CN111273541B - Control system and method of virtual redundant controller based on communication - Google Patents
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及工业控制技术领域，尤其涉及一种基于通信的虚拟冗余控制器的控制系统及方法。The invention relates to the technical field of industrial control, in particular to a communication-based virtual redundant controller control system and method.
背景技术Background technique
随着工业控制技术的不断发展，工业设备和生产过程的自动化程度也越来越复杂。在工业控制系统中，控制器是系统的核心部件。由于现代化生产力的发展，一些大型的工业生产线往往要求工业设备连续运行不能停顿，可靠性再高的控制器也很难保证零故障持续运行，这就需要采用控制器冗余方法来维持系统连续运行。With the continuous development of industrial control technology, the degree of automation of industrial equipment and production processes is becoming more and more complex. In an industrial control system, the controller is the core component of the system. Due to the development of modern productivity, some large-scale industrial production lines often require continuous operation of industrial equipment without stopping, and it is difficult to ensure continuous operation with zero faults no matter how reliable the controller is, which requires the use of controller redundancy methods to maintain continuous operation of the system .
然而，现有方案对控制系统中多个单元控制装置的控制器状态没有清楚的监测与记录，单元控制装置之间没有控制器状态信息的传递，对于具有冗余控制器的控制系统在进行任务分配请求时，容易造成请求挂起未执行或者任务分配给高负载的控制器引起的执行缓慢；同时现有控制系统中多个冗余控制器的调用与选择方法也不完善，使得现有的工业控制系统中的控制器执行效率不高。However, the existing solutions do not clearly monitor and record the controller status of multiple unit control devices in the control system, and there is no transfer of controller status information between unit control devices. When assigning requests, it is easy to cause the request to be suspended and not executed or the task is assigned to a high-load controller to cause slow execution; at the same time, the call and selection method of multiple redundant controllers in the existing control system is not perfect, so that the existing Controllers in industrial control systems do not perform efficiently.
发明内容Contents of the invention
本发明的目的在于，针对上述问题，提出一种基于通信的虚拟冗余控制器的控制系统及方法。The object of the present invention is to propose a communication-based virtual redundant controller control system and method for the above problems.
一种基于通信的虚拟冗余控制器的控制系统，包括通过网络连接的多个单元控制装置，所述单元控制装置包括：A control system based on a communication-based virtual redundant controller, comprising a plurality of unit control devices connected via a network, the unit control devices comprising:
控制器，具有多个进行通信共享的通信接口，执行通过通信接口接收的服务请求；The controller has a plurality of communication interfaces for communication sharing, and executes service requests received through the communication interfaces;
状态监测单元，连接控制器，包括至少一个发送控制器状态监测信息的状态信息共享区SSA和至少一个接受控制器状态监测信息的状态信息接收区RSA；所述状态信息共享区SSA用于存放控制器输出的供其它单元控制装置通信共享本单元控制装置的控制器状态信息；所述状态信息接收区RSA用于存放其它单元控制装置通信共享的控制器状态信息；The state monitoring unit is connected to the controller, including at least one state information sharing area SSA for sending controller state monitoring information and at least one state information receiving area RSA for receiving controller state monitoring information; the state information sharing area SSA is used for storing control The controller output for other unit control devices to communicate and share the controller state information of the unit control device; the state information receiving area RSA is used to store the controller state information shared by other unit control devices for communication;
程序存储单元，连接控制器，包括至少一个发送虚拟控制器程序的程序共享区SPA和至少一个接收虚拟控制程序的程序接收区RPA，所述的程序共享区SPA用于存放供其它单元控制装置通信共享虚拟冗余本单元控制装置的控制器程序，所述接受虚拟控制程序的程序接收区RPA用于存放本单元控制器作为其它单元控制装置虚拟冗余的控制器程序。The program storage unit, connected to the controller, includes at least one program sharing area SPA for sending virtual controller programs and at least one program receiving area RPA for receiving virtual control programs, and the program sharing area SPA is used to store and communicate with other unit control devices Sharing the controller program of the control device of the virtual redundancy unit, the program receiving area RPA for accepting the virtual control program is used to store the controller of the unit as the virtual redundant controller program of the control devices of other units.
进一步的，一种基于通信的虚拟冗余控制器的控制系统，多个单元控制装置的程序存储单元之间的通信采用主动共享通信；所述主动共享通信包括单元控制装置将程序共享区SPA中的相关控制器程序通过主动方式传输至其它单元控制装置的程序接收区RPA，或者主动接收来自其它单元控制装置发送的控制器程序，并存放在程序接收区RPA。Further, in a communication-based control system of a virtual redundant controller, the communication between the program storage units of multiple unit control devices adopts active shared communication; the active shared communication includes that the unit control devices transfer the The related controller program is transmitted to the program receiving area RPA of other unit control devices actively, or actively receives the controller program sent from other unit control devices and stores it in the program receiving area RPA.
进一步的，一种基于通信的虚拟冗余控制器的控制系统，多个单元控制装置的程序存储单元之间的通信采用请求共享通信；所述请求共享通信包括单元控制装置在接收到其它单元控制装置的请求后，将自身程序共享区SPA中的控制器程序传送给发出请求的单元控制装置，发出请求的单元控制装置将获得的控制器程序存放在自己的程序共享区SPA，或者向其它单元控制装置发送虚拟控制器程序共享请求后，接收来自其它单元控制装置发送的控制器程序，并存放在程序接收区RPA。Further, a communication-based virtual redundant controller control system, the communication between the program storage units of multiple unit control devices uses request sharing communication; the request sharing communication includes unit control devices receiving other unit control After the request from the device, the controller program in its own program sharing area SPA is transmitted to the requesting unit control device, and the requesting unit control device stores the obtained controller program in its own program sharing area SPA, or sends the controller program to other units After the control device sends the virtual controller program sharing request, it receives the controller programs sent by other unit control devices and stores them in the program receiving area RPA.
进一步的，一种基于通信的虚拟冗余控制器的控制系统，多个单元控制装置的状态监测单元之间的通信采用定时共享通信；所述定时共享通信包括在预设间隔时间点通过状态信息共享区SSA向其它状态监测单元的状态信息接收区RSA共享本状态监测单元的控制器状态信息，或者在预设间隔时间点通过状态信息接收区RSA接收其它状态监测单元的状态信息共享区SSA共享的状态监测单元的控制器状态信息。Further, a communication-based virtual redundant controller control system, the communication between the state monitoring units of multiple unit control devices adopts timing sharing communication; the timing sharing communication includes passing status information at preset interval time points The shared area SSA shares the controller status information of the status monitoring unit with the status information receiving area RSA of other status monitoring units, or receives the status information sharing area SSA of other status monitoring units through the status information receiving area RSA at preset intervals The controller status information of the status monitoring unit.
进一步的，一种基于通信的虚拟冗余控制器的控制系统，多个单元控制装置的状态监测单元之间采用与控制器程序共享同步的同步通信方式，在程序存储单元SPA向其它单元控制装置传送控制器程序时状态信息接收区RSA同步接收其它单元控制装置共享的控制器状态信息，或者在程序存储单元RPA接收其它单元控制装置通信共享的控制器程序时同步传送本单元控制装置中状态信息共享区SSA共享的控制器状态信息。Further, a control system based on a communication-based virtual redundant controller, the state monitoring units of multiple unit control devices adopt a synchronous communication mode shared and synchronized with the controller program, and the program storage unit SPA transmits data to other unit control devices When transmitting the controller program, the state information receiving area RSA synchronously receives the controller state information shared by other unit control devices, or synchronously transmits the state information in the unit control device when the program storage unit RPA receives the controller program shared by other unit control devices. Controller status information shared by the shared area SSA.
进一步的，一种基于通信的虚拟冗余控制器的控制系统，所述的虚拟冗余控制器的控制系统还包括一个与单元控制装置进行通信的冗余虚拟控制器共享服务器，单元控制装置根据服务器指令与当前控制器状态信息，执行其他单元控制器的虚拟控制器程序，以共享热备用方式作为指定一个或/和多个单元控制装置的虚拟冗余控制器，或者单元控制装置根据服务器指令与其他单元控制器的状态信息，向指定单元控制器发送虚拟控制器程序。Further, a communication-based virtual redundant controller control system, the virtual redundant controller control system also includes a redundant virtual controller shared server communicating with the unit control device, the unit control device according to Server instructions and current controller status information, execute the virtual controller program of other unit controllers, and use the shared hot standby mode as a virtual redundant controller to designate one or/and multiple unit control devices, or the unit control devices according to server instructions Send the virtual controller program to the specified cell controller with the status information of other cell controllers.
进一步的，一种基于通信的虚拟冗余控制器的控制系统，所述的共享服务器用于管理并保存单元控制装置传输的虚拟控制器程序与控制状态信息；同时还对各个单元控制装置的权限进行控制，包括限定某个单元控制装置是否可以与其他单元控制装置进行控制器程序的传输；限定某个单元控制装置与其他单元控制装置通过主动方式和/或发送请求方式的进行用于虚拟冗余控制器程序的传输；限定某个单元控制装置与其他单元控制装置之间控制器状态信息的传输方式。Further, a communication-based virtual redundant controller control system, the shared server is used to manage and save the virtual controller program and control state information transmitted by the unit control device; Control, including limiting whether a certain unit control device can transmit controller programs with other unit control devices; restricting a certain unit control device and other unit control devices to perform virtual redundancy by active means and/or by sending requests Transmission of other controller programs; limiting the transmission mode of controller state information between a certain unit control device and other unit control devices.
一种基于通信的虚拟冗余控制器的控制系统的控制方法，包括控制器程序获取步骤、控制器程序共享步骤、控制器状态信息获取步骤以及控制器状态信息共享步骤；A method for controlling a control system based on a communication-based virtual redundant controller, comprising a controller program acquisition step, a controller program sharing step, a controller state information acquisition step, and a controller state information sharing step;
所述的控制器程序获取步骤包括：The steps for obtaining the controller program include:
S11：各个单元控制装置分别接收获取的控制器程序；S11: each unit control device respectively receives the obtained controller program;
S12：控制器将步骤S11中的控制器程序保存至程序存储单元的程序接收区RPA；S12: the controller saves the controller program in step S11 to the program receiving area RPA of the program storage unit;
所述的控制器程序共享步骤包括：The controller program sharing steps include:
S21：控制器将需要共享的控制器程序保存至程序存储单元的程序分享区SPA；S21: the controller saves the controller program to be shared in the program sharing area SPA of the program storage unit;
S22：各个单元控制装置共享步骤S21中程序分享区SPA的控制器程序；S22: Each unit control device shares the controller program in the program sharing area SPA in step S21;
所述控制器状态信息获取步骤包括：The step of acquiring state information of the controller includes:
S31：各个单元控制装置分别接收获取的控制器状态信息；S31: each unit control device respectively receives the obtained controller state information;
S32：控制器将步骤S31中的控制器状态信息保存至状态监测单元的状态信息接收区RSA；S32: the controller saves the controller state information in step S31 to the state information receiving area RSA of the state monitoring unit;
所述控制器状态信息分享步骤包括：The controller state information sharing step includes:
S41：控制器将需要共享的控制器状态信息保存至状态监测单元的状态信息共享区SSA；S41: the controller saves the controller status information that needs to be shared to the status information sharing area SSA of the status monitoring unit;
S42：各个单元控制装置共享步骤S31中状态信息共享区SSA的控制器状态信息。S42: Each unit control device shares the controller state information in the state information sharing area SSA in step S31.
进一步的，一种基于通信的虚拟冗余控制器的控制方法，所述的控制器程序获取以及控制程序共享包括主动共享通信以及请求共享通信两种通信方法；Further, a control method of a communication-based virtual redundant controller, the acquisition of the controller program and the sharing of the control program include two communication methods: active sharing communication and request sharing communication;
所述主动共享通信包括：The active sharing communication includes:
（1）单元控制装置将程序共享区SPA中的相关控制器程序通过主动方式传输至其它单元控制装置的程序接收区RPA；(1) The unit control device actively transmits the relevant controller programs in the program sharing area SPA to the program receiving area RPA of other unit control devices;
（2）主动接收来自其它单元控制装置发送的控制器程序，并存放在程序接收区RPA；(2) Actively receive the controller program sent from other unit control devices and store it in the program receiving area RPA;
所述请求共享通信包括：The request to share communications includes:
（1）单元控制装置在接收到其它单元控制装置的请求后，将自身程序共享区SPA中的控制器程序传送给发出请求的单元控制装置，发出请求的单元控制装置将获得的控制器程序存放在自己的程序共享区SPA；(1) After receiving the request from other unit control devices, the unit control device transmits the controller program in its own program sharing area SPA to the requesting unit control device, and the requesting unit control device stores the obtained controller program in In its own program sharing area SPA;
（2）向其它单元控制装置发送虚拟控制器程序共享请求后，接收来自其它单元控制装置发送的控制器程序，并存放在程序接收区RPA。(2) After sending the virtual controller program sharing request to other unit control devices, receive the controller programs sent from other unit control devices and store them in the program receiving area RPA.
进一步的，一种基于通信的虚拟冗余控制器的控制方法，所述的控制器状态信息获取与控制器状态信息包括定时共享通信以及同步共享通信两种通信方法；Further, a control method of a communication-based virtual redundant controller, the acquisition of the controller state information and the controller state information include two communication methods: timing shared communication and synchronous shared communication;
所述定时共享通信包括：The timing shared communication includes:
（1）定时共享通信包括在预设间隔时间点通过状态信息共享区SSA向其它状态监测单元的状态信息接收区RSA共享本状态监测单元的控制器状态信息；(1) Timing shared communication includes sharing the controller status information of the status monitoring unit with the status information receiving area RSA of other status monitoring units through the status information sharing area SSA at the preset interval time point;
（2）在预设间隔时间点通过状态信息接收区RSA接收其它状态监测单元的状态信息共享区SSA共享的状态监测单元的控制器状态信息；(2) Receive the controller status information of the status monitoring unit shared by the status information sharing area SSA of other status monitoring units through the status information receiving area RSA at the preset interval time point;
所述同步共享通信包括：The synchronous shared communication includes:
（1）在程序存储单元SPA向其它单元控制装置传送控制器程序时状态信息接收区RSA同步接收其它单元控制装置共享的控制器状态信息；(1) When the program storage unit SPA transmits the controller program to other unit control devices, the status information receiving area RSA synchronously receives the controller status information shared by other unit control devices;
（2）在程序存储单元RPA接收其它单元控制装置通信共享的控制器程序时同步传送本单元控制装置中状态信息共享区SSA共享的控制器状态信息。(2) When the program storage unit RPA receives the controller program shared by other unit control devices, it synchronously transmits the controller state information shared by the state information sharing area SSA in the unit control device.
进一步的，一种基于通信的虚拟冗余控制器的控制方法，所述单元控制装置根据服务器指令与当前控制器状态信息，执行其他单元控制器的虚拟控制器程序，以共享热备用方式作为指定一个或/和多个单元控制装置的虚拟冗余控制器，或者单元控制装置根据服务器指令与其他单元控制器的状态信息，向指定单元控制器发送虚拟控制器程序。Further, a communication-based control method of a virtual redundant controller, the unit control device executes the virtual controller program of other unit controllers according to the server instruction and the current controller state information, and uses the shared hot standby mode as the specified One or/and virtual redundant controllers of multiple unit control devices, or unit control devices send virtual controller programs to designated unit controllers according to server instructions and status information of other unit controllers.
进一步的，一种基于通信的虚拟冗余控制器的控制方法，还包括一个数据存储步骤和权限设置步骤；Further, a control method of a communication-based virtual redundant controller also includes a data storage step and an authority setting step;
所述的数据存储步骤包括：共享数据服务器获取并保存单元控制装置每次传输的控制器程序以及控制器状态信息；The data storage step includes: the shared data server obtains and saves the controller program and controller status information transmitted by the unit control device each time;
所述的权限设置步骤包括：共享数据服务器或某个具有数据管理功能的单元控制装置对各个单元控制装置的权限进行控制，包括限定某个单元控制装置是否可以与其他单元控制装置进行数据的传输，限定某个单元控制装置与其他单元控制装置通过主动方式和/或发送请求方式的进行数据的传输，以及限定某个单元控制装置与其他单元控制装置之间控制器状态信息的传输方式。The authority setting step includes: a shared data server or a certain unit control device with data management function controls the authority of each unit control device, including limiting whether a certain unit control device can perform data transmission with other unit control devices , limiting the transmission of data between a certain unit control device and other unit control devices in an active manner and/or by sending a request, and limiting the transmission mode of controller state information between a certain unit control device and other unit control devices.
本发明的有益效果：本发明提供一种基于通信的虚拟冗余控制器的控制系统及方法，在控制系统中的多个单元控制装置设置有对控制器状态进行监测的状态监测单元，以及用于保存虚拟控制器程序的程序存储单元。通过状态监测单元与程序存储单元对控制系统中的多个冗余控制器进行合理配置管理，在冗余控制器分配时能够合理避开控制器故障和高负载控制器的单元控制装置，同时通过定义一种单元控制装置之间虚拟控制程序的发送方法，提供了一种更好的控制系统冗余控制器调配方法，提高了工业生产效率。Beneficial effects of the present invention: the present invention provides a control system and method based on a communication-based virtual redundant controller. Multiple unit control devices in the control system are provided with a state monitoring unit for monitoring the state of the controller, and The program storage unit used to save the virtual controller program. Through the state monitoring unit and the program storage unit, the multiple redundant controllers in the control system are reasonably configured and managed, and the controller failure and the unit control device of the high-load controller can be reasonably avoided when the redundant controller is allocated. At the same time, through A method for sending virtual control programs between unit control devices is defined, which provides a better allocation method for redundant controllers of the control system and improves industrial production efficiency.
附图说明Description of drawings
图1是本发明的通信原理示意图。Fig. 1 is a schematic diagram of the communication principle of the present invention.
图2是本发明的结构原理示意图。Fig. 2 is a schematic diagram of the structure principle of the present invention.
具体实施方式Detailed ways
为了对本发明的技术特征、目的和效果有更加清楚的理解，现对照附图说明本发明的具体实施方式。In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation manners of the present invention will now be described with reference to the accompanying drawings.
如图1所示，本实施例中，一种基于通信的虚拟冗余控制器的控制系统，包括通过网络连接的多个单元控制装置，所述单元控制装置包括：控制器，具有多个进行通信共享的通信接口，执行通过通信接口接收的服务请求；状态监测单元，连接控制器，包括至少一个发送控制器状态监测信息的状态信息共享区SSA（Share State Area）和至少一个接受控制器状态监测信息的状态信息接收区RSA（Receive State Area）；所述状态信息共享区SSA用于存放控制器输出的供其它单元控制装置通信共享本单元控制装置的控制器状态信息；所述状态信息接收区RSA用于存放其它单元控制装置通信共享的控制器状态信息；程序存储单元，连接控制器，包括至少一个发送虚拟控制器程序的程序共享区SPA（Share ProcedureArea）和至少一个接收虚拟控制程序的程序接收区RPA（Receive Procedure Area），所述的程序共享区SPA用于存放供其它单元控制装置通信共享虚拟冗余本单元控制装置的控制器程序，所述接受虚拟控制程序的程序接收区RPA用于存放本单元控制器作为其它单元控制装置虚拟冗余的控制器程序。As shown in Figure 1, in this embodiment, a control system based on a communication-based virtual redundant controller includes a plurality of unit control devices connected through a network, and the unit control devices include: a controller with multiple The communication interface shared by communication executes the service request received through the communication interface; the state monitoring unit connects the controller, including at least one state information sharing area SSA (Share State Area) for sending controller state monitoring information and at least one receiving controller state The state information receiving area RSA (Receive State Area) of monitoring information; the state information sharing area SSA is used to store the controller state information output by the controller for other unit control devices to communicate and share the controller state information of the unit control device; the state information receiving The area RSA is used to store the controller status information shared by other unit control devices; the program storage unit is connected to the controller, including at least one program sharing area SPA (Share ProcedureArea) for sending the virtual controller program and at least one for receiving the virtual control program. Program receiving area RPA (Receive Procedure Area), the program sharing area SPA is used to store the controller program for other unit control devices to communicate and share the virtual redundant control device of the unit, and the program receiving area RPA for accepting virtual control programs It is used to store the controller program of this unit controller as a virtual redundant controller of other unit control devices.
其中，控制器采用高速、通用、标准的通信接口，支持通信功能，整个分布式控制系统中的各单元控制装置之间采用通信方式连接在一起，实现有高速通信网络连接的各个控制器之间控制器程序以及控制器状态信息共享的功能。当某个单元控制装置需要其它单元控制装置的相关控制器程序时，可通过通信实现，如通过以太网（但不仅局限于以太网）。Among them, the controller adopts a high-speed, general-purpose, and standard communication interface to support communication functions. The control devices of each unit in the entire distributed control system are connected together by means of communication to realize the connection between each controller connected by a high-speed communication network. Controller program and controller status information sharing function. When a unit control device needs related controller programs of other unit control devices, it can be realized through communication, such as via Ethernet (but not limited to Ethernet).
具体的，在本实施例中，多个单元控制装置的程序存储单元之间的通信采用主动共享通信；所述主动共享通信包括单元控制装置将程序共享区SPA中的相关控制器程序通过主动方式传输至其它单元控制装置的程序接收区RPA，或者主动接收来自其它单元控制装置发送的控制器程序，并存放在程序接收区RPA。Specifically, in this embodiment, the communication between the program storage units of multiple unit control devices adopts active shared communication; Transfer to the program receiving area RPA of other unit control devices, or actively receive controller programs sent from other unit control devices, and store them in the program receiving area RPA.
具体的，在另一个实施例中，多个单元控制装置的程序存储单元之间的通信采用请求共享通信；所述请求共享通信包括单元控制装置在接收到其它单元控制装置的请求后，将自身程序共享区SPA中的控制器程序传送给发出请求的单元控制装置，发出请求的单元控制装置将获得的控制器程序存放在自己的程序共享区SPA，或者向其它单元控制装置发送虚拟控制器程序共享请求后，接收来自其它单元控制装置发送的控制器程序，并存放在程序接收区RPA。Specifically, in another embodiment, the communication between the program storage units of multiple unit control devices adopts request sharing communication; the request sharing communication includes that the unit control device sends itself The controller program in the program sharing area SPA is transmitted to the requesting unit control device, and the requesting unit control device stores the obtained controller program in its own program sharing area SPA, or sends the virtual controller program to other unit control devices After sharing the request, it receives the controller program sent from other unit control devices and stores it in the program receiving area RPA.
具体的，在本实施例中，多个单元控制装置的状态监测单元之间的通信采用定时共享通信；所述定时共享通信包括在预设间隔时间点通过状态信息共享区SSA向其它状态监测单元的状态信息接收区RSA共享本状态监测单元的控制器状态信息，或者在预设间隔时间点通过状态信息接收区RSA接收其它状态监测单元的状态信息共享区SSA共享的状态监测单元的控制器状态信息。Specifically, in this embodiment, the communication between the state monitoring units of multiple unit control devices adopts timing sharing communication; the timing sharing communication includes sending information to other state monitoring units through the state information sharing area SSA The status information receiving area RSA shares the controller status information of the status monitoring unit, or receives the controller status of the status monitoring unit shared by the status information sharing area SSA of other status monitoring units through the status information receiving area RSA at preset intervals information.
具体的，在另一个实施例中，多个单元控制装置的状态监测单元之间采用与控制器程序共享同步的同步通信方式，在程序存储单元SPA向其它单元控制装置传送控制器程序时状态信息接收区RSA同步接收其它单元控制装置共享的控制器状态信息，或者在程序存储单元RPA接收其它单元控制装置通信共享的控制器程序时同步传送本单元控制装置中状态信息共享区SSA共享的控制器状态信息。Specifically, in another embodiment, the state monitoring units of multiple unit control devices adopt a synchronous communication mode shared with the controller program, and when the program storage unit SPA transmits the controller program to other unit control devices, the state information The receiving area RSA synchronously receives the controller state information shared by other unit control devices, or synchronously transmits the controller shared by the state information sharing area SSA in the unit control device when the program storage unit RPA receives the controller program shared by other unit control devices for communication status information.
如图2所示，进一步的，一种基于通信的虚拟冗余控制器的控制系统，所述的虚拟冗余控制器的控制系统还包括一个与单元控制装置进行通信的冗余虚拟控制器共享服务器，单元控制装置根据服务器指令与当前控制器状态信息，执行其他单元控制器的虚拟控制器程序，以共享热备用方式作为指定一个或/和多个单元控制装置的虚拟冗余控制器，或者单元控制装置根据服务器指令与其他单元控制器的状态信息，向指定单元控制器发送虚拟控制器程序。As shown in Figure 2, further, a communication-based virtual redundant controller control system, the virtual redundant controller control system also includes a shared redundant virtual controller communicating with the unit control device The server, the unit control device executes the virtual controller program of other unit controllers according to the server instruction and the current controller state information, and uses the shared hot standby mode as a virtual redundant controller to designate one or/and multiple unit control devices, or The unit control device sends the virtual controller program to the specified unit controller according to the server instruction and the state information of other unit controllers.
具体的，状态监测单元读取的控制器状态信息包括但不限于控制器空闲、控制器故障以及控制器高负载；当某单元控制装置的控制器状态为控制器故障时，在接收到执行控制器程序的命令时，向控制器程序方发送本控制器的故障状态信息以及该控制器程序未执行的信息，同时该故障状态信息将上传至共享服务器进行记录存储；当某单元控制装置的控制器状态为控制器高负载时，在接收到执行控制器程序的命令时，向控制器程序方发送本控制器的高负载状态信息以及该控制器程序未执行的信息，发送方单元控制装置在接收到高负载状态信息后将向其它单元控制装置的控制器发送该未执行控制器程序；当某单元控制装置的控制器状态为控制器空闲时，在接收到执行控制器程序的命令时，执行该控制器程序并向发送方发送该控制器程序已执行信息。Specifically, the controller status information read by the status monitoring unit includes but is not limited to controller idle, controller failure, and controller high load; When the command of the controller program, send the fault state information of the controller and the information that the controller program is not executed to the controller program side, and the fault state information will be uploaded to the shared server for record storage; when the control device of a certain unit When the state of the controller is the high load of the controller, when receiving the command to execute the controller program, send the high load status information of the controller and the information that the controller program is not executed to the controller program side, and the sender unit control device is in After receiving the high-load status information, it will send the unexecuted controller program to the controllers of other unit control devices; when the controller status of a certain unit control device is the controller is idle, when receiving the command to execute the controller program, Execute the controller program and send the information that the controller program has been executed to the sender.
进一步的，一种基于通信的虚拟冗余控制器的控制系统，所述的共享服务器用于管理并保存单元控制装置传输的虚拟控制器程序与控制状态信息；同时还对各个单元控制装置的权限进行控制，包括限定某个单元控制装置是否可以与其他单元控制装置进行控制器程序的传输；限定某个单元控制装置与其他单元控制装置通过主动方式和/或发送请求方式的进行用于虚拟冗余控制器程序的传输；限定某个单元控制装置与其他单元控制装置之间控制器状态信息的传输方式。Further, a communication-based virtual redundant controller control system, the shared server is used to manage and save the virtual controller program and control state information transmitted by the unit control device; Control, including limiting whether a certain unit control device can transmit controller programs with other unit control devices; restricting a certain unit control device and other unit control devices to perform virtual redundancy by active means and/or by sending requests Transmission of other controller programs; limiting the transmission mode of controller state information between a certain unit control device and other unit control devices.
本实施例中的单元控制装置采用高速通信方式连接在一个高速网络中，当某个单元控制装置需要其它单元控制装置执行控制器程序时，可通过通信实现，如通过以太网（但不局限于以太网）。目前的控制器具有较强的网络通信接口，支持高速通信功能和与不同控制器之间数据交换的功能，不同单元控制装置之间可以通过通信实现控制器程序以及控制器状态信息交换、共享和利用。（在另外一个实施例中，可以连接在低速网络中）。The unit control devices in this embodiment are connected in a high-speed network by high-speed communication. When a certain unit control device needs other unit control devices to execute the controller program, it can be realized through communication, such as through Ethernet (but not limited to Ethernet). The current controller has a strong network communication interface, supports high-speed communication function and data exchange function with different controllers, and the controller program and controller status information can be exchanged, shared and shared between different unit control devices through communication. use. (In another embodiment, it may be connected to a low-speed network).
一种基于通信的虚拟冗余控制器的控制系统的控制方法，包括控制器程序获取步骤、控制器程序共享步骤、控制器状态信息获取步骤以及控制器状态信息共享步骤；A method for controlling a control system based on a communication-based virtual redundant controller, comprising a controller program acquisition step, a controller program sharing step, a controller state information acquisition step, and a controller state information sharing step;
所述的控制器程序获取步骤包括：The steps for obtaining the controller program include:
S11：各个单元控制装置分别接收获取的控制器程序；S11: each unit control device respectively receives the obtained controller program;
S12：控制器将步骤S11中的控制器程序保存至程序存储单元的程序接收区RPA；S12: the controller saves the controller program in step S11 to the program receiving area RPA of the program storage unit;
所述的控制器程序共享步骤包括：The controller program sharing steps include:
S21：控制器将需要共享的控制器程序保存至程序存储单元的程序分享区SPA；S21: the controller saves the controller program to be shared in the program sharing area SPA of the program storage unit;
S22：各个单元控制装置共享步骤S21中程序分享区SPA的控制器程序；S22: Each unit control device shares the controller program in the program sharing area SPA in step S21;
所述控制器状态信息获取步骤包括：The step of acquiring state information of the controller includes:
S31：各个单元控制装置分别接收获取的控制器状态信息；S31: each unit control device respectively receives the obtained controller state information;
S32：控制器将步骤S31中的控制器状态信息保存至状态监测单元的状态信息接收区RSA；S32: the controller saves the controller state information in step S31 to the state information receiving area RSA of the state monitoring unit;
所述控制器状态信息分享步骤包括：The controller state information sharing step includes:
S41：控制器将需要共享的控制器状态信息保存至状态监测单元的状态信息共享区SSA；S41: the controller saves the controller status information that needs to be shared to the status information sharing area SSA of the status monitoring unit;
S42：各个单元控制装置共享步骤S31中状态信息共享区SSA的控制器状态信息。S42: Each unit control device shares the controller state information in the state information sharing area SSA in step S31.
控制系统中的多个单元控制装置，通过状态监测单元与程序存储单元对控制系统中的多个冗余控制器进行合理配置管理，在冗余控制器分配时能够合理避开控制器故障和高负载控制器的单元控制装置，同时通过定义一种单元控制装置之间虚拟控制程序的发送方法，提供了一种更好的控制系统冗余控制器调配方法，提高了工业生产效率。Multiple unit control devices in the control system can reasonably configure and manage multiple redundant controllers in the control system through the state monitoring unit and program storage unit, and can reasonably avoid controller failures and high The unit control device of the load controller provides a better allocation method of redundant controllers of the control system by defining a method for sending virtual control programs between the unit control devices, and improves industrial production efficiency.
本实施例中，控制器程序获取以及控制程序共享为主动共享通信。In this embodiment, the acquisition of the controller program and the sharing of the control program are active shared communication.
所述主动共享通信包括：The active sharing communication includes:
（1）单元控制装置将程序共享区SPA中的相关控制器程序通过主动方式传输至其它单元控制装置的程序接收区RPA；(1) The unit control device actively transmits the relevant controller programs in the program sharing area SPA to the program receiving area RPA of other unit control devices;
（2）主动接收来自其它单元控制装置发送的控制器程序，并存放在程序接收区RPA；(2) Actively receive the controller program sent from other unit control devices and store it in the program receiving area RPA;
在另一个实施例中，控制器程序获取以及控制程序共享为请求共享通信。In another embodiment, controller program acquisition and control program sharing are request sharing communications.
所述请求共享通信包括：The request to share communications includes:
（1）单元控制装置在接收到其它单元控制装置的请求后，将自身程序共享区SPA中的控制器程序传送给发出请求的单元控制装置，发出请求的单元控制装置将获得的控制器程序存放在自己的程序共享区SPA；(1) After receiving the request from other unit control devices, the unit control device transmits the controller program in its own program sharing area SPA to the requesting unit control device, and the requesting unit control device stores the obtained controller program in In its own program sharing area SPA;
（2）向其它单元控制装置发送虚拟控制器程序共享请求后，接收来自其它单元控制装置发送的控制器程序，并存放在程序接收区RPA。(2) After sending the virtual controller program sharing request to other unit control devices, receive the controller programs sent from other unit control devices and store them in the program receiving area RPA.
本实施例中，控制器状态信息获取与控制器状态信息为定时共享通信。In this embodiment, the acquisition of the controller state information and the controller state information are shared communications at regular intervals.
所述定时共享通信包括：The timing shared communication includes:
（1）定时共享通信包括在预设间隔时间点通过状态信息共享区SSA向其它状态监测单元的状态信息接收区RSA共享本状态监测单元的控制器状态信息；(1) Timing shared communication includes sharing the controller status information of the status monitoring unit with the status information receiving area RSA of other status monitoring units through the status information sharing area SSA at the preset interval time point;
（2）在预设间隔时间点通过状态信息接收区RSA接收其它状态监测单元的状态信息共享区SSA共享的状态监测单元的控制器状态信息；(2) Receive the controller status information of the status monitoring unit shared by the status information sharing area SSA of other status monitoring units through the status information receiving area RSA at the preset interval time point;
在另一个实施例中，控制器状态信息获取与控制器状态信息为同步共享通信；In another embodiment, the acquisition of the controller state information and the controller state information are synchronous shared communication;
所述同步共享通信包括：The synchronous shared communication includes:
（1）在程序存储单元SPA向其它单元控制装置传送控制器程序时状态信息接收区RSA同步接收其它单元控制装置共享的控制器状态信息；(1) When the program storage unit SPA transmits the controller program to other unit control devices, the status information receiving area RSA synchronously receives the controller status information shared by other unit control devices;
（2）在程序存储单元RPA接收其它单元控制装置通信共享的控制器程序时同步传送本单元控制装置中状态信息共享区SSA共享的控制器状态信息。(2) When the program storage unit RPA receives the controller program shared by other unit control devices, it synchronously transmits the controller state information shared by the state information sharing area SSA in the unit control device.
本实施例中，一种基于通信的虚拟冗余控制器的控制方法，所述单元控制装置根据服务器指令与当前控制器状态信息，执行其他单元控制器的虚拟控制器程序，以共享热备用方式作为指定一个或/和多个单元控制装置的虚拟冗余控制器，或者单元控制装置根据服务器指令与其他单元控制器的状态信息，向指定单元控制器发送虚拟控制器程序。In this embodiment, a communication-based control method of a virtual redundant controller, the unit control device executes the virtual controller program of other unit controllers according to the server instruction and the current controller state information, in order to share the hot standby mode As a virtual redundant controller that specifies one or/and multiple unit control devices, or the unit control device sends a virtual controller program to the designated unit controller according to the server command and the state information of other unit controllers.
本实施例中，一种基于通信的虚拟冗余控制器的控制方法，还包括一个数据存储步骤和权限设置步骤；In this embodiment, a control method of a communication-based virtual redundant controller also includes a data storage step and an authority setting step;
所述的数据存储步骤包括：共享数据服务器获取并保存单元控制装置每次传输的控制器程序以及控制器状态信息；The data storage step includes: the shared data server obtains and saves the controller program and controller status information transmitted by the unit control device each time;
所述的权限设置步骤包括：共享数据服务器或某个具有数据管理功能的单元控制装置对各个单元控制装置的权限进行控制，包括限定某个单元控制装置是否可以与其他单元控制装置进行数据的传输，限定某个单元控制装置与其他单元控制装置通过主动方式和/或发送请求方式的进行数据的传输，以及限定某个单元控制装置与其他单元控制装置之间控制器状态信息的传输方式。The authority setting step includes: a shared data server or a certain unit control device with data management function controls the authority of each unit control device, including limiting whether a certain unit control device can perform data transmission with other unit control devices , limiting the transmission of data between a certain unit control device and other unit control devices in an active manner and/or by sending a request, and limiting the transmission mode of controller state information between a certain unit control device and other unit control devices.
以上显示和描述了本发明的基本原理和主要特征和本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above-mentioned embodiments. What are described in the above-mentioned embodiments and the description only illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have Variations and improvements are possible, which fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.
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| CN106647412A (en)* | 2017-01-17 | 2017-05-10 | 爱普（福建）科技有限公司 | Data sharing method between distributed controllers based on configuration element |
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