CN118008427A - Distributed control method, device and equipment for advanced hydraulic support and storage medium - Google Patents
Distributed control method, device and equipment for advanced hydraulic support and storage medium Download PDFInfo
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Abstract
The application provides a distributed control method, a distributed control device, distributed control equipment and a distributed control storage medium for an advanced hydraulic support, wherein a dispatching control instruction corresponding to the advanced hydraulic support is received through an edge controller of the advanced hydraulic support, and the dispatching control instruction is classified based on the source of the dispatching control instruction; based on a preset control arbitration principle, performing control arbitration on the classified scheduling control instructions to determine the execution sequence of the scheduling control instructions of different classifications; and executing the scheduling control instructions of different classifications based on the execution sequence of the scheduling control instructions of different classifications. By the method and the device, the scheduling control instructions pointing to the same advanced hydraulic support can be ordered, and the control instructions with higher priority or more urgent execution time limit can be timely executed, so that the production plan is disordered, and the equipment damage or the production economic loss is avoided.
Description
Technical Field
The present application relates to the field of edge control technologies, and in particular, to a method, an apparatus, a device, and a storage medium for distributed control of an advanced hydraulic support.
Background
The hydraulic support is a structure for controlling the mine pressure of the coal face. The mining face ore pressure acts on the hydraulic support in an external load mode. In the mechanical system of the interaction of the hydraulic support and the mining face surrounding rock, if the resultant force of all supporting parts of the hydraulic support and the external load force of the top plate acting on the hydraulic support are exactly in the same straight line, the hydraulic support is very suitable for the mining face surrounding rock.
The prior advanced hydraulic support establishes communication connection with the upper computer by installing a corresponding edge controller so as to receive and execute instructions of the upper computer. After receiving the scheduling control command, the edge controller of the current advanced hydraulic support often executes the command according to the receiving sequence, neglecting attention to the importance degree of different control commands, so that some control commands with higher priority or urgent execution time limit cannot be executed in time, a light person can disturb the production plan, and a heavy person can cause equipment damage or economic loss.
Disclosure of Invention
The present application aims to solve at least one of the technical problems in the related art to some extent.
To this end, a first object of the present application is to propose a distributed control method for a hydraulic advance rack, aiming at sequencing a plurality of scheduling control commands directed to the same hydraulic advance rack.
The second purpose of the application is to provide a distributed control device for the advanced hydraulic support.
A third object of the present application is to propose an electronic device.
A fourth object of the present application is to propose a computer readable storage medium.
To achieve the above objective, an embodiment of a first aspect of the present application provides a distributed control method for an advanced hydraulic support, including:
The edge controller of the advanced hydraulic support receives a scheduling control instruction corresponding to the advanced hydraulic support, and classifies the scheduling control instruction based on the source of the scheduling control instruction;
based on a preset control arbitration principle, performing control arbitration on the classified scheduling control instructions to determine the execution sequence of the scheduling control instructions of different classifications;
and executing the scheduling control instructions of different classifications based on the execution sequence of the scheduling control instructions of different classifications.
Wherein classifying the schedule control instructions based on the source of the schedule control instructions comprises:
The source of the dispatch control instruction is identified,
If the scheduling control instruction comes from the local edge controller, classifying the scheduling control instruction as a local control instruction;
If the scheduling control instruction comes from the ortho-edge controller, classifying the scheduling control instruction as an ortho-control instruction;
If the dispatching control instruction is sent by the remote control equipment, classifying the dispatching control instruction as a remote control instruction;
If the scheduling control instruction comes from the upper computer, the scheduling control instruction is classified as an upper control instruction.
The preset control arbitration principle is as follows: the local control instruction priority is greater than all other control instructions; the priority of the adjacent control instruction is greater than that of the remote control instruction and the upper control instruction; the command priority of the remote control command is greater than that of the upper control command; the priority of the upper control instruction is lowest.
Based on a preset control arbitration principle, performing control arbitration on the classified scheduling control instructions to determine the execution sequence of the scheduling control instructions of different classifications, wherein the method comprises the following steps:
Judging whether a scheduling control instruction currently being executed exists or not; if yes, judging the scheduling control instruction being executed and the scheduling control instruction to be executed;
if the priority of the executing dispatching control instruction is higher than that of the dispatching control instruction to be executed, continuing to execute the executing dispatching control instruction;
otherwise, determining the priority order of the scheduling control instruction being executed and the scheduling control instruction to be executed based on a preset control arbitration principle;
judging whether the executing scheduling control instruction and the scheduling control instruction to be executed have mutually exclusive instructions, if so, deleting the scheduling control instruction with low priority in the mutually exclusive instructions;
generating an instruction execution queue, and executing scheduling control instructions according to the instruction execution queue.
Wherein, based on the execution sequence of the scheduling control instructions of different classifications, the step of executing the scheduling control instructions of different classifications, and the step of executing the local control instruction, comprises:
Performing state self-checking through an operation panel of an edge controller of the advanced hydraulic support, and feeding back a state detection result;
after the state self-checking is finished, a scheduling control instruction to be executed is sent through a control panel;
determining the execution sequence of scheduling control instructions to be executed through control arbitration and algorithm operation;
And according to the execution sequence of the scheduling control instructions to be executed, the scheduling control instructions to be executed are sequentially executed on the controlled equipment, and the execution result is fed back to the control panel.
Wherein, based on the execution sequence of the scheduling control instructions of different classifications, the step of executing the scheduling control instructions of different classifications and the step of executing the upper control instruction comprises:
Performing state self-checking through an operation panel of the upper equipment configuration of the advanced hydraulic support, and feeding back a state detection result;
after the state self-checking is finished, an upper control instruction to be executed is sent through the control panel;
determining the execution sequence of the upper control instruction to be executed through control arbitration and algorithm operation;
The upper control instruction to be executed is sent to lower controlled equipment through a data middleware;
the lower controlled equipment sequentially executes the scheduling control instructions to be executed according to the execution sequence of the scheduling control instructions to be executed, and feeds back the execution result to the control panel.
The data middleware sends an upper control instruction to be executed to a lower OPC UA service client through OPC UA service; the controlled equipment is an edge controller of the advanced hydraulic support, and executes the upper control instruction to be executed, which is received by the lower OPC UA service client, by calling.
To achieve the above object, a second aspect of the present application provides a distributed control device for an advanced hydraulic support, including:
The classification module is used for receiving the scheduling control instruction corresponding to the advanced hydraulic support through the edge controller of the advanced hydraulic support and classifying the scheduling control instruction based on the source of the scheduling control instruction;
the sorting module is used for carrying out control arbitration on the classified dispatching control instructions based on a preset control arbitration principle so as to determine the execution sequence of the dispatching control instructions of different classifications;
And the control module is used for executing the scheduling control instructions of different classifications based on the execution sequence of the scheduling control instructions of different classifications.
To achieve the above object, an embodiment of a third aspect of the present application provides an electronic device, including: a processor, a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
The processor executes computer-executable instructions stored in the memory to implement the method as in the previous claims.
To achieve the above object, a fourth aspect of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored, which when executed by a processor, are configured to implement a method as in the foregoing technical solution.
Compared with the prior art, the distributed control method, the distributed control device, the electronic equipment and the storage medium for the advanced hydraulic support are characterized in that the edge controller of the advanced hydraulic support receives the scheduling control instruction corresponding to the advanced hydraulic support, and the scheduling control instruction is classified based on the source of the scheduling control instruction; based on a preset control arbitration principle, performing control arbitration on the classified scheduling control instructions to determine the execution sequence of the scheduling control instructions of different classifications; and executing the scheduling control instructions of different classifications based on the execution sequence of the scheduling control instructions of different classifications. By the method and the device, the scheduling control instructions pointing to the same advanced hydraulic support can be ordered, and the control instructions with higher priority or more urgent execution time limit can be timely executed, so that the production plan is disordered, and the equipment damage or the production economic loss is avoided.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
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The foregoing and/or additional aspects and advantages of the application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic flow chart of a method for controlling the edge of a coal face crossheading advanced hydraulic support according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an on-line operation of a host machine in a method for controlling an edge of a forward hydraulic support of a coal face gateway according to an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating an operation of a main machine in an offline mode in a method for controlling an edge of a forward hydraulic support of a coal face gateway according to an embodiment of the present application;
FIG. 4 is a schematic diagram of the operation of the slave on-line and the slave off-line modes in the method for controlling the edge of the coal face crossheading advanced hydraulic support according to the embodiment of the present application;
FIG. 5 is a schematic structural diagram of an implementation system of a method for controlling an edge of a forward hydraulic support of a coal face gateway according to an embodiment of the present application;
Fig. 6 is a schematic structural diagram of an edge control device for a coal face crossheading advanced hydraulic support according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
A distributed control method and apparatus for a lead hydraulic mount according to embodiments of the present application are described below with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a distributed control method for an advanced hydraulic support according to an embodiment of the present application. The method comprises the following steps:
Step S101, an edge controller of the advanced hydraulic support receives a scheduling control instruction corresponding to the advanced hydraulic support, and classifies the scheduling control instruction based on a source of the scheduling control instruction.
The edge controller of the advanced hydraulic support receives at least one scheduling control instruction sent to the corresponding edge controller within a preset time interval, identifies instruction source information contained in the instruction, and classifies the at least one scheduling control instruction based on the instruction source information.
In other embodiments of the present invention, if the edge controller of the lead hydraulic support does not receive a scheduling control command within a preset time interval, the edge controller continues to wait for the next preset time interval and receives the scheduling control command received within the time interval.
The method for classifying the received scheduling control instructions specifically comprises the following steps:
The source of the dispatch control instruction is identified,
If the scheduling control instruction comes from the local edge controller, classifying the scheduling control instruction as a local control instruction;
If the scheduling control instruction comes from the ortho-edge controller, classifying the scheduling control instruction as an ortho-control instruction;
If the dispatching control instruction is sent by the remote control equipment, classifying the dispatching control instruction as a remote control instruction;
If the scheduling control instruction comes from the upper computer, the scheduling control instruction is classified as an upper control instruction.
Step S102, performing control arbitration on the classified scheduling control instructions based on a preset control arbitration principle so as to determine the execution sequence of the scheduling control instructions of different classifications.
In the invention, the preset control arbitration principle is as follows: the local control instruction priority is greater than all other control instructions; the priority of the adjacent control instruction is greater than that of the remote control instruction and the upper control instruction; the command priority of the remote control command is greater than that of the upper control command; the priority of the upper control instruction is lowest.
As shown in fig. 2, the step of determining the execution sequence includes:
Judging whether a scheduling control instruction currently being executed exists or not; if yes, judging the scheduling control instruction being executed and the scheduling control instruction to be executed;
if the priority of the executing dispatching control instruction is higher than that of the dispatching control instruction to be executed, continuing to execute the executing dispatching control instruction;
otherwise, determining the priority order of the scheduling control instruction being executed and the scheduling control instruction to be executed based on a preset control arbitration principle;
judging whether the executing scheduling control instruction and the scheduling control instruction to be executed have mutually exclusive instructions, if so, deleting the scheduling control instruction with low priority in the mutually exclusive instructions;
generating an instruction execution queue, and executing scheduling control instructions according to the instruction execution queue.
Step S103: and executing the scheduling control instructions of different classifications based on the execution sequence of the scheduling control instructions of different classifications.
Specifically, as shown in fig. 3, when executing the local control instruction, the method includes the following steps:
Performing state self-checking through an operation panel of an edge controller of the advanced hydraulic support, and feeding back a state detection result;
after the state self-checking is finished, a scheduling control instruction to be executed is sent through a control panel;
determining the execution sequence of scheduling control instructions to be executed through control arbitration and algorithm operation;
And according to the execution sequence of the scheduling control instructions to be executed, the scheduling control instructions to be executed are sequentially executed on the controlled equipment, and the execution result is fed back to the control panel.
As shown in fig. 4, the step of executing the upper control instruction includes:
Performing state self-checking through an operation panel of the upper equipment configuration of the advanced hydraulic support, and feeding back a state detection result;
after the state self-checking is finished, an upper control instruction to be executed is sent through the control panel;
determining the execution sequence of the upper control instruction to be executed through control arbitration and algorithm operation;
The upper control instruction to be executed is sent to lower controlled equipment through a data middleware;
the lower controlled equipment sequentially executes the scheduling control instructions to be executed according to the execution sequence of the scheduling control instructions to be executed, and feeds back the execution result to the control panel.
The data middleware sends an upper control instruction to be executed to a lower OPC UA service client through OPC UA service; the controlled equipment is an edge controller of the advanced hydraulic support, and executes the upper control instruction to be executed, which is received by the lower OPC UA service client, by calling.
In the upper control, an expansion algorithm logic can be inserted into the application logic to perform pre-operation, and the algorithm in the lower position is preceded. If the upper and lower bits have the same arithmetic logic for the same data, only the algorithm in the lower bit is executed.
The data middleware of FIG. 4 includes data middleware program logic and associated data persistence services.
The controlled device feedback and the resulting ack operation in fig. 4 are both asynchronous operations. I.e. the operation does not need to remain waiting, and is identified by the operation pipeline uuid. After the ack information is received by the upper computer, the data corresponding to the database is written into the database for recording according to the operation pipeline uuid.
The execution process of the ortho control instruction and the remote control instruction is similar to that of the local control instruction, and the ortho control instruction and the remote control instruction are received and operated according to the execution steps of the local control instruction on the local controlled equipment.
Specifically, the invention creates a lead hydraulic bracket distribution control system shown in fig. 5 for realizing the distribution control of the lead hydraulic bracket.
Fig. 5 is a schematic structural diagram of an execution system of a method for controlling an edge of a coal face crossheading hydraulic support according to an embodiment of the present application. The system comprises an upper system, a service system and a lower system; wherein,
The functions realized by the upper system comprise configuration application, equipment management, data large screen display, log record and system management. Enterprise management, user management and algorithm expansion;
The service layer comprises a data middleware, and the data middleware provides data algorithm support through a relational database, a time sequence database, a key value database and NATS service;
the functions of the lower system comprise operation, daemon, data acquisition, data generation, event triggering, timer, local control, upper control, ortho control and remote control.
The data middleware performs data acquisition and data generation of a lower system through an MQTT service; the MQTT service is used for acquiring the message transmitted from the lower computer through the MQTT protocol and providing the message for other applications through a subscription and release mode. The data middleware performs upper control of a lower system through Opc UA service; the Opc UA service is used for performing control communication and main data acquisition communication with the lower computer and providing the capability of performing data interaction with other external systems. In addition, the third party system is controlled through Opc UA service.
Specifically, the service database is used for storing typical relational data, including user rights, equipment information, basic data and the like, and storing the acquired real-time data in a memory table mode.
The time sequence database user stores the collected historical data which is strongly related to time, and adopts a single list mode.
The most common cache database Redis has no program issued officially under Windows, so the mode of using the MariaDB self-contained memory table replaces the mode of Redis key value storage under Windows.
The system management of the upper system comprises:
The account rights management comprises the functions of RBAC-based rights management, unlimited level tree role setting, login, logout, registration, logout, password recovery, password resetting and the like.
And the log management comprises log of user login, log of operation function, log of user modification data and log generated by an application system.
The system setting comprises and sets configuration information of the system, including functions of system name, data link configuration, key setting, contact person setting and the like.
The device management of the upper system comprises:
The device classification management comprises the functions of device classification, infinite level, random setting and the like.
And the equipment model management comprises the functions of equipment model, communication protocol, sensor, controlled equipment information and the like.
And the equipment information management comprises functions of equipment such as adding, checking, modifying and deleting, basic information setting and the like.
The device firmware management comprises device firmware management including version, push issuing and other functions.
The device connection management comprises a networking mode management among a plurality of devices.
And managing the device log, wherein the device log comprises a log reported by the recording device.
And the device update log management comprises the log of device firmware, state and the like updated by an upper system.
And the equipment alarm management comprises equipment alarm rules and alarm information.
Device command management, including the management of issued commands supported by device services.
And the equipment point table management comprises equipment acquisition points (measuring points) and register mapping management.
And equipment simulation (configuration) management, including equipment acquisition, control, operation state simulation and test.
The data management of the upper system comprises:
and the data source management comprises relevant service parameter configuration of data acquisition, storage and caching.
And the function menu management comprises the function menu entry management of the upper computer.
And (3) quickly checking real-time data, and directly inquiring the real-time data of the current equipment according to the acquisition point and the register information.
The configuration template is used for reporting information through the lower computer equipment, displaying the information on the upper computer and rapidly copying the information to a plurality of equipment in a configuration template mode.
And the cache management comprises the operations of cleaning, resetting and the like of the upper computer system cache.
Configuration management in a host system includes:
the configurator provides the ability to design various configurations for the system by way of graphical modular drag and drop.
The upper computer system is customized according to the first side requirement and comprises a single-device configuration and a multi-device configuration of the lower computer.
And the terminal configuration map is used for synchronously rendering the configuration of the equipment configuration information map on the upper computer, and after the terminal configuration data is changed and synchronized to the upper computer, the configuration of the upper computer is synchronously updated.
The data presentation in the upper system comprises:
and a data report, wherein data display is carried out according to the acquired data. Various modes such as a histogram, a line graph, a pie chart, a data table and the like are provided.
And the data large screen is used for rapidly displaying the system overall data in a mode of three large screen cockpit interfaces.
And the API is communicated with other systems and provides access in http and Opc UA modes.
The support package supports secondary development and comprises a document, a data structure description document, a go development reference sample, a nodejs development reference sample and a cpp development reference sample.
The data acquisition and generation in the lower system comprises the following steps:
And the system index collection comprises real-time data such as processor resources, storage resources, flow, power supply conditions, processor temperature, external sensing data and the like. Collected every 10 seconds.
The system log comprises a lower computer system level log, and comprises system operation, login authentication record, timing task record and the like.
The application log comprises logs related to business generated by each lower computer application.
The system alarms comprise lower computer system alarms, and comprise multiple layers of an operating system, services, applications and the like. The alert level includes information, debugging, alerts, warnings, errors, etc.
The timer in the lower system includes:
monitoring feeding dogs, global process monitoring, timing feeding dogs, ensuring critical process survival, or quick re-pull.
Reporting the logs, reporting the generated various logs regularly, and adopting different alarm rules according to different classifications of systems, applications, alarms and the like. If the system log is reported once in 10 seconds, the application log is reported once in 5 seconds, and the system alarm is reported in real time.
And reporting indexes, and periodically reporting the detected system index data.
The measuring points are reported, the timing reporting is carried out, and the period can be set independently according to the measuring points, wherein the period comprises system register information and ADC sampling information.
And cleaning the cache, and cleaning and updating the cache information at regular time.
And the heartbeat information is reported every 15 seconds, and the heartbeat report is required to be reported to an upper computer and also required to be notified to an adjacent machine.
Daemons in the lower level system include:
and feeding the dog in the business process by the application, so as to ensure the normal operation of the application process.
The process is kept alive, including restarting the zombie and deadlocked application process.
Opc UA client, pub/sub mode client developed based on Open 62541.
And (3) energy consumption management, namely monitoring whether the power supply condition of each path is normal or not through a power supply management function in real time, if the power supply condition exceeds the total load capacity, alarming step by step according to the set priority, blocking operation actions, and executing actions after power failure of different peripheral equipment is stopped manually.
The listening event program in the lower system includes:
the device is online, including an online report.
The equipment is offline, including active shutdown, offline status reporting.
And alarming equipment, wherein the alarming information is reported in real time.
The device responds, the upper instruction is received and then executed, and the execution is completed.
The control modes in the lower system include:
single point control: the support in the control range can only be one support for each control; the manual control means controls the support by operating the controller key by hand, wherein the manual operation is that the key must be pressed by hand when the operation is executed and the operation is stopped when the key is released in comparison with the automatic operation of the program.
Group control: the single-point actions of multiple brackets are selected to be started simultaneously and stopped simultaneously.
Automatic control: and according to the setting of the program, completing the full-automatic execution action of the bracket in the control range.
The upper controlled functions in the lower system include:
the start and stop comprises emergency stop, reset, group start, group stop, single-point start and stop and the like.
Master-slave, including master-slave switching, master-slave reporting, and investigation.
The actions comprise lifting of a front support, lifting of a rear support, sliding block movement, left front and rear bracket movement, right front and rear bracket movement, lifting of a hydraulic cylinder and the like.
The ortho-controlled functions in the lower system include:
the start and stop comprises emergency stop, reset, group start, group stop, single-point start and stop and the like.
The actions comprise lifting of a front support, lifting of a rear support, sliding block movement, left front and rear bracket movement, right front and rear bracket movement, lifting of a hydraulic cylinder and the like.
The remote control function in the lower system includes:
the start and stop comprises emergency stop, reset, group start, group stop, single-point start and stop and the like.
The actions comprise lifting of a front support, lifting of a rear support, sliding block movement, left front and rear bracket movement, right front and rear bracket movement, lifting of a hydraulic cylinder and the like.
The local control functions in the lower system include:
the start and stop comprises emergency stop, reset, group start, group stop, single-point start and stop and the like.
The actions comprise lifting of a front support, lifting of a rear support, sliding block movement, left front and rear bracket movement, right front and rear bracket movement, lifting of a hydraulic cylinder and the like. (based on actual demand)
Master and slave, including switching slave, state inquiry.
As shown in fig. 6, fig. 6 provides a schematic structural diagram of an edge control device for a coal face gateway advanced hydraulic support. The apparatus 300 includes:
The classification module 310 is configured to receive, by using an edge controller of the advanced hydraulic support, a scheduling control instruction corresponding to the advanced hydraulic support, and classify the scheduling control instruction based on a source of the scheduling control instruction;
The ordering module 320 is configured to perform control arbitration on the classified scheduling control instructions based on a preset control arbitration principle, so as to determine an execution sequence of the scheduling control instructions of different classifications;
The control module 330 is configured to execute the scheduling control instructions of different classifications based on the execution order of the scheduling control instructions of different classifications.
It should be noted that the foregoing explanation of the embodiment of the method for controlling the distributed control of the advanced hydraulic support is also applicable to the distributed control device of the advanced hydraulic support of this embodiment, and will not be repeated herein.
In order to achieve the above embodiment, the present application further provides an electronic device, including: a processor, and a memory communicatively coupled to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the methods provided by the previous embodiments.
In order to implement the above-described embodiments, the present application also proposes a computer-readable storage medium having stored therein computer-executable instructions that, when executed by a processor, are adapted to implement the methods provided by the foregoing embodiments.
In order to implement the above embodiments, the present application also proposes a computer program product comprising a computer program which, when executed by a processor, implements the method provided by the above embodiments.
The processing of collecting, storing, using, processing, transmitting, providing, disclosing and the like of the personal information of the user in the application accords with the regulations of related laws and regulations and does not violate the popular regulations of the public order.
It should be noted that personal information from users should be collected for legitimate and reasonable uses and not shared or sold outside of these legitimate uses. In addition, such collection/sharing should be performed after receiving user informed consent, including but not limited to informing the user to read user agreements/user notifications and signing agreements/authorizations including authorization-related user information before the user uses the functionality. In addition, any necessary steps are taken to safeguard and ensure access to such personal information data and to ensure that other persons having access to the personal information data adhere to their privacy policies and procedures.
The present application contemplates embodiments that may provide a user with selective prevention of use or access to personal information data. That is, the present disclosure contemplates that hardware and/or software may be provided to prevent or block access to such personal information data. Once personal information data is no longer needed, risk can be minimized by limiting data collection and deleting data. In addition, personal identification is removed from such personal information, as applicable, to protect the privacy of the user.
In the foregoing description of embodiments, reference has been made to the terms "one embodiment," "some embodiments," "example," "a particular example," or "some examples," etc., meaning that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (10)
1. The distributed control method for the advanced hydraulic support is characterized by comprising the following steps of:
The method comprises the steps that an edge controller of the advanced hydraulic support receives a scheduling control instruction corresponding to the advanced hydraulic support, and the scheduling control instruction is classified based on a source of the scheduling control instruction;
based on a preset control arbitration principle, performing control arbitration on the classified scheduling control instructions to determine the execution sequence of the scheduling control instructions of different classifications;
And executing the scheduling control instructions of the different classifications based on the execution sequence of the scheduling control instructions of the different classifications.
2. The advanced hydraulic mount distributed control method according to claim 1, wherein the classifying the schedule control command based on a source of the schedule control command includes:
The source of the dispatch control instruction is identified,
If the scheduling control instruction comes from the local edge controller, classifying the scheduling control instruction as a local control instruction;
if the dispatching control instruction is from the ortho edge controller, classifying the dispatching control instruction as an ortho control instruction;
if the dispatching control instruction is sent by the remote control equipment, classifying the dispatching control instruction as a remote control instruction;
if the scheduling control instruction comes from the upper computer, the scheduling control instruction is classified as an upper control instruction.
3. The advanced hydraulic support distributed control method according to claim 2, wherein the preset control arbitration principle is: the local control instruction priority is greater than all other control instructions; the priority of the adjacent control instruction is greater than that of the remote control instruction and the upper control instruction; the command priority of the remote control command is greater than that of the upper control command; the priority of the upper control instruction is lowest.
4. The method for distributed control of a lead hydraulic support according to claim 3, wherein the performing control arbitration on the classified schedule control commands based on a preset control arbitration principle to determine the execution sequence of the schedule control commands of different classifications includes:
Judging whether a scheduling control instruction currently being executed exists or not; if yes, judging the scheduling control instruction being executed and the scheduling control instruction to be executed;
if the priority of the executing dispatching control instruction is higher than that of the dispatching control instruction to be executed, continuing to execute the executing dispatching control instruction;
Otherwise, determining the priority order of the scheduling control instruction which is being executed and the scheduling control instruction to be executed based on the preset control arbitration principle;
judging whether the executing scheduling control instruction and the scheduling control instruction to be executed have mutually exclusive instructions, if so, deleting the scheduling control instruction with low priority in the mutually exclusive instructions;
and generating an instruction execution queue, and executing a scheduling control instruction according to the instruction execution queue.
5. The advanced hydraulic mount distributed control method according to claim 1, wherein the step of executing the scheduling control instructions of the different classifications based on the execution order of the scheduling control instructions of the different classifications, and executing the local control instructions includes:
Performing state self-checking through an operation panel of an edge controller of the advanced hydraulic support, and feeding back a state detection result;
after the state self-checking is finished, a scheduling control instruction to be executed is sent through a control panel;
determining the execution sequence of the scheduling control instruction to be executed through the control arbitration and the algorithm operation;
And according to the execution sequence of the scheduling control instructions to be executed, the scheduling control instructions to be executed are sequentially executed on the controlled equipment, and the execution result is fed back to the control panel.
6. The distributed control method for the advanced hydraulic mount according to claim 1, wherein the step of executing the scheduling control command of the different classifications based on the execution order of the scheduling control command of the different classifications, and executing the upper control command comprises:
Performing state self-checking through an operation panel of the upper equipment configuration of the advanced hydraulic support, and feeding back a state detection result;
after the state self-checking is finished, an upper control instruction to be executed is sent through the control panel;
determining the execution sequence of the upper control instruction to be executed through the control arbitration and the algorithm operation;
The upper control instruction to be executed is sent to lower controlled equipment through a data middleware;
And the lower controlled equipment sequentially executes the scheduling control instructions to be executed according to the execution sequence of the scheduling control instructions to be executed, and feeds back an execution result to the control panel.
7. The distributed control method of the advanced hydraulic support according to claim 6, wherein the data middleware sends the upper control command to be executed to a lower OPC UA service client through OPC UA service; the controlled equipment is an edge controller of the advanced hydraulic support, and the controlled equipment is executed by calling an upper control instruction to be executed, which is received by the lower OPC UA service client.
8. A lead hydraulic support distributed control device, comprising:
the classification module is used for receiving the scheduling control instruction corresponding to the advanced hydraulic support through the edge controller of the advanced hydraulic support and classifying the scheduling control instruction based on the source of the scheduling control instruction;
The sorting module is used for carrying out control arbitration on the classified dispatching control instructions based on a preset control arbitration principle so as to determine the execution sequence of the dispatching control instructions of different classifications;
and the control module is used for executing the scheduling control instructions of different classifications based on the execution sequence of the scheduling control instructions of different classifications.
9. An electronic device, comprising: a processor, and a memory communicatively coupled to the processor;
The memory stores computer-executable instructions;
the processor executes computer-executable instructions stored in the memory to implement the method of any one of claims 1-7.
10. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out the method of any one of claims 1-7.
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| CN202410251883.7A CN118008427A (en) | 2024-03-05 | 2024-03-05 | Distributed control method, device and equipment for advanced hydraulic support and storage medium |
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| CN202410251883.7A CN118008427A (en) | 2024-03-05 | 2024-03-05 | Distributed control method, device and equipment for advanced hydraulic support and storage medium |
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