CN115755741A - PLC control system and control method based on OPCUA embedded server - Google Patents
PLC control system and control method based on OPCUA embedded serverDownload PDFInfo
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Abstract
Description
Translated fromChinese技术领域technical field
本发明属于工业互联网技术领域，尤其涉及一种基于OPC UA嵌入式服务器的PLC控制系统、控制方法、设备及存储介质。The invention belongs to the technical field of industrial Internet, and in particular relates to a PLC control system, control method, equipment and storage medium based on an OPC UA embedded server.
背景技术Background technique
随着工业互联网的发展，作为跨越OT(operations technology，运营技术)与IT(Information technology，信息技术)的桥梁，PLC的作用不容小觑。PLC连接与控制多种设备，将数据分析、处理，并传递到上层的信息系统，成为工厂与车间的控制中枢。With the development of the Industrial Internet, as a bridge spanning OT (operations technology, operational technology) and IT (Information technology, information technology), the role of PLC cannot be underestimated. PLC connects and controls a variety of equipment, analyzes and processes data, and transmits it to the upper information system, becoming the control center of factories and workshops.
针对PLC设备的工业控制领域需要采集多种多元异构设备的现场数据，需要使用OPCUA技术实现数据集成和数据格式统一以便管理系统对设备数据进行统一分析处理。当前主要采用基于PC端的OPCUA服务器或OPCUA服务器网关，模块集成度较差，网络通信较复杂，其环境适应性、实时性以及安全性都有待提高。For the field of industrial control of PLC equipment, it is necessary to collect field data of multiple heterogeneous equipment, and it is necessary to use OPCUA technology to realize data integration and data format unification so that the management system can perform unified analysis and processing of equipment data. At present, OPCUA server or OPCUA server gateway based on PC is mainly used, the module integration is poor, the network communication is more complicated, and its environmental adaptability, real-time performance and security need to be improved.
发明内容Contents of the invention
为解决上述问题，本发明的目的是提供一种一种基于OPC UA嵌入式服务器的PLC控制系统、控制方法、设备及存储介质，该控制系统、控制方法、设备及存储介质能够实现数据的高效集成、存储和读取，实现管理系统对多元异构设备大量数据的集成和统一分析处理。In order to solve the above problems, the object of the present invention is to provide a kind of PLC control system, control method, equipment and storage medium based on OPC UA embedded server, and this control system, control method, equipment and storage medium can realize the high efficiency of data Integration, storage and reading, to realize the management system's integration and unified analysis and processing of a large amount of data from multiple heterogeneous devices.
为实现上述目的，本发明的技术方案为：一种基于OPC UA嵌入式服务器的PLC控制系统，包括：内置OPCUA嵌入式服务器和DDR3内存芯片的龙芯2k1000处理器，所述DDR3内存芯片用于存储龙芯2k1000处理器获取的多种多元异构设备数据，所述DDR3内存芯片与所述OPCUA嵌入式服务器进行数据交互实现信息映射，OPCUA客户端调用已定义的方法通过以太网访问所述OPCUA嵌入式服务器地址空间中的数据。To achieve the above object, the technical solution of the present invention is: a kind of PLC control system based on OPC UA embedded server, comprising: the Godson 2k1000 processor with built-in OPC UA embedded server and DDR3 memory chip, described DDR3 memory chip is used for storing Loongson 2k1000 processor acquires multiple heterogeneous device data, the DDR3 memory chip and the OPCUA embedded server perform data interaction to realize information mapping, and the OPCUA client invokes a defined method to access the OPCUA embedded server through Ethernet Data in the server address space.
在本发明的一个实施例中，所述OPCUA嵌入式服务器包括应用程序、软件开发工具SDK和通用栈，其中，所述应用程序用于实现OPC UA嵌入式服务器和OPCUA客户端之间的相互定义，所述软件开发工具SDK用于管理连接与处理服务信息，所述通用栈用于实现编码、签名加密、传输消息。In one embodiment of the present invention, the OPC UA embedded server includes an application program, a software development tool SDK and a general stack, wherein the application program is used to realize the mutual definition between the OPC UA embedded server and the OPC UA client , the software development tool SDK is used to manage connections and process service information, and the general stack is used to implement encoding, signature encryption, and message transmission.
在本发明的一个实施例中，所述应用程序包括基础系统和专用功能，所述基础系统用于实现人机交互，所述专用功能用于调用所述软件开发工具SDK中的方法以实现定义的功能。In one embodiment of the present invention, the application program includes a basic system and a special function, the basic system is used to realize human-computer interaction, and the special function is used to call the method in the software development tool SDK to realize the defined function.
在本发明的一个实施例中，所述软件开发工具SDK包括API接口服务层、UA专用功能层、UA通用功能层，所述API接口服务层用于发送请求、接收响应，所述UA专用功能用于实现OPCUA规范定义的概念和服务，所述UA通用功能层用于实现创建安全连接、应用程序配置、日志。In one embodiment of the present invention, the software development tool SDK includes an API interface service layer, a UA special function layer, and a UA general function layer. The API interface service layer is used to send requests and receive responses. The UA special function layer It is used to implement the concepts and services defined by the OPCUA specification, and the UA general function layer is used to implement the creation of secure connections, application configuration, and logs.
在本发明的一个实施例中，所述通用栈包括API接口服务层、编码层、安全层、传输层和平台层，所述API接口服务层用于提供方法以完成如配置栈、管理连接的建立、发送OPCUA服务消息以及在收到消息时通知上层的功能；所述编码层用于对消息服务进行加解密、序列化或反序列化；所述安全层用于对消息进行安全处理、签名或加密；所述传输层用于收发消息以及处理安全层的错误；所述平台层用于提供平台专用代码，以整合socket管理、线程或加密操作特殊库。In one embodiment of the present invention, the general stack includes an API interface service layer, a coding layer, a security layer, a transport layer, and a platform layer, and the API interface service layer is used to provide methods to complete tasks such as configuring stacks and managing connections The function of establishing and sending OPCUA service messages and notifying the upper layer when receiving messages; the encoding layer is used to encrypt and decrypt, serialize or deserialize message services; the security layer is used to securely process and sign messages or encryption; the transport layer is used to send and receive messages and handle errors in the security layer; the platform layer is used to provide platform-specific codes to integrate socket management, threads or special libraries for encryption operations.
在本发明的一个实施例中，所述OPC UA嵌入式服务器平台为锐华操作系统，所述OPC UA嵌入式服务器协议栈中的平台层转化为适应锐华操作系统的平台代码。In one embodiment of the present invention, the OPC UA embedded server platform is the Ruihua operating system, and the platform layer in the OPC UA embedded server protocol stack is converted into a platform code adapted to the Ruihua operating system.
基于相同的发明构思，本发明还提供一种基于OPC UA嵌入式服务器的PLC控制方法，包括以下步骤：实时获取多元异构设备的数据，并将这些数据存储到内存模块中；OPCUA嵌入式服务器实时获取所述多元异构设备的数据，在龙芯2k1000处理器对应的地址空间中建立节点进行信息建模和存储，同时OPCUA嵌入式服务器管理地址空间节点；OPC UA客户端调用已定义的方法实现对OPCUA嵌入式服务器的访问，浏览OPCUA嵌入式服务器地址空间中存储的数据；其中，所述OPCUA客户端与所述OPCUA服务器之间的通讯协议为OPCUA协议标准。Based on the same inventive concept, the present invention also provides a PLC control method based on an OPC UA embedded server, comprising the following steps: obtaining data of multiple heterogeneous devices in real time, and storing these data in a memory module; OPC UA embedded server Obtain the data of the multiple heterogeneous devices in real time, establish nodes in the address space corresponding to the Loongson 2k1000 processor for information modeling and storage, and at the same time, the OPCUA embedded server manages the address space nodes; the OPC UA client invokes the defined method to implement The visit to the OPCUA embedded server browses the data stored in the address space of the OPCUA embedded server; wherein, the communication protocol between the OPCUA client and the OPCUA server is the OPCUA protocol standard.
本发明的一个实施例中，所述基于OPC UA嵌入式服务器的PLC控制方法还包括：对OPC UA协议标准中不是必须支持的服务功能进行删除以减少PLC内存资源的占用。In an embodiment of the present invention, the PLC control method based on the OPC UA embedded server further includes: deleting service functions that are not necessarily supported in the OPC UA protocol standard to reduce the occupation of PLC memory resources.
基于相同的发明构思，本发明还提供一种计算机设备，包括：存储器，所述存储器用于存储处理程序；处理器，所述处理器执行所述处理程序时实现所述的基于OPC UA嵌入式服务器的PLC控制方法。Based on the same inventive concept, the present invention also provides a computer device, including: a memory, the memory is used to store a processing program; a processor, when the processor executes the processing program, the OPC UA-based embedded The PLC control method of the server.
基于相同的发明构思，本发明还提供一种可读存储介质，所述可读存储介质上存储有处理程序，所述处理程序被处理器执行时实现所述的基于OPC UA嵌入式服务器的PLC控制方法。Based on the same inventive concept, the present invention also provides a readable storage medium, on which a processing program is stored, and when the processing program is executed by a processor, the described PLC based on the OPC UA embedded server is realized. Control Method.
本发明由于采用以上技术方案，使其与现有技术相比具有以下的优点和积极效果：Compared with the prior art, the present invention has the following advantages and positive effects due to the adoption of the above technical scheme:
1、本发明通过在龙芯2k1000处理器内置OPCUA嵌入式服务器和DDR3内存芯片，实现对数据的高效集成并存储于DDR3内存芯片中，基于PC端的OPCUA客户端通过以太网方式访问OPCUA嵌入式服务器，即可实现对地址空间中数据的读取，从而实现管理系统对多元异构设备大量数据的集成和统一分析处理，实现信息高效集成、存储和读写。1. The present invention realizes the efficient integration of data and stores it in the DDR3 memory chip through the built-in OPCUA embedded server and DDR3 memory chip in the Loongson 2k1000 processor, and the OPCUA client based on the PC end accesses the OPCUA embedded server through Ethernet, It can realize the reading of data in the address space, so as to realize the integration and unified analysis and processing of a large amount of data of multiple heterogeneous devices by the management system, and realize the efficient integration, storage and reading and writing of information.
2、本发明基于国产化自主可控的龙芯2k1000处理器平台设计，OPCUA嵌入式服务器的平台为锐华操作系统，协议栈中的平台层转化为适应锐华操作系统的平台代码，具有国产化程度高、自主可控性强的优点，实现数据的高效集成、存储和读取，实现管理系统对多元异构设备大量数据的集成和统一分析处理。2. The present invention is based on the domestically controlled Loongson 2k1000 processor platform design. The platform of the OPCUA embedded server is the Ruihua operating system. With the advantages of high degree and strong autonomy and controllability, it realizes the efficient integration, storage and reading of data, and realizes the integration and unified analysis and processing of a large amount of data from multiple heterogeneous equipment by the management system.
3、本发明采用龙芯2K1000处理器，支持多种实时协议，具有丰富的工业接口和高速接口，可以接收需要面对的多种类型的协议数据，提供了丰富的配置灵活的接口，具有低功耗、高可靠等特点；内置OPCUA嵌入式服务器和DDR3内存芯片，模块集成化设计，以适应工业控制领域的恶劣环境。3. The present invention adopts Loongson 2K1000 processor, supports multiple real-time protocols, has rich industrial interfaces and high-speed interfaces, can receive various types of protocol data that needs to be faced, provides rich and flexible interfaces, and has low power Power consumption, high reliability, etc.; built-in OPCUA embedded server and DDR3 memory chip, module integration design, to adapt to the harsh environment in the field of industrial control.
附图说明Description of drawings
下面结合附图对本发明的具体实施方式作进一步详细说明，其中：The specific embodiment of the present invention is described in further detail below in conjunction with accompanying drawing, wherein:
图1为本发明基于OPCUA嵌入式服务器的PLC控制系统硬件架构图；Fig. 1 is the PLC control system hardware architecture diagram based on OPCUA embedded server of the present invention;
图2为OPCUA服务器/客户端的软件架构图；Fig. 2 is the software architecture diagram of OPCUA server/client;
图3为本发明OPCUA服务器数据传输的软件架构图。Fig. 3 is a software architecture diagram of OPCUA server data transmission in the present invention.
具体实施方式Detailed ways
以下结合附图和具体实施例对本发明作进一步详细说明。根据下面说明和权利要求书，本发明的优点和特征将更清楚。需说明的是，附图均采用非常简化的形式且均使用非精准的比率，仅用以方便、明晰地辅助说明本发明实施例的目的。The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments. Advantages and features of the present invention will be apparent from the following description and claims. It should be noted that the drawings are all in a very simplified form and use imprecise ratios, which are only used to facilitate and clearly assist the purpose of illustrating the embodiments of the present invention.
需要说明，本发明实施例中所有方向性指示(诸如上、下、左、右、前、后……)仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relationship between the components in a certain posture (as shown in the accompanying drawings). Relative positional relationship, movement conditions, etc., if the specific posture changes, the directional indication will also change accordingly.
嵌入式系统是当前最热门最有发展前途的IT应用领域之一，目前，龙芯2K1000嵌入式系统具有国产化程度高、自主可控性强、可靠性高、组网方便等特点，适合于国防控制系统、电力控制系统、信息安全通信系统等，有着广泛的应用。基于国产化龙芯处理器实现OPCUA嵌入式服务器，可以使安全性更高，更自主可控；通过使OPCUA服务器集成到龙芯处理器的锐华系统中，可直接获取PLC数据表中数据并映射到地址空间实现数据集成。Embedded systems are currently one of the most popular and promising IT application fields. At present, the Loongson 2K1000 embedded system has the characteristics of high localization, strong independent controllability, high reliability, and convenient networking. It is suitable for national defense Control systems, power control systems, information security communication systems, etc., have a wide range of applications. Realizing the OPCUA embedded server based on the domestic Loongson processor can make the security higher and more autonomous and controllable; by integrating the OPCUA server into the Ruihua system of the Loongson processor, the data in the PLC data table can be directly obtained and mapped to The address space enables data integration.
龙芯2K1000处理器主要面向于网络应用，兼顾平板应用及工控领域应用。采用40nm工艺，片内集成2个GS264处理器核，主频1GHz，64位DDR3控制器，以及各种系统IO接口。所述的内存模块采用板载内存颗粒的方式进行扩展。通过处理器集成的控制器连接到各个颗粒，每个控制器连接4片500MB的DDR3 16位的DDR3内存颗粒，共计4片，总容量2GB。处理器具有支持多种实时协议的可编程实时控制单元，且具有丰富的工业接口和高速接口，可以接收需要面对的多种类型的协议数据。The Loongson 2K1000 processor is mainly oriented to network applications, taking into account both tablet applications and industrial control applications. Using 40nm technology, the chip integrates two GS264 processor cores with a main frequency of 1GHz, a 64-bit DDR3 controller, and various system IO interfaces. The memory module is expanded by means of onboard memory particles. The integrated controller of the processor is connected to each particle, and each controller is connected to 4 pieces of 500MB DDR3 16-bit DDR3 memory particles, a total of 4 pieces, with a total capacity of 2GB. The processor has a programmable real-time control unit that supports multiple real-time protocols, and has rich industrial interfaces and high-speed interfaces, which can receive various types of protocol data that need to be faced.
实施例一Embodiment one
如图1所示，一种基于OPC UA嵌入式服务器的PLC控制系统，包括：内置OPCUA嵌入式服务器和DDR3内存芯片的龙芯2k1000处理器，所述DDR3内存芯片用于存储龙芯2k1000处理器获取的多种多元异构设备数据，所述DDR3内存芯片与所述OPCUA嵌入式服务器进行数据交互实现信息映射，OPCUA客户端调用已定义的方法通过以太网访问所述OPCUA嵌入式服务器地址空间中的数据。As shown in Figure 1, a kind of PLC control system based on OPC UA embedded server, comprises: the Loongson 2k1000 processor of built-in OPCUA embedded server and DDR3 memory chip, and described DDR3 memory chip is used for storing the Loongson 2k1000 processor acquisition A variety of multivariate heterogeneous device data, the DDR3 memory chip and the OPCUA embedded server perform data interaction to realize information mapping, and the OPCUA client invokes a defined method to access the data in the address space of the OPCUA embedded server through Ethernet .
通过在龙芯2k1000处理器内置OPCUA嵌入式服务器和DDR3内存芯片，实现对数据的高效集成并存储于DDR3内存芯片中，基于PC端的OPCUA客户端通过以太网方式访问OPCUA嵌入式服务器，即可实现对地址空间中数据的读取，从而实现管理系统对多元异构设备大量数据的集成和统一分析处理，实现信息高效集成、存储和读写。Through the built-in OPCUA embedded server and DDR3 memory chip in the Loongson 2k1000 processor, the data can be efficiently integrated and stored in the DDR3 memory chip. The OPCUA client based on the PC can access the OPCUA embedded server through Ethernet to realize the The reading of data in the address space realizes the management system’s integration and unified analysis and processing of a large amount of data from multiple heterogeneous devices, and realizes efficient integration, storage, and reading and writing of information.
本发明采用龙芯2K1000处理器，提供了丰富的配置灵活的接口，具有低功耗、高可靠等特点；模块集成化设计，以适应工业控制领域的恶劣环境。设备集成度高，便于配置和维护；提升实时性，使用户高效获取数据；方便引入简单数据处理等功能，为边缘智能网关提供基础。The invention adopts the Loongson 2K1000 processor, provides rich interfaces with flexible configuration, has the characteristics of low power consumption, high reliability, etc.; the module integration design is adapted to the harsh environment in the field of industrial control. The equipment is highly integrated, which is convenient for configuration and maintenance; it improves real-time performance and enables users to obtain data efficiently; it is convenient to introduce functions such as simple data processing, and provides a basis for edge intelligent gateways.
如图2所示，为本发明OPCUA服务器/客户端的软件架构图，所述OPCUA嵌入式服务器包括应用程序、软件开发工具SDK和通用栈，其中，所述应用程序用于实现OPC UA嵌入式服务器和OPCUA客户端之间的相互定义，所述软件开发工具SDK用于管理连接与处理服务信息，所述通用栈用于实现编码、签名加密、传输消息。As shown in Figure 2, it is the software architecture diagram of OPCUA server/client of the present invention, described OPCUA embedded server comprises application program, software development tool SDK and general stack, wherein, described application program is used to realize OPC UA embedded server Mutual definition with OPCUA client, the software development tool SDK is used to manage connections and process service information, and the general stack is used to implement encoding, signature encryption, and message transmission.
进一步的，所述应用程序包括基础系统和专用功能，所述基础系统用于实现人机交互，所述专用功能用于调用所述软件开发工具SDK中的方法以实现定义的功能。Further, the application program includes a basic system and a special function, the basic system is used to realize human-computer interaction, and the special function is used to call a method in the software development tool SDK to realize a defined function.
进一步的，所述软件开发工具SDK包括API接口服务层、UA专用功能层、UA通用功能层，所述API接口服务层用于发送请求、接收响应，所述UA专用功能用于实现OPCUA规范定义的概念和服务，所述UA通用功能层用于实现创建安全连接、应用程序配置、日志。所述软件开发工具SDK主要管理连接与处理服务信息。Further, the software development tool SDK includes an API interface service layer, a UA special function layer, and a UA general function layer, the API interface service layer is used to send requests and receive responses, and the UA special functions are used to implement the OPCUA specification definition The concepts and services of the UA general function layer are used to create secure connections, application configurations, and logs. The software development tool SDK mainly manages connections and processes service information.
进一步的，所述通用栈包括API接口服务层、编码层、安全层、传输层和平台层，所述API接口服务层用于提供方法以完成如配置栈、管理连接的建立、发送OPCUA服务消息以及在收到消息时通知上层的功能；所述编码层用于对消息服务进行加解密、序列化或反序列化；所述安全层用于对消息进行安全处理、签名或加密；所述传输层用于收发消息以及处理安全层的错误；所述平台层用于提供平台专用代码，以整合socket管理、线程或加密操作特殊库。所述通用栈主要负责编码、签名加密、传输消息，包括五层。本实施例的通用栈能够实现数据的安全、高效传输。Further, the general stack includes an API interface service layer, a coding layer, a security layer, a transport layer and a platform layer, and the API interface service layer is used to provide methods to complete such as setting up a configuration stack, a management connection, and sending an OPCUA service message And the function of notifying the upper layer when a message is received; the encoding layer is used to encrypt and decrypt, serialize or deserialize the message service; the security layer is used to safely process, sign or encrypt the message; the transmission The layer is used to send and receive messages and handle errors in the security layer; the platform layer is used to provide platform-specific codes to integrate socket management, threads or special libraries for encryption operations. The general stack is mainly responsible for encoding, signature encryption, and message transmission, including five layers. The general stack of this embodiment can realize safe and efficient transmission of data.
优选的，所述OPC UA嵌入式服务器平台为锐华操作系统，所述OPC UA嵌入式服务器协议栈中的平台层转化为适应锐华操作系统的平台代码。可以实现与采用锐华操作系统的OPC UA客户端高效对接，提高数据获取的效率。Preferably, the OPC UA embedded server platform is the Ruihua operating system, and the platform layer in the OPC UA embedded server protocol stack is converted into a platform code adapted to the Ruihua operating system. It can realize efficient docking with the OPC UA client using the Ruihua operating system, and improve the efficiency of data acquisition.
实施例二Embodiment two
参见图3，OPCUA服务器数据传输的软件架构图。具体的，龙芯2K1000处理器实时获取多元异构设备的数据，并将这些数据存储到内存模块中；OPCUA嵌入式服务器实时获取所述多元异构设备的数据，在龙芯2k1000处理器对应的地址空间中建立节点进行信息建模和存储，同时OPCUA嵌入式服务器管理地址空间节点；OPC UA客户端调用已定义的方法实现对OPCUA嵌入式服务器的访问，浏览OPCUA嵌入式服务器地址空间中存储的数据；其中，所述OPCUA客户端与所述OPCUA服务器之间的通讯协议为OPCUA协议标准。See Fig. 3, the software architecture diagram of OPCUA server data transmission. Specifically, the Loongson 2K1000 processor obtains the data of multiple heterogeneous devices in real time, and stores these data in the memory module; the OPCUA embedded server obtains the data of the multiple heterogeneous devices in real time, and stores them in the address space corresponding to the Loongson 2k1000 processor Create nodes for information modeling and storage, while the OPC UA embedded server manages address space nodes; the OPC UA client invokes the defined method to access the OPC UA embedded server and browse the data stored in the address space of the OPCUA embedded server; Wherein, the communication protocol between the OPCUA client and the OPCUA server is the OPCUA protocol standard.
通过在龙芯2k1000处理器内置OPCUA嵌入式服务器和DDR3内存芯片，实现对数据的高效集成并存储于DDR3内存芯片中，基于PC端的OPCUA客户端通过以太网方式访问OPCUA嵌入式服务器，即可实现对地址空间中数据的读取，从而实现管理系统对多元异构设备大量数据的集成和统一分析处理，实现信息高效集成、存储和读写。Through the built-in OPCUA embedded server and DDR3 memory chip in the Loongson 2k1000 processor, the data can be efficiently integrated and stored in the DDR3 memory chip. The OPCUA client based on the PC can access the OPCUA embedded server through Ethernet to realize the The reading of data in the address space realizes the management system’s integration and unified analysis and processing of a large amount of data from multiple heterogeneous devices, and realizes efficient integration, storage, and reading and writing of information.
优选的，所述的基于OPC UA嵌入式服务器的PLC控制方法还包括：对OPC UA协议标准中不是必须支持的服务功能进行删除以减少PLC内存资源的占用。即通过对OPCUA通用栈和SDK进行裁剪，保留OPCUA核心功能的情况下适配底层操作系统，实现简单经济有效地访问设备和获取数据。Preferably, the PLC control method based on the OPC UA embedded server further includes: deleting service functions that are not necessarily supported in the OPC UA protocol standard to reduce the occupation of PLC memory resources. That is, by tailoring the OPCUA general stack and SDK, and adapting to the underlying operating system while retaining the core functions of OPCUA, it is possible to access devices and obtain data simply, economically and effectively.
实施例三Embodiment three
本实施例提供一种计算机设备，包括：存储器，所述存储器用于存储处理程序；处理器，所述处理器执行所述处理程序时实现所述的基于OPC UA嵌入式服务器的PLC控制方法。This embodiment provides a computer device, including: a memory, the memory is used to store a processing program; a processor, when the processor executes the processing program, implements the PLC control method based on an OPC UA embedded server.
本实施例提供一种可读存储介质，所述可读存储介质上存储有处理程序，所述处理程序被处理器执行时实现所述的基于OPC UA嵌入式服务器的PLC控制方法。This embodiment provides a readable storage medium, on which a processing program is stored, and when the processing program is executed by a processor, the described PLC control method based on an OPC UA embedded server is implemented.
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统，装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(read-only memory，ROM)、随机存取存储器(random access memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (read-only memory, ROM), random access memory (random access memory, RAM), magnetic disk or optical disk and other various media that can store program codes. .
上面结合附图对本发明的实施方式作了详细说明，但是本发明并不限于上述实施方式。即使对本发明作出各种变化，倘若这些变化属于本发明权利要求及其等同技术的范围之内，则仍落入在本发明的保护范围之中。The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and equivalent technologies, they still fall within the protection scope of the present invention.
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