CN117411584A - TSN-based hybrid key system and industrial control method - Google Patents

Abstract

The embodiment of the invention provides a TSN-based hybrid key system and an industrial control method, wherein the key system comprises: partitioning and partitioning kernels; the partition deployment is arranged on partition cores of physical nodes, including real-time partition, and each physical node is connected to a TSN network; the partition kernel is used for realizing the mapping between the scheduling time slot of the real-time partition of the physical node and the communication time slot of the TSN network; the partition kernel is also used for mapping the task priority of the real-time partition of the physical node and the service priority of the TSN network. The embodiment of the invention realizes the time deterministic network for the information communication of the hybrid key system, improves the certainty of the time-critical task, and controls the communication time delay within microsecond level.

Description

TSN-based hybrid key system and industrial control method

Technical Field

The invention relates to the field of industrial control, in particular to a TSN-based hybrid key system and an industrial control method.

Background

TSN (time sensitive network Time Sensitive Networking) is an IEEE defined standard technology, located at layer 2 (data link layer) of the OSI model, for extending the functionality of current ethernet networks, over which deterministic messaging can be implemented. TSN technology ensures deterministic communication by utilizing a time synchronization method (IEEE 802.1 AS) and a time division method (IEEE 802.1 Qbv). Compared to conventional ethernet communications, TSN technology may mix real-time communications with non-real-time communications.

The current application areas of TSN technology are as follows:

industrial automation: TSN technology has a high application potential in the field of industrial automation. It can provide deterministic real-time communication, optimizing the performance of industrial control systems. The TSN may be used for real-time control, data acquisition and transmission, device connectivity, etc.

Automotive field: TSN technology is also becoming increasingly popular in the automotive field. It can be used for real-time data transmission, time synchronization of on-board networks and high reliability communication. TSN technology helps support Advanced Driving Assistance Systems (ADAS) and internet of vehicles applications in automobiles.

Aerospace field: the aerospace field has a high demand for real-time and reliable communications, which can be met by TSN technology. It can be used for data transmission, time synchronization and network characteristic control in an aerospace communication system.

Medical field: in medical devices and systems, real-time communication is important for monitoring and control. TSN technology can provide accurate data transmission and time synchronization, helping medical systems to achieve efficient and accurate operation.

Currently, TSN technology is widely used in these fields and is continually advancing. However, the application of TSNs still faces challenges and limitations such as complexity of network deployment, integration into the prior art, and network security. To better drive the development of TSN technology in hybrid critical systems, further resolution of these challenges and continued research and innovation is needed.

Disclosure of Invention

In view of the above, the embodiment of the invention provides a hybrid key system based on TSN and an industrial control method, wherein the key system comprises a partition and a partition kernel; the partition deployment is arranged on partition cores of physical nodes, including real-time partition, and each physical node is connected to a TSN network; the partition kernel is used for realizing the mapping between the scheduling time slot of the real-time partition of the physical node and the communication time slot of the TSN network; the partition kernel is also used for mapping the task priority of the real-time partition of the physical node and the service priority of the TSN network. The embodiment of the invention realizes the time deterministic network for the information communication of the hybrid key system, improves the certainty of the time-critical task, and controls the communication time delay within microsecond level.

In a first aspect, an embodiment of the present invention provides a TSN-based hybrid critical system, including: partitioning and partitioning kernels; the partition deployment is arranged on partition cores of physical nodes, including real-time partition, and each physical node is connected to a TSN network; the partition kernel is used for realizing the mapping between the scheduling time slot of the real-time partition of the physical node and the communication time slot of the TSN network; the partition kernel is further used for mapping task priority of the real-time partition of the physical node and service priority of the TSN network.

By the above, the mapping of the partition scheduling time slot and the TSN forwarding time slot realizes the time deterministic network oriented to the information communication of the hybrid critical system, supports the hybrid transmission of the data in strong real time, soft real time and non-real time, improves the certainty of the time critical task, and controls the communication time delay within microsecond level. The time certainty of data transmission of the high-priority partition is further improved through the adaptation between the task priority of the partition and the TSN service priority.

In a possible implementation manner of the first aspect, the method further includes: the TSN network card is used for connecting the physical node with the TSN network and providing synchronous clocks for the real-time partition kernel and partition of the physical node. In some embodiments, the TSN network card provides a synchronized clock to the real-time partition cores and partitions of the physical nodes where it resides via the 802.1As protocol.

By the method, the TSN network card provides synchronous clocks for the operating system and the partitions of the physical node where the TSN network card is located, clock synchronization among the partitions and clock synchronization between the partitions and the TSN network are achieved, and time certainty of TSN communication of the partitions is improved.

In a possible implementation manner of the first aspect, the real-time partition directly performs the de-framing and framing of the TSN by calling a de-framing and framing function of the TSN of the partition kernel of the physical node.

By the method, the TSN frame-decoding and framing functions in the partition kernel are called by the partition, so that the TSN protocol stack is prevented from being used for frame-decoding and framing in the kernel of the operating system, the time jitter of the TSN data frame-decoding and framing is reduced, and the time certainty of the partition TSN communication is further improved.

In a possible implementation manner of the first aspect, the partition kernel is further configured to dispatch an interrupt to a partition of the physical node where the real-time partition has a higher priority of TSN communication interrupts than other service interrupts.

By improving the priority of the TSN communication interrupt, the TSN communication interrupt is preferentially distributed and preferentially processed, and the time certainty of the partition TSN communication is further improved.

In a possible implementation manner of the first aspect, the partition kernel implements mapping, by using a partition time schedule, a scheduling time slot of a real-time partition of a physical node where the partition kernel is located with a communication time slot of the TSN network. In some embodiments, the communication slot is a transit slot of the 802.1Qbv protocol of the TSN.

By the method, mapping of the scheduling time slots of the partitions and the communication time slots of the TSN network is realized through the partition time schedule, so that the data of the partitions can be sent in time in the corresponding forwarding time slots of the TSN nodes, and the time certainty of the TSN communication of the partitions is further improved.

In a possible implementation manner of the first aspect, the method further includes: and the TSN network card preferentially transmits the TSN data with the high service priority in the transmission buffer zone.

By the method, the TSN data with high service priority in the transmission buffer area is transmitted preferentially through the TSN network card, so that the time certainty of the transmission of the TSN data with high priority is improved.

In a possible implementation manner of the first aspect, the TSN network card and the TSN network adopt dual redundancy connection.

By the method, the time certainty of time-critical tasks of the hybrid critical system is further improved through the dual redundancy connection of the TSN network card and the TSN network.

In a possible implementation manner of the first aspect, when the key system is used for remote control, the method further includes: the remote control unit is connected with the TSN network and the controlled system and used for collecting data from the controlled system and issuing control commands to the controlled system, and is synchronous with the TSN network clock and has a TSN node function. The remote control unit, the TSN network and each TSN network card form a deterministic network.

The remote control unit, the TSN network and each TSN network card form a deterministic network, so that the real-time control of the controlled system is realized.

In a possible implementation manner of the first aspect, the remote control unit and the TSN network use dual redundancy connections.

By the dual redundancy connection of the remote control unit and the TSN network, the time certainty of time-critical tasks of the hybrid critical system is further improved.

In a possible implementation manner of the first aspect, the physical node adopts an n+1 backup.

By the above, the physical node realizes the fault tolerance of the partition through the N+1 backup, thereby improving the fault tolerance of the hybrid key system.

In a second aspect, an embodiment of the present invention provides an industrial control method, where industrial system control is performed by a hybrid critical system based on a TSN, where the hybrid critical system includes a partition and a partition kernel, where the partition is deployed on the partition kernel of a physical node, where each physical node is connected to a TSN network, and where a scheduling time slot of the real-time partition is mapped to a communication time slot of the TSN network, and where a task priority of the real-time partition is mapped to a service priority of the TSN network, where the method includes: the method comprises the steps that a computing partition obtains field data of an industrial system through a TSN network by utilizing a communication partition of a physical node where the computing partition is located, wherein the computing partition is a partition for executing a computing decision, and the communication partition is a real-time partition for executing TSN communication; the calculation partition makes a calculation decision according to the field data and sends a result of the calculation decision to the control partition, wherein the control partition is a real-time partition for executing real-time control on the industrial system, and when the control partition and the calculation partition are not in a physical node, the result is forwarded through a corresponding communication partition; and the control partition generates a control command in real time according to the result and sends the control command to the industrial system through the communication partition of the physical node where the control command is located so as to control the industrial system in real time.

By the method, the time deterministic network for information communication of the hybrid critical system is realized through clock synchronization of the whole system and mapping of the partition scheduling time slot and the TSN forwarding time slot, hybrid transmission of the strong real-time, soft real-time and non-real-time data is supported, and certainty of time critical tasks is improved, so that real-time control of the industrial system is realized.

In one possible implementation manner of the second aspect, the hybrid critical system further includes: the TSN network card is used for connecting a TSN network; the industrial control method further comprises: the TSN network card provides synchronous clocks for the real-time partition cores and partitions of the physical nodes where the TSN network card is located.

By the method, the TSN network card provides synchronous clocks for the operating system and the partitions of the physical node where the TSN network card is located, clock synchronization among the partitions and clock synchronization between the partitions and the TSN network are achieved, and time certainty of TSN communication of the partitions is improved.

In a possible implementation manner of the second aspect, the method further includes: and the real-time partition call is performed on the partition by using a function of the deframes and framing of the TSNs of the partition cores of the physical nodes.

By the method, the TSN frame-decoding and frame-setting functions of the TSN partition kernel are called by the partition, and the TSN frame-decoding and frame-setting are directly carried out on the partition, so that the situation that the TSN protocol stack is used for frame-decoding and frame-setting on the kernel of an operating system is avoided, the time jitter of the TSN data frame-decoding and frame-setting is reduced, and the time certainty of the partition TSN communication is further improved.

In a possible implementation manner of the second aspect, the method further includes: and the partition kernel dispatches interrupts to the partition of the physical node, wherein the TSN communication interrupts of the real-time partition have higher priority than other service interrupts.

By improving the priority of the TSN communication interrupt, the TSN communication interrupt is preferentially distributed and preferentially processed, and the time certainty of the partition TSN communication is further improved.

In a possible implementation manner of the second aspect, the method further includes: and the partition kernel realizes the mapping between the scheduling time slot of the real-time partition of the physical node and the communication time slot of the TSN network through a partition time schedule. In some embodiments, the communication slot is a transit slot of the 802.1Qbv protocol of the TSN.

By the method, mapping of the scheduling time slots of the partitions and the communication time slots of the TSN network is realized through the partition time schedule, so that the data of the partitions can be sent in time in the corresponding forwarding time slots of the TSN nodes, and the time certainty of the TSN communication of the partitions is further improved.

In a possible implementation manner of the second aspect, the method further includes: and the TSN network card preferentially transmits the TSN data with the high service priority in the transmission buffer zone.

By the method, the TSN data with high service priority in the transmission buffer area is transmitted preferentially through the TSN network card, so that the time certainty of the transmission of the TSN data with high priority is improved.

In a possible implementation manner of the second aspect, the TSN network card and the TSN network adopt dual redundancy connection.

By the method, the time certainty of time-critical tasks of the hybrid critical system is further improved through the dual redundancy connection of the TSN network card and the TSN network.

In a possible implementation manner of the second aspect, when the key system is used for remote control, the method further comprises: a remote control unit; the industrial control method is connected with the TSN network and the controlled system, and further comprises the following steps: the remote control unit collects data from the controlled system and issues control commands to the controlled system, and is synchronous with the TSN network clock and has a TSN node function. The remote control unit, the TSN network and each TSN network card form a deterministic network.

The remote control unit, the TSN network and each TSN network card form a deterministic network, so that the real-time control of the controlled system is realized.

In a possible implementation manner of the second aspect, the remote control unit and the TSN network use dual redundancy connections.

By the dual redundancy connection of the remote control unit and the TSN network, the time certainty of time-critical tasks of the hybrid critical system is further improved.

In a possible implementation manner of the second aspect, the physical node adopts n+1 backup.

By the above, the physical node realizes the fault tolerance of the partition through the N+1 backup, thereby improving the fault tolerance of the hybrid key system.

In a third aspect, an embodiment of the present invention provides an industrial control system, including: the critical system of any of the embodiments of the first aspect.

By the method, industrial control is performed through the mixed critical system supporting the time critical tasks, and the time certainty of the industrial control system is improved.

Drawings

Fig. 1 is a schematic structural diagram of a first embodiment of a TSN-based hybrid critical system of the present invention;

fig. 2 is a schematic structural diagram of a second embodiment of a TSN-based hybrid critical system according to the present invention;

FIG. 3 is a schematic diagram of a TSN queue switch;

FIG. 4 is a schematic diagram of a queue switch state and switch state duration of a custom TSN node;

fig. 5 is a schematic diagram of a mapping between time schedule scheduling and TSN stream forwarding scheduling of a partition in a second embodiment of a TSN-based hybrid critical system of the present invention;

FIG. 6 is a schematic flow chart of an embodiment of an industrial control method according to the present invention.

Detailed Description

In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is to be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments and can be combined with one another without conflict.

In the following description, references to the terms "first/second/third, etc." or module a, module B, module C, etc. are used merely to distinguish between similar objects or between different embodiments, and do not represent a particular ordering of the objects, it being understood that particular orders or precedence may be interchanged as permitted so that embodiments of the invention described herein can be implemented in an order other than that illustrated or described herein.

In the following description, reference numerals indicating steps such as S110, S120, … …, etc. do not necessarily indicate that the steps are performed in this order, and the order of the steps may be interchanged or performed simultaneously as allowed.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing embodiments of the invention only and is not intended to be limiting of the invention.

The embodiment of the invention provides a TSN-based hybrid key system and an industrial control method, wherein the key system comprises a partition and a partition kernel; the partition deployment is arranged on partition cores of physical nodes, including real-time partition, and each physical node is connected to a TSN network; the partition kernel is used for realizing the mapping between the scheduling time slot of the real-time partition of the physical node and the communication time slot of the TSN network; the partition kernel is also used for mapping the task priority of the real-time partition of the physical node and the service priority of the TSN network.

The embodiment of the invention is used for controlling the industrial system in real time, wherein the industrial system comprises an industrial automation system, a spaceflight system, an automobile electric system and the like, and the technical scheme of the embodiment of the invention realizes the time deterministic network for information communication of the hybrid key system through the global clock synchronization of the hybrid key system and the mapping of the partition scheduling time slot and the TSN forwarding time slot, supports the hybrid transmission of the data in strong real time, soft real time and non real time, improves the certainty of the time-critical task and controls the communication time delay within microsecond level.

The key of the embodiment of the invention is that the partition tasks of the application layer part have priority of safety or time, and have real-time requirements on time certainty. The embodiment of the invention has the advantages that the partition tasks of the application layer part have different requirements on time certainty, and the partition tasks are distinguished in real time and non-real time, and are distinguished in real time and in strong real time and soft real time.

Embodiments of the present invention will now be described with reference to the accompanying drawings, in which a first embodiment of a TSN-based hybrid critical system of the present invention is described with reference to fig. 1.

Fig. 1 shows a structure of a first embodiment of a TSN-based hybrid critical system, including: an application layer 100, an operating system layer 200, and a network layer 400.

Wherein the application layer 100 and the operating system layer 200 are distributed over one or more physical nodes from above. Two physical nodes 10 and 20 are shown in fig. 1, and a plurality of physical nodes may be included in a practical scenario. The following description of the present embodiment takes two physical nodes 10 and 20 as examples.

In some embodiments, the physical node employs an n+1 backup, implementing an n+1 backup of partitions and partition cores thereon, providing fault tolerance for industrial control tasks.

Network layer 400 is a TSN network with TSN gateway 410 for enabling communication between physical nodes 10 and partitions on physical nodes 20 across physical nodes, and for communication between physical nodes 10 and partitions on physical nodes 20 with other systems connected to network layer 400, such as industrial systems. The network layer 400 forms a deterministic network with the physical nodes 10 and 20, and each partition of the physical nodes 10 and 20 is clock synchronized through the TSN network.

In some embodiments, the TSN network of the network layer 400 is a dual-redundancy star topology structure, including two TSN gateways, to implement redundant connection between the TSN network and each physical node, so as to improve the fault tolerance of the hybrid critical system communication.

The application layer 100 includes partitions, each partition is a time-sharing partition, and is used for executing partition tasks of calculation decision, TSN communication and real-time control, and the partitions executing different tasks correspond to corresponding priorities. For example, the priority of the partition performing TSN communication is generally higher than the partition performing real-time control, the priority of the partition performing real-time control is generally higher than the partition performing computation decision, the partition performing TSN communication and the partition performing real-time control are generally real-time partitions, and some partitions performing computation decision have long execution time, even non-real-time partitions.

The partitions of the application layer 100 on the physical nodes 10 include a partition 110, a partition 111 and a partition 112, the partitions of the application layer 100 on the physical nodes 20 include a partition 120, a partition 121 and a partition 122, and in a practical scenario, multiple physical nodes may be included, and each physical node may include multiple partitions.

The operating system layer 200 comprises a partition kernel, and partition management and TSN driving are provided for the partition on the partition kernel, wherein the partition management provides conventional partition management functions such as partition resource management, partition time-sharing scheduling and the like; the TSN drives, realizes the mapping of the communication time slot of the partition used for TSN communication on the TSN and the communication time slot of the TSN, and also improves the time certainty of the partition communication.

The TSN driver is further configured to implement an adaptation between a task priority and a TSN service priority of a partition for TSN communication on a physical node where the TSN driver is located, thereby further improving time certainty of the high priority partition for TSN communication and TSN network communication.

The operating system layer 200 includes a partition kernel 210 on the physical node 10, the partition kernel 210 including a TSN driver 211, the TSN driver 211 enabling communication with the TSN network for each partition of the physical node 10.

Operating system layer 200 includes partition kernel 220 on physical node 20, partition kernel 220 including TSN driver 221, TSN driver 221 enabling communication with the TSN network for partition 120, partition 121, partition 122.

In some embodiments, when implementing the mapping of communication time slots of a partition for TSN communication with communication time slots of a TSN, the TSN driver is specifically configured to implement, through a time schedule, the mapping of the scheduling time slots of the partition with communication time slots of corresponding TSN nodes in a TSN protocol, thereby implementing time certainty of the partition for TSN communication with TSN network communication. The correspondence between partitions of TSN communications and TSN nodes in the TSN protocol may be configured.

In some embodiments, the deframed and framed functions in the TSN driver of the operating system layer 200 on the physical node where the partition call of the application layer 100 is located directly deframes and frames the TSN in the partition, and the deframed and framed functions are performed with respect to the protocol stack passing through the partition kernel, thereby further improving the time certainty of the partition of the application layer 100 in communication with the TSN network.

In some embodiments, the operating system layer 200 is further configured to dispatch an interrupt to a partition thereon, where the TSN communication interrupt has a higher priority than other service interrupts, such that the TSN communication interrupt is dispatched and handled preferentially, thereby further improving the time certainty of the partition of the application layer 100 communicating with the TSN network.

In some embodiments, the physical node further comprises a TSN network card, and the partition of the physical node is provided with communication with the TSN network.

In some embodiments, the TSN network card preferentially transmits TSN data of high service priority in its transmit buffer.

In some embodiments, when the network layer 400 includes two TSN gateways, each TSN network card is connected to the two TSN gateways respectively, so as to implement redundant connection, and improve the fault tolerance of the TSN network card in communication with the network layer 400.

In some embodiments, the hybrid critical system further comprises a remote control layer comprising a remote control unit for collecting data from and issuing control commands to the industrial system for the application layer 100 via the TSN network, thereby enabling control of the industrial system. The remote control unit is synchronized with the TSN network clock and has TSN node functionality to enable deterministic communication of the partitions of the application layer 100 with the remote control unit.

In some embodiments, when the network layer 400 includes two TSN gateways, the remote control unit connects the two TSN gateways respectively, implementing a redundant connection, and improving the fault tolerance of the remote control layer to communicate with the network layer 400.

In summary, a hybrid critical system embodiment based on TSN is used for real-time control of an industrial system, and by using clock synchronization of a whole system and mapping of partition scheduling time slots and TSN forwarding time slots, a time deterministic network for hybrid critical system information communication is realized, hybrid transmission of strong real-time, soft real-time and non-real-time data is supported, certainty of time critical tasks is improved, and communication delay is controlled within microsecond level.

The second embodiment of the hybrid critical system based on the TSN inherits all the structures of the first embodiment of the hybrid critical system based on the TSN, has all the advantages, gives detailed implementation modes of partition task priority level mapping and partition scheduling time slot mapping, and also increases the time deterministic design of the redundant structure, the operating system layer and the hardware layer of the hybrid critical system.

Fig. 2 shows a structure of a second embodiment of a hybrid critical system based on TSN, on the basis of the first embodiment of a hybrid critical system based on TSN, a hardware layer 300 and a remote control layer 500 are added, and a deterministic network is formed by a network layer 400, the hardware layer 300 and the remote control layer 500, and each layer of the hybrid critical system performs clock synchronization through the TSN network.

Adding physical nodes 30 and 40 to physical nodes, physical node 40 may be considered a 3+1 backup of physical node 10, physical node 20, and physical node 30. Physical nodes 30 and 40 include corresponding partitions, partition cores, and TSN network cards. In an actual scene, more physical nodes can be added to realize an n+1 part.

On the TSN network of the network layer 400, a redundant TSN gateway 420 is added, and each TSN network card of the hardware layer 300 is connected with each TSN gateway, so as to implement dual redundancy connection.

Hardware layer 300 includes TSN network cards, one for each physical node. The TSN network card 310 is on the physical node 10, communicates with the TSN network for the partition of the physical node 10, and provides clock synchronization for the partition and the partition kernel on the physical node 10; TSN network card 320 is on physical node 20, communicates with the TSN network for the partitions of physical node 20, and provides clock synchronization for the partitions and partition cores on physical node 10; the TSN network card 330 is on the physical node 30, and provides clock synchronization for the partition of the physical node 30 and the TSN network, and for the partition and the partition kernel on the physical node 30; TSN network card 340 is on physical node 40, communicates with the TSN network for the partitions of physical node 40, and provides clock synchronization for the partitions and partition cores on physical node 40.

The TSN network card sends TSN data with high service priority in a sending buffer area preferentially.

Each TSN network card is connected to the TSN gateway 410 and the TSN gateway 420, so as to realize redundant connection with the TSN network, and improve the fault tolerance of the hardware layer 300 and the network layer 400.

The remote control units on the remote control layer 500 are in a redundant configuration, remote control unit 510 and remote control unit 520. Each remote control unit is synchronized to the TSN network clock and has TSN node functionality. Each remote control unit is connected with each TSN gateway to realize dual redundancy connection. In a practical scenario, more add remote control units may be added.

The remote control unit 510 includes a real-time control module 511, a real-time control module 512, and a real-time control module 513, and the real-time control module 511 and the real-time control module 512 collect data from sensors 611 and 612 of the industrial system 600, respectively, and issue control commands to a controller 613 of the industrial system 600.

The remote control unit 520 correspondingly comprises a corresponding real-time control module 521, a real-time control module 523 and a real-time control module 523, and is respectively connected with a sensor 621, a sensor 622 and a controller 623 of the industrial system 600, and each remote control unit is connected with each TSN gateway to realize dual redundancy connection. In a practical scenario, more add remote control units may be added.

A time deterministic design for a second embodiment of a TSN-based hybrid critical system is described in detail below.

(1) The clock synchronization design of the application layer 100.

When the application layer 100, the operating system layer 200, the hardware layer 300, the network layer 400 and the remote control layer 500 realize clock synchronization, the TSN network card, the TSN network and the remote control unit realize clock synchronization according to the TSN network 802.1AS protocol, for example, the tight clock synchronization is realized by the gPTP method of the 802.1AS protocol, the TSN network card provides synchronous clocks for the operating system and the partition of the physical node where the TSN network card is located, and the clock of the TSN network and the clock of the real-time partition operating system realize synchronization.

By the above, the clock synchronization between the partitions of the application layer 100 is realized through the clock synchronization design of the application layer 100, including the clock synchronization of the partitions on different physical nodes, so that the real-time deterministic communication of the communication between the partitions is improved, the time precise synchronization of the partitions of the application layer 100 and each remote control unit in the remote control layer 500 is also realized, and the real-time deterministic communication of the partitions and the remote control units is improved.

(2) Time deterministic design of the application layer 100.

The partitions of the application layer 100 are time-sharing partitions, and the ordered running of time-critical partition tasks is ensured based on a time schedule and a priority mixed scheduling mechanism provided by corresponding partition kernels on the operating system layer 200.

The partition kernel of the operating system layer 200 utilizes TSN drivers to implement a mapping mechanism that establishes the communication slots of the partition with the communication slots of the TSN via a time schedule. The 802.1Qbv protocol of the TSN supports letting specified critical traffic into specified interface forwarding queues, and then flexibly and periodically scheduling these queues to achieve zero congestion packet loss when the device forwards these critical traffic flows.

1. Providing mapping capability between task priorities (0-256) of partitions and service priorities (0-7) of TSN network

To avoid packet loss due to network congestion, TSNs use forwarding queues to send packets. Each interface has 8 forwarding queues, the number of which is from 0 to 7. When the interface needs to send the message, the message is firstly led to enter the corresponding queue according to a certain rule, and the message in the same queue is firstly forwarded.

TSN drivers in the partition kernel on the operating system layer 200 of this embodiment provide mapping capability between the priorities of the partition tasks (0-256) and the service priorities of the TSN network (0-7). By using a fitting algorithm, the task priority values (0-256) are fitted to the service priority values (0-7) of the TSN network, and data are automatically sent to the corresponding TSN queues according to the partition priorities.

2. Time schedule and TSN stream forwarding scheduling mapping

The TSN flow forwarding scheduling control linked list is used for realizing scheduling of an interface forwarding queue and forwarding of a message. The 802.1Qbv control linked list contains 16 nodes at most. The node is a logic concept, each node defines three attributes, and the execution operation of the node is completed once through the three attributes:

node number: at most 16 nodes can be defined in the control chain table, and the corresponding numbers of the nodes are 1-16. The 802.1Qbv is sequentially scheduled according to the order of node numbers from small to large.

Queue switch state: FIG. 3 is a schematic diagram of a TSN queue switch, wherein the switch state of an interface forwarding queue is represented by an 8-bit binary string (XXXXXX), and when the switch state of a certain queue is 0, the switch state is off, i.e. the queue is not allowed to send messages in the queue; when the switch state of a certain queue is 1, the queue is indicated to be open, that is, the queue allows the message in the queue to be sent.

Duration of the switch state: and the interface in the TSN node forwards the duration of the queue switch state, and when the duration is reached, the next TSN node is continuously executed, and the queue switch state in the next TSN node is switched.

Figure 4 shows the queue switch states and durations of the switch states for the custom TSN nodes 1-5.

The TSN driver in the partition kernel on the operating system layer 200 of the embodiment realizes synchronization of the scheduling table scheduling of the partition kernel and the TSN stream forwarding scheduling mapping, thereby realizing mapping between the scheduling time slot of the partition for TSN communication and the corresponding TSN node forwarding time slot, and improving the actual certainty of the partition for TSN communication and TSN network communication. The correspondence of partitions for TSN communication with TSN nodes may be configured.

The time schedule of the partition is configured according to the main frame time, and the same main frame is repeatedly executed during scheduling. Fig. 5 illustrates a schematic diagram of a partition's time schedule may map with a forwarding schedule of TSN flows. Illustratively, the scheduling time of partition 1 is synchronized with the forwarding time (i.e., scheduling queue time) of TSN node 1, and the scheduling time of partition 3 is synchronized with the forwarding time (i.e., scheduling queue time) of TSN node 3.

(3) Time deterministic design of the operating system layer 200.

The TSN driver in the partition kernel on the operating system layer 200 directly sends the TSN data to the corresponding partition on the application layer 100, and the corresponding partition on the application layer 100 invokes the framing and de-framing functions in the TSN driver to directly perform TSN framing/de-framing on the TSN data, bypassing the network protocol stack of the partition kernel, shortening the data transmission time, and reducing the transmission jitter.

The partition kernel on the os layer 200 promotes the interrupt priority of the TSN communication interrupt (TSN network card from the same physical node) over other service interrupts, and the TSN communication interrupt is preferentially dispatched and processed, thereby further reducing transmission jitter.

(4) Time deterministic design of hardware layer 300

The TSN network card of the hardware layer 300 completes the network message transceiving of the CPU and the network card through the PCIe bus, and completes the transceiving of time deterministic data in combination with the global synchronous clock and the time schedule.

When data is transmitted, aiming at the real-time requirements of three data streams of strong real-time, soft real-time and non-real-time, the strong real-time data streams are preferentially processed in the data buffer regions of the strong real-time, soft real-time and non-real-time according to the priority of the TSN service.

(5) Time deterministic design of network layer 400

The network layer 400 is mainly composed of TSN switches, and the TSN gateway (also a type of TSN switch) adopts a dual redundancy star topology. The TSN switch provides completely determined real-time communication through a TSN network technology, ensures delivery of time-sensitive data, ensures ultra-low delay of the data passing through the switch through flow scheduling, and realizes deterministic delivery of flow.

The network layer 400 adopts a dual redundancy star topology, at least 2 paths exist between the inlet and the outlet of the TSN stream, and the 802.1CB protocol can be enabled, and the time certainty of further TSN communication by stream replication in the TSN network, including the time certainty of communication between the internal partitions of the application layer 100, and also including the time certainty of communication between the application layer 100 and the remote control layer 500.

(6) Time deterministic design of remote control layer 500

The remote control layer 500 comprises a remote control unit mounted on a time deterministic network, and mainly completes acquisition of sensor information and output of control commands, and performs synchronous processing on sensor input data in combination with a global synchronous clock, so that time certainty of the input data to a safety critical task is improved, and time certainty of the output control commands is improved.

In summary, the second embodiment of the hybrid critical system based on the TSN realizes global clock synchronization through the 802.1AS protocol based on the first embodiment of the hybrid critical system based on the TSN, realizes mapping of the partition scheduling time slot and the TSN forwarding time slot through the 802.1QBV and the partition scheduling time slice, realizes direct decoding/framing of an application layer and setting of high TSN communication interrupt priority at an operating system layer, preferentially transmits data with high priority in a buffer zone at a hardware layer, and also increases a redundant structure of the hybrid critical system, thereby further improving time certainty of the hybrid critical system and fault tolerance of the hybrid critical system.

An industrial control method is described below with reference to fig. 6.

An industrial control method embodiment operates on either one of a TSN-based hybrid critical system embodiment one or a TSN-based hybrid critical system embodiment two, with all the advantages of either one of a TSN-based hybrid critical system embodiment one or a TSN-based hybrid critical system embodiment two, respectively.

Fig. 6 shows a flow of an embodiment of an industrial control method, comprising steps S610 to S630.

S610: and the computing partition acquires the field data of the industrial system through the TSN network by utilizing the communication partition of the physical node where the computing partition is located.

The computing partition is a partition for executing a computing decision by an application layer, the computing partition for executing a time-critical task is a real-time partition, so that the certainty of computing time is ensured, and the computing partition for executing a non-time-critical task is a non-real-time partition; the communication partition is a real-time partition where the application layer performs TSN communication, and the communication performed through the communication partition is time deterministic communication.

Wherein, the mode of calculating the subregion to obtain the scene data is at least one of the following:

the computing partition actively requests data to the remote control layer through the communication partition of the physical node where the computing partition is located, the remote control layer sends field data to the communication partition of the physical node where the computing partition is located, and the communication partition forwards the field data to the computing partition in the physical node;

after the remote control layer generates the field data of the industrial system, the remote control layer actively transmits the field data to a communication partition of a physical node where a computing partition requiring the field data is located, and the communication partition forwards the field data to the computing partition inside the physical node.

S620: the calculation partition makes calculation decisions according to the field data, and sends the results of the calculation decisions to the control partition.

The computing partition makes a computing decision, and the computing task can be a real-time task or a non-real-time task.

The control partition is a real-time partition for the application layer to perform real-time control on the industrial system.

When the control partition and the calculation partition are not in a physical node, forwarding the result of the calculation decision through the corresponding communication partition so as to improve the time certainty of forwarding the calculation decision result.

S630: the control partition generates a control command in real time according to the result of the calculation decision, and sends the control command to the industrial system through the communication partition of the physical node where the control command is located, so as to control the industrial system in real time.

The control partition is a real-time partition, and generates control commands in real time, wherein the control commands can be single commands or multiple real-time serial commands of one working procedure.

Wherein, the control command is forwarded through the communication partition to improve the time certainty of the control command forwarding.

The remote control layer uses a plurality of control modes such as a PLC master station and the like to control the industrial system in real time through control commands.

In summary, an embodiment of an industrial control method operates on any one of a first embodiment of a hybrid critical system based on TSN or a second embodiment of the hybrid critical system based on TSN, and a time deterministic network for information communication of the hybrid critical system is realized by clock synchronization of the whole system and mapping of partition scheduling time slots and TSN forwarding time slots, so that hybrid transmission of strong real-time, soft real-time and non-real-time data is supported, certainty of time critical tasks is improved, and real-time control of the industrial system is realized.

The embodiment of the invention also provides an industrial control system, which comprises: one or two of the first and second embodiments of the hybrid critical system based on TSN are used for real-time control of industrial systems.

Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the above embodiments, but may include many other equivalent embodiments without departing from the spirit of the invention, which fall within the scope of the invention.

Claims (10)

1. A TSN-based hybrid critical system, comprising: partitioning and partitioning kernels;

the partition deployment is arranged on partition cores of physical nodes, including real-time partition, and each physical node is connected to a TSN network;

the partition kernel is used for realizing the mapping between the scheduling time slot of the real-time partition of the physical node and the communication time slot of the TSN network;

the partition kernel is further used for mapping task priority of the real-time partition of the physical node and service priority of the TSN network.

2. The critical system of claim 1, further comprising: the TSN network card is used for connecting the physical node with the TSN network and providing synchronous clocks for the real-time partition kernel and partition of the physical node.

3. The critical system of claim 1 wherein the real-time partition directly performs TSN de-framing and framing at the partition by invoking a TSN de-framing and framing function of the partition kernel of the physical node at which the partition is located.

4. The critical system of claim 1 wherein the partition kernel is further configured to dispatch interrupts to a partition of a physical node where the TSN communication interrupts of the real-time partition are prioritized over other service interrupts.

5. The key system of claim 1, wherein the partition kernel implements mapping of a scheduling time slot of a real-time partition of a physical node where the partition kernel is located with a communication time slot of the TSN network through a partition time schedule.

6. The critical system of claim 2 wherein said TSN network card preferentially transmits TSN data of said service priority that is high in its transmit buffer.

7. The critical system of claim 2 wherein the TSN network card and the TSN network employ dual redundancy connections.

8. The critical system of claim 1, wherein when the critical system is used for remote control, further comprising: and the remote control unit is connected with the TSN network and the controlled system and is used for collecting data from the controlled system and issuing control commands to the controlled system.

9. The industrial control method is characterized in that industrial system control is performed through a hybrid key system based on TSN, the hybrid key system comprises partitions and partition cores, the partitions are deployed on the partition cores of physical nodes, the partition cores comprise real-time partitions, each physical node is connected to a TSN network, a scheduling time slot of the real-time partition is mapped with a communication time slot of the TSN network, and a task priority of the real-time partition is mapped with a service priority of the TSN network, and the method comprises the following steps:

the method comprises the steps that a computing partition obtains field data of an industrial system through a TSN network by utilizing a communication partition of a physical node where the computing partition is located, wherein the computing partition is a partition for executing a computing decision, and the communication partition is a real-time partition for executing TSN communication;

the calculation partition makes a calculation decision according to the field data and sends a result of the calculation decision to the control partition, wherein the control partition is a real-time partition for executing real-time control on the industrial system, and when the control partition and the calculation partition are not in a physical node, the result is forwarded through a corresponding communication partition;

and the control partition generates a control command in real time according to the result and sends the control command to the industrial system through the communication partition of the physical node where the control command is located so as to control the industrial system in real time.

10. The method of claim 9, wherein the hybrid critical system further comprises: the TSN network card is used for connecting a TSN network and providing synchronous clocks for the real-time partition cores and partitions of the physical nodes where the TSN network card is located.