CN1920712A - High-speed Ethernet programmable controller system based on fund conference bus in site - Google Patents

High-speed Ethernet programmable controller system based on fund conference bus in site Download PDF

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Publication number
CN1920712A
CN1920712A CNA2005100470883A CN200510047088A CN1920712A CN 1920712 A CN1920712 A CN 1920712A CN A2005100470883 A CNA2005100470883 A CN A2005100470883A CN 200510047088 A CN200510047088 A CN 200510047088A CN 1920712 A CN1920712 A CN 1920712A
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China
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plc
data
program
service state
state
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CNA2005100470883A
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Chinese (zh)
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CN100430848C (en
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于海斌
王锴
王宏
林跃
王鹏
苗利
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沈阳中科博微自动化技术有限公司
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention relates to a programmable controller based on on-site high-speed Ethernet of foundation, wherein it uses PLC target system with two embedded controllers, as FF on-site bus interface card and PLC operator; the FF on-site bus interface card has the flexible function block for inputting/outputting function as multi-path analogue input/output function block and multi-path digit input/output function block, to be used as the remote data interface of PLC; the PLC is seamlessly integrated on the FF HSE bus; and it uses detecting diagnosis function block to detect the PLC operation by superior machine; and the PLC algorism programming system of superior machine via FF on-site bus interfaces card can download algorism (TIC code) and I/O distribution document. The invention can realize single-machine on-site control, and interact with FF on-site device as remove control.

Description

Programable controller system based on the foundation fieldbus Fast Ethernet
Technical field
The present invention relates to industrial automation control, embedded computer system and fieldbus field, specifically a kind of Programmable Logic Controller (PLC) system based on foundation fieldbus (FF) Fast Ethernet (HSE).
Background technology
Field bus technique is the current hot spot technology of industrial control system, Fieldbus Based control system has the incomparable technical advantage of traditional industry control system, industrial control system advanced on the international market all extensively adopts field bus technique, has driven the overall technology development of industrial automation system.PLC is based on microprocessor, integrated computer technology, automatic technology and the communication technology, towards control procedure, user oriented, adapt to industrial environment, easy to operate, universal industrial control device that reliability is high, obtained using widely in the industrial automation field, particularly, had more irreplaceable advantage in sequential control and switching value process field.Along with the development of PLC technology, world market continues to increase to the demand of PLC, and particularly in China, growth rate from now on is faster.Yet current PLC market is monopolized by large manufacturer of external a few family (as Siemens, execute and bear, GE, AB, Omron etc.), and homemade PLC does not form industrialization and brand.
Because FF is based on the bus standard of process control, so be its weakness for the control of discrete signal.Therefore, need on its high-speed bus HSE, carry out the control of discrete signal by integrated PLC, to remedy the deficiency of FF fieldbus.Because by the monopolization of manufacturer of several family, compatriots have to adopt the PLC of foreign vendor when integrated, have directly caused the integrated cost rising in the market of PLC.In addition, the PLC of these manufacturers does not support the FF agreement usually, often needs gateway to carry out protocol conversion when integrated, and this has further increased cost again, has brought very big inconvenience for simultaneously user's application yet.
In sum, in order to make user integrated PLC on FF easily on the basis that reduces cost, just press for PLC equipment that has autonomous property right of exploitation based on FF HSE.
Summary of the invention
The purpose of this invention is to provide a kind of PLC system based on FF HSE that can strengthen FF control system discrete signal processing power effectively.FF HSE is the bus standard that fieldbus foundation proposed in 2000, it provides high-speed controller (as PLC), H1 subsystem (by a chained device) and data server and workstation is integrated, now having become one of standard of IEC61158, is a kind of in the industrial standard for Fieldbus that the applications well prospect is arranged.PLC equipment based on foundation fieldbus Fast Ethernet (FF HSE) can seamlessly be integrated on the FF bus, both can realize that unit controlled on the spot, can realize interoperability with the FF field apparatus again simultaneously, thereby strengthen the processing power of FF control system effectively discrete signal.Main application scenario at PLC---unit is controlled down on the spot, can satisfy very high real-time requirement.Aspect Long-distance Control,, can realize thousands of Long-distance Control of counting by means of the teledata interface that the field-bus interface card provides.The present invention is based on the PLC system of FF HSE, has following function:
The field-bus interface card can utilize wherein HSE protocol stack sofeware to finish and the communicating by letter of PLC algorithm programing system in the PLC goal systems;
The field-bus interface card can utilize the FFB that is used for the I/O function wherein to provide the teledata interface for PLC in the PLC goal systems, the interoperability of other field apparatus on realization and the network;
The field-bus interface card can utilize wherein monitoring and diagnosis functional block to realize monitoring to the PLC running status in the PLC goal systems;
PLC operational system in the PLC goal systems is carried out the control algolithm that the user writes with the working method work of intermittent scanning in PLC algorithm programing system, finish the control to production run;
Virtual machine in the PLC goal systems in the PLC operational system is explained and is carried out the TIC sign indicating number, finally realizes the control function of system.
In order to realize above-mentioned functions and purpose, technical scheme of the present invention is as follows:
Adopt the PLC goal systems of two embedded controller structures, embedded controller is used for the FF field-bus interface card with host computer and other FF field apparatus communication, another embedded controller is used to carry out the PLC operational system that control algolithm realizes control strategy, adopts the dual port RAM storer to communicate between the two; The PLC algorithm programing system communication of the IEC61131-3 standard in FF field-bus interface card and the host computer;
Wherein: at the scene in the bus interface card: 1) introducing is used for the teledata interface of the FFB (that is: multi-analog I/O functional block and multi-path digital amount I/O functional block) of I/O function as PLC, be integrated on the FF HSE bus PLC equipment is seamless, in order to effectively to replenish the processing power of FF discrete signal; 2) introducing is used for the monitoring and diagnosis functional block, realizes the monitoring of host computer to the PLC running status; 3) by introducing the functional block instance technology, i.e. the individual data of I/O functional block can expand according to actual the counting of required control of industry spot, in order to improve usage factor of system resource;
In the PLC operational system, adopt the virtual machine technique that meets international standard IEC61131-3, carry out the PLC algorithm of developing in the host computer programing system, realize system control function.
The invention solves following several gordian techniquies:
1) how to the invention solves the problem on the seamless FF of the being integrated in HSE of the PLC equipment bus, thereby replenished the processing power of FF effectively discrete signal.
2) the invention provides a kind of monitoring thinking of novelty, be used to monitor the diagnostic function piece, realized monitoring the PLC running status by introducing in the bus interface card at the scene.
3) the present invention is used for the teledata interface of the FFB of I/O function as PLC by introducing in the bus interface card at the scene, has further expanded the application of FFB; Simultaneously, the introducing of functional block instance technology has improved usage factor of system resource.
4) the invention provides a kind of new architecture, the introducing of field-bus interface card is separated the communication of system and control function fully, has improved the operational efficiency and the reliability of system effectively.
The present invention is the PLC equipment that can be widely used in the industrial automation field, and its core technology is an international standard IEC61131-3 programming standard, FF HSE protocol specification, foundation fieldbus functional block technology and virtual machine technique.By international standard IEC61131-3, FF HSE protocol specification is the basis, in conjunction with the HSE protocol stack sofeware, is used for the FFB of I/O function, and virtual machine and configuration software have been realized an open PLC equipment that has autonomous property right.It has following advantage:
1) applicability
The present invention can be applied to occasions such as food and drink, tobacco, packaging industry, wood working, machine-building, water treatment, automobile.
2) opening
Programming language of the present invention is the trapezoid figure language that meets the IEC61131-3 standard, is easy to the user and grasps.
3) single Control Engine, multiple goal platform
Because the present invention has adopted virtual machine technique in operational system, when transplanting virtual machine to other operating system platform, all application programs on it does not need to change, and make system of the present invention have the characteristics of single Control Engine, multiple goal platform.When the higher hardware of performance occurs, can embody the good extendability of the present invention by transplanting the performance of virtual machine to its operating system platform lifting PLC.
4) real-time and reliability
The introducing of field-bus interface card is effectively separated the communication of system and control function in the PLC goal systems of the present invention, promptly in the control ability that improves equipment, has improved reliability again.
Description of drawings
Fig. 1 is principle of the invention figure.
Fig. 2 is PLC algorithm programing system module theory of constitution figure among Fig. 1.
Fig. 3 is the theory of constitution figure of PLC goal systems module among Fig. 1.
Fig. 4 is the circuit theory sketch of FF field-bus interface card among Fig. 3.
Fig. 5 is the multi-analog I/O functional block program process flow diagram in the FF field-bus interface card.
Fig. 6 is the multi-path digital amount I/O functional block program process flow diagram in the FF field-bus interface card.
Fig. 7 monitoring and diagnosis functional block program process flow diagram.
Fig. 8 is the circuit theory sketch of PLC operational system among Fig. 3.
Fig. 9 is the software flow pattern of PLC operational system.
Embodiment
Below in conjunction with drawings and Examples the present invention is described in further detail.
As shown in Figure 1, the present invention adopts the PLC goal systems of two embedded controller structures, embedded controller is used for the FF field-bus interface card with host computer and other FF field apparatus communication, another embedded controller is used to carry out the PLC operational system that control algolithm realizes control strategy, adopts the dual port RAM storer to communicate between the two; The PLC algorithm programing system communication that meets the IEC61131-3 standard in FF field-bus interface card and the host computer;
Wherein: in FF field-bus interface card: 1) introducing is used for the teledata interface of the FFB (that is: multi-analog I/O functional block and multi-path digital amount I/O functional block) of I/O function as PLC, be integrated on the FF HSE bus PLC equipment is seamless, in order to effectively to replenish the processing power of FF discrete signal; 2) introducing is used for the monitoring and diagnosis functional block, realizes the monitoring of host computer to the PLC running status; 3) by introducing the functional block instance technology, i.e. the individual data of I/O functional block can expand according to actual the counting of required control of industry spot, in order to improve usage factor of system resource;
In the PLC operational system, adopt the virtual machine technique that meets international standard IEC61131-3, carry out the PLC algorithm of developing in the host computer programing system, realize system control function.
Concrete structure is as follows:
Comprise that PLC algorithm programing system and PLC goal systems two large divisions constitute, wherein:
PLC algorithm programing system has run on as application program on the Windows operating system of ordinary PC of host computer effect, and establishment, off-line debugging, I/O variable configuration, algorithm and the relevant configuration info download and the monitoring function of the PLC algorithm that meets international standard IEC61131-3 programming standard is provided.
The PLC goal systems is made of FF field-bus interface card and PLC operational system two parts, adopts the two-port RAM storer to link to each other between the two; The PLC goal systems is received the algorithm information that comes from host computer by the clamping of FF field-bus interface, by PLC operational system execution algorithm, finally finishes the control to production run; Its attainable control types comprises that unit is controlled on the spot and distributed remote is controlled two kinds, under unit control situation on the spot, directly local I/O module is operated by the PLC operational system; Under distributed remote control situation, provide the teledata interface by FF field-bus interface card for the PLC operational system, realize interoperability whereby with long-range FF field apparatus; Described long-range FF field apparatus both can be that the HSE field apparatus also can be H1 field apparatus (realizing protocol conversion by chained device); At run duration of the present invention, PLC algorithm programing system periodically with FF field-bus interface card exchange message to finish monitoring to the PLC goal systems.
As shown in Figure 2, PLC algorithm programing system is made up of development environment module, debugging enironment module and configuration software module three parts, and development environment module, debugging enironment module constitute the establishment of PLC algorithm; Three part concrete structures are as follows:
1) development environment module
The development environment module is made up of the trapezoid figure language editor/debugger module that meets the IEC61131-3 standard, compiler module and client communication interface module (Client) three parts, and is concrete:
A) trapezoid figure language editor/debugger module
Major function provides the editing environment of PLC control algolithm, and the user uses the trapezoid figure language that meets the IEC61131-3 standard to write controlling application program, and carries out corresponding I/O variable configuration effort; Trapezoid figure language editor/debugger module also provides off-line simulation function (prior art) simultaneously, makes things convenient for the correctness of user test steering logic; The controlling application program that the input information of trapezoid figure language editor/debugger module is write for the host computer user, it finally generates the intermediate file of proprietary format according to user's input information (being Debugging message), exports to compiler module and compiles.
B) compiler module
Compiler module is checked user's written program code, shows compiling result's correctness, and error message and the warning message that compiles is prompted to the user; The input information of compiler module comes from the intermediate file that trapezoid figure language editor/debugger module generates, and carries out the grammatical and semantic inspection according to the IEC61131-3 standard, the final target independent code (TIC sign indicating number) that is independent of the PLC goal systems that generates.In addition, the I/O configuration file of description I/O variable configuration situation is also generated by compiler module.
C) client communication interface module (Client)
The client communication interface module meets the COM standard, and the message reference passage is provided; Be the message reference passage of trapezoid figure language editor/debugger module and compiler module and debugging kernel module exchange message, be used for that code is downloaded, variable reads etc.
2) debugging enironment module
The debugging enironment module comprises server end communication interface modules (Server) and debugging kernel module, for the communication between debugging kernel module and the development environment module provides passage; Specifically:
A) server end communication interface modules (Server)
The server end communication interface modules meets the COM standard, and the message reference passage is provided, for the client communication interface module provides service; The debugging kernel module is by it and development environment module exchange message.
B) debugging kernel module
The debugging kernel module provides the trapezoid figure program execution environment of an emulation, in order to the logical correctness of the control algolithm that the test subscriber write.
3) configuration software module
The configuration software module is connected the functional block in other field apparatus on the I/O functional block in the PLC goal systems and the network, forms the controlling schemes of system, and generates corresponding configuration info; In the dual port RAM storer of the configuration info of downloading algorithm file (being the target independent code) in the intermediate file that is generated by the development environment module and I/O configuration file and Distributed Application by the FF agreement to the PLC goal systems; Receive PLC status information simultaneously, monitor by supervisory diagnostic procedure from the PLC goal systems.
Specifically:
A) utilize the configuration software configuration.Under distributed control applicable cases, by configuration software the functional block in other field apparatus on I/O functional block in the PLC goal systems (multi-analog I/O functional block MAIO and multi-path digital amount I/O functional block MDIO) and the network (being the H1 field apparatus in an embodiment) is coupled together, the controlling schemes of formation system, and generate corresponding configuration info.
B) utilize configuration software to download.Downloaded contents comprises the algorithm file (being the target independent code) in the intermediate file that is generated from the development environment module and the configuration info of I/O configuration file and Distributed Application, they all are downloaded in the PLC goal systems by the FF agreement, are stored in the dual port RAM storer.
C) utilize the configuration software monitoring.Reception is finished monitoring function from the PLC status information of PLC goal systems by supervisory diagnostic procedure.
As shown in Figure 3, the hardware platform of PLC goal systems adopts two embedded controller chip structures, promptly is exclusively used in the FF field-bus interface card of communication, is exclusively used in the PLC operational system of control, adopts the dual port RAM storer to communicate between the two; Present embodiment is a superminicomputer system on hardware configuration, does not have display, and its software platform is an embedded real-time operating system, and the PLC goal systems is installed in wherein as firmware.Specifically:
FF field-bus interface card
FF field-bus interface card is a field bus device that meets FF HSE consensus standard, links to each other with the HSE fieldbus networks, and the present invention is integrated on the HSE fieldbus networks, makes it carry out interoperability with other FF field apparatuss.Simultaneously, FF field-bus interface card is finished algorithm and is downloaded the PLC condition monitoring again as the communication interface of PLC algorithm programing system and PLC operational system.
FF field-bus interface card, its software platform are Operating System Nucleus.On this basis, adopt the FF HSE communication protocol stack based on the FF protocol specification, what meet the HSE consensus standard is multi-analog I/O functional block MAIO, multichannel discrete magnitude I/O functional block MDIO and monitoring and diagnosis functional block.Multi-analog I/O functional block MAIO, multichannel discrete magnitude I/O functional block MDIO and monitoring and diagnosis functional block are accepted the scheduling of FF HSE communication protocol stack.
As shown in Figure 4, on the FF field-bus interface card hardware with the first central controller CPU1, Ethernet interface JK core, the first central controller CPU1 is furnished with the second flash memory FLASH2, is connected to Ethernet physical interface (is standard with RJ45) by the 3rd read only memory ROM 3, second random access memory ram 2, Ethernet MAC controller MAC; The first central controller CPU1 is by the second central controller CPU2,1 communication of first random access memory ram in dual port RAM and the PLC operational system; Second read only memory ROM 2 has FF HSE communication protocol stack, and what meet the HSE consensus standard is multi-analog I/O functional block MAIO, multichannel discrete magnitude I/O functional block MDIO and monitoring and diagnosis functional block program.
As shown in Figure 5, multi-analog I/O functional block MAIO program circuit is: the input parameter that is obtained from remote scene equipment, judge this module status again, at first, judge whether this module is in " not in service state ", if, judge then whether Last status is " not in service state ",, and output state is made as " not in service state " if then withdraw from " not in service state " operation, the data that will send are put into buffer zone, EOP (end of program); If Last status is not " not in a service state ", then directly output state is made as " not in service state ", the data that send are put into buffer zone, EOP (end of program); If this module is not to be in " not in service state ", judge again then whether it is in manual state, if, judge then whether Last status is " not in service state ", if then withdraw from " not in service state " operation, and output state be made as GOOD, the data that will send are put into buffer zone, EOP (end of program); If Last status is not to be in " not in service state ", then directly output state is made as GOOD, again the data that will send are put into buffer zone, EOP (end of program); If this module is not in manual state yet, judge then whether it is in auto state, if, judge then whether Last status is " not in service state ", if then withdraw from " not in service state " operation, then analog data is write dual port RAM, read output data from dual port RAM again, at last the data that will send are put into buffer zone, EOP (end of program); If laststate is not to be in " not in service state ", then directly just analog data write dual port RAM, read output data from dual port RAM again, at last the data that will send are put into buffer zone, EOP (end of program); If this module is not in auto state yet, then directly the data that will send are put into buffer zone, EOP (end of program).
As shown in Figure 6, multi-path digital amount I/O functional block (MDIO) program circuit is: the input parameter that is obtained from remote scene equipment, judge this module status again, at first, judge whether this module is in " not in service state ", if, judge then whether Last status is " not in service state ",, and output state is made as " not in service state " if then withdraw from " not in service state " operation, the data that will send are put into buffer zone, EOP (end of program); If Last status is not " not in a service state ", then directly output state is made as " not in service state ", the data that send are put into buffer zone, EOP (end of program); If this module is not to be in " not in service state ", judge again then whether it is in manual state, if, judge then whether Last status is " not in service state ", if then withdraw from " not in service state " operation, and output state be made as GOOD, the data that will send are put into buffer zone, EOP (end of program); If Last status is not to be in " not in service state ", then directly output state is made as GOOD, again the data that will send are put into buffer zone, EOP (end of program); If this module is not in manual state yet, judge then whether it is in auto state, if, judge then whether Last status is " not in service state ", if then withdraw from " not in service state " operation, then the discrete magnitude data are write dual port RAM, read output data from dual port RAM again, at last the data that will send are put into buffer zone, EOP (end of program); If laststate is not to be in " not in service state ", then directly the discrete magnitude data are write dual port RAM, read output data from dual port RAM again, at last the data that will send are put into buffer zone, EOP (end of program); If this module is not in auto state yet, then directly the data that will send are put into buffer zone, EOP (end of program).
As shown in Figure 7, monitoring and diagnosis functional block program flow process is: earlier to the diagnostic function initialization block, carry out modal calculation again and judge the residing mode of this piece, if mode is " not in service state ", output state is made as bad, termination routine; When if mode is automatic, the condition diagnosing information of reading system from dual port RAM then obtains the system scan periodic quantity earlier, obtains the number and the value of local I/O variable in the current system at last, then termination routine.
All types of functional blocks is all accepted the scheduling of HSE agreement, multi-analog I/O functional block MAIO wherein, multi-path digital amount I/O functional block MDIO has 8 input parameters and 8 output parameters on hardware, and can expand its number by the functional block instance technology, for the invention provides the teledata interface, be connected according to carrying out configuration from the functional block in other field apparatuss on the configuration info in the PLC algorithm programing system in the host computer and the network, this configuration connects or long-range input data transmission is given the processing of PLC operational system or the control result of PLC operational system is exported to respective remote equipment; The monitoring and diagnosis functional block receives the control information from host computer then for the invention provides monitor-interface, also current running state information of the present invention is offered configuration software in the host computer simultaneously.
The download of algorithm and relevant information then realizes by the territory download service of HSE agreement.
2) PLC operational system
As shown in Figure 3, comprise PLC system program and PLC user program in the PLC operational system, the PLC user program is made up of I/O configuration file, TIC sign indicating number in the PLC algorithm programing system; The PLC system program is core with the virtual machine, operates based on the I/O image area, explains and carries out the TIC sign indicating number; Finish the access of I/O data according to the I/O configuration file.
The hardware platform of PLC operational system also is a slice embedded controller, and software platform is embedded real-time operating system RTKemal32.The PLC operational system is carried out the algorithm that the user writes in development environment, finally finish control to production run according to user's requirement; The control types that can finish comprises that unit is controlled on the spot with distributed remote and controls.
As shown in Figure 8, its circuit structure: with the second central controller CPU2, programmable logic device (CPLD) is core, the second central controller CPU2 is furnished with the first flash memory FLASH1, by first read only memory ROM, 1 storage PLC system program, by second read only memory ROM, 2 storage PLC user programs, the second central controller CPU2 links to each other with programmable logic device (CPLD), and programmable logic device (CPLD) is connected to the IO internal bus; Dual port RAM is by first random access memory ram 1 and programmable logic device (CPLD) communication, dual port RAM also with the direct communication of FF field-bus interface card.The described first random access storage device RAM1 of present embodiment adopts four parallel-connection structures.
As shown in Figure 9, the PLC operational system adopts the working method operation of intermittent scanning, its program circuit is: after powering on, at first be program and data allocations address space, then judge in second read only memory ROM 2 of serial whether algorithm is arranged, if no, then the present invention is placed stop mode (S pattern); If have, then be placed on operational mode (R pattern); Which kind of pattern is judgement system then be in, if be in the S pattern, then returns, and continues the residing pattern of judgement system, and under the S pattern, the present invention can respond interruption, receives from the new algorithm in the host computer; If be in the R pattern, then judge the new algorithm sign, if there is new algorithm then this algorithm to be written into second read only memory ROM 2 of serial from internal memory, prepares against when powering on next time and use; If no, judge then whether the present invention is to power on for the first time, if then algorithm is written into internal memory from second read only memory ROM 2 of serial, if not then skipping this step; After this, the PLC operational system enters the communication process stage, and the status information transmission of transmitting locally I/O data and PLC operational system is in Double Port Random Memory RAM; Then, the PLC operational system enters the input sample stage, according to the I/O configuration file that comes from host computer the input data is taken in the I/O image area and (imports data here two kinds of sources are arranged: under unit control situation on the spot, from local I/O module; Under distributed remote control situation, from corresponding I/O functional block in the FF field-bus interface card); Then, the PLC operational system enters the algorithm execute phase, explain execution TIC sign indicating number (being the algorithm that the user writes) by virtual machine in PLC algorithm programing system, virtual machine is based on that the I/O image area operates, it becomes output data (control result) to the input data conversion according to algorithm, and deposits it in I/O image area; Again, the PLC operational system enters output and refreshes the stage, will control the result according to the I/O configuration file and deliver to corresponding I/O functional block (remote application situation) local I/O module (stand-alone application situation) or the FF field-bus interface card from the I/O image area; At last, each flag information is resetted.Next, the PLC operational system will begin the new cycle, be in which kind of pattern from aforementioned judgement the present invention and begin to carry out, and periodic cycle is gone down in this way.
Virtual machine is the core of PLC operational system, and for having added one deck hardware abstraction layer between the embedded controller software and hardware, it introduces the PLC operational system by the present invention, is used for explaining carrying out the TIC sign indicating number, realizes the control strategy of system; Kind of operational character, canonical function, standard feature piece surplus the virtual machine that meets the IEC61131-3 standard supports 100; In addition, can also develop the user function and the functional block of the various user's of meeting particular demands.When transplanting virtual machine to other operating system platform, all application programs on it does not need to change.Virtual machine technique has guaranteed the operating system platform independence and the portability of pseudo-run time version.Thus, strengthened opening of the present invention and dirigibility, made it have the characteristics of single Control Engine, multiple goal platform.When the higher hardware of performance occurs, can be by transplanting the performance of virtual machine to its operating system platform lifting PLC, this makes the present invention have wide development space.

Claims (9)

1. programable controller system based on the foundation fieldbus Fast Ethernet, it is characterized in that: the PLC goal systems that adopts two embedded controller structures, an embedded controller is used for and the PLC algorithm programing system that meets the IEC61131-3 standard of host computer and the FF field-bus interface cartoon news of other FF field apparatus communication, another embedded controller is used to carry out the PLC operational system that control algolithm realizes control strategy, adopts dual port RAM to communicate between the two; Wherein:
The PLC goal systems specifically comprises FF field-bus interface card and PLC operational system, introduce the FFB that is used for the I/O function at FF field-bus interface card, be multi-analog I/O functional block and multi-path digital amount I/O functional block, as the teledata interface of PLC, be integrated on the FF HSE bus PLC equipment is seamless; And introduce the monitoring and diagnosis functional block, realize the monitoring of host computer to the PLC running status; PLC algorithm programing system in the host computer is by the download of FF field-bus interface card implementation algorithm (TIC sign indicating number) and I/O configuration file;
In the PLC operational system, adopt the virtual machine technique that meets international standard IEC61131-3, carry out the PLC algorithm of developing in the host computer programing system, realize system control function; Comprise PLC system program and PLC user program, the PLC user program is made up of I/O configuration file, TIC sign indicating number in the PLC algorithm programing system; The PLC system program is core with the virtual machine, operates based on the I/O image area, explains and carries out the TIC sign indicating number; Finish the access of I/O data according to the I/O configuration file; And PLC internal state information and local I/O data message periodically be stored in dual port RAM, for ipc monitor.
2. by the described programable controller system of claim 1 based on the foundation fieldbus Fast Ethernet, it is characterized in that: also by introducing the functional block instance technology, i.e. the individual data of I/O functional block can expand according to actual the counting of required control of industry spot FF field-bus interface card.
3. by claim 1 or 2 described programable controller systems based on the foundation fieldbus Fast Ethernet, it is characterized in that: described FF field-bus interface card circuit is with first central controller (CPU1), Ethernet physical interface core, first central controller (CPU1) is furnished with second flash memory (FLASH2), is connected to Ethernet physical interface (RJ45 standard) by the 3rd read only memory ROM 3, second random access memory (RAM2), Ethernet MAC controller (MAC); First central controller (CPU1) is by second central controller (CPU2), first random access memory (RAM1) communication in dual port RAM and the PLC operational system; The 3rd ROM (read-only memory) (ROM3) has FF HSE communication protocol stack, and what meet the HSE consensus standard is multi-analog I/O functional block (MAIO), multichannel discrete magnitude I/O functional block (MDIO) and monitoring and diagnosis functional block program.
4. by the described programable controller system of claim 3 based on the foundation fieldbus Fast Ethernet, it is characterized in that: described multi-analog I/O functional block program flow process is: obtain the input parameter from remote scene equipment, judge this module status again, at first, judge whether this module is in " not in service state ", if, judge then whether Last status is " not in service state ", if then withdraw from " not in service state " operation, and output state is made as " not in service state ", the data that will send are put into buffer zone, EOP (end of program); If Last status is not " not in a service state ", then directly output state is made as " not in service state ", the data that send are put into buffer zone, EOP (end of program); If this module is not to be in " not in service state ", judge again then whether it is in manual state, if, judge then whether Last status is " not in service state ", if then withdraw from " not in service state " operation, and output state be made as GOOD, the data that will send are put into buffer zone, EOP (end of program); If Last status is not to be in " not in service state ", then directly output state is made as GOOD, again the data that will send are put into buffer zone, EOP (end of program); If this module is not in manual state yet, judge then whether it is in auto state, if, judge then whether Last status is " not in service state ", if then withdraw from " not in service state " operation, then analog data is write dual port RAM, read output data from dual port RAM again, at last the data that will send are put into buffer zone, EOP (end of program); If laststate is not to be in " not in service state ", then directly just analog data write dual port RAM, read output data from dual port RAM again, at last the data that will send are put into buffer zone, EOP (end of program); If this module is not in auto state yet, then directly the data that will send are put into buffer zone, EOP (end of program).
5. by the described programable controller system of claim 3 based on the foundation fieldbus Fast Ethernet, it is characterized in that: multi-path digital amount I/O functional block program flow process is: the input parameter that is obtained from remote scene equipment, judge this module status again, at first, judge whether this module is in " not in service state ", if, judge then whether Last status is " not in service state ", if then withdraw from " not in service state " operation, and output state is made as " not in service state ", the data that will send are put into buffer zone, EOP (end of program); If Last status is not " not in a service state ", then directly output state is made as " not in service state ", the data that send are put into buffer zone, EOP (end of program); If this module is not to be in " not in service state ", judge again then whether it is in manual state, if, judge then whether Last status is " not in service state ", if then withdraw from " not in service state " operation, and output state be made as GOOD, the data that will send are put into buffer zone, EOP (end of program); If Last status is not to be in " not in service state ", then directly output state is made as GOOD, again the data that will send are put into buffer zone, EOP (end of program); If this module is not in manual state yet, judge then whether it is in auto state, if, judge then whether Last status is " not in service state ", if then withdraw from " not in service state " operation, then the discrete magnitude data are write dual port RAM, read output data from dual port RAM again, at last the data that will send are put into buffer zone, EOP (end of program); If laststate is not to be in " not in service state ", then directly the discrete magnitude data are write dual port RAM, read output data from dual port RAM again, at last the data that will send are put into buffer zone, EOP (end of program); If this module is not in auto state yet, then directly the data that will send are put into buffer zone, EOP (end of program).
6. by the described programable controller system of claim 3 based on the foundation fieldbus Fast Ethernet, it is characterized in that: monitoring and diagnosis functional block program flow process is: earlier to the diagnostic function initialization block, carry out modal calculation again and judge the residing mode of this piece, when mode is " not in service state ", output state is made as bad, termination routine; When mode when being automatic, the condition diagnosing information of reading system from the double-port random reference-to storage then obtains the system scan periodic quantity earlier, obtains the number and the value of local I/O variable at last, termination routine.
7. by the described programable controller system of claim 1 based on the foundation fieldbus Fast Ethernet, it is characterized in that: described PLC operational system circuit structure is with second central controller (CPU2), programmable logic device (PLD) (CPLD) is a core, second central controller (CPU2) is furnished with first flash memory (FLASH1), by first ROM (read-only memory) (ROM1) storage PLC system program, by second ROM (read-only memory) (ROM2) storage PLC user program, second central controller (CPU2) links to each other with programmable logic device (PLD) (CPLD), and programmable logic device (PLD) (CPLD) is to the IO internal bus; Dual port RAM is by first random access memory (RAM1) and programmable logic device (PLD) (CPLD) communication, dual port RAM also with the direct communication of FF field-bus interface card.
8. by the described programable controller system of claim 7 based on the foundation fieldbus Fast Ethernet, it is characterized in that: described PLC operational system adopts the working method operation of intermittent scanning, its procedure stores is in first ROM (read-only memory), idiographic flow is: at first be program and data allocations address space, then judge whether algorithm is arranged in second ROM (read-only memory), if no, then the present invention is placed stop mode; If have, then be placed on operational mode; Which kind of pattern is judgement system then be in, if be in stop mode, then returns, and continues the residing pattern of judgement system, if be in operational mode, then judges the new algorithm sign, and is if there is new algorithm then this algorithm to be written into second ROM (read-only memory) from internal memory, standby; If no, then judge whether it is to power on for the first time, if then algorithm is written into internal memory from second ROM (read-only memory), if not then skipping this step; After this, the PLC operational system enters the communication process stage, and the status information transmission of transmitting locally I/O data and PLC operational system is in dual port RAM; Then, the PLC operational system enters the input sample stage, according to the I/O configuration file that comes from host computer the input data is taken in the I/O image area; Again, the PLC operational system enters the algorithm execute phase, explain to carry out the TIC sign indicating number by virtual machine, and virtual machine is based on that the I/O image area operates, and it becomes output data to the input data conversion according to algorithm, and deposits it in I/O image area; Again, the PLC operational system enters output and refreshes the stage, will control the result according to the I/O configuration file and deliver to corresponding I/O functional block local I/O module or the field-bus interface card from the I/O image area; At last, each flag information is resetted; Backtrack mode is judged.
9. by the described programable controller system of claim 8, it is characterized in that: wherein: if be in stop mode, can respond interruption, receive from the new algorithm in the host computer based on the foundation fieldbus Fast Ethernet.
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