current service network, judges whether the current service network can support communication between the master control terminal and each slave control terminal, and takes a judgment result as a pre-scheduling orchestration result. Therefore, the pre-scheduling arrangement result can be judged by generating the pre-scheduling arrangement result, and effective guarantee is provided for subsequent data communication.
S220, calculating the predicted network transmission delay from the master control terminal to each slave control terminal based on the time slot ratio and the wireless channel quality of the current service network through the application orchestrator.
The time slot ratio may refer to a time slot duty ratio coefficient during uplink and downlink communications. Illustratively, it may be 1:3, 2:2, etc. The wireless channel quality may refer to the channel quality of the current traffic network. Exemplary may include initial block error rate, retransmission time, duplicate redundant transmission interlace delay, and the like. Predicting network transmission delay may refer to the predicted delay in receiving an instruction from the control terminal to the main control terminal.
Specifically, the predicted network transmission delay T may be calculated according to the following formula D ：T D ＝MAX((T SR +T first *(1-B LER )+T redo *B LER +T R ),T DR ) Wherein, predicting network transmission delay T D Is in ms; t (T) SR The response time of the uplink scheduling request can be represented, and the maximum value is usually taken according to the proportion of time slots of a base station, and the unit is ms; t (T) first Can be used forRepresenting the initial transmission time, wherein the unit is ms according to the actual capability of the current service network; b (B) LER The initial transmission block error rate can be represented, and the value is usually taken according to the actual configuration parameters of the current service network; t (T) redo The retransmission time can be represented, and is usually valued according to the actual capability of the current service network, and the unit is ms; t (T) R The duplicate redundant transmission interlace delay time can be represented in ms; t (T) DR The end-to-end transmission delay actually fed back from the control terminal can be represented, the test message is usually executed before the actual task, and the maximum value of the delay is counted, and the unit is ms.
S230, calculating a service control period by an application orchestrator based on the predicted network transmission delay and the allowance parameter corresponding to the communication service interaction condition, and transmitting the service control period to a main control terminal.
The margin parameter may refer to a security margin of the current service network after the communication service interaction is satisfied. It is generally required to determine the actual current service network status parameter and the communication service interaction condition, and is generally not less than 1.25.
Specifically, the traffic control period T may be calculated according to the following formula CTR :T CTR ＝T D *S F Wherein S is F Indicating the margin parameter.
S240, receiving the service control period through the main control terminal, generating a designated execution time of the slave control terminal based on the service control period and the current main control terminal system time, and generating a control instruction service message containing the designated execution time of the slave control terminal based on the current service requirement.
Specifically, the execution time T specified from the control terminal can be calculated by the following formula 2 ：T 2 ＝T 1 +T CTR Wherein T is 1 The current main control terminal system time may be represented.
In an alternative embodiment, before the generating, by the master control terminal, the slave control terminal specified execution time based on the service control period and the current master control terminal system time, the method further comprises: and receiving the base station broadcasting system information and the time advance of the base station cell by the main control terminal, calculating the world unification time of the current service network based on the base station broadcasting system information and the time advance of the base station cell, and adjusting the current main control terminal system time of the main control terminal to the world unification time of the current service network.
Wherein the base station broadcast system Information (SI 9) belongs to other system Information, and carries Information about global positioning system (Global Positioning System, GPS) time and universal time (Universal Time Coordinated, UTC). The Timing Advance (TA) of the base station cell may refer to the Timing Advance that is derived by equalization according to the channel request information received by the base transceiver station (Base Transceiver Station, BTS) on the random access channel (Random Access Channel, RACH). TA is usually 0-63, and the represented time range is 0-233us, which is equivalent to 0-70 km; each increase in TA by 1 means that the distance of the terminal from the base station increases by about 550 meters.
Therefore, the world unified time of the current service network is calculated through the base station broadcasting system information and the time advance of the base station cell, and when the current main control terminal system time of the main control terminal is different from the world unified time, the current main control terminal system time of the main control terminal can be adjusted according to the world unified time, so that the correction of the local time of the main control terminal is realized, and a basis is provided for the follow-up accurate time synchronization.
S250, the control instruction business message is backed up through the main control terminal to generate a backup business message, and the control instruction business message and the backup business message are issued to each slave control terminal in adjacent time slot sequence.
The backup service message may refer to a message generated after the control instruction service message is copied.
Specifically, after the control instruction service message is generated, the main control terminal can copy the control instruction service message for two times within the pre-scheduling time of the base station and then send the control instruction service message to the main control terminal module, then the main control terminal module initiates an uplink scheduling request to the base station to request the two messages to be sent in two adjacent uplink time slots, and after the main control terminal module obtains the authorization of the base station, the main control terminal module sequentially sends the control instruction service message and the backup service message to each slave control terminal in the two adjacent time slots. The base station pre-scheduling time can be sent to the main control terminal when the application orchestrator issues the service control period to the main control terminal, so that the main control terminal definitely controls the sending time of the instruction service message, a scheduling request is not required to be sent to the base station, and the efficiency of cooperative control service is improved.
S260, receiving the control instruction service message and the backup service message through each slave control terminal, performing reselection and receiving on the control instruction service message and the backup service message according to a first-come-later-discard principle, and reconstructing the control instruction service message.
Specifically, after each slave control terminal receives the control instruction service message and the backup service message, the control instruction service message is compared with the content in the backup service message, and the content in the control instruction service message or the backup service message is extracted according to the acquisition time, so that the duplication removal of redundant data is realized, the integrity of the control instruction service message is ensured, the jitter problem existing in the process of transmitting instructions by the current service network is reduced, and the reliability of air interface transmission is improved.
S270, analyzing the appointed execution time of the slave control terminal and the current service requirement contained in the control instruction service message by each slave control terminal, and judging whether the appointed execution time of the slave control terminal lags behind the current system time of the slave control terminal.
In an optional implementation manner, before the receiving, by each slave control terminal, the control instruction service packet, and implementing the current service requirement according to the execution time designated by the slave control terminal included in the control instruction service packet, the method further includes: and calculating the world universal time of the current service network based on the base station broadcasting system information and the time advance of the base station cell by receiving the base station broadcasting system information and the time advance of the base station cell from the control terminal, and adjusting the current slave control terminal system time of the slave control terminal to the world universal time of the current service network.
Specifically, each slave control terminal needs to calculate the world uniform time of the current service network through the base station broadcasting system information and the time advance of the base station cell, and when the current slave control terminal system time of the slave control terminal is different from the world uniform time, the current slave control terminal system time of the slave control terminal can be adjusted according to the world uniform time, so that the local time of the slave control terminal is corrected, the current master control terminal system time is synchronized with the current slave control terminal system time, and the accuracy of time synchronization is improved.
And S280, when the appointed execution time of each slave control terminal lags behind the system time of the current slave control terminal, carrying out data caching on the current service demand until the system time of the current slave control terminal reaches the appointed execution time of the slave control terminal, so as to realize the current service demand.
Notably, the execution time T designated by the slave control terminal is included in the service message of the slave control terminal resolving the control instruction 2 Meanwhile, the time of the main control terminal sending the control instruction service message can be analyzed, namely the corresponding current main control terminal system time T when the main control terminal sends the control instruction service message 1 Therefore, each slave control terminal can receive the control instruction service message and the backup service message according to the current slave control terminal system time T 3 Calculating the transmission delay T of the current service network in real time DR Wherein T is DR ＝T 3 -T 1 And the transmission delay T of the current service network is reduced DR Feedback to the application orchestrator for dynamic adjustment of the real-time cooperative control of the service control period T CTR The problem of transmission delay existing when the current service network transmits the instruction is solved.
According to the technical scheme, the application scheduler schedules communication services between the master control terminal and each slave control terminal to generate a pre-scheduling result, and when the pre-scheduling result is normal execution, the pre-scheduling result is determined to meet a preset standard; calculating the predicted network transmission delay from the master control terminal to each slave control terminal based on the time slot ratio and the wireless channel quality of the current service network by an application orchestrator; calculating a service control period based on the predicted network transmission delay and the allowance parameter corresponding to the communication service interaction condition by an application composer, and transmitting the service control period to a main control terminal; receiving a service control period through a main control terminal, generating a designated execution time of a slave control terminal based on the service control period and the current main control terminal system time, and generating a control instruction service message containing the designated execution time of the slave control terminal based on the current service requirement; the control instruction service message is backed up through the main control terminal to generate a backup service message, and the control instruction service message and the backup service message are issued to each slave control terminal in adjacent time slot sequence; the method comprises the steps that a control instruction service message and a backup service message are subjected to reselection and reception according to a first-come first-served and then-discarded principle by each slave control terminal, the control instruction service message is reconstructed, the appointed execution time of the slave control terminal and the current service requirement contained in the control instruction service message are analyzed by each slave control terminal, whether the appointed execution time of the slave control terminal lags behind the current slave control terminal system time or not is judged, and finally, the current service requirement is subjected to data cache until the current slave control terminal system time reaches the appointed execution time of the slave control terminal by each slave control terminal when the appointed execution time of the slave control terminal lags behind the current slave control terminal system time, so that the current service requirement is realized, the problems of transmission delay and jitter existing when a wireless network is utilized to transmit instructions are solved, the jitter influence of wireless transmission can be reduced, and the time certainty of cooperative control is improved.
FIG. 3 is a flow chart of an alternative cooperative control-based data communication method according to a second embodiment of the present invention; specifically, when the scheduling system issues a scheduling plan including a scheduling service and a specific service operation to be executed by each terminal to each terminal, each terminal determines the identity of a master control terminal or a slave control terminal according to the scheduling plan, registers service communication (i.e., service application service request) to an application scheduler, reports the identity of each terminal (i.e., master control terminal or slave control terminal), the number of periodic service flows, source IP address and port, protocol, destination port IP address and port, service data transmission period, data packet size, time delay, expected task start time and the like, the application scheduler obtains the communication service interaction condition of the master control terminal and each slave control terminal under the service application service request, generates a pre-scheduling result based on network parameters of the current service network, determines that the pre-scheduling result meets preset standards when the pre-scheduling result is normal execution, further issues the pre-scheduling result to the master control terminal, the slave control terminal and the current service network, realizes pre-scheduling configuration of the network and the terminal, further generates a service control message based on the network state of the current service network and the communication service control terminal and the service control terminal, further issues a service control message to the slave control terminal and the current control terminal, the service control terminal is further based on the service control request, the service control request is further executed by the control system, the service control request is further executed, analyzing the appointed execution time of the slave control terminal and the current service requirement contained in the control instruction service message, judging whether the appointed execution time of the slave control terminal lags behind the system time of the current slave control terminal, if so, carrying out data caching on the current service requirement until the system time of the current slave control terminal reaches the appointed execution time of the slave control terminal, realizing the current service requirement, and feeding back the execution condition to the master control terminal; if not, discarding the control instruction service message, and feeding back the execution condition to the main control terminal.
FIG. 4 is a flow chart of a cooperative control-based instruction transmission according to a second embodiment of the present invention; specifically, after determining that the pre-scheduling result between the master control terminal and each slave control terminal meets the condition of a preset standard through the application scheduler, the master control terminal and each slave control terminal perform time synchronization through the world uniform time of the current service network, further, the application scheduler calculates the predicted network transmission delay from the master control terminal to each slave control terminal based on the time slot proportion and the wireless channel quality of the current service network, calculates the service control period based on the predicted network transmission delay and the allowance parameter corresponding to the communication service interaction condition, realizes the network transmission delay prediction, further, the master control terminal generates the appointed execution time of the slave control terminal based on the service control period and the current master control terminal system time, adds the appointed execution time of the slave control terminal into a control command service message, transmits the appointed execution time of the slave control terminal to each slave control terminal through a redundant data transmission mode, reselects and receives the received message, feeds back the actual transmission delay to the application scheduler, and analyzes the appointed execution time of the slave control terminal and the current service requirement contained in the control command service message, when the appointed execution time of the slave control terminal lags the current slave control terminal system time, the current service requirement is carried out until the current service requirement reaches the appointed execution time of the slave control terminal system time, and the current service requirement is reached to the appointed execution time of the slave control terminal.
Example III
Fig. 5 is a schematic structural diagram of a data communication system based on cooperative control according to a third embodiment of the present invention. As shown in fig. 5, the system includes: an application orchestrator 310, a master control terminal 320, and a slave control terminal 330;
the application orchestrator 310 is configured to determine that a pre-scheduling orchestration result between the master control terminal 320 and each slave control terminal 330 meets a condition of a preset standard, calculate a service control period based on a network state of a current service network and a communication service interaction condition between the master control terminal 320 and each slave control terminal 330, and send the service control period to the master control terminal 320;
the master control terminal 320 is configured to receive the service control period, generate a slave control terminal specified execution time based on the service control period and a current master control terminal system time, generate a control instruction service message including the slave control terminal specified execution time based on a current service requirement, and send the control instruction service message to each slave control terminal 330 in a redundant data transmission manner;
the slave control terminal 330 is configured to receive the control instruction service packet, and implement the current service requirement according to the execution time specified by the slave control terminal included in the control instruction service packet.
According to the technical scheme of the embodiment of the invention, the application orchestrator 310 determines that the preadjusting result between the master control terminal 320 and each slave control terminal 330 meets the condition of a preset standard, calculates a service control period based on the network state of the current service network and the communication service interaction condition between the master control terminal 320 and each slave control terminal 330, and issues the service control period to the master control terminal 320; receiving the service control period through the master control terminal 320, generating a designated execution time of the slave control terminal based on the service control period and the current master control terminal system time, generating a control instruction service message containing the designated execution time of the slave control terminal based on the current service requirement, and transmitting the control instruction service message to each slave control terminal 330 in a redundant data transmission mode; the slave control terminals 330 receive the control instruction service message, and implement the current service requirement according to the appointed execution time of the slave control terminals included in the control instruction service message, so as to solve the problems of transmission delay and jitter existing when the wireless network is used for transmitting the instruction, reduce the jitter influence of wireless transmission, and improve the time certainty of cooperative control.
Optionally, the application orchestrator 310 may be specifically configured to: scheduling communication services between a master control terminal and each slave control terminal, generating a pre-scheduling result, and determining that the pre-scheduling result meets a preset standard when the pre-scheduling result is normal execution.
Optionally, the application orchestrator 310 may be specifically configured to: receiving a main control terminal and business application service requests initiated by each slave control terminal; acquiring communication service interaction conditions of a master control terminal and each slave control terminal under a service application service request, and generating a pre-scheduling arrangement result based on network parameters of a current service network; the pre-scheduling arrangement result comprises the result that whether the communication service between the master control terminal and each slave control terminal can be successfully realized in the current service network.
Optionally, the application orchestrator 310 may be specifically configured to: calculating the predicted network transmission delay from the master control terminal to each slave control terminal based on the time slot ratio and the wireless channel quality of the current service network; and calculating a service control period based on the predicted network transmission delay and the allowance parameter corresponding to the communication service interaction condition.
Optionally, the main control terminal 320 may specifically be configured to: receiving base station broadcasting system information and time advance of a base station cell, calculating world unification time of a current service network based on the base station broadcasting system information and the time advance of the base station cell, and adjusting the current main control terminal system time of a main control terminal to the world unification time of the current service network;
The slave control terminal 330 may specifically be used for: receiving base station broadcasting system information and time advance of a base station cell, calculating world unification time of a current service network based on the base station broadcasting system information and the time advance of the base station cell, and adjusting the current slave control terminal system time of a slave control terminal to the world unification time of the current service network.
Optionally, the main control terminal 320 may specifically be configured to: and backing up the control instruction service message to generate a backup service message, and transmitting the control instruction service message and the backup service message to each slave control terminal in adjacent time slot sequences.
Optionally, the slave control terminal 330 may specifically be configured to: and receiving the control instruction service message and the backup service message, performing de-duplication selection on the control instruction service message and the backup service message according to a first-come-later-come-discarded principle, and reconstructing the control instruction service message.
Optionally, the slave control terminal 330 may specifically be configured to: analyzing the appointed execution time of the slave control terminal and the current service requirement contained in the control instruction service message, and judging whether the appointed execution time of the slave control terminal lags behind the current system time of the slave control terminal; and when the appointed execution time of the slave control terminal lags behind the system time of the current slave control terminal, carrying out data caching on the current service demand until the system time of the current slave control terminal reaches the appointed execution time of the slave control terminal, so as to realize the current service demand.
Optionally, the slave control terminal 330 may specifically be configured to: and generating an execution status message according to the execution condition of the current service demand, and feeding back the execution status message to the main control terminal so that the main control terminal adjusts the current service demand according to the execution status message.
The data communication system based on cooperative control provided by the embodiment of the invention can execute the data communication method based on cooperative control provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (10)

1. A cooperative control-based data communication method, comprising:
determining that a pre-scheduling result between a master control terminal and each slave control terminal meets the condition of a preset standard through an application scheduler, calculating a service control period based on the network state of a current service network and the communication service interaction condition between the master control terminal and each slave control terminal, and transmitting the service control period to the master control terminal;
receiving the service control period through a master control terminal, generating a designated execution time of a slave control terminal based on the service control period and the current master control terminal system time, generating a control instruction service message containing the designated execution time of the slave control terminal based on the current service demand, and transmitting the control instruction service message to each slave control terminal in a redundant data transmission mode;
and receiving the control instruction service message through each slave control terminal, and realizing the current service requirement according to the appointed execution time of the slave control terminal contained in the control instruction service message.
2. The method according to claim 1, wherein the determining, by the application orchestrator, that the pre-scheduling orchestration result between the master control terminal and each slave control terminal meets the conditions of the preset criteria, comprises:
Scheduling communication services between a master control terminal and each slave control terminal through an application scheduler, generating a pre-scheduling result, and determining that the pre-scheduling result meets a preset standard when the pre-scheduling result is normally executed.
3. The method according to claim 2, wherein scheduling traffic between the master control terminal and each slave control terminal by the application scheduler, generating a pre-scheduling result, comprises:
receiving a main control terminal and business application service requests initiated by each slave control terminal through an application orchestrator;
the method comprises the steps that an application orchestrator is used for obtaining communication service interaction conditions of a master control terminal and each slave control terminal under a service application service request, and generating a pre-scheduling orchestration result based on network parameters of a current service network; the pre-scheduling arrangement result comprises the result that whether the communication service between the master control terminal and each slave control terminal can be successfully realized in the current service network.
4. The method according to claim 1, wherein calculating, by the application orchestrator, the traffic control period based on the network state of the current traffic network and the traffic interactions between the master control terminal and the slave control terminals, comprises:
Calculating the predicted network transmission delay from the master control terminal to each slave control terminal based on the time slot ratio and the wireless channel quality of the current service network by an application orchestrator;
and calculating a service control period by an application orchestrator based on the predicted network transmission delay and the allowance parameter corresponding to the communication service interaction condition.
5. The method of claim 1, further comprising, prior to generating, by the master control terminal, the slave control terminal specified execution time based on the traffic control period and a current master control terminal system time:
receiving base station broadcasting system information and time advance of a base station cell by a main control terminal, calculating world unification time of a current service network based on the base station broadcasting system information and the time advance of the base station cell, and adjusting the current main control terminal system time of the main control terminal to the world unification time of the current service network;
before receiving the control instruction service message through each slave control terminal and realizing the current service requirement according to the appointed execution time of the slave control terminal contained in the control instruction service message, the method further comprises the following steps:
and calculating the world universal time of the current service network based on the base station broadcasting system information and the time advance of the base station cell by receiving the base station broadcasting system information and the time advance of the base station cell from the control terminal, and adjusting the current slave control terminal system time of the slave control terminal to the world universal time of the current service network.
6. The method according to claim 1, wherein the step of transmitting the control instruction service message to each slave control terminal by the master control terminal through redundant data transmission includes:
and backing up the control instruction service message through the main control terminal to generate a backup service message, and transmitting the control instruction service message and the backup service message to each slave control terminal in adjacent time slot sequences.
7. The method according to claim 6, further comprising, before implementing the current service requirement by each slave control terminal according to the execution time specified by the slave control terminal included in the control instruction service message:
and receiving the control instruction service message and the backup service message through each slave control terminal, performing reselection and receiving on the control instruction service message and the backup service message according to a first-come-later-discard principle, and reconstructing the control instruction service message.
8. The method according to claim 1, wherein implementing, by each slave control terminal, the current service requirement according to the execution time specified by the slave control terminal included in the control instruction service message, includes:
Judging whether the appointed execution time of the slave control terminal lags behind the current system time of the slave control terminal or not by analyzing the appointed execution time of the slave control terminal and the current service requirement contained in the control instruction service message by each slave control terminal;
and when the appointed execution time of each slave control terminal is delayed from the current slave control terminal system time, each slave control terminal data-buffers the current service demand until the current slave control terminal system time reaches the appointed execution time of the slave control terminal, so as to realize the current service demand.
9. The method according to claim 1, further comprising, after implementing the current service requirement by each slave control terminal according to the execution time specified by the slave control terminal included in the control instruction service message:
and generating an execution status message by the slave control terminal according to the execution condition of the current service demand, and feeding back the execution status message to the master control terminal, so that the master control terminal adjusts the current service demand according to the execution status message.
10. A cooperative control-based data communication system, comprising:
the application orchestrator is used for determining that the preadjusting result between the master control terminal and each slave control terminal meets the condition of a preset standard, calculating a service control period based on the network state of the current service network and the communication service interaction condition between the master control terminal and each slave control terminal, and issuing the service control period to the master control terminal;
The main control terminal is used for receiving the service control period, generating a designated execution time of the slave control terminal based on the service control period and the current main control terminal system time, generating a control instruction service message containing the designated execution time of the slave control terminal based on the current service requirement, and transmitting the control instruction service message to each slave control terminal in a redundant data transmission mode;
the slave control terminal is used for receiving the control instruction service message and realizing the current service requirement according to the appointed execution time of the slave control terminal contained in the control instruction service message.
CN202211630945.2A 2022-12-19 2022-12-19 Cooperative control-based data communication method and system Pending CN116249195A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117058858A (en) * 2023-07-21 2023-11-14 煤炭科学技术研究院有限公司 Remote control system, construction method and electronic equipment for mining wireless communication equipment

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117058858A (en) * 2023-07-21 2023-11-14 煤炭科学技术研究院有限公司 Remote control system, construction method and electronic equipment for mining wireless communication equipment
CN117058858B (en) * 2023-07-21 2024-03-08 煤炭科学技术研究院有限公司 Remote control system, construction method and electronic equipment for mining wireless communication equipment

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