CN110519374B - Edge computing method of ZigBee networked industrial control system and edge node thereof - Google Patents
Edge computing method of ZigBee networked industrial control system and edge node thereof Download PDFInfo
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Abstract
The invention provides an edge calculation method of a ZigBee networked industrial control system, which comprises the following steps: s3: the initial node judges that the request of the polling request is received, if the request is a write command request, the step S4 is carried out, if the request is a read command request, the step S5 is carried out by taking the initial node as the current node; s4: the starting node actively initiates an 11-byte short frame response by the MAC layer; s5: judging whether the current node is an edge data center or not, if not, entering a step S6, and if so, entering a step S7; s6: transmitting information to the next node of the current edge cluster at each node in the edge cluster in an invisible token mode; s7: judging whether the current node is a control node, if so, forming and outputting a control operation result in the current polling edge cluster; s8: packaging the current polling edge cluster to form a response frame, sending the response frame to the coordinator, and entering the next polling task; the invention can ensure the real-time performance of control, improve the utilization rate of bandwidth resources and improve the scale of the system.
Description
Technical Field
The invention relates to the field of automatic control, in particular to an edge computing method of a ZigBee networked industrial control system and an edge node thereof.
Background
In ZigBee wireless communication, network bandwidth resources and communication rate are limited, network collision can be caused by an event-triggered communication mode, network data delay is large, and contradiction exists between the network data delay and the real-time requirement of a networked control system. In the traditional means for solving the problems, a controlled object and a communication network are regarded as generalized objects from the control point of view, and the problems of uncertainty, nonlinearity, strong coupling and the like of the generalized objects cause the difficulty of object modeling; from the perspective of communication, the means of increasing network bandwidth and improving communication rate are difficult to meet the requirements of low power consumption in industrial field and system operation.
The traditional ZigBee network includes three topologies: the system comprises a star network, a tree network and a mesh network, wherein the number of bottom nodes in the star network is too large, and the total amount of data to be processed by a central coordinator is large; the tree network has more intermediate nodes for data transmission and obvious communication delay; the mesh network has high resource overhead, and the measurement information of the measurement node in the control loop may be forwarded to the control node via a plurality of nodes, so that the control instantaneity is difficult to be ensured.
Therefore, a new edge computing method of the ZigBee networked industrial control system and an edge node thereof need to be provided.
Disclosure of Invention
In view of this, the present invention provides an edge calculation method for a ZigBee networked industrial control system, which can ensure real-time control, improve the utilization rate of bandwidth resources, and improve the system scale.
The invention provides an edge calculation method of a ZigBee networked industrial control system, which comprises the following steps:
s1: combining edge clusters of all nodes at the bottom layer to obtain an ordinary edge cluster and an edge cluster of a control loop; the common edge cluster consists of measuring nodes serving as edge nodes and measuring nodes serving as an edge data center; the edge cluster of the control loop consists of a measurement node as an edge node and a control node as an edge data center; at most one edge cluster of the control loop is provided; only one measuring node serving as an edge data center is arranged in each common edge cluster; only one control node is used as an edge data center in an edge cluster of the control loop;
setting a master-slave polling mechanism for a coordinator and edge clusters, wherein the coordinator serves as a master station to initiate a communication request, and each edge cluster serves as a slave station to receive the request and execute corresponding operation;
setting a polling sequence of each edge cluster, and selecting the edge cluster positioned at the initial position of the polling sequence as a current edge cluster;
s2: taking a node with the minimum address code in the current edge cluster as an initial node, and receiving a polling request;
s3: the initial node judges whether the function code in the communication message receiving the polling request is a write command request or a read command request, if the function code is the write command request, the step S4 is carried out, and if the function code is the read command request, the step S5 is carried out by taking the initial node as the current node;
s4: the starting node actively initiates an 11-byte short frame response by the MAC layer without uploading response of application data;
s5: judging whether the current node is an edge data center or not, if not, entering a step S6, and if so, entering a step S7;
s6: adding the current node information to the end of the received communication message frame to form a new communication message, forwarding the new communication message to a next node of which the address code is 1 greater than the address code of the current node in the current polling edge cluster, taking the next node as a new current node, and returning to the step S5;
s7: judging whether the current node is a control node, if so, integrating the node data which is subjected to control operation in the current polling edge cluster to form a final control operation result, executing control output, and entering step S8; if not, go directly to step S8;
s8: integrating information of all nodes in the current polling edge cluster, uniformly packaging to form a response frame, and sending the response frame to a coordinator to complete communication transactions of the current polling edge cluster; the next edge cluster is regarded as a new current edge cluster in the polling order, and the process returns to step S2.
Further, when the current edge cluster receives the polling request message for the first time, in step S6, when returning to step S5, it is also necessary to start determining whether the new current node fails to communicate, and once it is determined that the node fails to communicate, the subsequent operation of step S5 is stopped, and a fault-tolerant recovery operation is performed; if the node fails and cannot communicate, the subsequent operation of step S5 is continued.
Further, the step of judging whether the new current node fails to communicate is performed, and once the node is judged to fail to communicate, the subsequent operation of the step S5 is stopped, and the fault-tolerant recovery operation is performed; if no node fails and cannot communicate, the subsequent operations of step S5 are continuously executed, which specifically include:
s6-1: starting a request timeout register, and setting the timing length of the request timeout register to be Tc；Tc＞Tz；TzRepresents the total time to poll all the underlying nodes;
s6-2: is judged at TcIf so, the new current node transmits the request frame together with self information to the next node of which the address code is 1 greater than the address code of the new current node in the current polling edge cluster in a token mode, and simultaneously restarts a request timeout register; if not, the new current node actively forms a request message and forwards the request message to the next node of which the address code is 1 larger than the address code of the new current node in the current polling edge cluster.
Further, the request message structure actively formed by the new current node in step S6-2 is: address code III + function code II + new current node self information; the address code III is the address of the new current node, and the function code II is the function code of the polling request received by the new current node.
Further, in step S8, the response frame has a structure: the method comprises the following steps that (1) an address code I + an address code II + a function code I + each node data; in the structure of the response frame, an address code I is an address code of an edge data center in the current polling edge cluster, an address code II is an address code in a request message frame in the current polling edge cluster, and node data are arranged from low to high according to the size of a node address.
Correspondingly, the invention also provides an edge node of the ZigBee networked industrial control system, which comprises
The arbitration module is used for judging the position of the node, namely judging the type of the node; wherein the node categories include edge nodes and edge data centers; the edge data center comprises a measuring node and a control node; the arbitration module is also used for judging whether the node fails to communicate and performing fault-tolerant recovery operation;
a communication module: for communication between adjacent nodes.
Further, the arbitration module includes:
the message judging unit is used for determining the length of the received data frame according to the address code and the function code in the message, wherein if the message is a polling command request, the message judging unit can also be used for determining the adding position of the node information according to the address code in the message frame;
the node type judging unit is used for judging whether the node is an edge data center or not after receiving the polling instruction, and if not, adding the information of the node and sending the information to the next node; if so, integrating the information of each node in the cluster to form an influence frame;
and the fault-tolerant unit is used for judging whether the previous node of the nodes can transmit the polling message within the specified time, if not, the nodes actively form a request message and transmit the request message to the next node of which the address code in the current polling edge cluster is 1 greater than the new address code of the current node.
Further, the parsing and packaging unit of the customized communication protocol in the communication module: the method is used for analyzing the communication message frame of the application layer, correctly identifying the command and executing corresponding operation, and according to different positions in the edge cluster where the nodes are located, the edge data center also needs to add a first node address code added with self information in the cluster for error detection of a coordinator.
Further, the edge node performs edge calculation by using the following method:
s1: combining edge clusters of all nodes at the bottom layer to obtain an ordinary edge cluster and an edge cluster of a control loop; the common edge cluster consists of measuring nodes serving as edge nodes and measuring nodes serving as an edge data center; the edge cluster of the control loop consists of a measurement node as an edge node and a control node as an edge data center; at most one edge cluster of the control loop is provided; only one measuring node serving as an edge data center is arranged in each common edge cluster; only one control node is used as an edge data center in an edge cluster of the control loop;
setting a master-slave polling mechanism for a coordinator and edge clusters, wherein the coordinator serves as a master station to initiate a communication request, and each edge cluster serves as a slave station to receive the request and execute corresponding operation;
setting a polling sequence of each edge cluster, and selecting the edge cluster positioned at the initial position of the polling sequence as a current edge cluster;
s2: taking a node with the minimum address code in the current edge cluster as an initial node, and receiving a polling request;
s3: the initial node judges whether the function code in the communication message receiving the polling request is a write command request or a read command request, if the function code is the write command request, the step S4 is carried out, and if the function code is the read command request, the step S5 is carried out by taking the initial node as the current node;
s4: the starting node actively initiates an 11-byte short frame response by the MAC layer without uploading response of application data;
s5: judging whether the current node is an edge data center or not, if not, entering a step S6, and if so, entering a step S7;
s6: adding the current node information to the end of the received communication message frame to form a new communication message, forwarding the new communication message to a next node of which the address code is 1 greater than the address code of the current node in the current polling edge cluster, taking the next node as a new current node, and returning to the step S5;
s7: judging whether the current node is a control node, if so, integrating the node data which is subjected to control operation in the current polling edge cluster to form a final control operation result, executing control output, and entering step S8; if not, go directly to step S8;
s8: integrating information of all nodes in the current polling edge cluster, uniformly packaging to form a response frame, and sending the response frame to a coordinator to complete communication transactions of the current polling edge cluster; the next edge cluster is regarded as a new current edge cluster in the polling order, and the process returns to step S2.
The invention has the beneficial effects that:
1. the real-time control of a control loop is ensured under the limited bandwidth resources and communication rate of the ZigBee wireless network;
2. under the limited bandwidth resources and communication rate of the ZigBee wireless network, the nodes are grouped, and the edge clusters are regarded as a whole to carry out the request and response of communication transactions, so that the communication transaction time required for sequentially polling all bottom-layer nodes is reduced;
3. according to the user-defined protocol, the analog quantity and the digital quantity can be read only by needing a plurality of communication messages originally and are integrated into one communication message for reading, and the analog quantity and the digital quantity can be simultaneously written in only one communication message for writing. Because the ZigBee protocol stack stipulates a short response frame of 11 bytes which can be replied when data is received, the write response frame of an application layer is reduced in a write operation instruction, the time occupied by a write command is reduced, and the time available for polling a bottom layer node is maximized.
4. And in the fault-tolerant mechanism, when a certain node has a communication fault, the rest nodes in the same edge cluster can still transmit data in an invisible token mode, and the coordinator can quickly locate the edge cluster with abnormal communication and the corresponding node through a response frame of the edge data center to diagnose and report, so that the maintenance is facilitated.
Drawings
The invention is further described below with reference to the following figures and examples:
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a network topology diagram of a polling process according to an embodiment of the present invention;
fig. 3 is a network topology diagram of an embodiment in which a node in an edge cluster fails to communicate.
Detailed Description
The invention is explained in detail with reference to the drawings in the specification, and as shown in fig. 1, the edge calculation method of the ZigBee networked industrial control system provided by the invention comprises the following steps:
s1: combining edge clusters of all nodes at the bottom layer to obtain an ordinary edge cluster and an edge cluster of a control loop; the common edge cluster consists of measuring nodes serving as edge nodes and measuring nodes serving as an edge data center; the edge cluster of the control loop consists of a measurement node as an edge node and a control node as an edge data center; at most one edge cluster of the control loop is provided; only one measuring node serving as an edge data center is arranged in each common edge cluster; only one control node is used as an edge data center in an edge cluster of the control loop; in this embodiment, the coordinator performs edge cluster combination on each node in the bottom layer. Only one control node is used as an edge data center in an edge cluster of the control loop; in an edge cluster of the control loop, a measurement node is used as an edge node, the output of a controlled object is sampled, engineering quantity conversion is carried out, the output is converted into a dimensionless number, partial control operation is executed, the control node is used as an edge data center, after sampling information is received, the rest part of the control operation is carried out, the result of the control operation is output to an executing mechanism, and the control node is also the node with the largest address code in the edge cluster; in the common edge cluster, the measurement node is used as an edge node, and the ground in the edge clusterThe node with the largest address code is used as an edge data center; in this embodiment, each node on the bottom layer is combined with an edge cluster, and the number of nodes that can be accommodated by the system is 2i × (T)z-m × (3T/2))/((i +1) T) +2m, wherein TzRepresents the total time that the coordinator polls all the underlying nodes; m represents the number of control loops, m is a positive integer, T is the time required for separately polling a node for requesting response, and i represents the number of nodes in an edge cluster, and is a positive integer; under the limited bandwidth resources and communication rate of the ZigBee wireless network, the nodes are grouped, and the edge clusters are regarded as a whole to carry out the request and response of communication transactions, so that the communication transaction time required for sequentially polling all the bottom nodes is reduced.
Setting a master-slave polling mechanism for a coordinator and edge clusters, wherein the coordinator serves as a master station to initiate a communication request, and each edge cluster serves as a slave station to receive the request and execute corresponding operation; the method specifically comprises the following steps: s9-2: the coordinator sets a polling sequence of communication, specifically: the coordinator sets a communication polling queue of a common edge cluster; setting a control loop edge cluster, and controlling the loop edge cluster to insert a queue into a communication polling queue in a preemption mode; setting communication polling start, firstly inserting and initiating communication of a control loop edge cluster; the coordinator and the edge clusters adopt a master-slave polling mechanism, the coordinator serves as a master station to initiate a communication request, and each edge cluster serves as a slave station to receive the request and execute corresponding operation;
the coordinator initializes the total communication polling time T and the polling time T for controlling the insertion of the edge cluster of the loop into the communication polling queueq(ii) a The initialization value of the total communication polling time T is initialized according to the existing master-slave polling mechanism so as to ensure that all bottom-layer nodes (all edge clusters) can be polled in the total communication polling time T;
s9-3: the coordinator polls each edge cluster in turn according to the polling sequence, and specifically comprises:
s9-31: when communication polling is started, the coordinator inserts and sends a polling communication request frame to the control loop edge cluster; wherein, the control loop edge cluster is used as the current edge cluster;
at the same time, the coordinator starts timing T1And T2；T1For timing the total time of communication polling, T2And controlling the polling time of the circuit edge cluster queue-inserting into the communication polling queue to be timed.
S2: taking a node with the minimum address code in the current edge cluster as an initial node, and receiving a polling request;
s3: the initial node judges whether the function code in the communication message receiving the polling request is a write command request or a read command request, if the function code is the write command request, the step S4 is carried out, and if the function code is the read command request, the step S5 is carried out by taking the initial node as the current node;
s4: the starting node actively initiates an 11-byte short frame response by the MAC layer without uploading response of application data; therefore, after the execution is finished, the uploading response of the application data is not needed, the writing operation can be performed in a single writing mode or in batch mode, the analog quantity and the digital quantity can be written in only one communication message at the same time, the operation is performed only on a single node, the writing response frame of an application layer is reduced in the writing operation instruction, the time occupied by the writing command is reduced, and the available time for polling the bottom node is maximized. In the polling process, a write command generation process preferentially executes the write command operation in a polling queue 'insertion' mode, and the coordinator write command request frame structure is as follows: node address code + function code + write register address + write value.
S5: judging whether the current node is an edge data center or not, if not, entering a step S6, and if so, entering a step S7;
s6: adding the current node information to the end of the received communication message frame to form a new communication message, forwarding the new communication message to a next node of which the address code is 1 greater than the address code of the current node in the current polling edge cluster, taking the next node as a new current node, and returning to the step S5; the length of the added node information is a fixed value, so that in the network configuration process, the address codes in the same edge cluster are configured to be continuously increased and cannot generate random jump;
s7: judging whether the current node is a control node, if so, integrating the node data which is subjected to control operation in the current polling edge cluster to form a final control operation result, executing control output, and entering step S8; if not, go directly to step S8;
s8: integrating information of all nodes in the current polling edge cluster, uniformly packaging to form a response frame, and sending the response frame to a coordinator to complete communication transactions of the current polling edge cluster; the next edge cluster is regarded as a new current edge cluster in the polling order, and the process returns to step S2. In the edge calculation method, each node in the edge cluster carries out information transmission in a communication invisible token mode, so that the problem of communication collision caused by simultaneous communication of multiple nodes is solved. By the edge computing method, node grouping is performed under limited bandwidth resources and communication rates of the ZigBee wireless network, and the communication transaction time required by sequentially polling each bottom node is reduced by regarding the edge cluster as a whole to perform a request and a response of a communication transaction; and the real-time performance of control can be ensured, the utilization rate of bandwidth resources is improved, and the scale of the system is improved.
S9-32: the coordinator judges whether a communication response frame sent by the current edge cluster is received, if so, the coordinator reads the data of the communication receiving buffer area to a temporary variable, the received data counter accumulates, and the step S9-33 is entered; if not, repeating the steps S9-32;
further, each node in the edge cluster is further configured with a fault tolerance mechanism, specifically, when the current edge cluster receives the polling request message for the first time, in step S6, when returning to step S5, it is also necessary to start to determine whether a new current node fails to communicate, and once it is determined that a node fails to communicate, the subsequent operation of step S5 is stopped, and a fault tolerance recovery operation is entered; if the node fails and cannot communicate, the subsequent operation of step S5 is continued. In this way, the first node in the edge cluster does not need to start a fault-tolerant mechanism, the abnormality of the coordinator itself is judged by the upper monitoring software, whether the abnormality is the address code in the polling instruction that the first node in the edge cluster should have the coordinator, and the abnormality is judged by the address code of the node itself, if the abnormality is equal to the address code, the abnormality is the first node in the edge cluster, otherwise, the fault-tolerant mechanism is started, that is, the fault-tolerant module of the edge node is started.
Further, the step of judging whether the new current node fails to communicate is performed, and once the node is judged to fail to communicate, the subsequent operation of the step S5 is stopped, and the fault-tolerant recovery operation is performed; if no node fails and cannot communicate, the subsequent operations of step S5 are continuously executed, which specifically include:
s6-1: starting a request timeout register, and setting the timing length of the request timeout register to be Tc；Tc＞Tz；TzRepresents the total time to poll all the underlying nodes;
s6-2: is judged at TcIf so, the new current node transmits the request frame together with self information to the next node of which the address code is 1 greater than the address code of the new current node in the current polling edge cluster in a token mode, and simultaneously restarts a request timeout register; if not, the new current node actively forms a request message and forwards the request message to the next node of which the address code is 1 larger than the address code of the new current node in the current polling edge cluster. By the method, data transmission in an invisible token mode in the edge cluster is realized, the coordinator can conveniently and quickly locate the edge cluster with abnormal communication and the corresponding node through the response frame of the edge data center, and diagnosis and report are carried out, so that maintenance is facilitated.
Further, the request message structure actively formed by the new current node in step S6-2 is: address code III + function code II + new current node self information; the address code III is the address of the new current node, and the function code II is the function code of the polling request received by the new current node. The polling request function code is used to indicate a write command function request or a read command function request.
Further, in step S8, the response frame has a structure: the method comprises the following steps that (1) an address code I + an address code II + a function code I + each node data; in the structure of the response frame, an address code I is an address code of an edge data center in the current polling edge cluster, an address code II is an address code in a request message frame in the current polling edge cluster, and node data are arranged from low to high according to the size of a node address. According to the fault-tolerant mechanism, when a certain node has a communication fault, the remaining nodes in the same edge cluster can still transmit data in an invisible token mode, and the coordinator can quickly locate the edge cluster with abnormal communication and the corresponding node through the response frame of the edge data center to diagnose and report, so that the maintenance is facilitated. If the edge data center is in failure, the address 1 and the address 2 in the response frame are both address codes of the edge data center, so that the coordinator can judge whether a node is in failure according to the two addresses and quickly detect the failed node, meanwhile, the coordinator is also provided with a response overtime register, and if the node is in failure, the edge data center is judged to be in failure; such an arrangement facilitates the coordinator to diagnose the health status of the underlying edge clusters. Specifically, the coordinator can judge whether the node in the network is abnormal according to the two address codes in the response frame, and judge that the address code of the abnormal node is uploaded for monitoring interface display. The coordinator judges the health state of the edge cluster according to the address code, and the method comprises the following steps: the coordinator judges whether the absolute value of the difference value of the two address codes is equal to the number of edge nodes in the edge cluster stored in the coordinator, and if so, the coordinator proves that no node in the edge cluster has abnormal communication; if the judgment result is negative, at least the edge node with the address code 1 smaller than the address code 2 can be judged, and communication abnormity exists; the coordinator also needs to set a response overtime register, and if a response frame transmitted by the data of the edge data center is not received within a specified time, the edge data center has communication abnormity; the coordinator can also set a response timeout register, and if the response timeout register is overtime, the border data center is judged to be in fault.
The operation of the coordinator receiving the response frame sent by the edge cluster is as follows:
s9-33: the analyzing, by the coordinator, the received communication response frame sent by the current edge cluster specifically includes: the coordinator judges whether the temporary variable is required effective data or not according to the receiving interrupt flag bit, and if so, the data currently received by the coordinator is stored in other data cache regions; if not, the received data counter is cleared, other data cache regions are cleared, and the coordinator exits from receiving; wherein the interrupt flag bit marks whether the temporary variable is valid data.
S9-34: judging whether an edge cluster which is not polled exists in the communication polling queue, if not, entering the step S9-35; if yes, the step S9-36 is carried out;
s9-35: judging and timing T1Whether the total communication polling time T is reached; if yes, entering next communication polling and returning to the step S9-31; if not, returning to the step S9-35; returning to step S9-35 is to continue the timer T1Until a time T1The total communication polling time T is reached.
S9-36: judging and timing T2Whether or not to equal TqIf not, the process proceeds to step S37; if yes, timing T2Clearing, and entering step S9-38; in the method, when the time T is counted2To reach TqIf the current edge cluster is not polled, then it is necessary to poll the current edge cluster first to complete T2Zero clearing and re-entering next TqAt the next TqAt the beginning, a polling communication request frame is sent to a control loop edge cluster in a preemptive mode; so that the time T is counted here2To reach TqAnd then directly inserting the control loop edge cluster into a communication polling queue of the common edge cluster, and sending a polling communication request frame to the control loop edge cluster in a preemptive mode. In addition, the method only schedules the normal polling condition of the edge cluster, and if the edge cluster fails to feed back a communication response frame to the coordinator for a long time, another fault-tolerant mechanism (fault-tolerant method) needs to be started to deal with the condition, and the fault-tolerant mechanism does not belong to the protection content of the application, and is not described herein.
S9-37: the coordinator judges whether the 1 st byte data of the currently received data is required effective data, if so, the next common edge cluster of the current edge cluster in the communication polling queue is used as a new current edge cluster according to the polling sequence of communication; the coordinator sends a polling communication request frame to the new current edge cluster, and then the step S9-32 is carried out; if not, the received data timer is cleared, the first-level data buffer area is cleared, the coordinator exits the received data interruption, and the step S9-37 is returned. After the validity judgment is carried out on whether the 1 st byte data of the currently received data is the required valid data or not, the polling operation is executed according to the judgment result, so that the problems of large number of bytes of the received data, long data processing time and the like in the prior art are solved, and the polling efficiency is improved.
S38: the coordinator inserts the control loop edge cluster into a communication polling queue to enable the control loop edge cluster to be positioned at the position of the next communication polling queue of the current edge cluster; at the same time, the coordinator restarts the timing T2(i.e., the polling time T for entering the next communication poll queueq) Then, the process proceeds to step S37. By the method, the real-time performance of ZigBee networked industrial control can be guaranteed, the time occupied by the write command is reduced, the available time for polling the bottom node is maximized, the utilization rate of bandwidth resources is improved, and the system scale is improved.
Further, when the coordinator sends a polling communication request frame to the current edge cluster, the coordinator enters into sending interruption and sending data; and when the coordinator finishes sending the polling communication request frame to the current edge cluster, the coordinator returns back to receive the interrupt. When the coordinator does not send the polling communication request frame, other main tasks are executed, so that the task execution efficiency and the polling efficiency of the coordinator are improved.
Further, when the coordinator sends a polling communication request frame to the current edge cluster, the coordinator enters into sending interruption to send data, and the method specifically includes:
step 1: the coordinator acquires the data address and the length of a polling communication request frame sent to a current edge cluster;
step 2: the coordinator judges whether the sending register is empty, if so, the coordinator sends data in the polling communication request frame to the current edge cluster, and the data pointer points to the address of the next data; if not, waiting.
Further, the sending of data in the interrupt by the coordinator specifically includes: the coordinator judges whether the value of a data transmission counter is equal to the length value of a polling communication request frame to be transmitted or not, if so, the coordinator exits from a data transmission terminal, the data transmission counter is cleaned, a data pointer is released, and a transmission completion interrupt flag bit is set; the coordinator can start to execute other tasks, so that the efficiency of the coordinator in executing the tasks is improved, and waste and task queuing caused by long-time occupation of the coordinator are avoided; if not, the data counter is sent to accumulate, and the data pointer points to the address of the next data.
Further, the returning of the reception interrupt by the coordinator specifically includes:
and the coordinator judges whether all the polling communication request frames sent to the current edge cluster are sent completely according to the sending completion interrupt flag bit, if so, the coordinator returns to the receiving interrupt when the sending interrupt is started, and continues to receive the data sent by the current edge cluster.
Further, T > Tq；Tq≤100ms；0＜t0≤10ms。TqThe value setting is related to the control cycle of the control loop, and in order to ensure that the sampling data of the edge node in the control loop is transmitted to the control node in real time, control operation and execution control output are carried out, and the real-time performance of control is ensured, the value within 100ms is taken. In this example, t0Preferably 10 ms.
Further, the coordinator sends a polling communication request frame to the node with the lowest address code in the edge cluster; and the coordinator receives a response frame sent by the node with the largest address code in the edge cluster. Therefore, each node in the edge cluster can conveniently transmit information in a token mode, the coordinator can diagnose the health state of the nodes in the edge cluster according to the response frame fed back by the edge cluster, the utilization rate of bandwidth resources is improved, and the scale of the system is improved.
Further, the polling communication request frame structure of the coordinator write command is as follows: node address code + function code + write register address + write value; the polling communication request frame structure of the coordinator read command is as follows: the address of the first node of the current edge cluster + function code. The function code is used to mark whether a write command or a read command.
Correspondingly, the invention also provides an edge node of the ZigBee networked industrial control system, which comprises
The arbitration module is used for judging the position of the node, namely judging the type of the node; wherein the node categories include edge nodes and edge data centers; the edge data center comprises a measuring node and a control node; the arbitration module is also used for judging whether the node fails to communicate and performing fault-tolerant recovery operation;
a communication module: for communication between adjacent nodes. By the edge nodes, the real-time performance of ZigBee networked industrial control can be guaranteed, the time occupied by a write command is reduced, the time available for polling the bottom nodes is maximized, the bandwidth resource utilization rate is improved, and the system scale is improved.
Further, the arbitration module includes:
the message judging unit is used for determining the length of the received data frame according to the address code and the function code in the message, wherein if the message is a polling command request, the message judging unit can also be used for determining the adding position of the node information according to the address code in the message frame;
the node type judging unit is used for judging whether the node is an edge data center or not after receiving the polling instruction, and if not, adding the information of the node and sending the information to the next node; if so, integrating the information of each node in the cluster to form an influence frame; the method and the device have the advantages that the information transmission of each node in the edge cluster in a token mode is conveniently realized, the diagnosis of the health state of the nodes in the edge cluster by the coordinator is facilitated according to the response frame fed back by the edge cluster, the utilization rate of bandwidth resources is improved, and the system scale is improved.
And the fault-tolerant unit is used for judging whether the previous node of the nodes can transmit the polling message within the specified time, if not, the nodes actively form a request message and transmit the request message to the next node of which the address code in the current polling edge cluster is 1 greater than the address code of the new current node, so that the coordinator can quickly position the edge cluster and the corresponding node with abnormal communication through a response frame of the edge data center, diagnose and report the message, and is convenient to maintain.
Further, the parsing and packaging unit of the customized communication protocol in the communication module: the method is used for analyzing the communication message frame of the application layer, correctly identifying the command and executing corresponding operation, and according to different positions in the edge cluster where the nodes are located, the edge data center also needs to add a first node address code added with self information in the cluster for error detection of a coordinator. If the edge data center is in failure, the address 1 and the address 2 in the response frame are both address codes of the edge data center, so that the coordinator can judge whether a node is in failure according to the two addresses and quickly detect the failed node, meanwhile, the coordinator is also provided with a response overtime register, and if the node is in failure, the edge data center is judged to be in failure; such an arrangement facilitates the coordinator to diagnose the health status of the underlying edge clusters. Specifically, the coordinator can judge whether the node in the network is abnormal according to the two address codes in the response frame, and judge that the address code of the abnormal node is uploaded for monitoring interface display. The coordinator judges the health state of the edge cluster according to the address code, and the method comprises the following steps: the coordinator judges whether the absolute value of the difference value of the two address codes is equal to the number of edge nodes in the edge cluster stored in the coordinator, and if so, the coordinator proves that no node in the edge cluster has abnormal communication; if the judgment result is negative, at least the edge node with the address code 1 smaller than the address code 2 can be judged, and communication abnormity exists; the coordinator also needs to set a response overtime register, and if a response frame transmitted by the data of the edge data center is not received within a specified time, the edge data center has communication abnormity; the coordinator can also set a response timeout register, and if the response timeout register is overtime, the border data center is judged to be in fault.
Further, the edge node performs edge calculation by using the following method:
s1: combining edge clusters of all nodes at the bottom layer to obtain an ordinary edge cluster and an edge cluster of a control loop; the common edge cluster consists of measuring nodes serving as edge nodes and measuring nodes serving as an edge data center; the edge cluster of the control loop consists of a measurement node as an edge node and a control node as an edge data center; at most one edge cluster of the control loop is provided; only one measuring node serving as an edge data center is arranged in each common edge cluster; only one control node is used as an edge data center in an edge cluster of the control loop;
setting a master-slave polling mechanism for a coordinator and edge clusters, wherein the coordinator serves as a master station to initiate a communication request, and each edge cluster serves as a slave station to receive the request and execute corresponding operation;
setting a polling sequence of each edge cluster, and selecting the edge cluster positioned at the initial position of the polling sequence as a current edge cluster;
s2: taking a node with the minimum address code in the current edge cluster as an initial node, and receiving a polling request;
s3: the initial node judges whether the function code in the communication message receiving the polling request is a write command request or a read command request, if the function code is the write command request, the step S4 is carried out, and if the function code is the read command request, the step S5 is carried out by taking the initial node as the current node;
s4: the starting node actively initiates an 11-byte short frame response by the MAC layer without uploading response of application data;
s5: judging whether the current node is an edge data center or not, if not, entering a step S6, and if so, entering a step S7;
s6: adding the current node information to the end of the received communication message frame to form a new communication message, forwarding the new communication message to a next node of which the address code is 1 greater than the address code of the current node in the current polling edge cluster, taking the next node as a new current node, and returning to the step S5;
s7: judging whether the current node is a control node, if so, integrating the node data which is subjected to control operation in the current polling edge cluster to form a final control operation result, executing control output, and entering step S8; if not, go directly to step S8; wherein the edge cluster comprises a common edge cluster and an edge cluster of a control loop; the common edge cluster consists of a measuring node as an edge node and a measuring node as an edge data center; the edge cluster of the control loop consists of a measurement node as an edge node and a control node as an edge data center; at most one edge cluster of the control loop is provided; only one measuring node serving as an edge data center is arranged in each common edge cluster; only one control node is used as an edge data center in an edge cluster of the control loop;
s8: integrating information of all nodes in the current polling edge cluster, uniformly packaging to form a response frame, and sending the response frame to a coordinator to complete communication transactions of the current polling edge cluster; the next edge cluster is regarded as a new current edge cluster in the polling order, and the process returns to step S2.
Specifically, fig. 2 is a network topology diagram of a polling process according to an embodiment of the present method. Fig. 3 is a network topology diagram of an embodiment in which a node in an edge cluster fails to communicate. Referring to fig. 3, the fault tolerance mechanism implemented by the present invention is specifically as follows:
and 2-1, when the polling is started, the edge cluster receives a polling request message for the first time and starts a request timeout register.
Step 2-2, if the register is overtime requested, when the counting overflow occurs, at this moment, the edge node and the fault-tolerant module are started to start framing, and the frame structure is as follows: and sending the frame to the next corresponding node in the cluster.
Step 2-3, if the edge data center requests the overtime register, starting to encapsulate the response frame, wherein the frame structure is as follows: address code 1 (edge data center address code) + address code 2 (edge data center address code) + function code + edge data center information.
And 2-4, if the node receives the polling instruction request in the request overtime register or the fault-tolerant module carries out a fault-tolerant mechanism in real time, resetting the request overtime register of the node and restarting. Request frame structure 01+ 03; the response frame structure is 05+03+03+ XX + XX + XX; and if the 02 node has no communication abnormality, responding to the frame structure of 05+01+03+ XX + XX + XX + XX + XX.
It should be noted that the first node in the edge cluster does not need to start the fault-tolerant module, and the coordinator itself should be determined by the upper monitoring software whether the first node in the edge cluster should have the address code in the polling instruction issued by the coordinator, and the address code is determined to be equal to the address code of the node itself, and then the first node in the edge cluster is determined, otherwise, the fault-tolerant module should be started.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (8)
1. An edge calculation method of a ZigBee networked industrial control system is characterized in that: the method comprises the following steps:
s1: combining edge clusters of all nodes at the bottom layer to obtain an ordinary edge cluster and an edge cluster of a control loop; the common edge cluster consists of measuring nodes serving as edge nodes and measuring nodes serving as an edge data center; the edge cluster of the control loop consists of a measurement node as an edge node and a control node as an edge data center; at most one edge cluster of the control loop is provided; only one measuring node serving as an edge data center is arranged in each common edge cluster; only one control node is used as an edge data center in an edge cluster of the control loop;
setting a master-slave polling mechanism for a coordinator and edge clusters, wherein the coordinator serves as a master station to initiate a communication request, and each edge cluster serves as a slave station to receive the request and execute corresponding operation;
setting a polling sequence of each edge cluster, and selecting the edge cluster positioned at the initial position of the polling sequence as a current edge cluster;
s2: taking a node with the minimum address code in the current edge cluster as an initial node, and receiving a polling request;
s3: the initial node judges whether the function code in the communication message receiving the polling request is a write command request or a read command request, if the function code is the write command request, the step S4 is carried out, and if the function code is the read command request, the step S5 is carried out by taking the initial node as the current node;
s4: the starting node actively initiates an 11-byte short frame response by the MAC layer without uploading response of application data;
s5: judging whether the current node is an edge data center or not, if not, entering a step S6, and if so, entering a step S7;
s6: adding the current node information to the end of the received communication message frame to form a new communication message, forwarding the new communication message to a next node of which the address code is 1 greater than the address code of the current node in the current polling edge cluster, taking the next node as a new current node, and returning to the step S5;
s7: judging whether the current node is a control node, if so, integrating the node data which is subjected to control operation in the current polling edge cluster to form a final control operation result, executing control output, and entering step S8; if not, go directly to step S8;
s8: integrating information of all nodes in the current polling edge cluster, uniformly packaging to form a response frame, and sending the response frame to a coordinator to complete communication transactions of the current polling edge cluster; the next edge cluster is regarded as a new current edge cluster in the polling order, and the process returns to step S2.
2. The edge calculation method of the ZigBee networked industrial control system according to claim 1, wherein: when the current edge cluster receives the polling request message for the first time, in step S6, when returning to step S5, it is also necessary to start determining whether the new current node fails to communicate, and once it is determined that the node fails to communicate, the subsequent operation of step S5 is stopped, and a fault-tolerant recovery operation is performed; if the node fails and cannot communicate, the subsequent operation of step S5 is continued.
3. The edge calculation method of the ZigBee networked industrial control system according to claim 2, wherein: judging whether the new current node fails to communicate, and once the node is judged to fail to communicate, stopping executing the subsequent operation of the step S5 and entering fault-tolerant recovery operation; if no node fails and cannot communicate, the subsequent operations of step S5 are continuously executed, which specifically include:
s6-1: starting a request timeout register, and setting the timing length of the request timeout register to be Tc；Tc＞Tz；TzRepresents the total time to poll all the underlying nodes;
s6-2: is judged at TcIf so, the new current node transmits the request frame together with self information to the next node of which the address code is 1 greater than the address code of the new current node in the current polling edge cluster in a token mode, and simultaneously restarts a request timeout register; if not, the new current node actively forms a request message and forwards the request message to the next node of which the address code is 1 larger than the address code of the new current node in the current polling edge cluster.
4. The edge calculation method of the ZigBee networked industrial control system according to claim 3, wherein: the request message structure actively formed by the new current node in the step S6-2 is: address code III + function code II + new current node self information; the address code III is the address of the new current node, and the function code II is the function code of the polling request received by the new current node.
5. The edge calculation method of the ZigBee networked industrial control system according to claim 1, wherein: in step S8, the response frame has a structure: the method comprises the following steps that (1) an address code I + an address code II + a function code I + each node data; in the structure of the response frame, an address code I is an address code of an edge data center in the current polling edge cluster, an address code II is an address code in a request message frame in the current polling edge cluster, and node data are arranged from low to high according to the size of a node address.
6. The utility model provides a zigBee networking industrial control system's edge node which characterized in that: comprises that
The arbitration module is used for judging the position of the node, namely judging the type of the node; wherein the node categories include edge nodes and edge data centers; the edge data center comprises a measuring node and a control node; the arbitration module is also used for judging whether the node fails to communicate and performing fault-tolerant recovery operation;
a communication module: for communication between adjacent nodes;
the edge node performs edge calculation by adopting the following method:
s1: combining edge clusters of all nodes at the bottom layer to obtain an ordinary edge cluster and an edge cluster of a control loop; the common edge cluster consists of measuring nodes serving as edge nodes and measuring nodes serving as an edge data center; the edge cluster of the control loop consists of a measurement node as an edge node and a control node as an edge data center; at most one edge cluster of the control loop is provided; only one measuring node serving as an edge data center is arranged in each common edge cluster; only one control node is used as an edge data center in an edge cluster of the control loop;
setting a master-slave polling mechanism for a coordinator and edge clusters, wherein the coordinator serves as a master station to initiate a communication request, and each edge cluster serves as a slave station to receive the request and execute corresponding operation;
setting a polling sequence of each edge cluster, and selecting the edge cluster positioned at the initial position of the polling sequence as a current edge cluster;
s2: taking a node with the minimum address code in the current edge cluster as an initial node, and receiving a polling request;
s3: the initial node judges whether the function code in the communication message receiving the polling request is a write command request or a read command request, if the function code is the write command request, the step S4 is carried out, and if the function code is the read command request, the step S5 is carried out by taking the initial node as the current node;
s4: the starting node actively initiates an 11-byte short frame response by the MAC layer without uploading response of application data;
s5: judging whether the current node is an edge data center or not, if not, entering a step S6, and if so, entering a step S7;
s6: adding the current node information to the end of the received communication message frame to form a new communication message, forwarding the new communication message to a next node of which the address code is 1 greater than the address code of the current node in the current polling edge cluster, taking the next node as a new current node, and returning to the step S5;
s7: judging whether the current node is a control node, if so, integrating the node data which is subjected to control operation in the current polling edge cluster to form a final control operation result, executing control output, and entering step S8; if not, go directly to step S8;
s8: integrating information of all nodes in the current polling edge cluster, uniformly packaging to form a response frame, and sending the response frame to a coordinator to complete communication transactions of the current polling edge cluster; the next edge cluster is regarded as a new current edge cluster in the polling order, and the process returns to step S2.
7. The edge node of the ZigBee networked industrial control system of claim 6, wherein: the arbitration module comprises:
the message judging unit is used for determining the length of the received data frame according to the address code and the function code in the message, wherein if the message is a polling command request, the message judging unit can also be used for determining the adding position of the node information according to the address code in the message frame;
the node type judging unit is used for judging whether the node is an edge data center or not after receiving the polling instruction, and if not, adding the information of the node and sending the information to the next node; if so, integrating the information of each node in the cluster to form an influence frame;
and the fault-tolerant unit is used for judging whether the previous node of the nodes can transmit the polling message within the specified time, if not, the nodes actively form a request message and transmit the request message to the next node of which the address code in the current polling edge cluster is 1 greater than the new address code of the current node.
8. The edge node of the ZigBee networked industrial control system of claim 6, wherein: the communication module comprises a custom communication protocol analysis and encapsulation unit: the method is used for analyzing the communication message frame of the application layer, correctly identifying the command and executing corresponding operation, and according to different positions in the edge cluster where the nodes are located, the edge data center also needs to add a first node address code added with self information in the cluster for error detection of a coordinator.
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