General configuration type distributed control architecture based on real-time high-speed Ethernet technology

Abstract

The invention relates to the technical field of data transmission, in particular to a general configuration type distributed control architecture based on a real-time high-speed Ethernet technology, which comprises a first module layer and at least two second module layers, the first module layer comprises an EtherCAT Master board card and a CPU (Central Processing Unit) board card; the second module group layer comprises an EtherCAT Master module; the EtherCAT Master board card is connected with the CPU board card through an internal SPI (Serial Peripheral Interface) bus or an internal EtherCAT bus; the EtherCAT Master module is connected with the EtherCAT Master board card through an external EtherCAT bus, and the EtherCAT Master module is connected with the EtherCAT Master board card through an external EtherCAT bus; and the first module layer and the second module layer realize data interaction through the EtherCAT Master module and the EtherCAT Master board card. According to the architecture disclosed by the invention, the high-performance real-time industrial Ethernet technology, namely EtherCAT, is integrated, so that the ultra-high-speed transmission of data in a control system is realized. The EtherCAT ensures the quick issuing of a control instruction and the instant return of feedback information through the extremely low communication delay and the efficient data processing capability of the EtherCAT.

Description

Technical Field

[0001] The present invention relates to the technical field of data transmission, and in particular to a universal configuration-type distributed control architecture based on real-time high-speed Ethernet technology. Background Art

[0002] With the vigorous development of new energy power stations, the continuous expansion of their scale has brought an unprecedented surge in information, which poses a severe challenge to the existing control system. In such a complex environment, the real-time performance, stability and consistency of the control object response of the control system have become key indicators for measuring system performance. However, the current control architecture faces significant limitations.

[0003] Specifically, traditional control schemes generally use single-point control devices to manage hundreds or even thousands of control objects. Although this centralized management method simplifies system design to a certain extent, its disadvantages are becoming increasingly apparent as the number of control objects increases dramatically. First, the issuance of instructions and the collection of feedback information become extremely cumbersome, resulting in a decrease in system processing speed and a significant reduction in real-time performance. Secondly, due to the dispersed physical locations and different electrical characteristics of the control objects, coupled with uncertainties in the communication link, it is difficult to ensure response consistency, further exacerbating the uncertainty of the system.

[0004] In addition, complex communication protocols and huge amounts of data also put tremendous pressure on the stability of the system. In a new energy power station with extremely high real-time requirements, any slight delay or error may have a significant impact on system performance, and even trigger a chain reaction, leading to system crash. Therefore, it is very important to make the system horizontally scalable, functionally configurable, and computing power flexibly allocated. Summary of the invention

[0005] (I) Purpose of the invention

[0006] The purpose of the present invention is to provide a universal configuration-based distributed control architecture based on real-time high-speed Ethernet technology with real-time performance and flexibility.

[0007] (II) Technical solution

[0008] To solve the above problems, the present invention provides a universal configuration-based distributed control architecture based on real-time high-speed Ethernet technology, comprising: a first module layer and at least two second module layers;

[0009] The first module layer includes an EtherCAT Master board and a CPU board;

[0010] The second module layer includes an EtherCAT Master module;

[0011] The EtherCAT Master board is connected to the CPU board via an internal SPI bus or an internal EtherCAT bus;

[0012] The EtherCAT Master module is connected to the EtherCAT Master board via an external EtherCAT bus;

[0013] The first module layer and the second module layer realize data exchange through the EtherCAT Master module and the EtherCAT Master board;

[0014] The second module layer realizes data interaction through the corresponding EtherCAT Master module;

[0015] The CPU board controls the second module layer through the EtherCAT Master board and the EtherCAT Master module.

[0016] In another aspect of the present invention, preferably, the first module layer further comprises a GOOSE board;

[0017] The GOOSE board is connected to the CPU board via an internal SPI bus or an internal EtherCAT bus;

[0018] The GOOSE board is connected to the second module layer via an external EtherCAT bus.

[0019] In another aspect of the present invention, preferably,

[0020] The first module layer also includes an IO board;

[0021] The IO board is connected to the CPU board via an internal CAN bus.

[0022] In another aspect of the present invention, preferably,

[0023] The first module layer also includes an analog quantity board;

[0024] The analog quantity board is connected to the CPU board via an internal SPI bus or an internal EtherCAT bus.

[0025] In another aspect of the present invention, preferably,

[0026] The second module layer also includes a GOOSE module;

[0027] The GOOSE module is connected to the first module layer via an external EtherCAT bus.

[0028] In another aspect of the present invention, preferably,

[0029] The second module layer further includes a module 104;

[0030] The 104 module is connected to the first module layer via an external EtherCAT bus.

[0031] In another aspect of the present invention, preferably,

[0032] The second module layer also includes an FT3 module;

[0033] The FT3 module is connected to the first module layer via an external EtherCAT bus.

[0034] In another aspect of the present invention, preferably,

[0035] The second module layer also includes a CAN module;

[0036] The CAN module is connected to the first module layer via an external EtherCAT bus.

[0037] Another aspect of the present invention preferably further comprises a third module layer;

[0038] The third module layer is connected to the second module layer via an external EtherCAT bus.

[0039] In another aspect of the present invention, preferably,

[0040] The third module layer includes: at least one of a GOOSE module, a 104 module, a FT3 module and a CAN module.

[0041] (III) Beneficial effects

[0042] The above technical solution of the present invention has the following beneficial technical effects:

[0043] The architecture of the present invention realizes ultra-high-speed transmission of data in the control system by integrating EtherCAT, a high-performance real-time industrial Ethernet technology. With its extremely low communication delay (microsecond level) and efficient data processing capability, EtherCAT ensures the rapid issuance of control instructions and the instant return of feedback information. The EtherCAT Master board in the first module layer is closely connected to the CPU board through an internally optimized SPI bus or EtherCAT bus, further shortening the data processing time. At the same time, the EtherCAT Master modules between the second module layers communicate directly, reducing the level and delay of data transmission, thereby building a high-speed, low-latency data interaction network in the entire control system. This design greatly improves the real-time response capability of the system and ensures accurate control of rapidly changing working conditions in complex environments such as new energy power stations. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0046] The accompanying drawings show schematic diagrams of layer structures according to embodiments of the present invention. These figures are not drawn to scale, and some details are magnified and some details may be omitted for the purpose of clarity. The shapes of various regions and layers shown in the figures and the relative sizes and positional relationships therebetween are only exemplary, and may deviate in practice due to manufacturing tolerances or technical limitations, and those skilled in the art may additionally design regions / layers with different shapes, sizes, and relative positions according to actual needs.

[0047] Obviously, the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0049] The present invention will be described in more detail below with reference to the accompanying drawings. In each of the accompanying drawings, the same elements are represented by similar reference numerals. For the sake of clarity, the various parts in the accompanying drawings are not drawn to scale.

[0050] Embodiment 1

[0051] A universal configuration-based distributed control architecture based on real-time high-speed Ethernet technology. Figure 1 FIG. 1 shows a schematic diagram of the overall structure of an embodiment of the present invention. Figure 1 As shown, it includes: a first module layer and at least two second module layers;

[0052] The first module layer includes an EtherCAT Master board and a CPU board;

[0053] The second module layer includes an EtherCAT Master module;

[0054] The EtherCAT Master board is a controller module developed based on the EtherCAT (Ethernet Control Automation Technology) standard. EtherCAT is a high-performance real-time industrial Ethernet communication protocol. EtherCAT can achieve extremely low communication latency and high-bandwidth data transmission to meet the needs of high-speed control and data acquisition. The EtherCAT Master board uses its high-performance communication capabilities to ensure the real-time nature of data transmission. The EtherCAT protocol has very low communication latency (usually at the microsecond level), which makes it suitable for applications with high real-time requirements, such as high-speed motion control and precision positioning systems. The design of the EtherCAT Master board supports flexible topology and can adapt to various network configurations, including star, bus, tree, etc. In addition, it also supports hot-swappable devices and automatic configuration, simplifying network deployment and maintenance. Users can easily expand or adjust the system scale according to actual needs.

[0055] EtherCAT uses a distributed clock mechanism to achieve precise synchronization of all devices in the network. As the initiator and maintainer of synchronization, the EtherCAT Master board ensures that all slaves perform tasks according to the predetermined schedule, thereby achieving high-precision coordinated motion or control.

[0056] The CPU on the CPU board is the core processor of the computing device, responsible for executing instructions from the operating system, applications, and other systems to complete various computing tasks. The CPU board is connected to storage devices such as memory and hard disks through high-speed data transmission channels, and can quickly read and write data to achieve fast data processing and transmission.

[0057] The EtherCAT Master board is connected to the CPU board via an internal SPI bus or an internal EtherCAT bus;

[0058] SPI (Serial Peripheral Interface) is a high-speed, full-duplex, synchronous communication bus. It is mainly used for communication between microcontrollers (MCU) and peripheral devices, such as EEPROM, FLASH, ADC, etc. The SPI bus usually only needs four wires (SCK, SS / CS, SDO / MOSI, SDI / MISO) to achieve data transmission and control.

[0059] The internal EtherCAT bus has a built-in distributed clock system, which can achieve precise synchronization control of all devices in the network;

[0060] The EtherCAT Master module is connected to the EtherCAT Master board via an external EtherCAT bus;

[0061] The external EtherCAT bus has a built-in distributed clock system (DC), which can achieve precise synchronous control of all devices in the network. Use a communication cable that complies with the EtherCAT standard to connect the EtherCAT Master module to the EtherCAT interface of the EtherCAT Master board. These interfaces usually follow specific electrical characteristics and physical specifications to ensure signal integrity and reliability. After completing the hardware connection, it is necessary to perform corresponding configuration and initialization operations on the EtherCAT Master board. This includes setting the parameters of the EtherCAT bus (such as baud rate, topology, etc.), identifying and configuring slave devices in the network, and establishing communication connections with slave devices. After the configuration and initialization are completed, the EtherCAT Master board can communicate and control in real time with the EtherCAT Master module and other slave devices in the network through the external EtherCAT bus.

[0062] The first module layer and the second module layer realize data exchange through the EtherCAT Master module and the EtherCAT Master board;

[0063] The second module layer realizes data interaction through the corresponding EtherCAT Master module;

[0064] The CPU board controls the second module layer through the EtherCAT Master board and the EtherCAT Master module.

[0065] The data of the first module layer is encoded into EtherCAT messages by the EtherCAT Master module and sent to the EtherCAT slave devices of the second module layer through the EtherCAT Master board. At the same time, the EtherCAT slave devices of the second module layer return the response data to the first module layer through the same path.

[0066] In one embodiment of the present invention, further, the first module layer also includes a GOOSE board; the GOOSE board realizes high-speed, real-time data transmission between various intelligent electronic devices (IEDs) inside the substation. The GOOSE board is connected to the GOOSE module of the second module layer to realize data interaction. The GOOSE board is suitable for transmitting tripping and closing signals (commands) scenarios, and these signals are essential for controlling the operation of switchgear. By using GOOSE communication, accurate and fast transmission of tripping and closing commands can be ensured, thereby improving the reliability and safety of the power system. The GOOSE board supports broadcast transmission of GOOSE data, which means that one device can send data to multiple receiving devices at the same time without establishing multiple separate communication links. This broadcast mechanism simplifies the network structure, improves data transmission efficiency, and reduces system costs.

[0067] The GOOSE board is connected to the CPU board via an internal SPI bus or an internal EtherCAT bus, ensuring fast and reliable data interaction between the GOOSE board and the CPU board, providing strong support for real-time control and decision-making of the system.

[0068] The GOOSE board is connected to the second module layer via an external EtherCAT bus. Through the external EtherCAT bus connection, the GOOSE board achieves seamless integration and efficient communication with the devices in the second module layer. This integration method not only improves the overall performance of the system, but also simplifies the design and maintenance of the system. A variety of mechanisms are used to ensure the reliability and success probability of data transmission.

[0069] The first module layer also includes an IO board;

[0070] The IO board is connected to the CPU board via an internal CAN bus.

[0071] CAN bus is a serial communication protocol. It has the characteristics of strong real-time performance, high reliability and strong flexibility, and is suitable for device interconnection in distributed control systems. CAN bus transmits data through differential signals and can maintain stable communication quality in a high-noise environment. The IO board is connected to the CPU board through the internal CAN bus, realizing high-speed and real-time data exchange between the two. This connection method enables the CPU board to obtain input signals from external devices in a timely manner and send control instructions to external devices, thereby realizing real-time monitoring and control of the entire system. The CAN bus adopts a message-based communication mechanism, and each message contains a unique identifier (ID) to determine the priority and recipient of the message. During the communication process between the IO board and the CPU board, the IO board will encapsulate the collected input signal into a message and send it to the CPU board through the CAN bus. The CPU board parses and processes the message according to its ID and content, and then generates corresponding control instructions and sends them to the IO board.

[0072] In one embodiment of the present invention, further,

[0073] The first module layer also includes an analog card; an analog card is a card used to process analog signals. The analog card is mainly responsible for collecting analog signals from sensors, instruments and other equipment, such as temperature, pressure, flow, voltage, current, etc. These analog signals usually have the characteristics of continuous change and require high-precision collection and processing. The collected analog signals need to be converted to digital signals (ADC) by the analog card to convert the continuous analog signals into discrete digital signals for further processing and analysis by the computer or CPU card.

[0074] The analog quantity board is connected to the CPU board via an internal SPI bus or an internal EtherCAT bus.

[0075] In one embodiment of the present invention, further,

[0076] The second module layer also includes a GOOSE module;

[0077] The GOOSE module is connected to the first module layer via an external EtherCAT bus.

[0078] The second module layer also includes module 104; module 104 refers to a communication module that complies with the IEC 60870-5-104 standard, which is a protocol for telecontrol communication in power systems. Module 104 is mainly used to realize remote communication between a master station (such as a dispatch center) and a substation (such as a substation), and transmit telemetry, telesignaling, remote control and other information.

[0079] The 104 module is connected to the first module layer via an external EtherCAT bus.

[0080] The second module layer also includes an FT3 module;

[0081] The FT3 module is connected to the first module layer via an external EtherCAT bus.

[0082] The second module layer also includes a CAN module; the CAN module is a serial communication protocol. The CAN module is responsible for realizing communication between devices on the CAN bus, transmitting control instructions, status information, etc.

[0083] The CAN module is connected to the first module layer via an external EtherCAT bus.

[0084] Another aspect of the present invention preferably further comprises a third module layer;

[0085] The third module layer is connected to the second module layer via an external EtherCAT bus.

[0086] In another aspect of the present invention, preferably,

[0087] The third module layer includes: at least one of a GOOSE module, a 104 module, a FT3 module and a CAN module.

[0088] The architecture of this embodiment realizes ultra-high-speed data transmission in the control system by integrating EtherCAT, a high-performance real-time industrial Ethernet technology. With its extremely low communication delay (microsecond level) and efficient data processing capability, EtherCAT ensures the rapid issuance of control instructions and the instant return of feedback information. The EtherCATMaster board in the first module layer is closely connected to the CPU board through an internally optimized SPI bus or EtherCAT bus, further shortening the data processing time. At the same time, the EtherCAT Master modules between the second module layers communicate directly, reducing the level and delay of data transmission, thereby building a high-speed, low-latency data interaction network in the entire control system. This design greatly improves the real-time response capability of the system and ensures accurate control of rapidly changing working conditions in complex environments such as new energy power stations.

[0089] In this embodiment, the method for the first module layer to control at least two second module layers includes:

[0090] Constructing a second module layer sequence;

[0091] The first module layer obtains external requirements and resource status of each second module layer;

[0092] According to the resource status of each second module layer, setting the priority of each second module layer;

[0093] Calculate and obtain the scheduling amount of each second module layer according to external demand and the priority of each second module layer;

[0094] The first module layer controls the second module layer according to the scheduling amount.

[0095] According to the resource status of each second module layer, setting the priority of each second module layer includes calculating using the following formula:

[0096]

[0097] Among them, P i Indicates the priority of the i-th second module layer, R ij is the current state of the jth resource of the i-th second module layer, C j is the total capacity of the jth resource, D j is the demand for the jth resource, G j is the growth rate of the jth resource, W j is the weight of the jth resource, α, β, γ are adjustment coefficients, R j-max represents the maximum amount of the jth resource, R j-min represents the minimum amount of the jth resource, ω 0 is a normalization factor that ensures that the sum of the priorities of all second module layers is 1, and m is the number of resource types owned by the second module layer; It represents the ratio of the weight of resource j to the current state, reflecting the scarcity of resources. represents the inverse of the current utilization of the resource, where α adjusts the impact of utilization on priority; represents the inverse of the resource's demand satisfaction, where β adjusts the impact of demand satisfaction on priority; represents the growth rate of the resource, where γ adjusts the impact of the growth rate on the priority.

[0098] According to the external demand and the priority of each second module layer, the scheduling amount of each second module layer is calculated by using the following formula:

[0099]

[0100] Where i is the index of the second module layer, i = 1, 2, ..., n; j is the index of the resource, j = 1, 2, ..., m; R ij is the current state of the jth resource of the i-th second module layer; P i is the priority of the i-th second module layer. Dj is the demand for the j-th resource. D is the total demand for resources, Ei is the efficiency coefficient of the i-th second module layer, reflecting its efficiency in using resources. i is the historical scheduling performance coefficient of the second module layer of the i-th layer; S ij is the demand coefficient of the i-th second module layer for the j-th resource, which can be adjusted according to the scarcity of resources; ξ, μ, ν are weight coefficients used to adjust the impact of different factors on the scheduling amount. Combining the priority, efficiency, historical performance, resource demand, current status and scarcity of the second module layer, the allocation of resources can be controlled more finely to adapt to different business needs and optimize resource utilization efficiency.

[0101] It should be understood that the above specific embodiments of the present invention are only used to illustrate or explain the principles of the present invention, and do not constitute a limitation of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all changes and modifications that fall within the scope and boundaries of the appended claims, or the equivalent forms of such scope and boundaries.

[0102] In the above description, the technical details such as the composition of each layer are not described in detail. However, those skilled in the art should understand that the layers, regions, etc. of the desired shapes can be formed by various means in the prior art. In addition, in order to form the same structure, those skilled in the art can also design methods that are not completely the same as the methods described above.

[0103] The present invention has been described above with reference to the embodiments of the present invention. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention. The scope of the present invention is defined by the appended claims and their equivalents. Without departing from the scope of the present invention, a person skilled in the art may make various substitutions and modifications, which should all fall within the scope of the present invention.

[0104] Although the embodiments of the present invention have been described in detail, it should be understood that the various changes, substitutions, and alterations could be made hereto without departing from the spirit and scope of the invention.

[0105] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A general configuration-based distributed control architecture based on real-time high-speed Ethernet technology, characterized in that: include: a first module layer and at least two second module layers; The first module layer includes an EtherCAT Master board and a CPU board; The second module layer includes an EtherCAT Master module; The EtherCAT Master board is connected to the CPU board via an internal SPI bus or an internal EtherCAT bus; The EtherCAT Master module is connected to the EtherCAT Master board via an external EtherCAT bus; The first module layer and the second module layer realize data exchange through the EtherCAT Master module and the EtherCAT Master board; The second module layer realizes data interaction through the corresponding EtherCAT Master module; The CPU board controls the second module layer through the EtherCAT Master board and the EtherCAT Master module.

2. The universal configuration-based distributed control architecture based on real-time high-speed Ethernet technology according to claim 1, characterized in that: The first module layer also includes a GOOSE board; The GOOSE board is connected to the CPU board via an internal SPI bus or an internal EtherCAT bus; The GOOSE board is connected to the second module layer via an external EtherCAT bus.

3. The universal configuration-based distributed control architecture based on real-time high-speed Ethernet technology according to claim 1, characterized in that: The first module layer also includes an IO board; The IO board is connected to the CPU board via an internal CAN bus.

4. The universal configuration-based distributed control architecture based on real-time high-speed Ethernet technology according to claim 1, characterized in that: The first module layer also includes an analog quantity board; The analog quantity board is connected to the CPU board via an internal SPI bus or an internal EtherCAT bus.

5. The universal configuration-based distributed control architecture based on real-time high-speed Ethernet technology according to claim 1, characterized in that: The second module layer also includes a GOOSE module; The GOOSE module is connected to the first module layer via an external EtherCAT bus.

6. The universal configuration-based distributed control architecture based on real-time high-speed Ethernet technology according to claim 1, characterized in that: The second module layer further includes a module 104; The 104 module is connected to the first module layer via an external EtherCAT bus.

7. The universal configuration-based distributed control architecture based on real-time high-speed Ethernet technology according to claim 1, characterized in that: The second module layer also includes an FT3 module; The FT3 module is connected to the first module layer via an external EtherCAT bus.

8. The universal configuration-based distributed control architecture based on real-time high-speed Ethernet technology according to claim 1, characterized in that: The second module layer also includes a CAN module; The CAN module is connected to the first module layer via an external EtherCAT bus.

9. The universal configuration-based distributed control architecture based on real-time high-speed Ethernet technology according to claim 1, characterized in that: Also included is a third module layer; The third module layer is connected to the second module layer via an external EtherCAT bus.

10. The universal configuration-based distributed control architecture based on real-time high-speed Ethernet technology according to claim 9, characterized in that: The third module layer includes: at least one of a GOOSE module, a 104 module, a FT3 module and a CAN module.

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