CN116760659B - Programmable logic controller and data communication method thereof - Google Patents
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
- H04L12/40013—Details regarding a bus controller
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/4013—Management of data rate on the bus
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40143—Bus networks involving priority mechanisms
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40169—Flexible bus arrangements
- H04L12/40176—Flexible bus arrangements involving redundancy
- H04L12/40189—Flexible bus arrangements involving redundancy by using a plurality of bus systems
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
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Abstract
Embodiments of the present disclosure relate to a programmable logic controller and a data communication method thereof. The programmable logic controller comprises a plurality of modules, wherein the plurality of modules comprise a programmable control unit module and a plurality of input/output modules, each of the plurality of modules is provided with an EPA communication unit and a plurality of EPA communication interfaces, and each module is respectively connected with the other one or two modules of the plurality of modules in series through one or two EPA communication interfaces of the plurality of EPA communication interfaces so as to form a first EPA communication bus among the plurality of modules, and the first EPA communication bus is used for realizing EPA communication among the plurality of modules. The corresponding data communication method based on the programmable logic controller can improve the data communication efficiency among the modules of the programmable logic controller.
Description
Technical Field
Embodiments of the present disclosure relate generally to the field of communication technology, and more particularly, to a programmable logic controller and a data communication method thereof.
Background
A programmable logic controller (Programmable Logic Controller, abbreviated as PLC) is a control device for automation control, which has the characteristics of programmability, modularization, high reliability, etc., and thus is widely applied to the control fields of industry, aviation, aerospace, navigation, key equipment, etc.
A programmable logic controller typically includes a programmable control unit module and a plurality of input/output modules, which may be various digital or analog data acquisition modules for receiving and acquiring input signals, various digital or analog data output modules for controlling various actuators, bi-directional communication modules, and the like. Currently, interconnection between these modules is generally implemented based on a communication bus such as CAN, profibus, etherCAT, and internal communication between these modules is implemented through such a communication bus. However, such a communication bus cannot realize a proper deterministic data processing method, and especially when a large-capacity logic operation is required in the whole control process so that frequent data communication is required, the problem of packet loss or congestion of a data link is easily caused, and the network bandwidth utilization rate is low.
Disclosure of Invention
In view of the foregoing, the present disclosure provides a programmable logic controller and a data communication method thereof, so as to facilitate improving data communication efficiency between respective modules included in the programmable logic controller, without causing problems such as packet loss and congestion of data links.
According to a first aspect of the present disclosure, there is provided a programmable logic controller comprising a plurality of modules including a programmable control unit module and a plurality of input/output modules, each of the plurality of modules having an EPA communication unit and a plurality of EPA communication interfaces disposed thereon, each module being serially connected with another one or two of the plurality of modules through one or two of the respective plurality of EPA communication interfaces, respectively, to form a first EPA communication bus between the plurality of modules, the first EPA communication bus being for enabling EPA communication between the plurality of modules.
According to a second aspect of the present disclosure, there is provided a data communication method for a programmable logic controller according to the first aspect of the present disclosure, the data communication method comprising: receiving, at each module of the programmable logic controller, configuration information of the programmable logic controller, the configuration information including a priority order of a plurality of modules included in the programmable logic controller; determining a length of a first time slice which is required to be occupied by the module during a period time period of a communication period, wherein the length of the first time slice is related to a module type to which the module belongs; determining the position of a first time slice which is required to be occupied by the module in a period time period based on the priority order of the plurality of modules; and during a period of each communication cycle, transmitting respective data over a respective EPA communication bus via an EPA communication interface of the module for a first time slice corresponding to the module.
In some embodiments, the priority order of the modules of each data input type is higher than the priority order of the data receiving units included in the modules of each data input output type, the priority order of the data receiving units included in the modules of each data input output type is higher than the priority order of the programmable control unit modules, the priority order of the programmable control unit modules is higher than the priority order of the data transmitting units included in the modules of each data input output type, and the priority order of the data transmitting units included in the modules of each data input output type is higher than the priority order of the modules of each data output type.
In some embodiments, each input/output module is a data input type module, a data output type module, or a data input and output type module.
In some embodiments, each module is further serially connected with another one or two of the plurality of modules through another one or two of the plurality of EPA communication interfaces, respectively, to form a second EPA communication bus between the plurality of modules, the second EPA communication bus also being used to enable EPA communication between the plurality of modules.
In some embodiments, the first communication bus is a linear EPA communication bus or a ring EPA communication bus.
In some embodiments, the first communication bus and the second communication bus are both linear EPA communication buses or are both ring EPA communication buses.
In some embodiments, the data communication method further comprises: determining a length of a second time slice that the module is required to occupy during the aperiodic time period if the module is required to transmit corresponding aperiodic data during the aperiodic time period; determining a position of a second time slice to be occupied by the module in the aperiodic time period based on the priority order of one or more modules of the plurality of modules to transmit the aperiodic data during the aperiodic time period; and transmitting respective non-periodic data over the respective EPA communication bus via the EPA communication interface of the module during a second time slice corresponding to the module during a non-periodic time period of the communication cycle.
In some embodiments, determining the length of the first time slice occupied by the module during the period time period of the communication period comprises: if the module belongs to a data input type module, determining the length of a first time slice which is required to be occupied by the module based on the number of data acquisition channels included by a multi-channel data acquisition interface of the module, the data quantity which can be acquired by each data acquisition channel, the data transmission rate of a corresponding EPA communication bus and the length of network information of the first time slice.
In some embodiments, the network information is 32 bytes in length.
In some embodiments, determining the length of the first time slice occupied by the module during the period time period of the communication period comprises: if the module belongs to the data output type module, determining the length of a first time slice which is required to be occupied by the module based on the number of data output channels included by the multi-channel data output interface of the module, the data quantity which can be output by each data output channel and the data transmission rate of the corresponding EPA communication bus.
In some embodiments, determining the length of the first time slice occupied by the module during the period time period of the communication period comprises: if the module belongs to a data input and output type module, determining the length of a first time slice which is required to be occupied by the data receiving unit based on the first data quantity which can be acquired by the data receiving unit which is included by the module through a corresponding data acquisition interface and the data transmission rate of a corresponding EPA communication bus, and determining the length of the first time slice which is required to be occupied by the data transmitting unit based on the second data quantity which can be output by the data transmitting unit which is included by the module through a corresponding data output interface and the data transmission rate of the corresponding EPA communication bus.
In some embodiments, determining the length of the second time slice that the module needs to occupy during the aperiodic time period comprises: the length of the second time slice that the module is required to occupy during the non-periodic time period is determined based on the data amount of the non-periodic data, the data transmission rate of the corresponding EPA communication bus, and the length of the network information.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
The above and other features, advantages and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements.
Fig. 1 illustrates a schematic diagram of an exemplary programmable logic controller 100, according to some embodiments of the present disclosure.
Fig. 2 shows a schematic diagram of an exemplary programmable logic controller 200 according to further embodiments of the present disclosure.
Fig. 3 illustrates a schematic diagram of an exemplary programmable logic controller 300, according to further embodiments of the present disclosure.
Fig. 4 shows a schematic diagram of an exemplary programmable logic controller 400 according to further embodiments of the present disclosure.
Fig. 5 shows a schematic diagram of a data communication method 500 for a programmable logic controller according to an embodiment of the disclosure.
Fig. 6 illustrates a schematic diagram of a communication cycle of an exemplary programmable logic controller, according to an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The term "comprising" and variations thereof as used herein means open ended, i.e., "including but not limited to. The term "or" means "and/or" unless specifically stated otherwise. The term "based on" means "based at least in part on". The terms "one example embodiment" and "one embodiment" mean "at least one example embodiment. The term "another embodiment" means "at least one additional embodiment". The terms "first," "second," and the like, may refer to different or the same object. Other explicit and implicit definitions are also possible below.
As described above, currently, the respective modules included in the programmable logic controller are generally connected together based on an internal communication bus such as CAN, profibus, etherCAT to achieve mutual communication between the modules. However, such a communication bus cannot realize a proper deterministic data processing method, so that when a large-capacity logic operation is required in the whole control process and data is required to be input or output frequently, the problem of packet loss or congestion of a data link is easily caused, and the network bandwidth utilization rate is low.
To at least partially address one or more of the above-mentioned problems and other potential problems, example embodiments of the present disclosure propose a programmable logic controller comprising a plurality of modules including a programmable control unit module and a plurality of input/output modules, each of the plurality of modules having an EPA communication unit and a plurality of EPA communication interfaces associated with the EPA communication unit, each module being serially connected with the other one or two of the plurality of modules through one or two of the respective plurality of EPA communication interfaces, respectively, to form a first EPA communication bus between the plurality of modules, the first EPA communication bus being for enabling EPA communication between the plurality of modules. In this way, the data communication efficiency between the modules included in the programmable logic controller is improved, the problems such as data packet loss and data link congestion are not caused, and the utilization rate of network bandwidth is improved.
Fig. 1 illustrates a schematic diagram of an exemplary programmable logic controller 100, according to some embodiments of the present disclosure. As shown in fig. 1, the programmable logic controller 100 includes a plurality of modules, i.e., a programmable control unit module 110, a first input/output module 120-1, a second input/output module 120-2, and a third input/output module 120-3. It should be noted that although the programmable logic controller 100 is shown in fig. 1 as including three input/output modules, in actual use, the programmable logic controller 100 may include more or fewer input/output modules, depending on the application scenario of the programmable logic controller 100. Indeed, in this disclosure, because the various modules are connected by the EPA bus, programmable logic controller 100 may be implemented to include a total of less than or equal to 255 modules because 255 EPA nodes may be installed within the same segment of the EPA bus. In addition, although not shown in fig. 1, the programmable logic controller 100 should further include a power module to supply power to various other modules in the programmable logic controller 100, but since the power module is generally not involved in data communication, the various modules mentioned in the subsequent sections in this disclosure are not related to the power module.
In the present disclosure, the programmable logic controller 100 is implemented as an EPA bus-based programmable logic controller (specific implementation will be referred to below), and thus each module (i.e., the programmable control unit module 110, the first input/output module 120-1, the second input/output module 120-2, and the third input/output module 120-3) included in the programmable logic controller 100 is provided with an EPA communication unit and a plurality of EPA communication interfaces (not shown) in order to implement EPA bus-based connection and communication between the module and other modules. For example, each input/output module can be implemented by adding an EPA communication unit and multiple EPA communication interfaces on top of the existing corresponding input/output module, and thus is simpler to implement. The EPA communication unit may be implemented by a chip having EPA bus programs written therein. Although four EPA communication interfaces are shown in FIG. 1 as being provided on each module included in programmable logic controller 100, in actual use, more or fewer EPA communication interfaces may be provided on each module, depending on the topology desired to be formed between the various modules. In addition, it should be appreciated that the EPA communication interfaces included in each module in FIG. 1 are used interchangeably. In the present disclosure, the EPA communication interface may be implemented as, for example, an LVDS interface, a PCIe interface, or the like.
In the present disclosure, the programmable control unit module 110 mainly includes a microprocessor and a memory, which are mainly used to constantly collect input signals, execute a user program to process data, and refresh the output of the system.
In the present disclosure, the first input/output module 120-1, the second input/output module 120-2, and the third input/output module 120-3 may have respective module types, which may be a data input type module (which may be a digital amount input module or an analog amount input module), or a data output type module (which may be a digital amount output module or an analog amount output module), or a data input and output type module (which may be various network communication modules, such as an ethernet communication module, a serial communication module). The digital input module is used for receiving switching value input signals from buttons, selection switches, digital dial switches, limit switches, proximity switches, photoelectric switches, pressure relays and the like. The analog input module is used for receiving continuously variable analog current and voltage signals provided by potentiometers, tachogenerators, various transmitters and the like, or directly receiving temperature signals or humidity signals provided by thermal resistors, thermocouples and the like. The digital quantity output module is used for controlling output equipment such as a contactor, an electromagnetic valve, an electromagnet, an indicator light, a digital display device, an alarm device and the like, and the analog quantity output module is used for controlling actuators such as an electric regulating valve, a frequency converter and the like. In the present disclosure, a module of a data input type indicates a module for collecting data from external devices (such as various switches, buttons, sensors, etc.) connected to the module, and providing the data collected by the module to a programmable control unit module for processing. The data output type module indicates a module for receiving data (typically, a control instruction) from the programmable control unit module and outputting the received data to an external device (such as a contactor, a solenoid valve, an electromagnet, an indicator lamp, a digital display device, an alarm device, an electric control valve, a frequency converter, and other actuators, etc.) connected to the module, so as to realize control of the external device, etc. The module of the data input and output type indicates a module that needs to both collect data from a first external device (such as a first computing device) connected to the module to provide the collected data to the programmable control unit module for processing, and receive data such as control instructions from the programmable control unit module to output the received data to a second external device (such as a second computing device) connected to the module in order to enable control of the second external device, the first external device and the second external device may be the same external device or different external devices.
In the present disclosure, in the case where the input/output module is a module of a data input type, the input/output module includes a data receiving unit to acquire data from external devices (such as various switches, buttons, sensors, etc.) connected thereto via a corresponding multi-channel data acquisition interface, in addition to an EPA communication unit to communicate with other modules in the programmable logic controller via an EPA communication interface. In particular, such a data input type module can collect the required data from an external device connected thereto through a multi-channel data collection interface, and the collected data is input (or transmitted) to the programmable control unit module through the corresponding EPA communication bus to which the module is connected. Thus, in the present disclosure, the amount of data that such a data input type module needs to input to the programmable control unit module via the corresponding EPA communication bus depends on the number of data acquisition channels that its multi-channel data acquisition interface includes and the amount of data that each data acquisition channel can acquire at a time.
In case the input/output module is a module of the data output type, the input/output module comprises, in addition to the EPA communication unit to communicate with other modules in the programmable logic controller via the EPA communication interface, a data transmission unit to output (or transmit) data via a respective multi-channel data output interface to external devices connected thereto, such as contactors, solenoid valves, electromagnets, indicator lights, digital display devices, alarm devices, electrically operated control valves, frequency converters, and other actuators, etc. Specifically, the data (typically, control instructions) sent by the programmable control unit module to such a data output type module via the corresponding EPA communication bus is further outputted (or sent) by the data output type module to an external device connected to the data output type module through its multi-channel data output interface, so as to control the corresponding external device based on the data, etc. Thus, in the present disclosure, the amount of data that such a data output type module can receive from a programmable control unit module via a corresponding EPA communication bus depends on the number of data output channels that its multi-channel data output interface includes and the amount of data that each data output channel can output at a time.
In case the input/output module is of a data input/output type, the input/output module comprises, in addition to the EPA communication unit to communicate with other modules in the programmable logic controller via the EPA communication interface, a data receiving unit to receive data of a first external device (such as a first computing device) connected thereto via a respective data acquisition interface, and a data transmitting unit to transmit data to a second external device (such as a second computing device) connected thereto via a respective data output interface. As described above, the first external device and the second external device may be the same device or may be different devices. In particular, on the one hand, such a data input/output type module may obtain the required data from the first external device connected thereto via the data acquisition interface, and the obtained data is required to be input (or transmitted) to the programmable control unit module via the EPA communication bus to which the module is connected. Thus, in the present disclosure, the amount of data that such a data input output type module needs to input to the programmable control unit module via the corresponding EPA communication bus depends on the amount of data that is available to its data acquisition interface each time. On the other hand, the programmable control unit module may send data (typically control instructions) to such a data input output type module via the corresponding EPA communication bus, the data (or control instructions) being data to be outputted (or sent) by the data input output type module to a second external device connected to the data output type module through its data output interface in order to control the corresponding second external device based on the data, etc. Thus, in the present disclosure, the amount of data that such a data input output type module can receive from the programmable control unit module over the respective EPA communication bus is actually dependent on the amount of data that its data output interface can output at a time.
In the present disclosure, since each of the input/output modules needs to exchange data with the programmable control unit module 110, the programmable control unit module 110 may be set as a master clock, and the plurality of input/output modules 120-1 to 120-3 may be set as slave clocks, so that each of the input/output modules 120-1 to 120-3 may be clock-synchronized with the programmable control unit module 110 in advance when the modules need to communicate.
In the present disclosure, each module included in the programmable logic controller is connected in series with another one or two modules included in the programmable logic controller through one or two EPA communication interfaces of a corresponding plurality of EPA communication interfaces, respectively, to form an EPA communication bus between the plurality of modules, so that the programmable logic controller corresponds to an EPA communication system formed by connecting the modules, and each module can communicate with other modules via the formed EPA communication bus.
For example, in the example shown in FIG. 1, the programmable control unit module 110 is coupled to the first input/output module 120-1 via the EPA communication interface 101, the first input/output module 120-1 is coupled in series to the programmable control unit module 110 and the second input/output module 120-2 via EPA communication interfaces 111 and 112, respectively, the second input/output module 120-2 is coupled in series to the first input/output module 120-1 and the third input/output module 120-3 via EPA communication interfaces 121 and 122, respectively, and the third input/output module is coupled to the second input/output module 120-2 via EPA communication interface 131, thereby forming a first EPA communication bus of the programmable logic controller 100 that may be used to enable EPA communication between the plurality of modules. In the embodiment shown in fig. 1, the first EPA communication bus implemented is a linear EPA communication bus. It should be appreciated that when the programmable logic controller 100 includes more modules, the corresponding linear first EPA communication bus may also be formed by a connection similar to FIG. 1.
Fig. 2 shows a schematic diagram of an exemplary programmable logic controller 200 according to further embodiments of the present disclosure. The programmable logic controller 200 is also implemented as an EPA bus based programmable logic controller. As shown in fig. 2, the programmable logic controller 200 includes a plurality of modules, i.e., a programmable control unit module 210, a first input/output module 220-1, a second input/output module 220-2, and a third input/output module 220-3, which are similar to the programmable control unit module 110, the first input/output module 120-1, the second input/output module 120-2, and the third input/output module 120-3, respectively, as shown in fig. 1. The embodiment shown in fig. 2 is similar to the embodiment shown in fig. 1 except that in the embodiment shown in fig. 2, a second EPA communication bus shown in thick solid lines in fig. 2 is formed in addition to the first EPA communication bus shown in thin solid lines in fig. 2, so that when a problem occurs in the first EPA communication bus, communication can be performed between the respective modules included in the programmable logic controller 200 through the second EPA communication bus.
Specifically, in fig. 2, the programmable control unit module 210 is connected to the first input/output module 220-1 through the EPA communication interface 201, the first input/output module 220-1 is connected to the programmable control unit module 210 and the second input/output module 220-2 in series through the EPA communication interfaces 211 and 212, respectively, the second input/output module 220-2 is connected to the first input/output module 220-1 and the third input/output module 220-3 in series through the EPA communication interfaces 221 and 222, respectively, and the third input/output module 220-3 is connected to the second input/output module 220-2 through the EPA communication interface 231, thereby forming a first EPA communication bus (shown as a thin solid line in fig. 2) of the programmable logic controller 200, which can be used to realize EPA communication between the plurality of modules.
In fig. 2, the programmable control unit module 210 is further connected to the first input/output module 220-1 through the EPA communication interface 202, the first input/output module 220-1 is further connected in series to the programmable control unit module 210 and the second input/output module 220-2 through the EPA communication interfaces 213 and 214, respectively, the second input/output module 220-2 is further connected in series to the first input/output module 220-1 and the third input/output module 220-3 through the EPA communication interfaces 223 and 224, respectively, and the third input/output module 220-3 is further connected to the second input/output module 220-2 through the EPA communication interface 233, thereby forming a second EPA communication bus (shown as a bold line in fig. 2) of the programmable logic controller 200, which may also be used to enable EPA communication between the plurality of modules.
As shown in fig. 2, the implemented first EPA communication bus and second EPA communication bus are both linear EPA communication buses. It should be appreciated that when the programmable logic controller 200 includes more modules, the respective linear first EPA communication bus and linear second EPA communication bus, which are redundant communication buses of the programmable logic controller, may also be formed in a similar manner to the connection of FIG. 2. For example, the system data transmitted and received by the first EPA communication bus and the second EPA communication bus are identical and synchronized, and when either one of the first EPA communication bus and the second EPA communication bus fails due to a failure, the other one can continue to operate.
Fig. 3 illustrates a schematic diagram of an exemplary programmable logic controller 300, according to further embodiments of the present disclosure. The programmable logic controller 300 is also implemented as an EPA bus based programmable logic controller. As shown in fig. 3, the programmable logic controller 300 includes a plurality of modules, i.e., a programmable control unit module 310, a first input/output module 320-1, a second input/output module 320-2, and a third input/output module 320-3, which are similar to the programmable control unit module 110, the first input/output module 120-1, the second input/output module 120-2, and the third input/output module 120-3, respectively, as shown in fig. 1. The embodiment shown in fig. 3 is similar to the embodiment shown in fig. 1 except that in the embodiment shown in fig. 3, the third input/output module 320-3 is connected in series with the programmable control unit module 310 through the communication interface 332 in addition to the second input/output module through the EPA communication interface 331, so that the first EPA communication bus is closed into a ring EPA communication bus. It should be appreciated that when the programmable logic controller 300 includes more modules, the corresponding annular first EPA communication buses may also be formed in a similar manner to the connection of FIG. 3. When the ring bus structure is adopted, any module in the bus is disconnected, and the paralysis of the whole bus is not caused.
Fig. 4 shows a schematic diagram of an exemplary programmable logic controller 400 according to further embodiments of the present disclosure. The programmable logic controller 400 is also implemented as an EPA bus based programmable logic controller. As shown in fig. 4, the programmable logic controller 400 includes a plurality of modules, i.e., a programmable control unit module 410, a first input/output module 420-1, a second input/output module 420-2, and a third input/output module 420-3, which are similar to the programmable control unit module 210, the first input/output module 220-1, the second input/output module 220-2, and the third input/output module 220-3, respectively, as shown in fig. 2. The embodiment shown in fig. 4 is similar to the embodiment shown in fig. 2 except that in the embodiment shown in fig. 4, the third input/output module 420-3 is serially connected to the second input/output module through the EPA communication interface 431 and also serially connected to the programmable control unit module 310 through the communication interface 432, so that the corresponding first EPA communication bus (shown by the thin solid line in fig. 4) is closed into a ring EPA communication bus, and in addition, the third input/output module 420-3 is serially connected to the second input/output module through the EPA communication interface 433 and also serially connected to the programmable control unit module 410 through the communication interface 434, so that the corresponding second EPA communication bus (shown by the thick solid line in fig. 4) is also closed into a ring EPA communication bus. It should be appreciated that when the programmable logic controller 400 includes more modules, the respective ring-shaped first EPA communication bus and ring-shaped second EPA communication bus, which are redundant communication buses of the programmable logic controller, may also be formed by similar connections to FIG. 4. For example, the system data transmitted and received by the first EPA communication bus and the second EPA communication bus are identical and synchronized, and when either one of the first EPA communication bus and the second EPA communication bus fails due to a failure, the other one can continue to operate.
Fig. 5 shows a schematic diagram of a data communication method 500 for a programmable logic controller according to an embodiment of the disclosure. The programmable logic controller is an EPA bus-based programmable logic controller as described in the present disclosure, examples of which are, for example, programmable logic controller 100, 200, 300 or 400. The method 500 may be performed by each module included in a programmable logic controller. It should be understood that method 500 may also include additional blocks not shown and/or that the blocks shown may be omitted, the scope of the disclosure being not limited in this respect.
At step 502, configuration information of a programmable logic controller is received at each module of the programmable logic controller, the configuration information including a priority order of the respective modules included in the programmable logic controller.
In the present disclosure, each module included in the programmable logic controller is assigned a certain priority order, and thus time slices that the respective modules need to occupy during the period and the non-period of the communication period can be assigned according to such priority order.
In some embodiments, the priority order of the modules of each data input type is higher than the priority order of the data receiving units included in the modules of each data input output type, the priority order of the data receiving units included in the modules of each data input output type is higher than the priority order of the programmable control unit modules, the priority order of the programmable control unit modules is higher than the priority order of the data transmitting units included in the modules of each data input output type, and the priority order of the data transmitting units included in the modules of each data input output type is higher than the priority order of the modules of each data output type. There is also a certain priority order of ordering among the modules of different data input types, a certain priority order of ordering among the data receiving units of the modules of different data input and output types, a certain priority order of ordering among the modules of different data output types, and a certain priority order of ordering among the data transmitting units of the modules of different data input and output types. For example, in the example shown in fig. 6, such a prioritization approach is employed. In the present disclosure, since the priority order of the modules of the respective data output types is continuous and the data that it needs to receive is issued by the programmable control unit module, the modules of the data output types can share 32 bytes of network information.
At step 504, the length of the first time slice that the module (i.e., the module referred to in step 502, which may be any module included in the programmable logic controller) needs to occupy during the period time of the communication cycle is determined. In the present disclosure, the length of the first time slice is related to the module type to which the module belongs.
In the present disclosure, each communication cycle may include a cycle period for transmitting cycle data having a high real-time requirement and an aperiodic period for transmitting aperiodic data having a low real-time requirement. For example, data collected by a data input type module, data collected by a data input output type module, data to be transmitted to a data output type module, and data to be transmitted to a data input output type module, which will be described in detail below, all belong to periodic data having a high real-time requirement, and thus need to be transmitted during a period of time. The non-periodic data may include diagnostic information data about the respective module, such as disconnection diagnostic data, overscan diagnostic data, and the like. In this disclosure, to achieve deterministic communication during periodic and non-periodic periods, it is necessary for each module to determine the first time slice it needs to occupy during the periodic period. For example, fig. 6 shows a schematic diagram of a communication cycle of an exemplary programmable logic controller according to an embodiment of the present disclosure. In the example shown in fig. 6, the programmable logic controller includes a digital amount input module, an analog amount input module, an ethernet communication module, a serial communication module, a programmable control unit module, and an analog amount output module, so that the length of the first time slice and the length of the second time slice need to be determined for all these modules. As shown in fig. 6, for a period time period of the communication period, each module included in the programmable logic controller has a corresponding first time slice t1 to t8, respectively, the determination of the length of which will be described in more detail below.
In a first aspect, if the module mentioned in step 502 is of the data input type, the module comprises only the data receiving unit and not the data transmitting unit, so that the module occupies only one first time slice. Specifically, the length of the first time slice that the module needs to occupy may be determined based on the number of data acquisition channels included in the multi-channel data acquisition interface of the module, the amount of data each data acquisition channel can acquire at a time, the data transmission rate of the corresponding EPA communication bus, and the length of the network information of the first time slice. In this context, the respective EPA communication bus refers to an EPA communication bus for inputting data collected by the module into the programmable control unit module, which may be the aforementioned first EPA communication bus or the aforementioned second EPA communication bus.
In some implementations, the length of the first time slice occupied by such a data entry type module may be determined using the following equation (1):
(1)
in equation (1) above, n represents the number of data acquisition channels included in the multi-channel data acquisition interface of the module, x represents the number of bytes of data each data acquisition channel can acquire at a time, v represents the data transmission rate of the corresponding EPA communication bus (e.g., the data transmission rate of a gigabit network is 1 x 10 9 The data transmission rate of the hundred meganetworks is 1×10 8 ) Y represents the length of the network information of the first time slice. In the above formula (1), the calculated unit of the length of the first time slice is seconds.
In addition, in the present disclosure, when nx is smaller than the minimum number of data bytes, nx takes the minimum number of data bytes. The minimum number of data bytes may be 32 bytes and the length y of the network information may also be 32 bytes.
Assuming that the module mentioned in step 502 is a digital data input module, the number n of data acquisition channels included in the multi-channel data acquisition interface is 16, and the data amount x that can be acquired by each data acquisition channel is 1bit, so nx is 16 bits (i.e. 2 bytes). Since 16 bits are less than the minimum number of data bytes, nx is taken as 32 bytes. Let the data transmission rate v of the corresponding EPA communication bus be 1 x 10 9 And the length of the network information is 32 bytes, so the length of the first time slice of the digital quantity input module is。
In a second aspect, if the module mentioned in step 502 belongs to a module of the data output type, the module comprises only a data transmitting unit and not a data receiving unit, so the module occupies only one first time slice. In particular, the length of the first time slice that the module is required to occupy may be determined based on the number of data output channels included in the multi-channel data output interface of the module, the amount of data each data output channel is capable of transmitting at a time, and the data transmission rate of the corresponding EPA communication bus. Likewise, the corresponding EPA communication bus refers to an EPA communication bus for transmitting data of the programmable control unit module to the data output type module, which may be the aforementioned first EPA communication bus or the aforementioned second EPA communication bus.
In some implementations, the length of the first time slice occupied by such a data entry type module may be determined using the following equation (2):
(2)
in the above formula (2), n represents the number of data output channels included in the multi-channel data output interface of the module, x represents the number of bytes of data that each data output channel can output at a time, and v represents the data transmission rate of the corresponding EPA communication bus.
Assuming that the module mentioned in step 502 is a digital output module, the number n of data output channels included in the multi-channel data output interface of the digital output module is 16, and the data amount x that can be collected by each data output channel is 1bit at a time, so nx is 16 bits (i.e. 2 bytes). Let the data transmission rate v of the corresponding EPA communication bus be 1 x 10 9 Therefore, the first time slice of the digital quantity output module has the length of。
Assuming that the module mentioned in step 502 is an analog output module, the number n of data output channels included in the multi-channel data output interface of the analog output module is 8, and the data amount x that can be collected by each data output channel is 4 bytes, so nx is 32 bytes. Let the data transmission rate v of the corresponding EPA communication bus be 1 x 10 9 Therefore, the first time slice of the analog output module has a length of。
In the present disclosure, the modules of each data output type included in the programmable logic controller may share a networkThe information is thus that the first time slices of each of the data output type modules actually correspond to the sub-time slices of a time slice common to the data output type modules during the communication period, which sub-time slices may also be ordered between the common time slices according to the aforementioned priority order. In this disclosure, the length of the common time slice is y/v plus the length of the first time slice of each data output type module, where v represents the data transmission rate of the corresponding EPA communication bus and y represents the length of the network information the length of which is, for example, 32 bytes. In the present disclosure, when the length of the common time slice is less thanThe length of the shared time slice can be set equal to +>The minimum number of data bytes may be 32 bytes in this disclosure, but the length of the first time slice of each data output type module may remain unchanged.
In a third aspect, if the module mentioned in step 502 belongs to a module of the data input and output type, the module of the data input and output type comprises both a data receiving unit and a data transmitting unit, and thus needs to communicate in both directions over the respective EPA bus, and thus the module needs to occupy two first time slices, i.e. the data receiving unit comprised by the module needs to occupy one first time slice, and the data transmitting unit comprised by the module needs to occupy one first time slice. In the present disclosure, the length of the first time slice that the data receiving unit needs to occupy may be determined based on the first data amount that the data receiving unit included in the module can collect each time through the corresponding data collecting interface and the data transmission rate of the corresponding EPA communication bus, and the length of the first time slice that the data sending unit needs to occupy may be determined based on the second data amount that the data sending unit included in the module can output each time through the corresponding data outputting interface and the data transmission rate of the corresponding EPA communication bus.
In some implementations, the length of the first time slot that the data receiving unit needs to occupy and the length of the first time slot that the data sending unit needs to occupy included in the data input and output type modules can be determined using the following formulas (3) and (4), respectively:
(3)
(4)
in the above formulas (3) and (4), z 1 A first data quantity n which can be acquired each time for a data receiving unit included in the module through a corresponding data acquisition interface 2 And v is the data transmission rate of the corresponding EPA communication bus, and y is the length of network information. In some embodiments, the network information may be 32 bytes in length.
For example, assume that the module mentioned in step 502 is an ethernet communication module, and the ethernet communication module includes a data receiving unit capable of collecting a first data amount x each time through a corresponding data collecting interface 1 300 bytes, and the data transmission unit included in the Ethernet communication module can output a second data amount x each time through the corresponding data output interface 2 400 bytes and the data transmission rate v of the corresponding EPA communication bus is 1 x 10 9 The length of the first time slice occupied by the data receiving unit of the ethernet communication module can be determined asAnd the length of the first time slice which is occupied by the data transmission unit of the Ethernet communication module is +.>。
In a fourth aspect, if the module referred to in step 502 is a programmable control unit module, the length of the first time slice occupied by the module may be determined based on the complexity of the processing required by the programmable control unit module and the performance of the corresponding CPU. This can be determined using a method of determining the length of time slices of the various EPA devices available and will not be further described herein.
Returning to fig. 5, at step 506, the location of the first time slice that the module (i.e., the module referred to in step 502) needs to occupy in the period of time is determined based on the order of priority of the plurality of modules (i.e., the plurality included in the programmable logic controller).
As described above, each module included in the programmable logic controller is assigned a certain priority order, and the length of the first time slot that each module needs to occupy can be determined in advance, so that by sorting according to these priority orders, the position of each module in the period of time can be determined.
During the period time of each communication cycle, corresponding data is transmitted over the corresponding EPA communication bus via the EPA communication interface of the module during the corresponding first time slice of the module, step 508.
For example, the respective EPA communication bus may be the above-mentioned first EPA communication bus or the above-mentioned second EPA communication bus, the first EPA communication bus may be a line EPA communication bus or a ring EPA communication bus, and the second EPA communication bus may be a line EPA communication bus or a ring EPA communication bus.
According to the technical scheme, each module in the programmable logic controller can be guaranteed to have a determined time slice to transmit corresponding data in the period time period of a communication period, and the time slice is determined according to the data quantity required to be transmitted or received by each module, so that the waiting time of communication can be avoided, the data communication efficiency between each module can be effectively improved, the determined time slice can ensure that data packet loss or congestion cannot occur even in the process of large-capacity logic operation control, the communication period is effectively shortened, the certainty and synchronism of internal communication data receiving and transmitting of the programmable logic controller are guaranteed, the problem that the network bandwidth utilization rate of the programmable logic controller is low is solved, and the real-time communication performance is improved. Thus, the EPA bus based programmable logic controller of the present disclosure has a large capacity arithmetic control capability and an execution capability.
In the present disclosure, the data communication method 500 may further include determining a length of a second time slice that the module needs to occupy during an aperiodic time period of the current communication cycle if the module (i.e., the module mentioned in step 502) needs to transmit corresponding aperiodic data during the aperiodic time period. For example, in the example shown in fig. 6, only the digital quantity input module, the ethernet communication module, and the analog quantity output module need to transmit the corresponding non-periodic data during the non-periodic time period of the corresponding communication period. Thus, these modules need to determine the length of the corresponding second time slice. The location of the second time slice that the module needs to occupy in the aperiodic time period can then be determined based on the order of priority of one or more of the plurality of modules included in the programmable logic controller that need to transmit aperiodic data during the aperiodic time period. Assuming that three modules in the programmable logic controller need to transmit corresponding aperiodic data during the aperiodic time period, the second time slices of the three modules may be ordered in the order of their priorities so that the location of each second time slice in the aperiodic time period may be determined. For example, in the example shown in fig. 6, the positions of the respective second time slices in the non-periodic time period need to be determined based on the priority order of the digital quantity input module, the ethernet communication module, and the analog quantity output module. After the location of the second time slice is determined, corresponding non-periodic data may be transmitted over the corresponding EPA communication bus via the EPA communication interface of the module during the non-periodic time periods of the communication periods within the corresponding second time slice of the module.
In the present disclosure, the length of the second time slice that the module needs to occupy during the non-periodic time period may be determined based on the data amount of the non-periodic data that the corresponding module needs to transmit, the data transmission rate of the corresponding EPA communication bus, and the length of the network information.
In some implementations, the length of the second time slice that each module needs to occupy can be determined using equation (5) below:
(5)
in the above formula (5), l represents the data amount of the non-periodic data that the module needs to transmit during the non-periodic time period of the current communication period, v represents the data transmission rate of the corresponding EPA communication bus, and y represents the length of the network information. In the above formula (5), the calculated unit of the length of the first time slice is seconds.
In addition, in the present disclosure, when l is less than the minimum number of data bytes, then l may be taken as the minimum number of data bytes. The minimum number of data bytes may be 32 bytes and the length y of the network information may also be 32 bytes.
On the other hand, if the module (i.e., the module mentioned in step 502) does not need to transmit the corresponding aperiodic data during the aperiodic time period of the current communication period (i.e., the communication period mentioned in step 502), then it is not necessary to determine the length of the second time slice that the module needs to occupy during the aperiodic time period, and it is not necessary to determine the location of the corresponding second time slice in the aperiodic time period.
By the technical means, the dynamic allocation of the second time slices can be realized in the non-periodic time period of the communication period, so that the occupation of the programmable logic controller to the real-time area network bandwidth of the bus can be reduced, and the communication period of the programmable logic controller can be further reduced.
The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (12)
1. A programmable logic controller comprises a plurality of modules, wherein the plurality of modules comprise a programmable control unit module and a plurality of input/output modules, each of the plurality of modules is provided with an EPA communication unit and a plurality of EPA communication interfaces,
each module is connected with one or two other modules in the plurality of modules in series through one or two EPA communication interfaces in the corresponding plurality of EPA communication interfaces respectively so as to form a first EPA communication bus between the plurality of modules, wherein the first EPA communication bus is used for realizing EPA communication among the plurality of modules;
Wherein each module is further serially connected to one or both of the plurality of modules via one or both of the plurality of EPA communication interfaces, respectively, to form a second EPA communication bus between the plurality of modules, the second EPA communication bus also being used to enable EPA communication between the plurality of modules.
2. The programmable logic controller of claim 1, wherein each input/output module is a module of a data input type, a module of a data output type, or a module of a data input and output type.
3. The programmable logic controller of claim 1, wherein the first EPA communication bus is a linear EPA communication bus or a ring EPA communication bus.
4. The programmable logic controller of claim 1, wherein the first EPA communication bus and the second EPA communication bus are both linear EPA communication buses or are both ring EPA communication buses.
5. A data communication method for a programmable logic controller, the programmable logic controller being the programmable logic controller of any one of claims 1 to 4, the data communication method comprising:
Receiving, at each module of the programmable logic controller, configuration information of the programmable logic controller, the configuration information including a priority order of a plurality of modules included in the programmable logic controller;
determining a length of a first time slice which is required to be occupied by the module during a period time period of a communication period, wherein the length of the first time slice is related to a module type to which the module belongs;
determining the position of a first time slice which is required to be occupied by the module in a period time period based on the priority order of the plurality of modules; and
during a period time of each communication cycle, during a first time slice corresponding to the module, respective data is transmitted over a respective EPA communication bus via an EPA communication interface of the module.
6. The data communication method according to claim 5, wherein the priority order of the modules of the respective data input and output types is higher than the priority order of the data receiving units included in the modules of the respective data input and output types, the priority order of the data receiving units included in the modules of the respective data input and output types is higher than the priority order of the programmable control unit modules, the priority order of the programmable control unit modules is higher than the priority order of the data transmitting units included in the modules of the respective data input and output types, and the priority order of the data transmitting units included in the modules of the respective data input and output types is higher than the priority order of the modules of the respective data output types.
7. The data communication method of claim 5, further comprising:
determining a length of a second time slice that the module needs to occupy during an aperiodic time period of a current communication period if the module needs to transmit corresponding aperiodic data during the aperiodic time period;
determining a position of a second time slice to be occupied by the module in the aperiodic time period based on the priority order of one or more modules of the plurality of modules to transmit the aperiodic data during the aperiodic time period; and
during an aperiodic time period of the communication cycle, transmitting, via the EPA communication interface of the module, respective aperiodic data over the respective EPA communication bus for a second time slice corresponding to the module.
8. The method of claim 5, wherein determining a length of a first time slice occupied by the module during a period time period of a communication period comprises:
if the module belongs to a data input type module, determining the length of a first time slice which is required to be occupied by the module based on the number of data acquisition channels included by a multi-channel data acquisition interface of the module, the data quantity which can be acquired by each data acquisition channel, the data transmission rate of a corresponding EPA communication bus and the length of network information of the first time slice.
9. The method of claim 8, wherein the network information is 32 bytes in length.
10. The method of claim 5, wherein determining a length of a first time slice occupied by the module during a period time period of a communication period comprises:
if the module belongs to the data output type module, determining the length of a first time slice which is required to be occupied by the module based on the number of data output channels included by the multi-channel data output interface of the module, the data quantity which can be output by each data output channel and the data transmission rate of the corresponding EPA communication bus.
11. The method of claim 5, wherein determining a length of a first time slice occupied by the module during a period time period of a communication period comprises:
if the module belongs to a data input and output type module, determining the length of a first time slice which is required to be occupied by the data receiving unit based on the first data amount which can be acquired by the data receiving unit of the module through the corresponding data acquisition interface and the data transmission rate of the corresponding EPA communication bus, and determining the length of the first time slice which is required to be occupied by the data transmitting unit based on the second data amount which can be output by the data transmitting unit of the module through the corresponding data output interface and the data transmission rate of the corresponding EPA communication bus.
12. The method of claim 7, wherein determining a length of a second time slice that the module needs to occupy during the aperiodic time period comprises:
the length of the second time slice that the module is required to occupy during the non-periodic time period is determined based on the data amount of the non-periodic data, the data transmission rate of the corresponding EPA communication bus, and the length of the network information.
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