CN106713174A - Real-time scheduling method and system of industrial control network based on dynamic priority - Google Patents

Real-time scheduling method and system of industrial control network based on dynamic priority Download PDF

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Publication number
CN106713174A
CN106713174A CN201611160375.XA CN201611160375A CN106713174A CN 106713174 A CN106713174 A CN 106713174A CN 201611160375 A CN201611160375 A CN 201611160375A CN 106713174 A CN106713174 A CN 106713174A
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data flow
business data
priority
sdn
articles
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CN106713174B (en
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曾鹏
杨明
李栋
李志博
刘金娣
于海斌
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Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L47/00—Traffic control in data switching networks
    • H04L47/50—Queue scheduling
    • H04L47/62—Queue scheduling characterised by scheduling criteria
    • H04L47/625—Queue scheduling characterised by scheduling criteria for service slots or service orders
    • H04L47/6275—Queue scheduling characterised by scheduling criteria for service slots or service orders based on priority
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L47/00—Traffic control in data switching networks
    • H04L47/50—Queue scheduling
    • H04L47/62—Queue scheduling characterised by scheduling criteria
    • H04L47/622—Queue service order

Abstract

The invention discloses a real-time scheduling method of an industrial control network based on a dynamic priority. The method comprises the following steps: an SDN controller receives a transmission delay threshold of a first business data stream and network information of each SDN data exchange device; the SDN controller calculates the priority when the first business data stream is forwarded by each SDN data exchange device according to the transmission delay threshold of the first business data stream and the network information of each SDN data exchange device; and the SDN controller sends the calculated priority of the first business data stream to each SDN data exchange device, so that each SDN data exchange device forwards the first business data stream according to the priority of the first business data stream. By adoption of the real-time scheduling method disclosed by the invention, the real-time change demands of different business data streams are satisfied, the instantaneity and reliability of data transmission are guaranteed, and the balanced use of network resources is also guaranteed.

Description

The real-time scheduling method and system of a kind of industrial control network based on dynamic priority
Technical field
The application is related to the real-time scheduling method and system of a kind of industrial control network based on dynamic priority, belongs to work Industry network control field.
Background technology
Industrial control network is the network communications technology for being applied to enterprise information system field control layer and process monitoring layer. Because industrial control network carries industrial management and control application, therefore it focuses on the real-time and reliability of data transfer Property.
Because different real time business are different to the time delay of data transfer, bandwidth, reliability requirements, therefore existing skill The transmission priority for transmitting various real time business, i.e. requirement of real-time business high in art by the way of priority is higher, real The transmission priority of the low business of when property requirement is relatively low.
But in actual applications, the requirement of real-time of different business may change with data transmission procedure, When such as, using high priority transfer real-time the first business higher, another requirement of real-time the second business higher increases Add and, and in the prior art or the business of prioritised transmission first, the second business for causing requirement of real-time higher cannot be timely Transmission, have impact on the real-time transmission of the second business.
The content of the invention
According to the one side of the application, there is provided a kind of Real-Time Scheduling of the industrial control network based on dynamic priority Method, the method not only meet different business data flow real-time change demand, ensured data transfer real-time and Reliability, and also ensure that the equilibrium of Internet resources is used.
A kind of real-time scheduling method of the industrial control network based on dynamic priority, including：
SDN controllers receive the propagation delay time threshold value of the first business data flow and the network of each SDN switch Information；
SDN controllers are according to the propagation delay time threshold value of the first business data flow and the network of each SDN switch Information calculates priority when the first business data flow is forwarded by each SDN switch；
The priority of the first business data flow for calculating is sent to each SDN switch by SDN controllers, is made every Individual SDN switches forward the first business data flow according to the priority of the first business data flow.
Propagation delay time threshold value and each SDN switch of the SDN controllers according to the first business data flow The network information calculates priority when the first business data flow is forwarded by each SDN switch, specially：
Solve object functionConstraints is DelayMaxM+1≤ DelayReqM+1, obtain multiple WM+1；
Wherein, min WM+1Represent minimum cost of the M+1 articles business data flow in transmitting procedure, the M+1 articles business number The first business data flow is according to stream,For the M+1 articles business data flow, the use priority is k on link llWhen cost；
Wherein, klPriority before increasing for the M+1 articles business data flow on link l, KlIt is the M+1 articles business datum Priority after stream increase on link l,It is that priority is k on link llWhen the bandwidth that uses,It is on link l The use priority klWhen bandwidth limitation, H is the integer value for discretization bandwidth availability ratio；
DelayMaxM+1It is the M+1 articles maximum transmitted time delay of business data flow, DelayReqM+1It is the M+1 articles business number According to the propagation delay time requirement of stream；
Wherein, Represent the M+1 articles business data flow The use priority k on link llMaximum delay,Wherein αM+1It is the M+1 articles business The arrival curve of data flow,Represent the M+1 articles business data flow the use priority k on link llWhen service curves,Represent the maximum horizontal range of the arrival curve and service curves；
According to the multiple WM+1Solving state equation of transfer, obtains correspondence multiple CWM+1(l,W)；
State transition equation is
Wherein, CWM+1(l, W) is represented for preceding l link, propagation delay time minimum value when cost is for W, and primary condition is
According to CWM+1(l,W)≤DelayReqM+1It is determined that the CW of minimumM+1(l, W), and then obtain the W of minimumM+1, then it is minimum WM+1Corresponding klIt is the priority of the first business data flow of calculating.
The priority of the first business data flow for calculating is sent to each SDN switch by the SDN controllers, Specially：
The priority of the first business data flow for calculating is sent to SDN data exchanges and set by SDN controllers in flow table form It is standby.
Wherein, the network information includes network traffics and network state.
According to further aspect of the application, there is provided a kind of real-time tune of the industrial control network based on dynamic priority Degree system, the system includes：Multiple SDN switches and SDN controllers；
The SDN switches, for sending the network information of itself to the SDN controllers；It is additionally operable to basis The priority of the first business data flow that the SDN controllers send forwards the first business data flow；
The SDN controllers, for according to the corresponding propagation delay time threshold value of the first business data flow and SDN data for receiving The network information of switching equipment calculates priority when the first business data flow is forwarded by each SDN switch, and will The priority of the first business data flow for calculating is sent to each SDN switch.
The SDN controllers specifically include receiver module, the first computing module, the second computing module, the 3rd computing module And sending module；
The receiver module, propagation delay time threshold value and each SDN data exchange for receiving the first business data flow set The standby network information；
First computing module, for solving object functionConstraints is DelayMaxM+1≤DelayReqM+1, obtain multiple WM+1；
Wherein, min WM+1Represent minimum cost of the M+1 articles business data flow in transmitting procedure, the M+1 articles business number The first business data flow is according to stream,For the M+1 articles business data flow, the use priority is k on link llWhen cost；
Wherein, klPriority before increasing for the M+1 articles business data flow on link l, KlIt is the M+1 articles business datum Priority after stream increase on link l,It is that priority is k on link llWhen the bandwidth that uses,It is on link l The use priority klWhen bandwidth limitation, H is the integer value for discretization bandwidth availability ratio；
DelayMaxM+1It is the M+1 articles maximum transmitted time delay of business data flow, DelayReqM+1It is the M+1 articles business number According to the propagation delay time requirement of stream；
Wherein, Represent the M+1 articles business data flow The use priority k on link llMaximum delay,Wherein αM+1It is the M+1 articles business The arrival curve of data flow,Represent the M+1 articles business data flow the use priority k on link llWhen service curves,Represent the maximum horizontal range of the arrival curve and service curves；
Second computing module, for the multiple W obtained according to first computing moduleM+1Solving state transfer side Journey, obtains correspondence multiple CWM+1(l,W)；
State transition equation is
Wherein, CWM+1(l, W) is represented for preceding l link, propagation delay time minimum value when cost is for W, and primary condition is
3rd computing module, for according to CWM+1(l,W)≤DelayReqM+1It is determined that the CW of minimumM+1(l, W), enters And obtain the W of minimumM+1, then minimum WM+1Corresponding klIt is the priority for going out the first business data flow for calculating；
The sending module, the priority of the first business data flow for the 3rd computing module to be calculated is sent to The SDN switches.
The beneficial effect that the application can be produced includes：
SDN controllers are set by receiving the propagation delay time threshold value and each SDN data exchange of business data flow in the application The standby network information, then calculates priority when corresponding business data flow is forwarded by each SDN switch, is passing The priority that different business data flow is realized during defeated is dynamically adjusted, rather than the same with fixed priority in the prior art Transmission correspondence business data flow, not only meets the real-time change demand of different business data flow, has ensured data transfer Real-time and reliability, and also ensure that the equilibrium of Internet resources is used.
Brief description of the drawings
Fig. 1 is a kind of real-time scheduling method schematic flow sheet of the industrial control network based on dynamic priority；
Fig. 2 is a kind of real-time scheduling method example schematic of the industrial control network based on dynamic priority；
Fig. 3 is a kind of Real-time dispatch system structural representation of the industrial control network based on dynamic priority.
Specific embodiment
With reference to embodiment in detail the application is described in detail, but the application is not limited to these embodiments.
Referring to Fig. 1, a kind of Real-Time Scheduling of the industrial control network based on dynamic priority is the embodiment of the invention provides Method, the method includes：
101st, SDN controllers receive the propagation delay time threshold value and each SDN switch of the first business data flow The network information；
Propagation delay time threshold value refers to that the propagation delay time of any one packet in business data flow is all necessarily less than the threshold Value, in practical application, propagation delay time threshold value is produced when in configuration or combinations of services, can be by the north of SDN switches SDN controllers are transferred directly to interface.
The network information includes the information such as network traffics, network state in the embodiment of the present invention.
102nd, SDN controllers are according to the propagation delay time threshold value of the first business data flow and each SDN switch The network information calculates priority when the first business data flow is forwarded by each SDN switch；
103rd, the priority of the first business data flow for calculating is sent to each SDN switch by SDN controllers, Each SDN switch is set to forward the first business data flow according to the priority of the first business data flow.
Specifically, the priority of the first business data flow for calculating is sent to SDN data by SDN controllers in flow table form Switching equipment, the embodiment of the present invention is not limited the form that specifically issues of the priority of the first business data flow.
Further, propagation delay time threshold value and each SDN of the SDN controllers according to the first business data flow in step 102 The network information of switch calculates priority when the first business data flow is forwarded by each SDN switch, Specially：
1021st, object function is solvedConstraints is DelayMaxM+1≤ DelayReqM+1, obtain multiple WM+1；
Wherein, min WM+1Represent minimum cost of the M+1 articles business data flow in transmitting procedure, the M+1 articles business number The first business data flow is according to stream,For the M+1 articles business data flow, the use priority is k on link llWhen cost；
Wherein, klPriority before increasing for the M+1 articles business data flow on link l, KlIt is the M+1 articles business datum Priority after stream increase on link l,It is that priority is k on link llWhen the bandwidth that uses,It is on link l The use priority klWhen bandwidth limitation, H is the integer value for discretization bandwidth availability ratio；
DelayMaxM+1It is the M+1 articles maximum transmitted time delay of business data flow, DelayReqM+1It is the M+1 articles business number According to the propagation delay time requirement of stream；
Wherein, Represent the M+1 articles business data flow The use priority k on link llMaximum delay,Wherein αM+1It is the M+1 articles business The arrival curve of data flow,Represent the M+1 articles business data flow the use priority k on link llWhen service curves,Represent the maximum horizontal range of above-mentioned two curves.
1022nd, according to above-mentioned multiple WM+1Solving state equation of transfer, obtains correspondence multiple CWM+1(l,W)；
State transition equation is
Wherein, CWM+1(l, W) is represented for preceding l link, propagation delay time minimum value when cost is for W, and primary condition is
1023rd, according to CWM+1(l,W)≤DelayReqM+1It is determined that the CW of minimumM+1(l, W), and then obtain the W of minimumM+1, Then minimum WM+1Corresponding klIt is the priority of the first business data flow of calculating.
The embodiment of the present invention calculate the M+1 articles business datum flow priority when, in this case it is not apparent that the M+2 articles and after Business data flow any feature because these are from extraneous change, it is difficult to be predicted.Therefore, in order that net The service condition of network resource is balanced, and the embodiment of the present invention is according to the propagation delay time threshold value of the M+1 articles business data flow and current The network information, requirement of real-time calculates the M+1 articles priority of business data flow.The business datum not high for requirement of real-time Stream, as far as possible from lower priority, leaves high priority for the following high real-time business for being possible to and occurring, and selects excellent Should try one's best selection remaining bandwidth more data queues during first level.
It is a kind of real-time scheduling method example schematic of the industrial control network based on dynamic priority referring to Fig. 2, In Fig. 2, with first in business data flow a, business data flow b, business data flow c SDN switches 1 on the transmit path Beginning priority transmission；Meanwhile, SDN controllers receive the transmission delay threshold value that each business data flow sends in real time, and to each The network state of SDN switches is perceived, therefore when being transferred in SDN switches 2, with network-like The change of state, the requirement of real-time lifting of business data flow c, the i.e. priority of business data flow c needs lifting, now, SDN controls Device processed sends the priority of each business data flow of latest computed to SDN switches 2 in flow table form, adjusts business The priority of data flow c, business data flow a and business data flow b, priority of the SDN switches 2 according to newest adjustment Corresponding business data flow is transmitted so that data flow c possesses priority higher in SDN switches 2, to meet industry The transmission delay threshold value of business data flow c；Similarly, when being transferred in SDN switches 3, each business data flow The corresponding change as the change of network state is generated of transmission delay threshold value, SDN controllers are according to each business number for receiving According to the transmission delay threshold value and network state information of stream, the priority of each business data flow is recalculated, then to SDN data Switching equipment 3 sends the priority of each business data flow of latest computed, the basis of SDN switches 3 in flow table form The corresponding business data flow of priority transmission of each business data flow in flow table, the timing_delay estimation need overall to meet network Ask.
In the embodiment of the present invention SDN controllers by receive business data flow propagation delay time threshold value and each SDN data The network information of switching equipment, then calculates preferential when corresponding business data flow is forwarded by each SDN switch Level, the priority that different business data flow is realized in transmitting procedure is dynamically adjusted, rather than the same with solid in the prior art Determine priority transmission correspondence business data flow, not only meet the real-time change demand of different business data flow, ensure number According to the real-time and reliability of transmission, and also ensure that the equilibrium of Internet resources is used.
Referring to Fig. 3, a kind of Real-Time Scheduling of the industrial control network based on dynamic priority is the embodiment of the invention provides System, the system includes：Multiple SDN switches 31 and SDN controllers 32；
SDN switches 31, for sending the network information of itself to SDN controllers 32；It is additionally operable to be controlled according to SDN The priority of the first business data flow that device processed 32 sends forwards the first business data flow；
SDN controllers 32, set for the propagation delay time threshold value and SDN data exchanges according to the first business data flow for receiving The standby network information calculates priority when the first business data flow is forwarded by each SDN switch 31, and will calculate The priority of the first business data flow be sent to each SDN switch 31.
SDN controllers 32 include receiver module, the first computing module, the second computing module, the 3rd computing module and transmission Module；
Wherein, receiver module, propagation delay time threshold value and each SDN data exchange for receiving the first business data flow set The standby network information；
First computing module, for solving object functionConstraints is DelayMaxM+1 ≤DelayReqM+1, obtain multiple WM+1；
Wherein, min WM+1Represent minimum cost of the M+1 articles business data flow in transmitting procedure, the M+1 articles business number The first business data flow is according to stream,For the M+1 articles business data flow, the use priority is k on link llWhen cost；
Wherein, klPriority before increasing for the M+1 articles business data flow on link l, KlIt is the M+1 articles business datum Priority after stream increase on link l,It is that priority is k on link llWhen the bandwidth that uses,It is on link l The use priority klWhen bandwidth limitation, H is the integer value for discretization bandwidth availability ratio；
DelayMaxM+1It is the M+1 articles maximum transmitted time delay of business data flow, DelayReqM+1It is the M+1 articles business number According to the propagation delay time requirement of stream；
Wherein, Represent the M+1 articles business data flow The use priority k on link llMaximum delay,Wherein αM+1It is the M+1 articles business The arrival curve of data flow,Represent the M+1 articles business data flow the use priority k on link llWhen service curves,Represent the maximum horizontal range of above-mentioned two curves.
Second computing module, for the multiple W obtained according to the first computing moduleM+1Solving state equation of transfer, obtains right Answer multiple CWM+1(l,W)；
State transition equation is
Wherein, CWM+1(l, W) is represented for preceding l link, propagation delay time minimum value when cost is for W, and primary condition is
3rd computing module, for according to CWM+1(l,W)≤DelayReqM+1It is determined that the CW of minimumM+1(l, W), and then To minimum WM+1, then minimum WM+1Corresponding klIt is the priority of the first business data flow of calculating.
Sending module, the priority of the first business data flow for the 3rd computing module to be calculated is sent to SDN data Switching equipment 31.
In the embodiment of the present invention SDN controllers by receive business data flow propagation delay time threshold value and each SDN data The network information of switching equipment, then calculates preferential when corresponding business data flow is forwarded by each SDN switch Level, the priority that different business data flow is realized in transmitting procedure is dynamically adjusted, rather than the same with solid in the prior art Determine priority transmission correspondence business data flow, not only meet the real-time change demand of different business data flow, ensure number According to the real-time and reliability of transmission, and also ensure that the equilibrium of Internet resources is used.
The above, is only several embodiments of the application, any type of limitation is not done to the application, although this Shen Please disclosed as above with preferred embodiment, but and be not used to limit the application, any those skilled in the art are not taking off In the range of technical scheme, make a little variation using the technology contents of the disclosure above or modification is equal to Effect case study on implementation, belongs in the range of technical scheme.

Claims (6)

1. a kind of real-time scheduling method of the industrial control network based on dynamic priority, it is characterised in that including：
SDN controllers receive the propagation delay time threshold value of the first business data flow and the network information of each SDN switch；
SDN controllers are according to the propagation delay time threshold value of the first business data flow and the network information of each SDN switch Calculate priority when the first business data flow is forwarded by each SDN switch；
The priority of the first business data flow for calculating is sent to each SDN switch by SDN controllers, makes each SDN switches forward the first business data flow according to the priority of the first business data flow.
2. method according to claim 1, it is characterised in that biography of the SDN controllers according to the first business data flow The network information of defeated delay threshold and each SDN switch calculates the first business data flow by each SDN data exchange Priority during device forwards, specially：
Solve object function minConstraints is DelayMaxM+1≤DelayReqM+1, obtain Multiple WM+1；
Wherein, min WM+1Represent minimum cost of the M+1 articles business data flow in transmitting procedure, the M+1 articles business data flow As the first business data flow,For the M+1 articles business data flow, the use priority is k on link llWhen cost；
w l , k l = ( K l - k l ) [ bandw l , k l r l , k l H ]
Wherein, klPriority before increasing for the M+1 articles business data flow on link l, KlFor the M+1 articles business data flow increases In addition the priority after on link l,It is that priority is k on link llWhen the bandwidth that uses,It is to be used on link l Priority klWhen bandwidth limitation, H is the integer value for discretization bandwidth availability ratio；
DelayMaxM+1It is the M+1 articles maximum transmitted time delay of business data flow, DelayReqM+1It is the M+1 articles business data flow Propagation delay time requirement；
Wherein, Represent the M+1 articles business data flow in chain The use priority k on the l of roadlMaximum delay,Wherein αM+1It is the M+1 articles business datum The arrival curve of stream,Represent the M+1 articles business data flow the use priority k on link llWhen service curves,Represent the maximum horizontal range of the arrival curve and service curves；
According to the multiple WM+1Solving state equation of transfer, obtains correspondence multiple CWM+1(l,W)；
State transition equation is
Wherein, CWM+1(l, W) is represented for preceding l link, propagation delay time minimum value when cost is for W, and primary condition is
According to CWM+1(l,W)≤DelayReqM+1It is determined that the CW of minimumM+1(l, W), and then obtain the W of minimumM+1, then it is minimum WM+1Corresponding klIt is the priority of the first business data flow of calculating.
3. method according to claim 1 and 2, it is characterised in that the first business datum that the SDN controllers will be calculated The priority of stream is sent to each SDN switch, specially：
The priority of the first business data flow for calculating is sent to SDN switches by SDN controllers in flow table form.
4. method according to claim 1 and 2, it is characterised in that the network information includes network traffics and network-like State.
5. a kind of Real-time dispatch system of the industrial control network based on dynamic priority, it is characterised in that the system includes： Multiple SDN switches and SDN controllers；
The SDN switches, for sending the network information of itself to the SDN controllers；It is additionally operable to according to described The priority of the first business data flow that SDN controllers send forwards the first business data flow；
The SDN controllers, for according to the corresponding propagation delay time threshold value of the first business data flow and SDN data exchanges for receiving The network information of equipment calculates priority when the first business data flow is forwarded by each SDN switch, and will calculate The priority of the first business data flow be sent to each SDN switch.
6. system according to claim 5, it is characterised in that the SDN controllers specifically include receiver module, the first meter Calculate module, the second computing module, the 3rd computing module and sending module；
The receiver module, propagation delay time threshold value and each SDN switch for receiving the first business data flow The network information；
First computing module, for solving object function minConstraints is DelayMaxM+1≤DelayReqM+1, obtain multiple WM+1；
Wherein, min WM+1Represent minimum cost of the M+1 articles business data flow in transmitting procedure, the M+1 articles business data flow As the first business data flow,For the M+1 articles business data flow, the use priority is k on link llWhen cost；
w l , k l = ( K l - k l ) [ bandw l , k l r l , k l H ]
Wherein, klPriority before increasing for the M+1 articles business data flow on link l, KlFor the M+1 articles business data flow increases In addition the priority after on link l,It is that priority is k on link llWhen the bandwidth that uses,It is to be used on link l Priority klWhen bandwidth limitation, H is the integer value for discretization bandwidth availability ratio；
DelayMaxM+1It is the M+1 articles maximum transmitted time delay of business data flow, DelayReqM+1It is the M+1 articles business data flow Propagation delay time requirement；
Wherein, Represent the M+1 articles business data flow in chain The use priority k on the l of roadlMaximum delay,Wherein αM+1It is the M+1 articles business datum The arrival curve of stream,Represent the M+1 articles business data flow the use priority k on link llWhen service curves,Represent the maximum horizontal range of the arrival curve and service curves；
Second computing module, for the multiple W obtained according to first computing moduleM+1Solving state equation of transfer, obtains To correspondence multiple CWM+1(l,W)；
State transition equation is
Wherein, CWM+1(l, W) is represented for preceding l link, propagation delay time minimum value when cost is for W, and primary condition is
3rd computing module, for according to CWM+1(l,W)≤DelayReqM+1It is determined that the CW of minimumM+1(l, W), and then To minimum WM+1, then minimum WM+1Corresponding klIt is the priority for going out the first business data flow for calculating；
The sending module, the priority of the first business data flow for the 3rd computing module to be calculated is sent to described SDN switches.
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CN110719183B (en) * 2018-07-13 2022-01-11 中国科学院沈阳自动化研究所 Real-time software defined industrial network transmission priority dynamic adjustment method and system
CN112733303A (en) * 2019-10-11 2021-04-30 中国科学院沈阳自动化研究所 Multi-strategy industrial TSN shaper modeling method based on deterministic network calculation
CN112733303B (en) * 2019-10-11 2024-03-12 中国科学院沈阳自动化研究所 Multi-strategy industrial TSN shaper modeling method based on deterministic network algorithm

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