CN116880281A - Fusion control system based on deterministic network - Google Patents
Fusion control system based on deterministic network Download PDFInfo
- Publication number
- CN116880281A CN116880281A CN202310864382.1A CN202310864382A CN116880281A CN 116880281 A CN116880281 A CN 116880281A CN 202310864382 A CN202310864382 A CN 202310864382A CN 116880281 A CN116880281 A CN 116880281A
- Authority
- CN
- China
- Prior art keywords
- data
- network
- transmission
- time
- network switch
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000004927 fusion Effects 0.000 title claims abstract description 26
- 238000004519 manufacturing process Methods 0.000 claims abstract description 56
- 230000006855 networking Effects 0.000 claims abstract description 14
- 238000003860 storage Methods 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 81
- 238000000034 method Methods 0.000 claims description 16
- 230000007246 mechanism Effects 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 10
- 230000000295 complement effect Effects 0.000 claims description 5
- 238000001914 filtration Methods 0.000 claims description 5
- 230000003993 interaction Effects 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 claims description 3
- 231100000279 safety data Toxicity 0.000 claims description 3
- 238000013479 data entry Methods 0.000 claims description 2
- 230000008878 coupling Effects 0.000 abstract description 4
- 238000010168 coupling process Methods 0.000 abstract description 4
- 238000005859 coupling reaction Methods 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000010354 integration Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 230000000737 periodic effect Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000008030 elimination Effects 0.000 description 3
- 238000003379 elimination reaction Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000010076 replication Effects 0.000 description 2
- 101100172132 Mus musculus Eif3a gene Proteins 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Small-Scale Networks (AREA)
Abstract
The invention discloses a fusion control system based on a deterministic network. The system comprises an OPC server, a flexible intelligent manufacturing system, a time-sensitive network switch, an HMI display, a distributed I/O module, a machine vision system, a storage robot, an assembly robot and control I/O of an automatic production line, wherein the time-sensitive network switch forms an annular networking; OPC server, flexible intelligent manufacturing system, HMI display, distributed I/O module, machine vision system, storage robot, assembly robot and automatic production line control I/O are all connected with time sensitive network switch in the annular networking. The beneficial effects of the invention are as follows: the interconnection and intercommunication among different devices in an industrial scene are realized by adopting the application of the time-sensitive network switch, the requirements of the industrial Internet on low delay, high bandwidth and high reliability are realized, various industrial protocols are fused, and the coupling of the data forwarding devices is realized.
Description
Technical Field
The invention relates to the technical field related to typical discretization motion control networks of industrial control systems, in particular to a fusion control system based on a deterministic network.
Background
The development of the traditional industrial internet technology is mainly to optimize the Ethernet technology based on industrial application scenes, and the data acquisition delay is particularly important as an important index in industrial network application. Although QoS exists in the existing industrial network, standard ethernet can only guarantee delay to a certain point, and network data delay is very serious when network utilization is very high. Mainly due to the lack of store-and-forward policies and bandwidth reservation capabilities commonly used in multiport switches.
In order to solve the problem of industrial data transmission delay, industrial network derives various bus protocols such as profinet, etherCAT and CC-LINK, the complexity of the bus not only causes the problem of OT end equipment interconnection, but also needs protocol conversion modules for IT information acquisition and instruction downlink, mainly because the bus has different physical interfaces, transmission mechanisms and object dictionaries, even if Ethernet is adopted to standard each bus, the problem of an interoperation layer is still caused, for IT application, the basic application data standard cannot be realized, and therefore, each manufacturer is required to write various interfaces and application layer configuration tools according to the bottom layer equipment, great complexity is brought, and the diversification of the bus protocol causes the lack of economy of IT operated by scale effect.
The IT (Information Technology) and OT (Operation Technology) data differences in the industrial network bring out demands on network differences, different data transmission mechanisms are adopted for different networks, the control tasks are periodic in the OT layer of the industrial network, a periodic network is adopted, a polling mechanism is adopted mostly, and a master station distributes a time slice mode to a slave station; the IT layer is a widely used standard IEEE802.3 network, and adopts a CSMA/CD, namely a collision monitoring and collision preventing mechanism. Meanwhile, for a microsecond-level motion control system, the data transmission network has to have very low delay and jitter, and for an IT network, no special requirement is made on real-time performance, and the data is loaded with a large bandwidth requirement. The variability of the different data thus also leads to the problem of fusion of the IT and OT layer networks of the industrial internet.
Disclosure of Invention
The invention provides a fusion control system based on a deterministic network, which has low delay, high bandwidth and high reliability, and aims at overcoming the defects of the demand difference and bus complexity of IT and OT networks in the prior art.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a fusion control system based on a deterministic network comprises an OPC server, a flexible intelligent manufacturing system, a time sensitive network switch, an HMI display, a distributed I/O module, a machine vision system, a storage robot, an assembly robot and an automatic production line control I/O, wherein the time sensitive network switch forms an annular networking; the control I/O of the OPC server, the flexible intelligent manufacturing system, the HMI display, the distributed I/O module, the machine vision system, the storage robot, the assembly robot and the automatic production line are all connected with a time-sensitive network switch in the annular networking; the OPC server provides an OPC UA application layer protocol and a standardized international time-sensitive network protocol; the flexible intelligent manufacturing system is used as a man-machine interaction interface to provide control instructions for flexible manufacturing and logic actions of a robot; the time sensitive network switch provides a network channel and a deterministic data transmission channel; the control I/O of the distributed I/O module, the machine vision system, the storage robot, the assembly robot and the automatic production line is used as terminal equipment to execute control instructions and data acquisition; the HMI display is for display of data.
Aiming at the demand difference of IT and OT networks and bus complexity, the invention designs a fusion control system based on a deterministic network aiming at a typical discrete motion control system in an industrial scene, the system takes a flexible manufacturing scene as a basis, automatically generates a process flow, automatically plans a robot task, displays functions of intelligent planning production plan and task, intelligent operation management, dynamic optimization assembly process and the like, builds a typical system of an industrial heterogeneous fusion network, realizes the demands of the industrial Internet on low delay, high bandwidth and high reliability, fuses various industrial protocols and realizes the coupling of data forwarding equipment. The system adopts a typical discrete motion control scene, builds a fused deterministic motion control system, realizes interconnection and intercommunication among different devices of an industrial scene by adopting application of a time-sensitive network switch except for basic devices, and opens up longitudinal integration between a flexible intelligent manufacturing system and production manufacturing execution devices and transverse connection among different devices, so that the traditional production manufacturing scene faces to a service type manufacturing scene from mass production.
Preferably, the time-sensitive network switch adopts a unified two-layer transmission standard, and unifies the transmission mode of a data link layer, so that PROFINET, modbus and RS232 protocols in the network are transmitted in a common network, and the integration of IT and OT networks is realized.
Preferably, in the use process of the ring network formed by the time sensitive network switches, each time sensitive network switch is provided with an independent clock source, in the operation process of the time sensitive network switches, clock precision comparison is carried out among the time sensitive network switches, jitter and clock precision of the clock are compared with the optimal master clock algorithm, the optimal master clock in the whole ring network is determined, each time sensitive network switch in the ring network is calibrated with the optimal master clock, and a time standard is provided for data transmission in the ring network.
Preferably, in order to ensure the certainty of data transmission and the reliability of data in the ring network, the network bandwidth is reserved, bandwidth resources are reserved according to the transmission bandwidth requirement of time sensitive data, other non-sensitive data are transmitted by adopting a QoS mechanism, a time stamp is inserted when the data is transmitted, the transmission time of the data is recorded, the transmission path of the data calculates the transmission path delay and the data exchange delay through planning, and the arrival of the data in a determined time interval is ensured.
Preferably, data is identified and assigned to priority-based VLAN tags, each queue is defined in a schedule, and then these data queue messages are transmitted through the planned gating switch over a predetermined time window, with the other queues being locked in the predetermined time window.
Preferably, when any data source passes through the time sensitive network switch, a user carries out data transmission priority configuration according to the importance of port data, the time sensitive network switch is compatible with standard Ethernet data and time sensitive stream transmission, standard Ethernet non-sensitive data is transmitted according to a traditional QoS mechanism, the time sensitive network switch carries out frame analysis on the data of the time sensitive data stream, the time stamp and the priority of the data entering the time sensitive network switch are read, the data with high priority is preferentially forwarded, if the data with low priority is transmitted at the moment, the data with high priority is preempted and is preferentially transmitted, the data with low priority is interrupted to be transmitted, the interrupted data frame is added into a combined character and temporarily buffered in MAC for waiting for the data with high priority to be transmitted, the interrupted low priority data is continuously transmitted after the data with high priority is transmitted, and the preempted low priority data is recombined at an output port of the time sensitive switch; when the forwarded data passes through the time sensitive network switch, the forwarding delay is calculated, and the time stamp information is modified again.
Preferably, in the data transmission of the ring networking, for different protocol formats, the data frame format of the upper layer is unified in the data link layer, the field usage in the 802.1Q label is increased, the common network transmission is carried out with the traditional Ethernet data, the frame header in the data frame structure comprises a preamble, a MAC address, a VLAN label and an Ethernet type field, the priority field in the VLAN label distributes different priorities to the data frame, the receiving and the sending of the data extract the frame header of the data frame, the VLAN filtering and the MAC address filtering are carried out on the data, the invalid data frame is discarded, the data is distributed into different port transmission queues according to the priority code of the data frame, and the transmission control is carried out on the data according to the gating list sequence.
Preferably, in the data exchange of the industrial network, the redundancy mechanism is utilized to solve the possible information error or loss in the loop network topology by carrying out redundancy backup transmission on the data; the method comprises the following steps: when data is transmitted, the data can be marked with a label and a sequence code for specific data, and the data is duplicated and transmitted on different networks, and at a link convergence point, duplicated information can be identified and eliminated so as to prevent an upper-layer application of a receiving node from receiving a plurality of repeated data; its applications are divided into two forms: the terminal node for data receiving realizes data copying and eliminating or the time sensitive network exchanger node realizes data copying and eliminating.
Preferably, in order to realize stability of network data transmission, a redundant backup data transmission mode is adopted, and at this time, a frame header in a transmitted data frame format comprises a preamble, a MAC address, a VLAN tag, a redundant tag, a reserved bit, a serial number and an ethernet type field, and the data frame is complementary to a traditional ethernet data frame and is compatible with a traditional ethernet application.
Preferably, the redundancy tag, the reserved bit and the sequence number are complementary parts to the traditional data frame, wherein the unified redundancy tag byte is 0XF1C1, the data type is marked as data of redundancy transmission by the unified redundancy tag byte, the sequence number sub-parameters are encoded into the packet in a certain mode, important safety data are encoded and decoded by changing the sequence number, the data frame with the same encoding mode is identified as the same data frame, and the reliability of data transmission in the loop network is realized.
The beneficial effects of the invention are as follows: the requirements of the industrial Internet on low delay, high bandwidth and high reliability are met, various industrial protocols are integrated, and the coupling of the data forwarding equipment is realized; the interconnection and intercommunication among different devices of the industrial scene are realized by adopting the application of the time-sensitive network switch, and the longitudinal integration between the flexible intelligent manufacturing system and the production manufacturing execution device and the transverse connection between the different devices are realized, so that the traditional production manufacturing scene is oriented to the service type manufacturing scene from mass production.
Drawings
FIG. 1 is a system frame diagram of the present invention;
FIG. 2 is a schematic diagram of a ring network;
FIG. 3 is a schematic diagram of a data transmission queue;
FIG. 4 is a schematic diagram of a data frame format;
FIG. 5 is a schematic diagram of implementing data replication and cancellation at an end node;
FIG. 6 is a schematic diagram of implementing data replication and cancellation on a Switch node.
Detailed Description
The invention is further described below with reference to the drawings and detailed description.
In the embodiment shown in fig. 1, a deterministic network-based fusion control system includes an OPC server, a flexible smart manufacturing system, a time-sensitive network switch, HMI displays, distributed I/O modules, machine vision systems, warehouse robots, assembly robots, and control I/O of an automated production line, wherein the time-sensitive network switch forms a ring-shaped network; the control I/O of the OPC server, the flexible intelligent manufacturing system, the HMI display, the distributed I/O module, the machine vision system, the storage robot, the assembly robot and the automatic production line are all connected with a time-sensitive network switch in the annular networking; the OPC server provides an OPC UA application layer protocol and a standardized international time-sensitive network protocol; the flexible intelligent manufacturing system is used as a man-machine interaction interface to provide control instructions for flexible manufacturing and logic actions of a robot; the time sensitive network switch provides a network channel and a deterministic data transmission channel; the control I/O of the distributed I/O module, the machine vision system, the storage robot, the assembly robot and the automatic production line is used as terminal equipment to execute control instructions and data acquisition; the HMI display is for display of data.
The fusion control system based on the deterministic network adopts the main technical method of OPC UA application layer protocol and standardized international time sensitive network protocol, and the unified standardized protocol is favorable for realizing interconnection and interworking between equipment of different manufacturers. Time sensitive network protocols are based on standard ethernet where communication traffic (e.g., video and control instructions) shares a physical network with deterministic ethernet data of different priorities, such as motion control system data, etc. The adoption of standardized international time-sensitive network protocols allows all devices connected to the network to be part of the authentication architecture, rather than stand alone.
The discrete motion control system has the advantages of high motion control positioning precision and accurate time sequence control, and the application of the time sensitive network enables the discrete motion control system to have faster accurate scheduling and high data reliability transmission. For a large-scale networked industrial control application scene, higher data scheduling precision and smaller time jitter can be ensured. The flexible intelligent manufacturing system is used as a man-machine interaction interface to provide control instructions for flexible manufacturing and logic actions of a robot; the time sensitive network switch provides a robust network channel and a deterministic data transmission channel; the distributed I/O module, the machine vision system, the storage robot, the assembly robot and the control I/O of the automatic production line are used as terminal equipment to mainly execute control instructions and data acquisition.
The loop networking of the time sensitive network switch ensures the robustness of the network, so that any path is disconnected, and the network can normally transmit data; as shown in fig. 2, the data transmitting end and the data receiving end mainly refer to a terminal device and a flexible intelligent manufacturing system in a control system, in a source end system of data transmission and a relay system (a time sensitive network switch) in a ring network, ports of the data transmitting end are used for sequentially numbering and copying packets to be transmitted, at ports of the time sensitive network switch 1 and the time sensitive network switch 3, data is eliminated through a first frame, the time sensitive network switch 2 and the time sensitive network switch 4 are connected with ports of the data receiving end, the data is directly forwarded from the time sensitive network switch 1 and the time sensitive network switch 2, the same data packets are subjected to coverage elimination according to the number of the data packets at the ports of the data receiving end, any path between the disconnected time sensitive network switches can ensure the forwarding of the data, and higher reliability is provided for a stream (the packet loss rate is reduced).
The time sensitive network switch adopts a unified two-layer transmission standard, and unifies the transmission mode of a data link layer, so that PROFINET, modbus and RS232 protocols in the network are transmitted in a common network mode, and the integration of IT and OT networks is realized. At present, in PLC control equipment in an industrial control system, common protocols mainly comprise protocols such as profinet, ethernetCAT, modbus, CC-Link and the like, protocols of all factories are inconsistent, so that various protocol conversion modules exist when equipment of different factories in a field control system is used, the interoperability of the equipment of the various factories is poor, time-sensitive network switch equipment is adopted in the converged network, and the interconnection decoupling among the equipment of the factories is broken through by adopting a unified two-layer transmission standard, so that the integration of IT and OT networks is truly realized.
In the using process of the ring networking formed by the time sensitive network switches, each time sensitive network switch is provided with an independent clock source, in the running process of the time sensitive network switches, clock precision comparison is carried out among the time sensitive network switches, jitter of clocks and precision of the clocks are compared with an optimal master clock algorithm, an optimal master clock in the whole ring networking is determined, each time sensitive network switch in the ring networking is calibrated with the optimal master clock, and a time standard is provided for data transmission in the ring networking.
In order to ensure the certainty of data transmission and the reliability of the data in the ring network, reserving the resources of the network bandwidth, reserving the bandwidth resources according to the transmission bandwidth requirement of time sensitive data, ensuring that the network cannot collide during the transmission of the sensitive data, and transmitting other non-sensitive data by adopting a QoS mechanism, thereby ensuring the maximum utilization rate of the bandwidth; the data is inserted with a time stamp when being transmitted, the transmission time of the data is recorded, and the transmission path delay and the data exchange delay of the data are calculated through planning, so that the arrival of the data in a determined time interval is ensured.
Data is identified and assigned to priority-based VLAN tags, each queue (8 queues total) is defined in a schedule, and then these data queue messages are transmitted through the planned gating switch for a predetermined time window, and the other queues will be locked in the predetermined time window, as shown in fig. 3. Thus eliminating the effect of periodic data being affected by non-periodic data. This means that the delay of each time sensitive network switch is deterministic. And is guaranteed when the datagram Wen Yan of the TSN network.
When any data source passes through the time sensitive network switch, a user configures the priority of data transmission according to the importance of port data, so that the requirements of the data with different priorities on real-time performance, reliability and accuracy are ensured. The time sensitive network switch is compatible with standard Ethernet data and time sensitive stream transmission, the standard Ethernet non-sensitive data is transmitted according to a traditional QoS mechanism, for the time sensitive data stream, the time sensitive network switch carries out frame analysis on the data of the time sensitive data stream, reads the time stamp and the priority of the data entry, and carries out priority forwarding on the data with high priority, if the data with low priority is transmitted at the moment, the data with high priority is preempted and is sent with low priority, the data with low priority is interrupted for transmission, the interrupted data frame is added into a combined character and is temporarily buffered in the MAC for waiting for the data with high priority for transmission, after the data with high priority is sent, the interrupted low priority data is continuously transmitted, and the preempted low priority data is recombined at an output port of the time sensitive switch; when the forwarded data passes through the time sensitive network switch, the forwarding delay is calculated, the time stamp information is modified again, the time precision of data forwarding is improved, and the delay is reduced.
In the data transmission of the ring networking, for different protocol formats, the data frame format of the upper layer is unified in the data link layer, as shown in fig. 4, field usage in the 802.1Q tag is increased, and the data frame is transmitted in a common network with the traditional ethernet data, the frame header in the data frame structure comprises a preamble, a MAC address, a VLAN tag and an ethernet type field, and the priority field in the VLAN tag allocates the data frame to be different priorities of 0 to 7, wherein 7 is the highest-level data frame. And the receiving and transmitting ports of the data are used for extracting frame heads of the data frames at the ports, filtering VLAN (virtual local area network) and MAC (media access control) address of the data, discarding invalid data frames, distributing the data frames to different port transmission queues according to priority codes of the data frames, and carrying out transmission control on the data according to a gating list sequence.
In the data exchange of the industrial network, by carrying out redundant backup transmission on data, a redundancy mechanism is utilized to solve information errors or losses possibly caused by CRC, line open, connector disconnection and the like in the loop network topology. Aiming at the requirements of high reliability and high security level of industrial scenes, the data transmission method can effectively improve the stability of network data transmission.
The method comprises the following steps: when data is transmitted, the data can be marked with a label and a sequence code for specific data, and the data is duplicated and transmitted on different networks, and at a link convergence point, duplicated information can be identified and eliminated so as to prevent an upper-layer application of a receiving node from receiving a plurality of repeated data; its applications are divided into two forms: the terminal node of data receiving realizes the data copying and eliminating or the time sensitive network Switch node (Switch node) realizes the data copying and eliminating. The latter is less difficult to implement and the design changes and complexity are relatively less than the former.
In order to realize the stability of network data transmission, a redundant backup data transmission mode is adopted, at this time, the format of a transmitted data frame is shown in the following table, and a frame header in a data frame structure comprises a preamble, a MAC address, a VLAN tag, a redundant tag, a reserved bit, a serial number and an Ethernet type field.
In the table: the redundancy tag, the reserved bit and the serial number are complementary parts to the traditional data frame, and the main functions are to identify the backup and elimination of the duplicated data, wherein the unified redundancy tag byte is 0XF1C1, the data type is marked as the data of redundancy transmission by the unified redundancy tag byte, the sequence number sub-parameters are encoded into the packet in a certain mode, the important safety data is encoded and decoded by changing the serial number, the data frame with the same encoding mode is identified as the same data frame, and the reliability of the data transmission in the loop network is realized. For example: and carrying out redundant transmission on the data frame A, and carrying out data function operation only once by checking that the duplicate frame of the first A and the duplicate frame of the second A have the same function according to the code sequence number of Y (code sequence number) =X (xth code frame) +1, wherein the code sequence number of the duplicate frame of the first A is 2 and the code sequence number of the duplicate frame of the second A is 3.
As shown in fig. 5, the transmission method for the terminal node data is as follows:
the data 1 is copied and modified at the data sending end, two copied data frames 1.1 and 1.2 are generated and transmitted along two different links, the two streams become sub-streams of the source data frame and carry two different stream marks, VLAN IDs of the two streams are different, when the two streams are transmitted to the data receiving end through different paths, the sequence number elimination function of the data receiving end identifies the arrived copied data frame, and the repeated data is eliminated after the sequence number identification, and the data 1 is received.
As shown in fig. 6, the transmission scheme for Switch data is as follows:
compared with the transmission mode of terminal node data, the processing mode of Switch is relatively simple, the received data is added with a serial number again, when the data is transmitted, the data is modified into a multicast MAC address and VLAN for transmission, when the data is close to the Switch of a data receiving end, the serial number of the same data is stripped, and the MAC address and VLAN of source data are recovered.
Aiming at the demand difference of IT and OT networks and bus complexity, the invention designs a fusion control system based on a deterministic network aiming at a typical discrete motion control system in an industrial scene, the system takes a flexible manufacturing scene as a basis, automatically generates a process flow, automatically plans a robot task, displays functions of intelligent planning production plan and task, intelligent operation management, dynamic optimization assembly process and the like, builds a typical device of an industrial heterogeneous fusion network, realizes the demands of the industrial Internet on low delay, high bandwidth and high reliability, fuses various industrial protocols and realizes the coupling of data forwarding equipment.
The fusion control system based on the deterministic network mainly comprises an OPC server, a flexible intelligent manufacturing system, a time sensitive network switch, an HMI display, a distributed I/O module, a machine vision system, a storage robot, an assembly robot and control I/O (conveyor belt I/O and motor control I/O) of an automatic production line, wherein the system adopts a typical discrete motion control scene, builds the fusion deterministic motion control system, realizes interconnection and intercommunication among different devices of an industrial scene except among basic devices by adopting application of time sensitive network data frames, and breaks through longitudinal integration between the flexible intelligent manufacturing system and production and manufacturing execution devices and transverse connection among different devices, so that the traditional production and manufacturing scene faces to the service type manufacturing scene from mass production.
Claims (10)
1. The fusion control system based on the deterministic network is characterized by comprising an OPC server, a flexible intelligent manufacturing system, a time-sensitive network switch, an HMI display, a distributed I/O module, a machine vision system, a storage robot, an assembly robot and control I/O of an automatic production line, wherein the time-sensitive network switch forms an annular networking; the control I/O of the OPC server, the flexible intelligent manufacturing system, the HMI display, the distributed I/O module, the machine vision system, the storage robot, the assembly robot and the automatic production line are all connected with a time-sensitive network switch in the annular networking; the OPC server provides an OPC UA application layer protocol and a standardized international time-sensitive network protocol; the flexible intelligent manufacturing system is used as a man-machine interaction interface to provide control instructions for flexible manufacturing and logic actions of a robot; the time sensitive network switch provides a network channel and a deterministic data transmission channel; the control I/O of the distributed I/O module, the machine vision system, the storage robot, the assembly robot and the automatic production line is used as terminal equipment to execute control instructions and data acquisition; the HMI display is for display of data.
2. The fusion control system based on deterministic network according to claim 1, wherein the time-sensitive network switch adopts unified two-layer transmission standard, unifies transmission mode of data link layer, so that PROFINET, modbus and RS232 protocol in network are transmitted in common network, and fusion of IT and OT network is realized.
3. The fusion control system based on deterministic network according to claim 1 or 2, wherein in the use process of the ring network formed by the time sensitive network switches, each time sensitive network switch has an independent clock source, in the operation process of the time sensitive network switches, clock precision comparison is performed between each time sensitive network switch, the clock jitter and the clock precision are compared with the optimum master clock algorithm, the optimum master clock in the whole ring network is determined, each time sensitive network switch in the ring network is calibrated with the optimum master clock, and a time standard is provided for data transmission in the ring network.
4. The fusion control system based on deterministic network according to claim 1 or 2, wherein, in order to guarantee the certainty of data transmission and the reliability of data in the ring network, the network bandwidth is reserved, the bandwidth resource is reserved for the transmission bandwidth requirement of time sensitive data, other non-sensitive data is transmitted by QoS mechanism, the time stamp is inserted when the data is transmitted, the transmission time of the data is recorded, the transmission path delay and the data exchange delay of the data are calculated by planning, and the arrival of the data in a determined time interval is guaranteed.
5. A deterministic network based fusion control system according to claim 4 wherein data is identified and assigned to priority based VLAN tags, each queue is defined in a schedule, and then these data queue messages are transmitted through a programmed gating switch during a predetermined time window, the other queues being locked in the predetermined time window.
6. The fusion control system based on deterministic network according to claim 5, wherein when any data source passes through a time sensitive network switch, a user performs data transmission priority configuration according to the importance of port data, the time sensitive network switch is compatible with standard Ethernet data and time sensitive stream transmission, standard Ethernet non-sensitive data is transmitted according to a traditional QoS mechanism, for time sensitive data stream, the time sensitive network switch performs frame analysis on the data of the time sensitive data stream, reads the time stamp and priority of data entry, performs priority forwarding on the data of high priority, if there is low priority data transmission, the data of high priority preemptively performs priority transmission on the data of low priority, the data of low priority is interrupted for transmission, the interrupted data frame is added into a combined character for waiting for high priority data transmission, after the data of high priority is transmitted, interrupted low priority data is continuously transmitted, and preempted low priority data is recombined at an output port of the time sensitive switch; when the forwarded data passes through the time sensitive network switch, the forwarding delay is calculated, and the time stamp information is modified again.
7. The fusion control system based on deterministic network according to claim 2, wherein in the data transmission of the ring network, for different protocol formats, the data frame format unified as the upper layer is increased in the data link layer, the field usage in the 802.1Q tag is increased, the common network transmission is performed with the traditional ethernet data, the frame header in the data frame structure includes the preamble, the MAC address, the VLAN tag and the ethernet type field, the priority field in the VLAN tag assigns different priorities to the data frame, the reception and transmission of the data will extract the frame header of the data frame, the filtering of VLAN and the filtering of MAC address are performed to the data, the invalid data frame is discarded, the priority code of the data frame is assigned to different port transmission queues, and the transmission control is performed to the data according to the gating list sequence.
8. The fusion control system based on deterministic network according to claim 7, wherein in the data exchange of industrial network, the redundancy mechanism is used to solve the possible information error or loss in the loop network topology by performing redundancy backup transmission on the data; the method comprises the following steps: when data is transmitted, the data can be marked with a label and a sequence code for specific data, and the data is duplicated and transmitted on different networks, and at a link convergence point, duplicated information can be identified and eliminated so as to prevent an upper-layer application of a receiving node from receiving a plurality of repeated data; its applications are divided into two forms: the terminal node for data receiving realizes data copying and eliminating or the time sensitive network exchanger node realizes data copying and eliminating.
9. The fusion control system based on deterministic network according to claim 8, wherein in order to realize stability of network data transmission, a redundant backup data transmission mode is adopted, and at this time, a frame header in a transmitted data frame format includes a preamble, a MAC address, a VLAN tag, a redundant tag, a reserved bit, a serial number and an ethernet type field, and the data frame is a complementary application to a conventional ethernet data frame and is compatible with a conventional ethernet application.
10. The fusion control system based on deterministic network according to claim 9, wherein the redundancy tag, the reserved bit and the sequence number are complementary parts to the conventional data frame, wherein the unified redundancy tag byte is 0XF1C1, the data type is calibrated as the data of redundancy transmission by the unified redundancy tag byte, the sequence number subparameter is encoded in a certain way into the packet, the important safety data is encoded and decoded by changing the sequence number, the data frame with the same encoding mode is identified as the same data frame, and the reliability of the data transmission in the loop network is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310864382.1A CN116880281A (en) | 2023-07-14 | 2023-07-14 | Fusion control system based on deterministic network |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310864382.1A CN116880281A (en) | 2023-07-14 | 2023-07-14 | Fusion control system based on deterministic network |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116880281A true CN116880281A (en) | 2023-10-13 |
Family
ID=88265808
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310864382.1A Pending CN116880281A (en) | 2023-07-14 | 2023-07-14 | Fusion control system based on deterministic network |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116880281A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118018382A (en) * | 2024-04-09 | 2024-05-10 | 南京航空航天大学 | Collaborative management method for distributed deterministic controllers in large-scale wide-area open network |
-
2023
- 2023-07-14 CN CN202310864382.1A patent/CN116880281A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118018382A (en) * | 2024-04-09 | 2024-05-10 | 南京航空航天大学 | Collaborative management method for distributed deterministic controllers in large-scale wide-area open network |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112105080B (en) | Time-sensitive network data transmission system and transmission method | |
| CN110943899B (en) | EPA industrial bus and time sensitive network adaptation system and method | |
| US7519076B2 (en) | Method and node for using a communication network in parallel for real-time applications and non-real-time applications | |
| CN111670567B (en) | Method, control method, device, computer program and computer-readable medium for data communication, in particular in an industrial network | |
| Kim et al. | Industrial sensors and controls in communication networks | |
| CN111314228B (en) | PLC control system supporting time-sensitive network function | |
| Pigan et al. | Automating with PROFINET: Industrial communication based on Industrial Ethernet | |
| CN112769598B (en) | Network communication system and communication implementation method thereof | |
| JP5716133B2 (en) | Industrial controller device capable of low error rate and ultra-high speed serial communication and driving method thereof | |
| CN113219909A (en) | Data transmission method based on industrial-grade deterministic network and fusion control system | |
| US20100229063A1 (en) | Replacement messages for identifying and preventing errors during the transmission of realtime-critical data | |
| CN113923265B (en) | Terminal computing gateway protocol conversion system and method | |
| CN113852644B (en) | Deterministic network equipment identification and authentication device and method | |
| CN116880281A (en) | Fusion control system based on deterministic network | |
| EP3557824B1 (en) | Network device and queue management method for network device | |
| AU2021286272A1 (en) | Multipoint ethernet bus | |
| CN114338274B (en) | Heterogeneous industrial field bus fusion method and system | |
| US20130070717A1 (en) | Method and Apparatus for Interchanging Data Between Two Devices in an Automation Network | |
| CN115174370B (en) | Distributed mixed data deterministic transmission device and method | |
| CN111656737B (en) | Radio communication system for an industrial automation system and method for operating a radio communication system | |
| CN101809941B (en) | Control node for a network of control nodes | |
| US20230353422A1 (en) | Network Switch, Communication System and Method for Operating a Communication System for Transmitting Time-Critical Data | |
| CN115801838A (en) | Heterogeneous industrial Internet of things interconnection and intercommunication transmission method based on time sensitive technology | |
| Nsaibi | Timing Performance Analysis of the Deterministic Ethernet Enhancements Time-Sensitive Networking (TSN) for Use in the Industrial Communication | |
| Aristova | Ethernet in industrial automation: Overcoming obstacles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |