Software definition-based command control structure control plane architecture design method

Abstract

The invention provides a command control structure control plane architecture design method based on software definition. The method comprises the following steps: step 1, inputting service resources and deploying communication resources; 2, designing a control structure; step 3, designing control information content; and 4, designing a control interface. Service resources needing to be controlled and available communication resources in a command control structure serve as input, logic control relations and physical link relations between controllers and resources and between the controllers are designed in multiple centralized and peer-to-peer control modes, and a control structure is formed. A control structure mathematical representation model and a control structure characteristic evaluation model are established, the robustness, the high efficiency and the comprehensive quality of the control structure can be quantitatively calculated, control information content, formats and interfaces in multiple control modes are designed, state perception, function configuration and service information flow definition of a control plane to resources are achieved, and the control structure is more accurate and reliable. Therefore, generation of the command control structure capability is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of command and control structures, and in particular to a method for designing a control plane architecture of a command and control structure based on software definition. Background Art

[0002] The command and control structure is an information control structure that integrates sensor detection, information processing, decision control, response execution, and communication. It can coordinate various resources, equipment, and facilities to perform established tasks. It is the "nerve center" in the fields of urban protection, emergency command, and traffic management. The core of software-defined technology is to decouple the task layer and the resource layer by introducing a control plane, and flexibly dispatch resource capabilities to meet task requirements in a programming way. At present, the research on software-defined technology is mainly concentrated in the fields of software-defined networks (SDN), software-defined wireless networks, software-defined cars, and software-defined radars. The application research in command and control structures is still in its infancy. Introducing software-defined technology into the construction of command and control structures can realize the decoupling of command and control tasks and resource functions, flexibly dispatch control structure resources through the control plane, and dynamically combine resource relationships to meet uncertain and unexpected task requirements. Therefore, it is particularly important to scientifically and rationally design the control plane architecture for the construction of software-defined command and control structure. It is urgent to innovate the control plane architecture design method based on software-defined command and control structure. By designing the deployment and relationship of controllers, control information content, and control interface, efficient acquisition of the business resource status of the control structure under communication constraints and dynamic definition of business information flow between resources can be achieved, thus generating command and control business capabilities that can adapt to strong confrontation mission environments.

[0003] Some existing technologies propose a design method for a software-defined command and control control structure architecture based on a controller capability package, and establish a control view model, but mainly provide a qualitative description template for the controller composition relationship and operation mechanism, and do not provide a design method for the logical control relationship and physical link relationship between controllers and between controllers and business resources, and cannot support the quantitative analysis of control structure characteristics. At the same time, they also do not provide the control information content and format of the interaction between controllers and between controllers and resources under different control modes. Other existing technologies address the problem of control flow transmission path selection in the distributed software-defined network (SDN) control plane, consider the reliability of control flow transmission, path length, etc., and propose a control flow path selection model for the control forest. However, there are only communication resources in this control structure, and no business resources are involved, which cannot support the management and control of command and control business resources in the command and control structure. Other existing technologies design a set of lightweight SDN network control plane interface protocols for tactical edge applications from the aspects of automatic control plane construction, lightweight protocol design and business traffic scheduling, but the research field is software-defined network, and the control object is the switch node, which is different from the control object, control structure, and control information content of the software-defined command and control structure. There are also existing technologies that provide a robustness verification method and device for a distributed control plane in a software-defined network, but this research field is software-defined networks, and it mainly establishes a robustness verification method for the routing decision and flow control of the controller on the switch in the software-defined network, which is different from the field of software-defined command and control structure, and cannot support the evaluation of the control structure characteristics of the command and control business resources, and does not involve the control structure relationship, control information content, and interface-related content. There are also existing technologies that provide a control plane architecture for a software-defined network, including a control function module and a data function module, but this research field is software-defined networks, and it mainly designs the functions and relationships of the controller and data storage control structure in the software-defined network, which is different from the field of software-defined command and control structure, and cannot support the control structure design of the command and control business resources, and does not involve the quantitative evaluation of the control structure characteristics. Summary of the invention

[0004] Purpose of the invention: In order to solve the problem of how to design the control plane structure and control information content of a software-defined C&C control structure, the purpose of the present invention is to provide a control plane architecture design method based on a software-defined C&C control structure. The method takes the business resources that need to be controlled and the available communication resources in the C&C control structure as input, can support the design of logical control relationships and physical link relationships under multiple control modes, form a control structure, and realize quantitative evaluation of the robustness, efficiency and comprehensive quality of the control structure through the control structure characteristic calculation model. On this basis, through the design of the control information content, format and interface under multiple control modes, it supports the on-demand flow of control information between controllers and resources, and between controllers, realizes the control plane's state perception, function configuration, and business information flow definition of resources, and ensures the generation of C&C control structure capabilities.

[0005] The technical solution for realizing the present invention is:

[0006] A control plane architecture design method based on software-defined command and control structure includes the following steps:

[0007] Step 1: Enter the business resource and communication resource deployment:

[0008] Step 2: Design the control structure, including designing controller deployment, logical control relationships between controllers and business resources, and physical link relationships between controllers and communication resources, and establishing a control structure characterization model to quantitatively evaluate control structure characteristics.

[0009] Step 3, designing the control information content, including designing the control information content of the controller on the business resources, and the collaborative information content between the controllers;

[0010] Step 4: Design the control interface, including designing the controller's logic control interface and communication interface.

[0011] Step 1 includes:

[0012] Step 1-1, input business resources and communication resources, and deploy the business resources and communication resources on the command node, the business resources include sensor detection, response execution, information processing and decision control resources, each command node has at least one business resource and one communication resource;

[0013] Step 1-2, input the physical link relationship between resources, including the physical links between business resources and communication resources, communication resources within the control node, and the physical links between communication resources across nodes, to ensure that all business resources and communication resources can be connected through one-hop or multi-hop physical links. Physical links are represented by dotted lines.

[0014] In step 2, the design of the control structure includes the following steps:

[0015] Step 2-1, designing the control relationship of the controller in the control node in step 1-1, includes the following steps:

[0016] Step 2-1-1, design the logical control relationship between the controller and the business resources: configure a controller for the resources on each command node, and the resources include sensor detection, response execution, information processing and decision control; only one controller is allowed to be configured for one resource, and one controller can control more than two resources. One command node is configured with at least one controller, and the controller on the command node and the business resource are connected with a solid line to indicate the logical control relationship between the controller and the business resource;

[0017] Step 2-1-2, design the logical control relationship between controllers in the node: if there are more than two controllers on the command node, the user selects and determines the control structure mode adopted between the controllers in the command node, including master-slave mode and peer-to-peer mode; the master-slave mode is a single-point control structure, in which there is a master controller and one or more slave controllers, the slave controller sends resource status information to the master controller, and the master controller sends control task allocation information to the slave controller; the peer-to-peer mode is a multi-controller collaborative control structure, the controllers cooperate with each other to complete the control task, and the controllers send resource status information to each other; when the control tasks of the controllers conflict, the user designates a temporary master controller to adjust and decide the control tasks, and the temporary master controller sends the control task adjustment decision information to other controllers; different command nodes can select different internal control structure modes;

[0018] If the user selects the master-slave mode within the node, the user specifies the master controller within the node, and uses solid lines to connect the master controller and other controllers within the node, indicating the master-slave logical control relationship between the controllers;

[0019] If the user selects peer-to-peer within the node, the user specifies a temporary master controller and connects all controllers within the command node with solid lines to indicate the peer-to-peer logical control relationship between controllers, ensuring that all controllers within the command node are connected by a single hop.

[0020] If there is only one controller on the control node, you do not need to perform step 2-1-2;

[0021] Step 2-1-3, design the physical link between the controller and the communication resources in the control node:

[0022] The user determines the communication resources connected to the controller in the control node. Each controller is connected to at least one communication resource. The controller in the control node and the communication resource are connected by a dotted line.

[0023] Step 2-2, design the control relationship of the cross-node controller: if there are more than two accusation nodes, execute steps 2-2-1 to 2-2-2; if there is only one accusation node, directly execute step 2-3;

[0024] Step 2-2-1, determine the control cluster head of all nodes:

[0025] If there are more than two controllers on the accusation node, for the accusation node adopting the master-slave mode, the master controller of the accusation node is the node control cluster head; for the accusation node adopting the peer-to-peer mode, the temporary master controller is the node control cluster head; if there is only one controller on the accusation node, the control cluster head is the controller;

[0026] Step 2-2-2, design the logical control relationship between cross-node controllers:

[0027] The user selects and determines the control structure mode adopted across nodes, including master-slave and peer-to-peer, in the same way as step 2-1-2;

[0028] If the user selects the cross-node master-slave mode, the user selects one controller from all the node control cluster heads as the control structure control cluster head, which has the highest control authority; the control structure control cluster head and the control cluster heads of other command nodes are connected with solid lines to indicate the master-slave logical control relationship between the controllers;

[0029] If the user selects cross-node peer-to-peer, all node control cluster heads are connected with solid lines to indicate the peer-to-peer logical control relationship between controllers, ensuring that all node control cluster heads are connected by a single hop;

[0030] Step 2-3, control structure representation modeling: All controllers, controlled business resources and control relationships constitute a control structure, and mathematical modeling is performed on the control structure to obtain a control structure representation model;

[0031] Step 2-4, evaluate the control structure characteristics: Based on the control structure characterization model, quantitatively calculate the robustness and efficiency of the control structure, including the following steps:

[0032] Step 2-4-1, calculate the robustness of the control structure;

[0033] Step 2-4-2, calculate the efficiency of the control structure.

[0034] Steps 2-3 include:

[0035] Assume control structure S NR The number of controllers is N M , the number of business resources is N W , the i-th controller is M i , the jth business resource is Wj , then the control structure is defined as the binary pair S NR =(M MM ,M MW );matrix Represents the master-slave and peer-to-peer control relationship between controllers, where Indicates controller M i With controller M j Is there a control relationship between them? Indicates controller M i To controller M j There is a control relationship between Indicates controller M i To controller M j There is no control relationship between them; therefore, When the controller M i With controller M j There is a master-slave control relationship between the controller M i is the main controller; Indicates controller M i With controller M j There is an equal control relationship between them; the matrix Represents the control relationship between the controller and the business resources, where Indicates controller M i Control business resources j .

[0036] Step 2-4-1 includes:

[0037] Calculate the controller control span: The controller control span is the average number of subordinate resources N controlled by all controllers M -W Characterization, N M-W The size of is related to the scale of the controller;

[0038] If the controller M i The number of subordinate resources controlled is Then the controller control span N M-W for:

[0039]

[0040] Controller control span N M-W It belongs to the cost type indicator, that is, N M-W The larger it is, the worse the robustness of the control structure and the lower the quality of the control structure. M-W The value type is real number type;

[0041] Calculate controller importance difference:

[0042] If the number of resources controlled by different controllers in the control structure is very different, it is more likely that a controller with a high degree of importance will appear in the control structure. In other words, it is more likely that there will be "vulnerabilities" in the control structure. The difference in controller importance is expressed as the standard deviation of the number of resources controlled by the controller, σ M-W Characterization, σ M-W The size of is related to factors such as controller size and control structure;

[0043] If the controller M i The number of subordinate resources under control is N i M-W , then the controller importance difference σ M-W for:

[0044]

[0045] Controller importance difference σ M-W It belongs to the cost-type indicator, that is, σ M-W The larger the value, the worse the robustness of the control structure and the lower the quality of the control structure. M-W The value type is real number.

[0046] Calculate the composite index:

[0047] First, normalize the indicators: the normalization method of the controller control span is N M-W '=1 / N M-W , after normalization, the controller manages the span value N M-W 'In the interval [0,1], the larger the value of the controller management span, the better the control structure quality;

[0048] The normalization method of controller importance difference is The value of the controller's importance difference after normalization σ M-W 'In the interval [0,1], the larger the value of the controller importance difference, the better the control structure quality;

[0049] The robustness comprehensive index robust is calculated according to the following formula:

[0050] robust=αN M-W '+βσ M-W '

[0051] Among them, α and β are weight coefficients, α+β=1.

[0052] Step 2-4-2 includes:

[0053] Calculate the controller coordination speed: Two controllers need to coordinate control information. The shortest physical link length between the controllers reflects the delay of information coordination. Therefore, the controller coordination speed is calculated by the average value L of the shortest physical link length between the controllers that need information coordination. M-M Characterization, L M-M The size of is related to factors such as the logical control relationship and physical link relationship between controllers;

[0054] If the controller M i With controller M j The shortest physical link length between Then the controller coordinated speed L M-M for:

[0055]

[0056] Controller coordinated speed L M-M It belongs to the cost type indicator, that is, L M-M The larger it is, the worse the efficiency of the control structure is and the lower the quality of the control structure is. M-M The value type is real number.

[0057] Calculate the controller control speed:

[0058] The controller needs to send control information to its subordinate business resources. The shortest physical link length between the controller and its subordinate business resources reflects the interaction delay of the control information. Therefore, the controller control speed is calculated by the mean value L of the shortest physical link length from the controller to the subordinate business resources. M-WC Characterization, L M-WC The size of is related to factors such as logical control relationship and physical link relationship.

[0059] If the controller M i With its subordinate business resources W j The shortest physical link length between The controller controls the speed L M-WC for:

[0060]

[0061] Controller control speed L M-WC It belongs to the cost type indicator, that is, L M-WC The larger it is, the worse the efficiency of the control structure is and the lower the quality of the control structure is. M-WC The value type is real number.

[0062] Calculate controller load level:

[0063] The higher the controller load rate, the greater the delay in the controller's information processing. The controller load level is the average value of all controller load rates L M Characterization, L M The size of is related to factors such as controller size, controller maximum load capacity and control structure.

[0064] If the controller M i The number of subordinate business resources under control is Controller M i The maximum number of subordinate business resources that can be controlled is Then the controller load level L M for:

[0065]

[0066] Controller load level L M It belongs to the cost type indicator, that is, L M The larger it is, the less efficient the control structure is and the lower the quality of the control structure is. M The value type is real number type;

[0067] Calculate the composite index:

[0068] Normalize the indicators: The controller coordination speed is normalized as L M-M '=1 / L M-M , the value of the controller coordination speed after normalization is L M-M 'In the interval [0,1], the larger the value of the controller coordination speed, the better the control structure quality.

[0069] The controller controls the speed in a normalized way as L M-WC '=1 / L M-WC , the value of the controller control speed after normalization L M-WC 'In the interval [0,1], the larger the value of the controller control speed, the better the control structure quality.

[0070] The controller load level is normalized to L M '=1-L M , the value of the controller load level after normalization is L M 'In the interval [0,1], the larger the value of the controller load level, the better the control structure quality.

[0071] The efficiency comprehensive index is calculated according to the following formula:

[0072] efficiency = xL M-M '+δL M-WC '+εL M '

[0073] Among them, χ, δ, and ε are weight coefficients, and χ+δ+ε=1.

[0074] Step 3 includes:

[0075] Step 3-1, the user designs the type and content of the control information of the controller on the business resources, including the following steps:

[0076] Step 3-1-1, determine the type of control information the controller has over the resource:

[0077] If the controller senses the state of the resource, the control information type includes motion state sensing information, functional operation sensing information and mission assurance sensing information; if the controller configures the operation of the resource, the control information type is functional operation control information; if the controller controls the business information flow of the resource, the control information type is business information flow control information;

[0078] Step 3-1-2, design the resource control information content, the information format is as follows:

[0079] The motion state perception information is represented by [resource name, resource number, longitude, latitude, altitude, heading, speed]; among them, longitude and latitude are represented by azimuth and degree, E represents east longitude, W represents west longitude, S represents south latitude, N represents north latitude, and the unit is °, the unit of altitude is m, the heading is the angle with the due south direction, the unit is °, and the unit of speed is km / h;

[0080] Functional operation perception information is represented by [resource name, resource number, power-on status, operation status]; wherein the power-on status parameter values ​​include power-on, power-off, and standby, and the operation status parameter values ​​include normal and fault;

[0081] Mission support perception information is represented by [resource name, resource number, mission type, mission priority]; among them, the mission type parameter values ​​include detection perception, information processing, command decision-making, and action execution, and the mission priority parameter values ​​include emergency and general;

[0082] Function operation control information is represented by [resource name, resource number, working state configuration]; wherein the working state configuration parameter values ​​include power on, power off, and standby;

[0083] The business information flow control information is represented by [business information destination resource name, business information destination resource number, information type, information application protocol]; wherein the information type parameter value includes target information, accusation information, and coordination information;

[0084] Step 3-2, for the controllers in a master-slave control relationship, the user designs the collaborative information type and information content between the controllers, including the following steps:

[0085] Step 3-2-1, determine the type of collaborative information between controllers:

[0086] If the slave controller reports resource status to the master controller, the collaborative information type from the slave controller to the master controller is resource status information; if the master controller assigns control tasks to the slave controller, the collaborative information type from the master controller to the slave controller is control task assignment information.

[0087] Step 3-2-2, design the controller collaborative information content, the information format is as follows:

[0088] Resource status information includes resource motion status perception information, function operation perception information, and task guarantee perception information. The information format is the same as in step 3-1-2.

[0089] The control task allocation information is represented by [controller number, control resource name, control resource number, control task type]; wherein the control task type parameter value includes resource status perception task, resource function operation control task, resource business information flow control task; the control task allocation for a resource is represented as a control task allocation information;

[0090] Step 3-3, for controllers in a peer-to-peer control relationship, the user designs the type and content of collaborative information between the controllers, including the following steps:

[0091] Step 3-3-1, determine the type of collaborative information between controllers: if resource status is shared between controllers, the type of collaborative information sent between controllers is resource status information; if there is a conflict in the control tasks of the controllers and a temporary master controller is required to make a decision, the type of collaborative information sent by the temporary master controller to the controller to be decided is control task adjustment decision information;

[0092] Step 3-3-2, design the controller collaborative information content, the specific information format is:

[0093] Resource status information includes resource motion status perception information, functional operation perception information, and mission assurance perception information. The information format is the same as the system in step 3-1-2.

[0094] The control task adjustment decision information is expressed by [controller number, control resource name, control resource number, control task type before adjustment, control task type after adjustment]; wherein, the parameter values ​​of the control task type before adjustment and the control task type after adjustment include resource status perception task, resource function operation control task, and resource business information flow control task; if the control task remains unchanged, the parameter values ​​of the control task type before adjustment and the control task type after adjustment are consistent.

[0095] Step 4 includes the following steps:

[0096] Step 4-1, design the logical control interface of the controller, expressed as [interface type, control information protocol]; wherein the interface type includes resource control interface and collaborative control interface; the resource control interface is the logical control interface between the controller and the resource, and the corresponding control information protocol types include resource status information protocol, function operation control information protocol, and business information flow control information protocol; the collaborative control interface is the logical control interface between controllers, and the corresponding control information protocol types include resource status information protocol, control task allocation information protocol, and control task adjustment and decision information protocol;

[0097] Step 4-2, design the communication interface of the controller, expressed as [interface type, link layer protocol, transport layer protocol, transmission rate]; among them, interface types include Ethernet interface, wireless interface, serial interface, parallel interface, USB interface, etc.; link layer protocols include CSMA / CD, PPP, etc.; transport layer protocols include UDP, TCP, etc.; the transmission rate unit is kbps.

[0098] The present invention also provides an electronic device, comprising a processor and a memory, wherein the memory stores program code, and when the program code is executed by the processor, the processor executes the steps of the described method.

[0099] The present invention also provides a storage medium storing a computer program or instruction. When the computer program or instruction is run on a computer, the steps of the method described are executed.

[0100] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention takes the four types of business resources and available communication resources that need to be controlled by the command control structure as input, and provides a multi-mode-based command control structure design and quantitative evaluation method; first, for the design of logical control structures within and across nodes, it supports master-slave and peer-to-peer control structure modes, thereby forming a hybrid control structure; second, in combination with the available communication resources of the command control structure, a physical link relationship design method for the implementation of the logical control structure is proposed, which can effectively support the controller to report and send control information to business resources and between controllers; third, the control structure formed by the design is characterized by mathematical modeling. A quantitative evaluation method for the robustness and efficiency of the control structure is proposed, and an evaluation index, calculation model, and comprehensive index calculation method are established, which can effectively conduct quantitative evaluation and comparison of the designed control structure; (2) The present invention is oriented to the control information flow of the control plane of the command and control structure, and provides a design method for the control information content and interface of the business resources. First, based on the characteristics of the command and control business resources, the control information content and parameter values ​​between the controller for the business resources and the controllers under different control modes are proposed, covering resource status collection, function configuration and command and control business information flow definition; second, a control interface description of the controller is established to support the transmission of control information between the controller and business resources and between the controllers. BRIEF DESCRIPTION OF THE DRAWINGS

[0101] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments, and the above and / or other advantages of the present invention will become more clear.

[0102] Figure 1 is a flow chart of the method of the present invention.

[0103] Figure 2 It is a schematic diagram of resource deployment and physical link relationship of the embodiment input.

[0104] Figure 3 It is a schematic diagram of the control structure of the embodiment design. DETAILED DESCRIPTION

[0105] This embodiment provides a control plane architecture design method based on software-defined control structure. The process is as follows: Figure 1 As shown, the specific implementation process includes:

[0106] Step 1: Enter the business resource and communication resource deployment:

[0107] Step 1-1, input the business resources to be controlled and the deployed control nodes. Business resources include sensor detection, response execution, information processing, and decision control resources. Each node has at least one business resource.

[0108] Step 1-2, input the communication resources and deployed control nodes, each node has at least one communication resource;

[0109] Step 1-3, input the physical link relationship between resources, including the physical links between business resources and communication resources, communication resources within the control node, and the physical links between communication resources across nodes, to ensure that all business resources and communication resources can be connected through one-hop or multi-hop physical links. Physical links are represented by dotted lines.

[0110] Step 2: Design the control structure, including designing controller deployment, logical control relationships between controllers and business resources, and physical link relationships between controllers and communication resources. Establish a control structure characterization model to quantitatively evaluate the control structure characteristics:

[0111] Step 2-1, design the control relationship of the controller within the node:

[0112] Step 2-1-1, design the logical control relationship between the controller and business resources:

[0113] Controllers are configured on each node for sensor detection, response execution, information processing, and decision control resources. Only one controller is allowed to be configured for one resource. One controller can control multiple resources. One node is configured with at least one controller. Solid lines are used to connect the controllers on the nodes and the business resources to indicate the logical control relationship between the controllers and the business resources.

[0114] Step 2-1-2, design the logical control relationship between controllers in the node:

[0115] If there are multiple controllers on a node, the user selects the control structure mode used between the controllers in the node, including master-slave and peer-to-peer. The master-slave type is a single-point control structure, in which there is a master controller and one or more slave controllers. The slave controller sends resource status information to the master controller, and the master controller sends control task allocation information to the slave controller. The peer-to-peer type is a multi-controller collaborative control structure, in which each controller cooperates with each other to complete the control task, and each controller sends resource status information to each other; when the control tasks of the controllers conflict, the user designates a temporary master controller to adjust the control task, and the temporary master controller sends the control task adjustment decision information to other controllers. Different nodes can choose different internal control structure modes.

[0116] If the user selects the master-slave type within the node, the user specifies the master controller within the node, and uses solid lines to connect the master controller and other controllers within the node, indicating the master-slave logical control relationship between the controllers.

[0117] If the user selects peer-to-peer within the node, the user specifies a temporary master controller and connects all controllers within the node with solid lines to indicate the peer-to-peer logical control relationship between controllers, ensuring that all controllers within the node are connected by a single hop.

[0118] If there is only one controller on the node, you do not need to perform this step.

[0119] Step 2-1-3, design the physical link between the controller and the communication resources in the node:

[0120] The communication resources within the node connected to the controller within the node are determined by the user. Each controller is connected to at least one communication resource, and the controller within the node and the communication resource are connected by a dotted line.

[0121] Step 2-2, design the control relationship between cross-node controllers:

[0122] If there are multiple nodes, perform the following steps; if there is only one node, do not perform this step.

[0123] Step 2-2-1, determine the control cluster head of all nodes:

[0124] If there are multiple controllers on the node, for nodes using master-slave mode, the master controller of the node is the node control cluster head; for nodes using peer-to-peer mode, the temporary master controller is the node control cluster head. If there is only one controller on the node, the control cluster head is this controller.

[0125] Step 2-2-2, design the logical control relationship between cross-node controllers:

[0126] The user selects the control structure mode to be adopted across nodes, including master-slave and peer-to-peer, and its description is consistent with step 2-1-2.

[0127] If the user selects the cross-node master-slave mode, the user selects a controller from all the node control cluster heads as the control structure control cluster head, which has the highest control authority. Use solid lines to connect the control structure control cluster head with other node control cluster heads to indicate the master-slave logical control relationship between the controllers.

[0128] If the user selects cross-node peer-to-peer, all node control cluster heads are connected with solid lines to indicate the peer-to-peer logical control relationship between controllers, ensuring that all node control cluster heads are connected by a single hop.

[0129] Step 2-3, control structure representation modeling:

[0130] All controllers, controlled business resources and control relationships constitute a control structure, and mathematical modeling is performed on the control structure. Suppose the control structure S NR The number of controllers is N M, the number of business resources is N W , the i-th controller is M i , the jth business resource is W j , then the control structure can be defined as a binary group S NR =(M MM ,M MW ).matrix Represents the master-slave and peer-to-peer control relationship between controllers, where When the controller M i With controller M j There is a master-slave control relationship between the controller M i is the main controller; Indicates controller M i With controller M j There is a peer control relationship between them. Represents the control relationship between the controller and the business resources, where Indicates controller M i Control business resources j .

[0131] Step 2-4, evaluate control structure characteristics:

[0132] Based on the control structure characterization model, the robustness and efficiency of the control structure are quantitatively calculated.

[0133] Step 2-4-1, calculate the robustness of the control structure:

[0134] The robustness indicators of the control structure include the controller control span and the controller importance difference. These two indicators are calculated first, and then the comprehensive robustness indicator is calculated using the indicator comprehensive calculation method.

[0135] (1) Calculation method of controller control span

[0136] The controller control span is the average number of subordinate resources N controlled by all controllers. M-W Characterization, N M-W The size of is related to the scale of the controller.

[0137] If the controller M i The number of subordinate resources controlled is Then the controller control span N M-W for

[0138]

[0139] Controller control span N M-W It belongs to the cost type indicator, that is, N M-W The larger it is, the worse the robustness of the control structure and the lower the quality of the control structure.M-W The value type is real number.

[0140] (2) Calculation method of controller importance difference

[0141] If the number of resources controlled by different controllers in the control structure is very different, it is more likely that a controller with a high degree of importance will appear in the control structure. In other words, it is more likely that there will be "vulnerabilities" in the control structure. The difference in controller importance is expressed as the standard deviation of the number of resources controlled by the controller, σ M-W Characterization, σ M-W The size of is related to factors such as controller size and control structure.

[0142] If the controller M i The number of subordinate resources controlled is Then the controller importance difference σ M-W for

[0143]

[0144] Controller importance difference σ M-W It belongs to the cost-type indicator, that is, σ M-W The larger the value, the worse the robustness of the control structure and the lower the quality of the control structure. M-W The value type is real number.

[0145] (3) Comprehensive calculation method of indicators

[0146] First, normalize the indicators as follows:

[0147] The controller control span is normalized as N M-W '=1 / N M-W , after normalization, the controller manages the span value N M -W 'In the interval [0,1], the larger the value of the controller management span, the better the control structure quality.

[0148] The normalization method of controller importance difference is After normalization, the value of the controller importance difference is in the interval [0,1], and the larger the value of the controller importance difference is, the better the control structure quality is.

[0149] The comprehensive robustness index is calculated according to the following formula:

[0150] robust=αN M-W '+βσ M-W '

[0151] Among them, α and β are weight coefficients, α+β=1.

[0152] Step 2-4-2, calculate the efficiency of the control structure:

[0153] The efficiency indicators of the control structure include controller coordination speed, controller control speed, and controller load level. These three indicators are calculated first, and then the comprehensive efficiency indicator is calculated using the indicator comprehensive calculation method.

[0154] (1) Controller coordinated speed calculation method

[0155] The two controllers need to coordinate control information. The shortest physical link length between the controllers reflects the delay of information coordination. Therefore, the controller coordination speed is calculated by the average value L of the shortest physical link length between the controllers that need information coordination. M-M Characterization, L M-M The size of is related to factors such as the logical control relationship and physical link relationship between controllers.

[0156] If the controller M i With controller M j The shortest physical link length between Then the controller coordinated speed L M-M for

[0157]

[0158] Controller coordinated speed L M-M It belongs to the cost type indicator, that is, L M-M The larger it is, the worse the efficiency of the control structure is and the lower the quality of the control structure is. M-M The value type is real number.

[0159] (2) Calculation method of controller control speed

[0160] The controller needs to send control information to its subordinate business resources. The shortest physical link length between the controller and its subordinate business resources reflects the interaction delay of the control information. Therefore, the controller control speed is calculated by the mean value L of the shortest physical link length from the controller to the subordinate business resources. M-WC Characterization, L M-WC The size of is related to factors such as logical control relationship and physical link relationship.

[0161] If the controller M i With its subordinate business resources W j The shortest physical link length between The controller controls the speed L M-WC for

[0162]

[0163] Controller control speed L M-WCIt belongs to the cost type indicator, that is, L M-WC The larger it is, the worse the efficiency of the control structure is and the lower the quality of the control structure is. M-WC The value type is real number.

[0164] (3) Controller load level calculation method

[0165] The higher the controller load rate, the greater the delay in the controller's information processing. The controller load level is the average value of all controller load rates L M Characterization, L M The size of is related to factors such as controller size, controller maximum load capacity and control structure.

[0166] If the controller M i The number of subordinate business resources under control is The maximum number of subordinate business resources that it can control is Then the controller load level L M for

[0167]

[0168] Controller load level L M It belongs to the cost type indicator, that is, L M The larger it is, the less efficient the control structure is and the lower the quality of the control structure is. M The value type is real number.

[0169] (4) Comprehensive calculation method of indicators

[0170] First, normalize the indicators as follows:

[0171] The controller coordination speed is normalized as L M-M '=1 / L M-M , the value of the controller coordination speed after normalization is L M -M 'In the interval [0,1], the larger the value of the controller coordination speed, the better the control structure quality.

[0172] The controller controls the speed in a normalized way as L M-WC '=1 / L M-WC , after normalization, the value of the controller control speed is in the interval [0,1], and the larger the value of the controller control speed, the better the control structure quality.

[0173] The controller load level is normalized to L M '=1-L M , the value of the controller load level after normalization is in the interval [0,1], and the larger the value of the controller load level, the better the control structure quality.

[0174] The comprehensive efficiency index is calculated according to the following formula:

[0175] efficiency = xL M-M '+δL M-WC '+εL M '

[0176] Among them, χ, δ, and ε are weight coefficients, and χ+δ+ε=1.

[0177] Step 3: Design the control information content, including the control information content of the controller on the business resources and the collaborative information content between controllers:

[0178] Step 3-1, the user designs the type and content of the control information of the controller on the business resources, including the following steps:

[0179] Step 3-1-1, determine the type of control information the controller has over the resource:

[0180] If the controller performs state perception on the resource, the control information type includes motion state perception information, functional operation perception information, and mission assurance perception information; if the controller performs operation configuration on the resource, the control information type is functional operation control information; if the controller performs business information flow control on the resource, the control information type is business information flow control information.

[0181] Step 3-1-2, design the resource control information content, the information format is as follows:

[0182] (1) Motion state perception information

[0183] The motion state perception information is expressed by [resource name, resource number, longitude, latitude, altitude, heading, speed]; among them, longitude and latitude are expressed by azimuth and degree, E represents east longitude, W represents west longitude, S represents south latitude, N represents north latitude, and the unit is °, the unit of altitude is m, the heading is the angle with the due south direction, the unit is °, and the unit of speed is km / h.

[0184] (2) Functional Operation Perception Information

[0185] Functional operation perception information is represented by [resource name, resource number, power-on status, operating status]; wherein, the power-on status parameter values ​​include power-on, power-off, and standby, and the operating status parameter values ​​include normal and faulty.

[0186] (3) Mission assurance perception information

[0187] Mission support perception information is represented by [resource name, resource number, mission type, mission priority]; among them, the mission type parameter values ​​include detection perception, information processing, command decision-making, and action execution, and the mission priority parameter values ​​include emergency and general.

[0188] (4) Functional operation control information

[0189] Functional operation control information is represented by [resource name, resource number, working status configuration]; among which, the working status configuration parameter values ​​include power on, power off, and standby.

[0190] (5) Business information flow control information

[0191] Business information flow control information is represented by [business information destination resource name, business information destination resource number, information type, information application protocol]; among which, the information type parameter value includes target information, accusation information, and collaborative information.

[0192] Step 3-2, for the controllers in a master-slave control relationship, the user designs the collaborative information type and information content between the controllers, including the following steps:

[0193] Step 3-2-1, determine the type of collaborative information between controllers:

[0194] If the slave controller reports resource status to the master controller, the collaborative information type from the slave controller to the master controller is resource status information; if the master controller assigns control tasks to the slave controller, the collaborative information type from the master controller to the slave controller is control task assignment information.

[0195] Step 3-2-2, design the controller collaborative information content, the information format is as follows:

[0196] (1) Resource status information

[0197] Resource status information includes resource motion status perception information, functional operation perception information, and mission assurance perception information. The information format is consistent with that described in step 3-1-2.

[0198] (2) Control task allocation information

[0199] The control task allocation information is represented by [controller number, control resource name, control resource number, control task type]; wherein, the control task type parameter value includes resource status perception task, resource function operation control task, resource business information flow control task; the control task allocation for a resource is represented as a control task allocation information.

[0200] Step 3-3, for controllers in a peer-to-peer control relationship, the user designs the type and content of collaborative information between the controllers, including the following steps:

[0201] Step 3-3-1, determine the type of collaborative information between controllers:

[0202] If resource status is shared between controllers, the type of collaborative information sent between controllers is resource status information; if there is a conflict in the control tasks of the controllers and a temporary main controller is required to make a decision, the type of collaborative information sent by the temporary main controller to the controller being decided is control task adjustment decision information.

[0203] Step 3-3-2, design the controller collaborative information content, the specific information format is:

[0204] (1) Resource status information

[0205] Resource status information includes resource motion status perception information, functional operation perception information, and mission assurance perception information. The information format is consistent with that described in step 3-1-2.

[0206] (2) Control task adjustment decision information

[0207] The control task adjustment decision information is expressed by [controller number, control resource name, control resource number, control task type before adjustment, control task type after adjustment]; wherein, the parameter values ​​of the control task type before adjustment and the control task type after adjustment include resource status perception task, resource function operation control task, and resource business information flow control task; if the control task remains unchanged, the parameter values ​​of the control task type before adjustment and the control task type after adjustment are consistent.

[0208] Step 4: Design the control interface, including designing the controller's logic control interface and communication interface.

[0209] Step 4-1, design the logical control interface of the controller, expressed as [interface type, control information protocol]; wherein, the interface types include resource control interface and collaborative control interface; the resource control interface is the logical control interface between the controller and the resources, and the corresponding control information protocol types include resource status information protocol, functional operation control information protocol, and business information flow control information protocol; the collaborative control interface is the logical control interface between controllers, and the corresponding control information protocol types include resource status information protocol, control task allocation information protocol, and control task adjustment and decision information protocol.

[0210] Step 4-2, design the communication interface of the controller, expressed as [interface type, link layer protocol, transport layer protocol, transmission rate]; among them, interface types include Ethernet interface, wireless interface, serial interface, parallel interface, USB interface, etc.; link layer protocols include CSMA / CD, PPP, etc.; transport layer protocols include UDP, TCP, etc.; the transmission rate unit is kbps.

[0211] In a specific embodiment of the present invention, a typical command task scenario is taken as an example to illustrate the method of the present invention.

[0212] The method of the present invention comprises the following steps:

[0213] Step 1, input business resources, communication resources, and the nodes and physical link relationships on which they are deployed. This embodiment includes three nodes, namely, command node, perception / execution integrated node, and execution node, six business resources, and four communication resources; among which, three business resources are deployed on the command node, namely, information processing resource W1, decision control resources W2 and W3, and two communication resources are deployed, namely, C1 and C2; two business resources are deployed on the perception / execution integrated node, namely, sensor detection resource W4 and response execution resource W5, and one communication resource C3 is deployed; one response execution resource W6 is deployed on the execution node, and one communication resource C4 is deployed. The schematic diagram of resource deployment and physical link relationships input in this embodiment is shown in the figure. Figure 2 shown.

[0214] Step 2, design the control structure:

[0215] Step 2-1, design the control relationship of the controller within the node:

[0216] Step 2-1-1, design the logical control relationship between the controller and business resources:

[0217] The controller of W1 is designed to be M1, the controller of W2 is designed to be M2, the controller of W3 is designed to be M3, the controllers of W4 and W5 are designed to be M4, and the controller of W6 is designed to be M5. The controllers on the nodes are connected to the corresponding business resources with solid lines.

[0218] Step 2-1-2, design the logical control relationship between controllers in the node:

[0219] There are multiple controllers in the command node, which adopts a peer-to-peer control structure. The temporary master controller in the designated node is M2, and solid lines are used to connect the master controller and other controllers in the node.

[0220] Step 2-1-3, design the physical link between the controller and the communication resources in the node:

[0221] Controller M1 is connected to C1, controllers M2 and M3 are connected to C2, controller M4 is connected to C3, and controller M5 is connected to C4. The controllers and communication resources within the node are connected by dotted lines.

[0222] Step 2-2, design the control relationship between cross-node controllers:

[0223] In this embodiment, there are multiple nodes, and the following steps are performed:

[0224] Step 2-2-1, determine the control cluster head of all nodes:

[0225] There are multiple controllers in the command node, and a peer-to-peer control structure is adopted. The temporary main controller M2 is selected as the control cluster head; there is only one controller in the perception / execution integrated node and the execution node, and the controllers M4 and M5 are the control cluster heads respectively.

[0226] Step 2-2-2, design the logic control between cross-node controllers:

[0227] A master-slave control structure is adopted across nodes, and the control cluster head M2 of the command node is selected as the control cluster head of the control structure. The control cluster head of the control structure is connected with the control cluster heads of other nodes by solid lines.

[0228] Step 2-3, control structure representation modeling:

[0229] The control structure diagram formed by the design of this embodiment is as follows Figure 3 As shown. Establish the control structure tuple S NR =(M MM ,M MW ), where the number of controllers is N M =5, the number of business resources is N W =6, matrix matrix

[0230] Step 2-4, evaluate control structure characteristics:

[0231] Step 2-4-1, calculate the robustness of the control structure:

[0232] Calculate the controller control span N M-W =1.2; controller importance difference σ M-W =0.4; after the index is normalized, the controller control span N M-W '=0.83, controller importance difference σ M-W '=0.76; let the weight coefficients of the robustness comprehensive index α=0.5, β=0.5, then the robustness of the control structure is robust=0.80.

[0233] Step 2-4-2, calculate the efficiency of the control structure:

[0234] Based on the control structure binary, the controller coordination speed is calculated Controller control speed Assuming that the maximum number of subordinate business resources that each controller can control is 3, the controller load level After the index is normalized, the controller coordination speed L M-M '=0.33, controller controls speed L M-WC'=0.45, controller load level L M '=0.6; let the weight coefficients of the comprehensive efficiency index α=0.3, β=0.3, ε=0.4, then the efficiency of the control structure efficiency=0.47.

[0235] Step 3: Design the control information content:

[0236] Step 3-1, the user designs the type and content of the control information of the controller on the business resources. The following is an example of the control information of the controller M1 on the command node on the information processing resource W1:

[0237] Step 3-1-1, determine the type of control information the controller has over the resource:

[0238] The controller M1 performs state perception and business information flow control on the information processing resource W1, so the control information types include motion state perception information, functional operation perception information, task assurance perception information, and business information flow control information.

[0239] Step 3-1-2, design resource control information content, specifically:

[0240] The motion state perception information is expressed as [information processing resources, W1, E113°, N23°, 30m, 0°, 0km / h]; the functional operation perception information is expressed as [information processing resources, W1, powered on, normal]; the mission assurance perception information is expressed as [information processing resources, W1, information processing, general]; the controller M1 controls the information processing resource W1 to send target information to the decision control resource W2, so the business information flow control information is expressed as [decision control resource, W2, target information, GJB1].

[0241] Step 3-2, for the controllers in a master-slave control relationship, the user designs the type and content of the collaborative information between the controllers. The following is an example of the controller M2 on the command node and the controller M4 on the perception / execution integrated node:

[0242] Step 3-2-1, determine the type of collaborative information between controllers:

[0243] The slave controller M4 reports the resource status to the master controller M2, and the master controller M2 allocates control tasks to the slave controller M4, so the collaborative information type is resource status information and control task allocation information.

[0244] Step 3-2-2, design the controller collaborative information content, the information format is as follows:

[0245] The format of the resource status information sent by M4 to M2 is similar to the motion status perception information, task guarantee perception information, and function operation perception information listed in step 3-1-2 of this embodiment, and will not be expanded here. M2 assigns control tasks to M4 and commands M4 to control resources W4 and W5. The control task assignment information is respectively expressed as [M4, sensing detection resources, W4, resource status perception task / resource function operation control task], [M4, response execution resources, W5, resource status perception task / resource business information flow control task].

[0246] Step 3-3, for controllers in a peer-to-peer control relationship, the user designs the type and content of collaborative information between the controllers. The following is an example of controllers M1 and M2 on the command node:

[0247] Step 3-3-1, determine the type of collaborative information between controllers:

[0248] Controllers M1 and M2 share resource status, so the type of collaborative information sent between M1 and M2 is resource status information; in the control structure, M2 is the temporary master controller, and there is a conflict in M1's control task that requires M2 to make a decision, so the type of collaborative information from M2 to M1 is control task adjustment decision information.

[0249] Step 3-3-2, design the controller collaborative information content, the specific information format is:

[0250] The format of the resource status information sent between M1 and M2 is similar to the motion status perception information, task guarantee perception information, and function operation perception information listed in step 3-1-2 of this embodiment, and will not be expanded here. M2 makes a control task decision for M1, and adjusts the original resource function operation control task of M1 to W1 to a resource business information flow control task, and the resource status perception task remains unchanged. The control task adjustment decision information is expressed as [M1, information processing resources, W1, resource status perception task / resource function operation control task, resource status perception task / resource business information flow control task].

[0251] Step 4: Design the control interface, including the logic control interface and communication interface of the controller:

[0252] Step 4-1, design the logical control interface of the controller. Taking the controller M1 on the command node as an example, the logical control interface types include the resource control interface with the resource W1 and the collaborative control interface with the controllers M2 and M3; among them, the control information protocols corresponding to the resource control interface with the resource W1 include the resource status information protocol, the functional operation control information protocol, and the business information flow control information protocol; the controllers M1 and M2 and M3 are in a peer-to-peer control relationship, and M2 is the temporary master controller. Therefore, the control information protocols corresponding to the collaborative control interface types of the controllers M1 and M2 and M3 include the resource status information protocol and the control task adjustment and decision information protocol.

[0253] Step 4-2, design the communication interface of the controller. Taking the controller M1 on the command node as an example, the communication interface type is a serial interface, the link layer protocol is CSMA / CD, the transport layer protocol is UDP, and the transmission rate is 100kbps.

[0254] The present invention provides a control plane architecture design method based on software-defined control structure. There are many methods and ways to implement the technical solution. The above is only a preferred implementation of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention. All components not specified in this embodiment can be implemented by existing technologies.

Claims

1. A control plane architecture design method based on software-defined command and control structure, characterized in that: The following steps are involved: Step 1: Input business resources and communication resource deployment; Step 2: Design the control structure, including designing controller deployment, logical control relationships between controllers and business resources, and physical link relationships between controllers and communication resources, and establishing a control structure characterization model to quantitatively evaluate control structure characteristics. Step 3, designing the control information content, including designing the control information content of the controller on the business resources, and the collaborative information content between the controllers; Step 4: Design the control interface, including designing the controller's logic control interface and communication interface.

2. The method according to claim 1, characterized in that: Step 1 includes: Step 1-1, input business resources and communication resources, and deploy the business resources and communication resources on the command node, the business resources include sensor detection, response execution, information processing and decision control resources, each command node has at least one business resource and one communication resource; Step 1-2, input the physical link relationship between resources, including the physical links between business resources and communication resources, communication resources within the control node, and the physical links between communication resources across nodes, to ensure that all business resources and communication resources can be connected through one-hop or multi-hop physical links. Physical links are represented by dotted lines.

3. The method according to claim 2, characterized in that: In step 2, the design of the control structure includes the following steps: Step 2-1, designing the control relationship of the controller in the control node in step 1-1, includes the following steps: Step 2-1-1, design the logical control relationship between the controller and the business resources: configure a controller for the resources on each command node, and the resources include sensor detection, response execution, information processing and decision control; only one controller is allowed to be configured for one resource, and one controller can control more than two resources. One command node is configured with at least one controller, and the controller on the command node and the business resource are connected with a solid line to indicate the logical control relationship between the controller and the business resource; Step 2-1-2, design the logical control relationship between controllers in the node: if there are more than two controllers on the command node, the user selects and determines the control structure mode adopted between the controllers in the command node, including master-slave mode and peer-to-peer mode; the master-slave mode is a single-point control structure, in which there is a master controller and one or more slave controllers, the slave controller sends resource status information to the master controller, and the master controller sends control task allocation information to the slave controller; the peer-to-peer mode is a multi-controller collaborative control structure, the controllers cooperate with each other to complete the control task, and the controllers send resource status information to each other; when the control tasks of the controllers conflict, the user designates a temporary master controller to adjust and decide the control tasks, and the temporary master controller sends the control task adjustment decision information to other controllers; different command nodes can select different internal control structure modes; If the user selects the master-slave mode within the node, the user specifies the master controller within the node, and uses solid lines to connect the master controller and other controllers within the node, indicating the master-slave logical control relationship between the controllers; If the user selects peer-to-peer in the node, the user specifies a temporary master controller and connects all controllers in the command node with a solid line to indicate the peer-to-peer logical control relationship between the controllers, ensuring that all controllers in the command node are connected by a single hop; If there is only one controller on the control node, you do not need to perform step 2-1-2; Step 2-1-3, design the physical link between the controller and the communication resources in the control node: The user determines the communication resources connected to the controller in the control node. Each controller is connected to at least one communication resource. The controller in the control node and the communication resource are connected by a dotted line. Step 2-2, design the control relationship of the cross-node controller: if there are more than two accusation nodes, execute steps 2-2-1 to 2-2-2; if there is only one accusation node, directly execute step 2-3; Step 2-2-1, determine the control cluster head of all nodes: If there are more than two controllers on the accusation node, for the accusation node adopting the master-slave mode, the master controller of the accusation node is the node control cluster head; for the accusation node adopting the peer-to-peer mode, the temporary master controller is the node control cluster head; if there is only one controller on the accusation node, the control cluster head is the controller; Step 2-2-2, design the logical control relationship between cross-node controllers: The user selects and determines the control structure mode adopted across nodes, including master-slave and peer-to-peer, in the same way as step 2-1-2; If the user selects the cross-node master-slave mode, the user selects one controller from all the node control cluster heads as the control structure control cluster head, which has the highest control authority; the control structure control cluster head and the control cluster heads of other command nodes are connected with solid lines to indicate the master-slave logical control relationship between the controllers; If the user selects cross-node peer-to-peer, all node control cluster heads are connected with solid lines to indicate the peer-to-peer logical control relationship between controllers, ensuring that all node control cluster heads are connected by a single hop; Step 2-3, control structure representation modeling: All controllers, controlled business resources and control relationships constitute a control structure, and mathematical modeling is performed on the control structure to obtain a control structure representation model; Step 2-4, evaluate the control structure characteristics: Based on the control structure characterization model, quantitatively calculate the robustness and efficiency of the control structure, including the following steps: Step 2-4-1, calculate the robustness of the control structure; Step 2-4-2, calculate the efficiency of the control structure.

4. The method according to claim 3, characterized in that: Steps 2-3 include: Assume control structure S NR The number of controllers is N M , the number of business resources is N W , the i-th controller is M i , the jth business resource is W j , then the control structure is defined as the binary pair S NR =(M MM ,M MW );matrix Represents the master-slave and peer-to-peer control relationship between controllers, where Indicates controller M i With controller M j Is there a control relationship between them? Indicates controller M i To controller M j There is a control relationship between Indicates controller M i To controller M j There is no control relationship between them; therefore, When the controller M i With controller M j There is a master-slave control relationship between the controller M i is the main controller; Indicates controller M i With controller M j There is a peer control relationship between them; the matrix Represents the control relationship between the controller and the business resources, where Indicates controller M i Control business resources j .

5. The method according to claim 4, characterized in that: Step 2-4-1 includes: Calculate the controller control span: The controller control span is the average number of subordinate resources N controlled by all controllers M-W Characterization, N M-W The size of is related to the scale of the controller; If the controller M i The number of subordinate resources controlled is Then the controller control span N M-W for: Controller control span N M-W The value type is real number type; Calculate controller importance difference: The controller importance difference is expressed as the standard deviation of the number of resources controlled by the controller σ M-W Characterization; If the controller M i The number of subordinate resources controlled is Then the controller importance difference σ M-W for: Controller importance difference σ M-W The value type is real number type; Calculate the composite index: First, normalize the indicators: the normalization method of the controller control span is N M-W '=1 / N M-W , after normalization, the controller manages the span value N M-W 'In the interval [0,1], the larger the value of the controller management span, the better the control structure quality; The normalization method of controller importance difference is The value of the controller's importance difference after normalization σ M-W 'In the interval [0,1], the larger the value of the controller importance difference, the better the control structure quality; The robustness comprehensive index robust is calculated according to the following formula: robust=αN M-W '+vs M-W ' Among them, α and β are weight coefficients, α+β=1.

6. The method according to claim 5, characterized in that: Step 2-4-2 includes: Calculate the controller coordination speed: The controller coordination speed is calculated by the average value L of the shortest physical link length between the controllers that need to coordinate information. M-M Characterization; If the controller M i With controller M j The shortest physical link length between Then the controller coordinated speed L M-M for: Controller coordinated speed L M-M The value type is real number type; Calculate the controller control speed: The controller control speed is the average value L of the shortest physical link length from the controller to the subordinate service resources. M-WC Characterization; If the controller M i With subordinate business resources W j The shortest physical link length between The controller controls the speed L M-WC for: Controller control speed L M-WC The value type is real number type; Calculate controller load level: The controller load level is the average value of all controller load factors L M Characterization; If the controller M i The number of subordinate business resources under control is Controller M i The maximum number of subordinate business resources that can be controlled is Then the controller load level L M for: Controller load level L M The value type is real number type; Calculate the composite index: Normalize the indicators: The controller coordination speed is normalized as L M-M '=1 / L M-M , the value of the controller coordination speed after normalization is L M-M 'In the interval [0,1], the larger the value of the controller coordination speed, the better the control structure quality; The controller controls the speed in a normalized way as L M-WC '=1 / L M-WC , the value of the controller control speed after normalization L M-WC 'In the interval [0,1], the larger the value of the controller control speed, the better the control structure quality; The controller load level is normalized to L M '=1-L M , the value of the controller load level after normalization is L M 'In the interval [0,1], the larger the value of the controller load level, the better the control structure quality; The efficiency comprehensive index is calculated according to the following formula: efficiency=χL M-M '+δL M-WC '+εL M ' Among them, χ, δ, and ε are weight coefficients, and χ+δ+ε=1.

7. The method according to claim 6, characterized in that: Step 3 includes: Step 3-1, designing the type and content of the controller's control information on business resources, includes the following steps: Step 3-1-1, determine the type of control information the controller has over the resource: If the controller senses the state of the resource, the control information type includes motion state sensing information, functional operation sensing information and mission assurance sensing information; if the controller configures the operation of the resource, the control information type is functional operation control information; if the controller controls the business information flow of the resource, the control information type is business information flow control information; Step 3-1-2, design the resource control information content, the information format is as follows: The motion state perception information is represented by [resource name, resource number, longitude, latitude, altitude, heading, speed]; among them, longitude and latitude are represented by azimuth and degree, E represents east longitude, W represents west longitude, S represents south latitude, N represents north latitude, and heading is the angle with the south direction; Functional operation perception information is represented by [resource name, resource number, power-on status, operation status]; wherein the power-on status parameter values ​​include power-on, power-off, and standby, and the operation status parameter values ​​include normal and fault; Mission support perception information is represented by [resource name, resource number, mission type, mission priority]; among them, the mission type parameter values ​​include detection perception, information processing, command decision-making, and action execution, and the mission priority parameter values ​​include emergency and general; Function operation control information is represented by [resource name, resource number, working state configuration]; wherein the working state configuration parameter values ​​include power on, power off, and standby; The business information flow control information is represented by [business information destination resource name, business information destination resource number, information type, information application protocol]; wherein the information type parameter value includes target information, accusation information, and coordination information; Step 3-2, for the controllers in a master-slave control relationship, the user designs the collaborative information type and information content between the controllers, including the following steps: Step 3-2-1, determine the type of collaborative information between controllers: If the slave controller reports resource status to the master controller, the type of collaborative information from the slave controller to the master controller is resource status information; if the master controller assigns control tasks to the slave controller, the type of collaborative information from the master controller to the slave controller is control task assignment information; Step 3-2-2, design the controller collaborative information content, the information format is as follows: Resource status information includes resource motion status perception information, function operation perception information, and task guarantee perception information. The information format is the same as in step 3-1-2. The control task allocation information is represented by [controller number, control resource name, control resource number, control task type]; wherein the control task type parameter value includes resource status perception task, resource function operation control task, resource business information flow control task; the control task allocation for a resource is represented as a control task allocation information; Step 3-3, for controllers in a peer-to-peer control relationship, the user designs the type and content of collaborative information between the controllers, including the following steps: Step 3-3-1, determine the type of collaborative information between controllers: if resource status is shared between controllers, the type of collaborative information sent between controllers is resource status information; if there is a conflict in the control tasks of the controllers and a temporary master controller is required to make a decision, the type of collaborative information sent by the temporary master controller to the controller to be decided is control task adjustment decision information; Step 3-3-2, design the controller collaborative information content, the specific information format is: Resource status information includes resource motion status perception information, functional operation perception information, and mission assurance perception information. The information format is the same as the system in step 3-1-2. The control task adjustment decision information is expressed by [controller number, control resource name, control resource number, control task type before adjustment, control task type after adjustment]; wherein, the parameter values ​​of the control task type before adjustment and the control task type after adjustment include resource status perception task, resource function operation control task, and resource business information flow control task; if the control task remains unchanged, the parameter values ​​of the control task type before adjustment and the control task type after adjustment are consistent.

8. The method according to claim 7, characterized in that: Step 4 includes the following steps: Step 4-1, design the logical control interface of the controller, expressed as [interface type, control information protocol]; wherein the interface type includes resource control interface and collaborative control interface; the resource control interface is the logical control interface between the controller and the resource, and the corresponding control information protocol types include resource status information protocol, function operation control information protocol, and business information flow control information protocol; the collaborative control interface is the logical control interface between controllers, and the corresponding control information protocol types include resource status information protocol, control task allocation information protocol, and control task adjustment and decision information protocol; Step 4-2, design the communication interface of the controller, expressed as [interface type, link layer protocol, transport layer protocol, transmission rate].

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores program codes, and when the program codes are executed by the processor, the processor executes the steps of the method according to any one of claims 1 to 8.

10. A storage medium, characterized in that: A computer program or instruction is stored, and when the computer program or instruction is run on a computer, the steps of the method according to any one of claims 1 to 8 are executed.

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