Industrial control system and data transmission method and storage medium thereof

Abstract

The application discloses an industrial control system and a data transmission method and a storage medium thereof. The system comprises a controller arranged in a master rack and gateway modules arranged in one or more slave racks. Each gateway module in the slave rack comprises at least two gateway modules in mutual redundancy, and the master rack also comprises at least two gateway modules in mutual redundancy. One of the at least two gateway modules in the master rack is sequentially connected with one of the gateway modules in each slave rack to form a ring topology, and the other of the at least two gateway modules in the master rack is sequentially connected with the other of the gateway modules in each slave rack to form another ring topology. The above scheme can improve the stability of data transmission in the system.

Description

Technical Field

[0001] This application relates to the field of industrial control, and more particularly to an industrial control system, its data transmission method, and its storage medium. Background Technology

[0002] With the increasing complexity of industrial sites and the development of automation and intelligence, Ethernet is being used more and more in industrial sites. Ethernet network topologies include various topologies such as bus and star.

[0003] Currently, many control systems use Industrial Ethernet technology for their control buses. Each control system includes a controller, input / output modules, a gateway module, a master rack, and slave racks (also known as input / output racks or I / O racks). Figure 1 Taking the control system in this example, the control system implements a star topology connection between the main rack and each I / O rack. The main rack can install multiple I / O modules and two controllers (Controller A and Controller B), which serve as redundant controllers. The I / O racks can install gateway modules and I / O modules, such as... Figure 1 The system comprises I / O racks 1-n, each capable of housing multiple I / O modules and two gateway modules (Gateway A and Gateway B), which serve as redundancy. Two Ethernet switches (Switch A and Switch B) connect the two controllers in the main rack to the gateway modules in each I / O rack. Each controller within the main rack supports a 100 / 1000Mbps Ethernet RJ45 / fiber interface. The two redundant controllers are each connected to one Ethernet switch via a network cable or fiber optic cable. Each of the two Ethernet switches connects to the 100 / 1000Mbps Ethernet RJ45 / fiber interface of one of the gateway modules in each I / O rack via its terminals.

[0004] In this system, all gateway modules in the I / O racks are connected to redundant switches, enabling a star topology connection between racks. If a switch fails, or if the network cable / fiber optic cable connecting the controller to an Ethernet switch fails, it will cause a controller and a network failure in the system. If a redundant switch fails, the entire system will fail and become inoperable, reducing system availability. Summary of the Invention

[0005] To address the aforementioned technical problems, this application provides an industrial control system, its data transmission method, and a storage medium, which can improve the stability of data transmission in the system.

[0006] To achieve the objectives of this application, embodiments of the present invention provide an industrial control system, including a controller disposed in a main rack and gateway modules disposed in one or more slave racks, wherein each gateway module in a slave rack includes at least two mutually redundant gateway modules, and the main rack also includes at least two mutually redundant gateway modules; wherein,

[0007] One of the at least two gateway modules in the main rack is sequentially connected to one of the gateway modules in each slave rack to form a ring topology, and the other of the at least two gateway modules in the main rack is sequentially connected to another gateway module in each slave rack to form another ring topology.

[0008] In an optional embodiment, the main rack also includes an input / output module, and the input / output module in the main rack is connected to at least two gateway modules and a controller in the main rack via a backplane bus in the main rack.

[0009] In an optional embodiment, the controllers disposed in the main rack are at least two controllers that are redundant with each other, the same number as the gateway modules in the main rack, and each of the at least two processors is connected to at least two gateway modules in the main rack.

[0010] In an optional embodiment, each of the gateway modules disposed in the main rack and the gateway modules disposed in one or more slave racks is respectively used for:

[0011] When data is received from the preceding gateway module in its ring topology, it determines whether the destination module of the data is this gateway module or another module in the same rack as this gateway module:

[0012] If the destination module of the data is this gateway module, then this gateway module will process the data;

[0013] If the destination module of the data is another module in the same rack as this gateway module, then this gateway module will forward the data to the other module through the backplane bus in the same rack.

[0014] If the destination module of the data is not this gateway module or another module in the same rack, the data will be transmitted to the next gateway module in the ring topology where this gateway module is located, following the data transmission direction of the ring topology.

[0015] In an optional embodiment, each gateway module, including the gateway module disposed in the main rack and the gateway modules disposed in one or more slave racks, includes a system data processing chip, a microcontroller connected to the system data processing chip, and two Ethernet ports.

[0016] Each system data processing chip is used for:

[0017] When data is received through the first Ethernet port of the two Ethernet ports, determine whether the destination module of the data is the gateway module where the system data processing chip is located or another module in the rack where this gateway module is located:

[0018] If the destination module of the data is this gateway module, then the data will be processed by the data processing chip of this system;

[0019] If the destination module of the data is another module in the same rack as this gateway module, the data processing chip of this system will forward the data to the other module in the same rack through the backplane bus in the same rack.

[0020] If the destination module of the data is not this gateway module or another module in the same rack, the data processing chip of this system will transmit the data to the next gateway module in the ring topology where this gateway module is located through the second Ethernet port of the two Ethernet ports, in the direction of data transmission of the ring topology.

[0021] In an optional embodiment, each system data processing chip is further configured to:

[0022] Determine whether the two connected Ethernet ports are connected to the ring topology: If one of the connected Ethernet ports is disconnected from the ring topology of the gateway module where the system data processing chip is located, the system data processing chip reports the status of the disconnected port to the controller corresponding to the ring topology of the gateway module where the system data processing chip is located through the other connected Ethernet port, so that the controller can generate a corresponding port alarm.

[0023] In an optional embodiment, each system data processing chip is further configured to:

[0024] When two connected Ethernet ports are connected in a ring topology, if the network delay for receiving data frames through one Ethernet port exceeds the preset maximum path time, the Ethernet port is determined to be faulty, and the fault is reported to the controller of the ring topology of the gateway module where the data processing chip of this system is located through the other connected Ethernet port.

[0025] In an optional embodiment, each system data processing chip is further configured to:

[0026] When both connected Ethernet ports are functioning normally, if the expected data frame cannot be received through one Ethernet port, a network fault is determined to be present in the Ethernet port connection, and the network fault is reported to the controller corresponding to the ring topology of the gateway module where the data processing chip of this system is located through the other connected Ethernet port.

[0027] To achieve the above objectives, embodiments of the present invention provide a data transmission method for an industrial control system. The industrial control system includes a controller disposed in a main rack and gateway modules disposed in one or more slave racks. Each slave rack's gateway module includes at least two mutually redundant gateway modules, and the main rack also includes at least two mutually redundant gateway modules.

[0028] One of the at least two gateway modules in the main rack is sequentially connected to one of the gateway modules in each slave rack to form a ring topology, and the other of the at least two gateway modules in the main rack is sequentially connected to the other of the gateway modules in each slave rack to form another ring topology;

[0029] The data transmission method includes:

[0030] When a gateway module in the main rack and a gateway module in one or more slave racks receive data from the preceding gateway module in its ring topology, it determines whether the destination module of the data is its own gateway module or another module in the rack where its own gateway module is located.

[0031] If the destination module of the data is this gateway module, then this gateway module will process the data;

[0032] If the destination module of the data is another module in the same rack as this gateway module, then this gateway module will forward the data to the other module through the backplane bus in the same rack.

[0033] If the destination module of the data is not this gateway module or another module in the same rack, the data will be transmitted to the next gateway module in the ring topology where this gateway module is located, following the data transmission direction of the ring topology.

[0034] To achieve the above objectives, embodiments of the present invention provide a storage medium storing computer-executable instructions; these computer-executable instructions, when read and executed, are used to perform the data transmission method of the industrial control system as described in the above embodiments.

[0035] Through the above scheme, redundant gateway modules in the racks of the industrial control system form a ring topology. In this ring topology, each gateway module has two paths, which can be used to scan and exchange data with the gateway modules and input / output modules on the slave racks. Even if one path fails, communication with the slave racks can still be maintained through the other path without affecting the normal operation of the system. Therefore, the stability of data transmission in the system can be improved.

[0036] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the description, claims, and drawings. Attached Figure Description

[0037] The accompanying drawings are provided to further understand the technical solutions of the present invention and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of the present invention and do not constitute a limitation on the technical solutions of the present invention.

[0038] Figure 1 This is a schematic diagram of the star topology of Ethernet in an existing industrial control system.

[0039] Figure 2 A block diagram of an industrial control system provided in an embodiment of the present invention;

[0040] Figure 3 A block diagram of a gateway module provided in an embodiment of the present invention;

[0041] Figure 4 A flowchart of a data transmission method for an industrial control system provided in an embodiment of the present invention. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be arbitrarily combined with each other.

[0043] The steps illustrated in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases the steps shown or described may be performed in a different order than that presented here.

[0044] To address the aforementioned technical problems, embodiments of the present invention provide an industrial control system. For example... Figure 2As shown, the industrial control system includes a controller disposed in a main rack 100 and gateway modules disposed in one or more slave racks (210, 220, 230, 240, and 250). Each slave rack's gateway module includes at least two redundant gateway modules, and the main rack also includes at least two redundant gateway modules.

[0045] One of the at least two gateway modules in the main rack is sequentially connected to one of the gateway modules in each slave rack to form a ring topology, and the other of the at least two gateway modules in the main rack is sequentially connected to another gateway module in each slave rack to form another ring topology.

[0046] Through the above scheme, redundant gateway modules in the racks of the industrial control system form a ring topology. In this ring topology, each gateway module has two paths, which can be used to scan and exchange data with the gateway modules and input / output modules on the slave racks. Even if one path fails, communication with the slave racks can still be maintained through the other path without affecting the normal operation of the system. Therefore, the stability of data transmission in the system can be improved.

[0047] In an optional embodiment, the main rack also includes an input / output module, and the input / output module in the main rack is connected to at least two gateway modules and a controller in the main rack via a backplane bus in the main rack.

[0048] In an optional embodiment, the controllers disposed in the main rack are at least two controllers that are redundant with each other, the same number as the gateway modules in the main rack, and each of the at least two processors is connected to at least two gateway modules in the main rack.

[0049] In an optional embodiment, each of the gateway modules disposed in the main rack and the gateway modules disposed in one or more slave racks is respectively used for:

[0050] When data is received from the preceding gateway module in its ring topology, it determines whether the destination module of the data is this gateway module or another module in the same rack as this gateway module:

[0051] If the destination module of the data is this gateway module, then this gateway module will process the data;

[0052] If the destination module of the data is another module in the same rack as this gateway module, then this gateway module will forward the data to the other module through the backplane bus in the same rack.

[0053] If the destination module of the data is not this gateway module or another module in the same rack, the data will be transmitted to the next gateway module in the ring topology where this gateway module is located, following the data transmission direction of the ring topology.

[0054] In an optional embodiment, such as Figure 3 As shown, each gateway module, including the gateway module in the main rack and the gateway modules in one or more slave racks, includes a system data processing chip 112, a microcontroller 114 connected to the system data processing chip, and two Ethernet ports 116 and 118; and two Ethernet physical layer chips 122 and 124 are respectively disposed between the system data processing chip 112 and the two Ethernet ports 116 and 118.

[0055] Each system data processing chip 112 is used for:

[0056] When data is received through the first Ethernet port of the two Ethernet ports, determine whether the destination module of the data is the gateway module where the system data processing chip is located or another module in the rack where this gateway module is located:

[0057] If the destination module of the data is this gateway module, then the data will be processed by the data processing chip of this system;

[0058] If the destination module of the data is another module in the same rack as this gateway module, the data processing chip of this system will forward the data to the other module in the same rack through the backplane bus in the same rack.

[0059] If the destination module of the data is not this gateway module or another module in the same rack, the data processing chip of this system will transmit the data to the next gateway module in the ring topology where this gateway module is located through the second Ethernet port of the two Ethernet ports, in the direction of data transmission of the ring topology.

[0060] In an optional embodiment, each system data processing chip is further configured to:

[0061] Determine whether the two connected Ethernet ports are connected to the ring topology: If one of the connected Ethernet ports is disconnected from the ring topology of the gateway module where the system data processing chip is located, the system data processing chip reports the status of the disconnected port to the controller corresponding to the ring topology of the gateway module where the system data processing chip is located through the other connected Ethernet port, so that the controller can generate a corresponding port alarm.

[0062] In an optional embodiment, each system data processing chip is further configured to:

[0063] When two connected Ethernet ports are connected in a ring topology, if the network delay for receiving data frames through one Ethernet port exceeds the preset maximum path time, the Ethernet port is determined to be faulty, and the fault is reported to the controller of the ring topology of the gateway module where the data processing chip of this system is located through the other connected Ethernet port.

[0064] In an optional embodiment, each system data processing chip is further configured to:

[0065] When both connected Ethernet ports are functioning normally, if the expected data frame cannot be received through one Ethernet port, a network fault is determined to be present in the Ethernet port connection, and the network fault is reported to the controller corresponding to the ring topology of the gateway module where the data processing chip of this system is located through the other connected Ethernet port.

[0066] To address the aforementioned technical problems, embodiments of the present invention provide a data transmission method for an industrial control system. The industrial control system includes a controller mounted in a main rack and gateway modules mounted in one or more slave racks. Each slave rack's gateway module includes at least two redundant gateway modules, and the main rack also includes at least two redundant gateway modules.

[0067] One of the at least two gateway modules in the main rack is sequentially connected to one of the gateway modules in each slave rack to form a ring topology, and the other of the at least two gateway modules in the main rack is sequentially connected to the other of the gateway modules in each slave rack to form another ring topology;

[0068] like Figure 4 As shown, the data transmission method includes steps S101-S107.

[0069] Step S101: When each gateway module in the main rack and in one or more slave racks receives data from the preceding gateway module in its ring topology, it determines whether the destination module of the data is its own gateway module or another module in the rack where its own gateway module is located.

[0070] Step S103: If the destination module of the data is this gateway module, then the data is processed by this gateway module.

[0071] Step S105: If the destination module of the data is another module in the rack where this gateway module is located, then this gateway module will forward the data to the other module through the backplane bus in the rack where this gateway module is located.

[0072] Step S107: If the destination module of the data is not this gateway module or another module in the same rack, then the data is transmitted to the next gateway module in the ring topology where this gateway module is located, according to the data transmission direction of the ring topology.

[0073] To address the aforementioned technical problems, embodiments of the present invention provide a storage medium storing computer-executable instructions; these computer-executable instructions, when read and executed, are used to perform the data transmission method of the industrial control system as described in the above embodiments.

[0074] While the embodiments disclosed in this invention are as described above, the above content is merely for the purpose of facilitating understanding of this invention and is not intended to limit the invention. Any person skilled in the art to which this invention pertains may make any modifications and changes to the form and details of the implementation without departing from the spirit and scope disclosed in this invention; however, the scope of patent protection of this invention shall still be determined by the scope defined in the appended claims.

Claims

1. An industrial control system comprising a controller arranged in a master rack and a gateway module arranged in one or more slave racks, wherein, Each gateway module in the slave rack comprises at least two gateway modules in interactive redundancy, and the master rack also comprises at least two gateway modules in interactive redundancy; wherein, One gateway module among the at least two gateway modules in the master rack is sequentially connected with one gateway module in each slave rack to form a ring topology, and another gateway module among the at least two gateway modules in the master rack is sequentially connected with another gateway module in each slave rack to form another ring topology; Each gateway module among the gateway modules arranged in the master rack and the one or more slave racks is used to: when receiving data from a previous gateway module in the ring topology in which the gateway module is located, judging whether a destination module of the data is the gateway module or other modules in a rack in which the gateway module is located; if the destination module of the data is the gateway module, processing the data by the gateway module; if the destination module of the data is other modules in the rack in which the gateway module is located, forwarding the data by the gateway module to other modules through a backplane bus in the rack in which the gateway module is located; and if the destination module of the data is not the gateway module or other modules in the rack in which the gateway module is located, transmitting the data to a next gateway module in the ring topology in which the gateway module is located according to a data transmission direction of the ring topology.

2. The industrial control system of claim 1, wherein, The master rack is also provided with an input / output module, and the input / output module in the master rack is connected with the at least two gateway modules and the controller in the master rack through the backplane bus in the master rack.

3. The industrial control system of claim 1, wherein, The controller arranged in the master rack is at least two controllers in interactive redundancy, and the at least two controllers are respectively connected with the at least two gateway modules in the master rack.

4. The industrial control system of claim 1, wherein, Each gateway module among the gateway modules arranged in the master rack and the one or more slave racks comprises a system data processing chip, a microcontroller connected with the system data processing chip, and two Ethernet ports; Each system data processing chip is used to: when receiving the data through a first Ethernet port among the two Ethernet ports, judging whether a destination module of the data is the gateway module in which the system data processing chip is located or other modules in a rack in which the gateway module is located; if the destination module of the data is the gateway module, processing the data by the system data processing chip; if the destination module of the data is other modules in the rack in which the gateway module is located, forwarding the data by the system data processing chip to other modules in the rack in which the gateway module is located through a backplane bus in the rack in which the gateway module is located; and if the destination module of the data is not the gateway module or other modules in the rack in which the gateway module is located, transmitting the data to a next gateway module in the ring topology in which the gateway module is located according to a data transmission direction of the ring topology. If the destination module of the data is not the gateway module or other module in the rack where the gateway module is located, the system data processing chip transmits the data to the next gateway module in the ring topology where the gateway module is located according to the data transmission direction of the ring topology through the second one of the two Ethernet ports.

5. The industrial control system of claim 4, wherein, Each system data processing chip is further configured to: determine whether the two connected Ethernet ports have been connected to the ring topology: if one of the connected Ethernet ports is disconnected from the ring topology of the gateway module where the system data processing chip is located, the system data processing chip reports the state of the disconnected Ethernet port to the controller corresponding to the ring topology of the gateway module where the system data processing chip is located through the other connected Ethernet port, so that the controller generates a corresponding port alarm.

6. The industrial control system of claim 5, wherein, Each system data processing chip is further configured to: when the two connected Ethernet ports have been connected to the ring topology, if the network delay of receiving a data frame through one Ethernet port exceeds a preset maximum path time, it is determined that the Ethernet port is faulty, and the controller corresponding to the ring topology of the gateway module where the system data processing chip is located is reported through the other connected Ethernet port that the Ethernet port is faulty.

7. The industrial control system of claim 6, wherein, Each system data processing chip is further configured to: when the two connected Ethernet ports are normal, if an expected data frame cannot be received through one Ethernet port, it is determined that the network connected to the Ethernet port is faulty, and the controller corresponding to the ring topology of the gateway module where the system data processing chip is located is reported through the other connected Ethernet port that the network is faulty.

8. A data transmission method of an industrial control system including a controller provided in a master rack and a gateway module provided in one or more slave racks, wherein, Each gateway module in the slave rack includes at least two gateway modules in interactive redundancy, and the master rack also includes at least two gateway modules in interactive redundancy; wherein, one of the at least two gateway modules in the master rack is sequentially connected with one of the gateway modules in each slave rack to form a ring topology, and the other of the at least two gateway modules in the master rack is sequentially connected with the other of the gateway modules in each slave rack to form another ring topology; characterized in that the data transmission method comprises: each gateway module in the gateway module arranged in the master rack and in the one or more slave racks determines whether the destination module of the data is the gateway module or other module in the rack where the gateway module is located when receiving the data from the previous gateway module in the ring topology where the gateway module is located; if the destination module of the data is the gateway module, the gateway module processes the data; if the destination module of the data is other module in the rack where the gateway module is located, the gateway module forwards the data to the other module through the backplane bus in the rack where the gateway module is located; If the destination module of the data is not the gateway module or other module in the same rack as the gateway module, the data is transmitted to the next gateway module in the ring topology in which the gateway module is located according to the data transmission direction of the ring topology.

9. A storage medium storing computer executable instructions; the computer executable instructions are used to perform the data transmission method of the industrial control system as claimed in claim 8 when read and executed.

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