CN1952821A - Embedded real-time control system of industrial ethernet - Google Patents
Embedded real-time control system of industrial ethernet Download PDFInfo
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- CN1952821A CN1952821A CNA2006101143173A CN200610114317A CN1952821A CN 1952821 A CN1952821 A CN 1952821A CN A2006101143173 A CNA2006101143173 A CN A2006101143173A CN 200610114317 A CN200610114317 A CN 200610114317A CN 1952821 A CN1952821 A CN 1952821A
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- Y—GENERAL 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
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
This invention relates to a industry Ethernet imbed real time control system, which comprises two pieces of CPU boards with same frame and function through two network gates and central control system communication to accept orders and feedback information; wherein, when there is fault, message is rapidly switched into redundant channel without impact on work to re-establish connection; two boards are connected to vxWorks operation system to realize communications between boards to test CPU board to judge whether or not normal to trigger CPU and switch between main and assistant without gap.
Description
Technical field
The present invention relates to Industrial Ethernet communication, particularly a kind of embedded real-time control system of Industrial Ethernet.
Background technology
VxWorks is a kind of embedded real-time operating system, is widely used in fields such as communication, military affairs, aviation, traffic.Have very high real-time and reliability.
The VME bus is the bus standard that Motorola Inc. releases, combine formed a kind of industrial bus standard with European integrated circuit board electrical code, the VME bus has the characteristics of high-performance, concurrency, real-time, reliability, seating surface is to many main equipments, it is the parallel processing of many CPU board, have good Interrupt Process mechanism, possess real-time response ability at a high speed, formwork structure has very strong shock resistance.
Industrial Ethernet is the local area network technology that Ethernet is applied to Industry Control and management.Be suitable for transmitting bigger data block, but its information response's time do not possess higher determinacy and repeatability.
Summary of the invention
The objective of the invention is to overcome the uncertainty of Ethernet, propose a kind of multi-channel redundant communication structure, realize that the heat of embedded real-time control system is equipped with, the present invention adopts the embedded control system of vxWorks embedded real-time operating system and VME bus, real-time, the reliability height.
The embedded real-time control system of Industrial Ethernet of the present invention is based on the VME bus, mainly comprise two CPU board, the integrated circuit board of a shared drive plate and other functions, all integrated circuit boards can pass through the VME bus communication, CPU board can be visited any integrated circuit board by bus, controls it and finishes desired function.The shared drive integrated circuit board provides communications conduit faster for two CPU board, and speed can reach the microsecond level.And opened up enough data fields, made CPU board energy shared data, heat is equipped with each other.Industrial Ethernet is adopted in the communication of embedded control system and host computer, and concrete physical connection links to each other the employing ICP/IP protocol by the RJ45 network interface of the CPU board network interface by Shielded Twisted Pair and host computer.Because the uncertainty of Ethernet, two CPU board link to each other with two network interfaces of host computer respectively, and each CPU board has disposed two RJ45 network interfaces, finally can link to each other with four network interfaces of host computer, and difference is communication independently, thereby have strengthened the reliability of Ethernet.In addition, CPU board has adopted the vxWorks real time operating system, all four communication processs can be carried out by four parallel tasks that two CPU board are initiated respectively, two CPU board concurrent workings, have same architecture and function, disturbing effect not mutually, communication data can deposit corresponding separately space on the shared drive in, with the usefulness of the check and correction of making comparisons.Owing to remain communication through shared drive between two CPU, detect the other side's duty each other, in case host CPU breaks down, in time obtain state from CPU, triggering replaces host CPU work from CPU, comprises with the communication of host computer with to the control of field apparatus, finishes real-time switching between the principal and subordinate.Unusual CPU board self-starting occurs, recover normal,, further strengthen reliability as being equipped with effect from CPU heat.
The present invention adopts the ethernet redundancy mechanics of communication, and two cover host computers utilize two IP and master, from CPU board cross connection simultaneously, constitute four communication lines.It is characterized in that disposing two IP and be in different segment respectively, the cross connection communication makes any one host computer simultaneously and the communication of master-slave cpu plate, arbitrarily CPU board can with two mutual messages of host computer.Any time, whether the work of cycle transmission message detection line is normal between host computer and the CPU, in case go out the situation of active message, the method of taking to delay time and retransmitting, surpass appropriate time, will transmit data message via other redundant circuits in of the enable bit zero clearing of shared drive zone bit to abnormal passage, restart simultaneously the process of anomalous communication circuit at once, until recovering normal.
The present invention becomes a complete embedded control system alone, backups each other, and has improved the reliability of The whole control system.Industrial Ethernet is widespread use, and the present invention is by many CPU board, and Multi-netmouth and central control system form redundant control system.
The present invention is applicable to industrial control field, and especially observing and controlling, locomotive traction etc. are real-time, security, the environment that reliability requirement is high.
Description of drawings
Fig. 1 is a control system cabinet synoptic diagram of the present invention;
Fig. 2 is the two CPU board interface relationship synoptic diagram of host computer and control system of the present invention;
Fig. 3 be between host computer and the control system of the present invention IP, port and the network segment synoptic diagram is set;
Fig. 4 is based on the socket communication scheme of Transmission Control Protocol;
Fig. 5 is message interaction diagrams on system's operation primary path.
Embodiment
As shown in Figure 1, the embodiment of control system of the present invention has adopted the bus based on VME, the control cabinet of 6U size.The control integrated circuit board comprises the CPU board card, the shared drive integrated circuit board, profibus integrated circuit board or the like, the CPU board card has adopted two x86 series boards machines, parallel running vxWorks operating system, each 10G CPU Control Unit has same architecture and identical function, constitutes a complete embedded control system with other functional cards, and backup each other, to improve the reliability of control system.
As shown in Figure 2, two mutually redundant 10G CPU Control Unit A, B of real-time control system of the present invention are undertaken synchronously by shared drive plate storage control information.The host computer 1,2 of it and central control system all is two IP, each host computer is cross connected to two 10G CPU Control Unit A, B through switch, CPU board A and CPU board B can be arranged to the host CPU plate arbitrarily or from CPU board by the enabler flags of shared drive, promptly pass through the sign setting of shared drive plate, make a certain CPU board effective, both communicated by letter, also controlled other integrated circuit boards and topworks's equipment with host computer.The CPU board that does not enable to be provided with is as slave plate work.After the normal operation initialization, generally CPU board A is enabled be the host CPU plate, CPU board B conduct is from CPU board.Two cover host computers 1,2 utilize two IP and master, and from CPU board, cross connection simultaneously constitutes four communication lines.
The long 32bit in IP address is divided into five classes.Its address realm interval is as shown in table 1.
| Type | Scope |
| A B C D E | 0.0.0.0---127.255.255.255 128.0.0.0---191.255.255.255 192.0.0.0---223.255.255.255 224.0.0.0---239.255.255.255 240.0.0.0---247.255.255.255 |
The scope of table 1 five class IP addresses
Shown in Figure 3 is the setting of the ethernet communication IP of system, port and the network segment.With the category-B address is example, IP address with host computer and CPU board is set as * .*.1.1 respectively, * .*.2.1, * .*.1.2, * .*.2.2, * .*.1.3, * .*.2.3, * .*.1.4, * .*.2.4, subnet mask is provided with 255.255.255.0, thereby makes two IP addresses of same 10G CPU Control Unit belong to * .*.1 and two subnets of * .*.2 (have 254 subnets available).ICP/IP protocol adopts the port numbers of 16bit to come recognition application.The port of 1-1023 is adopted in its service commonly used, and transient port is distributed in 1024-5000.Port numbers greater than 5000 is reserved for other services.Native system CPU board card is communicated by letter the communication course allocation on the different IP addresses (xxx0 and xxx1) to different transient ports with host computer.Because system adopts this special structure, two IP are set to different segment respectively, are tied to two different ports, utilize switch to constitute two subnets.The cross connection communication makes any one host computer simultaneously and the communication of master-slave cpu plate, arbitrarily CPU board can with two mutual messages of host computer.Communication process on while four paths is separate, does not disturb mutually.Improved the redundancy of ethernet communication greatly.
ICP/IP protocol has formulated TCP (transmission control protocol) and two kinds of agreements of UDP (User Datagram Protoco (UDP)) are used for data transmission, all belong to the transport layer in the OSI seven layer network reference models, Transmission Control Protocol is a kind of Connection-oriented Protocol, is used to guarantee the reliable transmission of data.In case cause bust this for a certain reason, Transmission Control Protocol will guarantee that the receiving-transmitting sides application program that TCP connects can learn this fault, be applicable to that just in time host computer and real-time control system set up being connected of point-to-point, carry out the exchange of information.
The control system CPU board is as server end, and host computer is as client.Server end calls bind instruction with socket and IP address and port binding, and by listen order at this port snooping client connection request, utilize vxWorks operating system to create a new task: to create a new task with the taskSpawn order in the master routine, task names is taskAccept, set the priority of this task, distribute the storehouse size, set function entrance and pass to the variable of function.It is 100 later that priority commonly used is used, the priority of taskAccept should not be higher than the front and create also operation task, when the taskAccept task is carried out the accept statement, get clogged, listen to connection request up to the taskListen task from client.Calling the accept order makes task block at this, be connected to the listening port of server by the connect order until client, the purpose of blocking mainly contains 2 points, the one, task gets clogged to be in and blocks or (suspend/pend) state of hang-up, occupying system resources does not influence other tasks and carries out; The 2nd, in case the taskListen task listens to the connection request from client, the unblocking of taskAccept task returns to ready (ready) state, thereby continues to carry out.Connect and accept will make the internal system at two ends carry out a TCP3 handshake procedure, connect thereby set up end to end.Both sides after the connection send and receive message with the form of data stream, when can call the close instruction respectively and closing socket when wrong appears in transmitting-receiving, stop connecting, and call the restart order and restart this task.
As shown in Figure 4, the port xxx0 binding socket of master server CPU board A on IP1 intercepts the connection request from client host computer 1, and after connection was finished, both sides sent accepting state message, command message and response message mutually.Similar with it, the port xxx1 of CPU board A on IP2 intercepts the request from client host computer 2, sets up a redundant via.Backup CPU board B also sets up two redundant via.In the message interaction process, slave board need not the acknowledgement command message, to alleviate the burden of host computer, and only when the host CPU plate breaks down, the mutual redundant channel that switches to slave board rapidly that message is complete.
Shown in Figure 5 is concrete message interaction flow process of system's when operation.As shown in Figure 5, host computer and control system CPU board start respectively, and after the startup, host computer and CPU board are carried out the initialization of built-in message and variable separately respectively,
Comprise:
The initialization of host computer state message;
Data message and the whole initialization zero clearings of other all kinds of message buffers;
The system state of host computer is set at the unknown.
CPU board is carried out the internal data initialization after startup,
Comprise:
The state message initialization;
Systems response message initialization zero clearing;
The data buffer zero clearing;
System state is set according to virtual condition.
After the host computer initialization, connect to CPU board application as server end as client.Connect in a single day and set up, host computer sends the host computer state message to the CPU board cycle, and CPU board is replied with the system state message.In operational process, mutual process of hold mode message cycle always between host computer and the CPU board is up to the interruption that is connected between host computer and the CPU board.The x if the master system interior condition satisfies condition, host computer just sends to CPU board with " command message ".CPU need reply with response message at this order after receiving the command message of host computer.
Condition x is listed below:
Condition 1: host computer detects real-time control system by the CPU board state message and has been in charged waiting status, transmitting system device initialize message.CPU board is received this message, and whether to the controlling object initialization, it is ready to detect the controlled device state.
Condition 2: response message shows that to the controlling object initialization, controlled device is ready for CPU board.Host computer sends datagram.
Condition 3: response message shows that CPU board is made affirmative acknowledgement to the data message, and host computer has been finished the required related data of operation is issued CPU board.Host computer detects CPU board by the CPU board state message and has correctly finished data computing.Host computer sends action command.
Condition 4: response message shows that CPU board is made affirmative acknowledgement to the operation message.Control system brings into operation, and controlled device is operated.Host computer detects system by the CPU board state message and normally moves, and can receive to stop message, and host computer sends ceases and desist order.
Condition 5: response message shows that CPU board has been made affirmative acknowledgement to ceasing and desisting order, and running status has been transformed into halted state, and host computer sends system and nullifies order, and the outage of control system safety finishes once operation.
Opened up a sector address in the shared drive integrated circuit board, as the enabler flags of 4 channel status signs and master-slave cpu integrated circuit board.
During operate as normal, the sign of host CPU plate A is enabled, and the zero clearing of CPU board B zone bit.Whether the cycle reciprocal process of state message is identical with primary path on the CPU board B redundant via, normal to detect connection.
Host computer sends command message, after CPU board B receives command message, be zero at first by VME bus inquiry enabler flags in the shared drive integrated circuit board of cabinet, it carries out identical control computing, and preserve data to shared drive, but on-the-spot actuating equipment is not sent order, also host computer is not sent response message, CPU board B only plays heat and is equipped with effect.
When operation irregularity, three kinds of situations are arranged:
First kind may be that the closed-circuit working that connects of CPU board A plate IP1 is unusual, loses as connection.
CPU board A at first writes the main channel Status Flag of shared drive plate, indicates type of error.Then CPU board A calls close, closes socket.Because vxWorks is a multiple task operating system, the task symbol that only needs taskRestart initiation IP1 to go up accept gets final product, and can not influence IP2 and go up the mutual of message.CPU board A intercepts the new connection request of host computer on the IP1 bundling port, connect once more, begins the mutual of message.
Second kind may be that the path of CPU board A all breaks down, loosening as interface, the line fracture.
CPU board A at first writes the shared drive plate, enables the slave board sign, the sign zero clearing of oneself, and CPU board B becomes the work of host CPU plate like this.CPU board A becomes slave board.Then CPU board A and host computer call close respectively, close socket.
Two task symbols that only need taskRestart to initiate connect and accept on the IP of CPU board A get final product.Intercept the new connection request of host computer on the CPU board A port, connect once more, begin the mutual of message, but the zero clearing of CPU board A enabler flags, as redundant via, the CPU board at CPU board A place plays heat and is equipped with effect.
The third situation is a CPU board A operation irregularity, shared drive write-enable sign is not activated slave board, as crashing.Slave board is not owing to reply host computer, and actuating equipment do not sent order, and the more vacant time is arranged.Cycle that can the cycle status message, read the host computer state message that CPU board A and CPU board B receive in the shared drive, by comparative sequences number, find that in time CPU board A does not upgrade, CPU board B initiatively enables the sign of oneself, and with the zero clearing of CPU board A enable bit.
Claims (4)
1, a kind of embedded real-time control system of Industrial Ethernet is characterized in that mainly comprising two CPU board A and B, the integrated circuit board of a shared drive plate and other functions, and all integrated circuit boards can pass through the VME bus communication; Adopt Industrial Ethernet with the communication of host computer [1,2]; Two CPU board A and B parallel running vxWorks operating system, two CPU board A and B have same architecture and identical function, constitute a complete embedded control system with other functional cards, and backup each other.
2, according to the embedded real-time control system of the described Industrial Ethernet of claim 1, it is characterized in that described two cover host computers [1,2] utilize two IP and master, from CPU board, cross connection simultaneously constitutes four communication lines; The two IP of configuration are in different segment respectively, and the cross connection communication makes any one host computer simultaneously and the communication of master-slave cpu plate, arbitrarily CPU board can with the mutual message of two host computers [1,2]; Any time, whether the work of cycle transmission message detection line is normal between host computer [1,2] and the CPU, in case go out the situation of active message, the method of taking to delay time and retransmitting, surpass appropriate time, will transmit data message via other redundant circuits in of the enable bit zero clearing of shared drive zone bit to abnormal passage, restart simultaneously the process of anomalous communication circuit at once, until recovering normal.
3, according to the embedded real-time control system of the described Industrial Ethernet of claim 1, it is characterized in that described two CPU board A and B concurrent working, during host CPU plate operation irregularity, can switch to from CPU board rapidly and work on; Remain communication through shared drive between two CPU board A and the B, detect the other side's duty each other, in case host CPU breaks down, in time obtain state from CPU, triggering replaces host CPU work from CPU, comprise with the communication of host computer with to the control of field apparatus, finish real-time switching between the principal and subordinate; Unusual CPU board self-starting occurs, recover normal, as being equipped with from CPU heat.
4, according to the embedded real-time control system of the described Industrial Ethernet of claim 1, it is characterized in that described RJ45 network interface by CPU board A and B links to each other with two network interfaces of host computer [1,2] respectively by Shielded Twisted Pair, adopt ICP/IP protocol; Each CPU board has disposed two RJ45 network interfaces, finally can link to each other with four network interfaces of host computer, respectively communication independently.
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| CN101477329B (en) * | 2008-01-02 | 2010-11-10 | 株洲南车时代电气股份有限公司 | Vehicle-mounted information apparatus |
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