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

Abstract

The present invention relates to the field of data transmission technologies, and particularly relates to a general configuration type distributed control architecture based on real-time high-speed Ethernet technology, comprising: 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 through an internal SPI bus or an internal EtherCAT bus; the EtherCAT Master module is connected to the EtherCAT Master board through an external EtherCAT bus; the first module layer and the second module layers achieve data interaction through the EtherCAT Master module and the EtherCAT Master board. The architecture of the present invention realizes ultra-high-speed data transmission in the control system by integrating the high-performance real-time industrial Ethernet technology of EtherCAT. EtherCAT ensures the rapid issuance of control instructions and the instant feedback of feedback information with its extremely low communication latency and high-efficient data processing capabilities.

Description

Technical Field

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

[0002] With the booming development of new energy power stations, the continuous expansion of their scale has brought an unprecedented surge in information volume, posing a severe challenge to the existing control systems. In such a complex environment, the real-time performance, stability of the control system, and the consistency of the responses of controlled objects have become the key indicators for measuring system performance. However, the current control architectures face significant limitations.

[0003] Specifically, traditional control schemes generally adopt a single-point control device to manage hundreds or even thousands of controlled objects. Although this centralized management method simplifies the system design to a certain extent, with the rapid increase in the number of controlled objects, its drawbacks have become increasingly apparent. First, the issuance of instructions and the collection of feedback information become extremely heavy, resulting in a decrease in the system processing speed and a significant reduction in real-time performance. Second, due to the scattered physical locations and diverse electrical characteristics of each controlled object, combined with the uncertain factors 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 a large amount of data also pose a huge pressure on the stability of the system. In new energy power stations with extremely high real-time requirements, any minor delay or error may have a significant impact on system performance, and even trigger a chain reaction, leading to system collapse. Therefore, how to achieve horizontal scalability, functional configurability, and flexible allocation of computing power of the system becomes very important. Summary of the Invention

[0005] (1) Objects of the Invention

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

[0007] (2) Technical Solutions

[0008] To solve the above problems, the present invention provides a general configuration type distributed control architecture based on real-time high-speed Ethernet technology, including: 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 through the internal SPI bus or the internal EtherCAT bus;

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

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

[0014] Data interaction is achieved between the second module layers through the corresponding EtherCAT Master modules;

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

[0016] On the other hand, preferably, the first module layer further includes a GOOSE board;

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

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

[0019] On the other hand, preferably,

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

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

[0022] On the other hand, preferably,

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

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

[0025] On the other hand, preferably,

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

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

[0028] On the other hand of the present invention, preferably,

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

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

[0031] On the other hand of the present invention, preferably,

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

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

[0034] On the other hand of the present invention, preferably,

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

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

[0037] On the other hand of the present invention, preferably, it further includes a third module layer;

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

[0039] On the other hand of the present invention, preferably,

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

[0041] (III) Advantageous Effects

[0042] The above technical solutions of the present invention have the following beneficial technical effects:

[0043] The architecture of the present invention integrates the high-performance real-time industrial Ethernet technology EtherCAT to achieve ultra-high-speed data transmission in the control system. EtherCAT ensures the rapid issuance of control instructions and the immediate feedback of information with its extremely low communication latency (in the order of microseconds) and efficient data processing capabilities. The EtherCAT Master board in the first module layer is tightly connected to the CPU board through an internally optimized SPI bus or EtherCAT bus, further reducing the data processing time. At the same time, the EtherCAT Master modules in the second module layer communicate directly, reducing the levels and latency of data transmission, thereby constructing a high-speed and low-latency data interaction network in the entire control system. This design greatly improves the real-time response ability of the system and ensures precise control of rapidly changing operating conditions in complex environments such as new energy power stations. Brief Description of the Drawings

[0044] Figure 1 is a schematic diagram of the overall structure of an embodiment of the present invention. Detailed Embodiments

[0045] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with the specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. In addition, in the following descriptions, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present invention.

[0046] The schematic diagram of the layer structure according to an embodiment of the present invention is shown in the drawings. These drawings are not drawn to scale, where for the purpose of clarity, some details are enlarged and some details may be omitted. The shapes of various regions and layers shown in the drawings, as well as their relative sizes and positional relationships, are merely exemplary. In practice, there may be deviations due to manufacturing tolerances or technical limitations, and those skilled in the art can design regions / layers with different shapes, sizes, and relative positions according to actual needs.

[0047] Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0048] In addition, the technical features involved in 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 the various drawings, like elements are denoted by like reference numerals. For the sake of clarity, the various parts in the drawings are not drawn to scale.

[0050] Example 1

[0051] A general configuration type distributed control architecture based on real-time high-speed Ethernet technology Figure 1 shows a schematic diagram of the overall structure of an embodiment of the present invention, as Figure 1 shown, including: 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 requirements of high-speed control and data acquisition. The EtherCAT Master board utilizes its high-performance communication capabilities to ensure the real-time nature of data transmission. The EtherCAT protocol has a 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 topologies and can adapt to various network configurations, including star, bus, tree, etc. In addition, it also supports hot-pluggable devices and automatic configuration, simplifying network deployment and maintenance. Users can easily expand or adjust the system scale according to actual needs.

[0055] EtherCAT can achieve precise synchronization of all devices in the network by using a distributed clock mechanism. The EtherCAT Master board, as the initiator and maintainer of synchronization, ensures that all slave stations execute tasks according to a 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 such as the operating system and application programs to complete various computing tasks. The CPU board is connected to storage devices such as memory and hard disk 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 through 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 a microcontroller (MCU) and peripheral devices such as EEPROM, FLASH, ADC, etc. The SPI bus usually only requires four wires (SCK, SS / CS, SDO / MOSI, SDI / MISO) to achieve data transmission and control.

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

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

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

[0062] Data interaction between the first module layer and the second module layer is achieved through the EtherCAT Master module and the EtherCAT Master board;

[0063] Data interaction between the second module layers is achieved through the corresponding EtherCAT Master modules;

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

[0065] 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. Meanwhile, the EtherCAT slave devices of the second module layer return the response data to the first module layer through the same path.

[0066] In an embodiment of the present invention, further, the first module layer further includes a GOOSE board; the GOOSE board realizes high-speed and 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 achieve data interaction. The GOOSE board is applicable to scenarios of transmitting tripping and closing signals (commands), and these signals are crucial 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 broadcasting GOOSE data, which means that one device can send data to multiple receiving devices simultaneously 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 through 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 the real-time control and decision-making of the system.

[0068] The GOOSE board is connected to the second module layer through an external EtherCAT bus. Through the external EtherCAT bus connection, the GOOSE board realizes 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 system design and maintenance. Multiple mechanisms are adopted to ensure the reliability and success probability of data transmission.

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

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

[0071] The CAN bus is a serial communication protocol. It has characteristics such as strong real-time performance, high reliability, and strong flexibility, and is suitable for device interconnection in distributed control systems. The 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, achieving 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) used to determine the priority and recipient of the message. During the communication process between the IO board and the CPU board, the IO board encapsulates the collected input signals into messages and sends them to the CPU board through the CAN bus. The CPU board then parses and processes the messages according to the ID and content of the messages, and generates corresponding control instructions to send to the IO board.

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

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

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

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

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

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

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

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

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

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

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

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

[0084] On the other hand, preferably, the present invention further includes a third module layer;

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

[0086] On the other hand, preferably,

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

[0088] The architecture of this embodiment realizes ultra-high-speed data transmission in the control system by integrating the high-performance real-time industrial Ethernet technology of EtherCAT. EtherCAT ensures the rapid issuance of control instructions and the immediate feedback of information with its extremely low communication latency (in the microsecond level) and efficient data processing capabilities. The EtherCAT Master board and the CPU board in the first module layer are tightly connected through an internally optimized SPI bus or EtherCAT bus, further shortening the data processing time. At the same time, the EtherCAT Master modules in the second module layers communicate directly, reducing the levels and latency of data transmission, thereby constructing a high-speed and low-latency data interaction network in the entire control system. This design greatly improves the real-time response ability of the system and ensures precise 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] Construct a second module layer sequence;

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

[0092] Set the priorities of each second module layer according to the resource status of each second module layer;

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

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

[0095] Among them, setting the priorities of each second module layer according to the resource status of each second module layer includes calculating using the following formula:

[0096]

[0097] Among them, P i represents the priority of the i-th second module layer, R ij is the current status of the j-th resource of the i-th second module layer, C j is the total capacity of the j-th resource, D j is the demand for the j-th resource, G j is the growth rate of the j-th resource, W j is the weight of the j-th resource, α, β, γ are adjustment coefficients, R j-max represents the maximum amount of the j-th resource, R j-min represents the minimum amount of the j-th resource, ω 0 is a normalization factor to ensure 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; represents the ratio of the weight of resource j to the current status, reflecting the scarcity of the resource, represents the inverse of the current utilization rate of the resource, where α adjusts the impact of the utilization rate on the priority; represents the inverse of the demand satisfaction degree of the resource, where β adjusts the impact of the demand satisfaction degree on the priority; represents the growth rate of the resource, where γ adjusts the impact of the growth rate on the priority.

[0098] Calculating and obtaining the scheduling volume of each second module layer according to the external demand and the priorities of each second module layer includes calculating using the following formula:

[0099]

[0100] Among them, 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 status of the j-th 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 the resource, Ei is the efficiency coefficient of the i-th second module layer, reflecting the efficiency of its resource utilization. H i is the historical scheduling performance coefficient of the i-th second module layer; S ij is the demand coefficient of the i-th second module layer for the j-th type of resource, which can be adjusted according to the scarcity of the resource; ξ, μ, ν are weight coefficients used to adjust the influence of different factors on the scheduling quantity. By integrating the priority, efficiency, historical performance, resource demand, current status, and scarcity of the second module layer, the resource allocation can be more precisely controlled to adapt to different business requirements and optimize the resource utilization efficiency.

[0101] It should be understood that the above specific embodiments of the present invention are only used for illustrative explanation or interpretation of the principle of the present invention, and do not constitute a limitation to the present invention. Therefore, any modifications, equivalent replacements, improvements, etc. made without departing from the spirit and scope of the present invention shall be included within 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 equivalent forms of such scope and boundaries.

[0102] In the above description, no detailed description is made on technical details such as the composition of each layer. However, those skilled in the art should understand that various means in the prior art can be used to form layers, regions, etc. of the required shapes. In addition, for forming the same structure, those skilled in the art can also design methods that are not exactly 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 only for illustrative purposes and not for limiting 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, those skilled in the art can make various substitutions and modifications, and these substitutions and modifications 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 various changes, substitutions, and alterations can be made to the embodiments of the present invention without departing from the spirit and scope of the present invention.

[0105] Obviously, the above embodiments are only examples given for clear illustration and not limitations to the embodiments. For those of ordinary skill in the art, other different forms of changes or alterations can be made based on the above description. It is not necessary and impossible to enumerate all the embodiments here. And the obvious changes or alterations derived therefrom still fall within the protection scope of the present invention.

Claims

1. A general configuration-based distributed control system 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; The method for the first module layer to control at least two second module layers includes: Constructing a second module layer sequence; The first module layer obtains external requirements and resource status of each second module layer; According to the resource status of each second module layer, setting the priority of each second module layer; Calculate and obtain the scheduling amount of each second module layer according to external demand and the priority of each second module layer; The first module layer controls the second module layer according to the scheduling amount.

2. The universal configuration-based distributed control system 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 system 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 system 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 system 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 system 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 system 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 system 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 system 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 system 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.

Images