TTP low-time-delay industrial Ethernet communication system based on ZYNQUILTRACEE +

Abstract

The invention discloses a TTP (time-to-protocol) low-delay industrial Ethernet communication system based on ZYNQUILTRACEE +, and the whole system consists of a single main controller and N sub-controllers, comprising a data input module, an input selection module, an application layer data extraction module, an internal Ethernet transceiving module, a system state monitoring module, a time slot adjustment module, a state recording and integrating module, a data storage module, an external Ethernet sending module, an interleaving communication module, a data arbitration module, a user-defined protocol packaging module and a data acquisition module. The system comprises a dynamic data processing module, a parameter storage module, an equipment driving module, a judgment module and a state jump module. According to the invention, real-time data transmission and processing can be carried out in a complex industrial network environment so as to ensure the reliability and security of the data of the whole industrial system. Compared with a traditional industrial network communication system, the system has the advantages of being high in data transmission efficiency, low in time delay, high in reliability, high in reusability, excellent in performance, high in configurability, safe and stable in system and the like.

Description

Technical Field

[0001] The present invention belongs to the fields of industrial network communication and network security monitoring, and is a TTP low-latency industrial Ethernet communication system based on ZYNQUltrascale+. The present invention can be used as a highly reliable communication system for low-latency data communication, security monitoring, traffic and fault analysis in a complex large-scale industrial network environment. Background Art

[0002] With the rapid development of the digital information era, vigorously promoting the construction of industrial Internet is an urgent need in China at present. However, with the increasingly complex industrial network environment, problems such as high network data latency and information loss have emerged. At present, the latency of most conventional cloud-based industrial communication systems on the market is in the order of dozens of milliseconds or even hundreds of milliseconds, while the communication architecture based on the edge side has poor versatility and cannot be freely configured and expanded, and can no longer meet the actual needs of large-scale industrial production today and in the future.

[0003] In order to meet the requirements of fast, safe and efficient communication transmission of industrial data, the communication system should not only be able to further compress and reduce latency, but also have characteristics such as reliability, security, system stability and expandability. Summary of the Invention

[0004] The object of the present invention is to provide a TTP low-latency industrial Ethernet communication system based on ZYNQUltrascale+. The whole system consists of a single main controller and N sub-controllers (N = 4 - 20). The hardware structures of the main controller and the sub-controllers are both based on ZYNQUltrascale+. In a complex industrial network environment, the system can accurately and quickly transmit and process data. The main controller distributes the configuration data of the local end or the PC end to the sub-controller cluster composed of multiple sub-controllers, and conducts security monitoring on the status and feedback data of the whole sub-controller cluster. Each sub-controller performs low-latency data transmission based on the idea of time division multiplexing according to the distributed configuration data. Each sub-controller sends its own feedback data within its corresponding transmission time, otherwise forwards the feedback data of the other sub-controllers. Finally, the main controller collects the feedback data of each sub-controller, makes corresponding time slot adjustments, and statistically integrates the data and transmits it back to the PC end through a 10 Gigabit optical port.

[0005] The specific technical solution for realizing the object of the present invention is as follows: A TTP low-latency industrial Ethernet communication system based on ZYNQUltrascale+ is characterized in that the system consists of a single main controller and N sub-controllers, and includes a data input module, an input selection module, an application layer data extraction module, an internal Ethernet transceiver module, a system status monitoring module, a time slot adjustment module, a status record integration module, a data storage module, an external Ethernet sending module, an interleaved communication module, a data arbitration module, a custom protocol packet assembly module, a data acquisition module, a dynamic data processing module, a parameter storage module, a device driver module, a decision module and a status jump module. The main controller includes a data input module, an input selection module, an application layer data extraction module, an internal Ethernet transceiver module, a system status monitoring module, a time slot adjustment module, a status record integration module, a data storage module, and an external Ethernet sending module. The sub-controller includes an interleaved communication module, a data arbitration module, a custom protocol packet assembly module, a dynamic data processing module, a parameter storage module, a data acquisition module, a device driver module, a decision module and a status jump module; The data input module is connected to the input selection module and is used to receive user data from the local end or the PC end and input it to the subsequent stage, including the operation parameters of the sub-controller and the configuration data of the industrial equipment; The input selection module is respectively connected to the data input module and the application layer data extraction module, and is used to select the input data in the data input module, classify it into local data and PC end data, and transmit it to the subsequent stage for parsing; The application layer data extraction module is respectively connected to the input selection module, the internal Ethernet transceiver module, the system status monitoring module and the data storage module, and is used to unload the configuration data transmitted by the input selection module at the data link layer, network layer and transport layer, extract the application layer data therein and repackage it into AXI timing protocol data and transmit it to the internal Ethernet transceiver module, the system status monitoring module and the data storage module; The internal Ethernet transceiver module is respectively connected to the application layer data extraction module, the system status monitoring module and the interleaved communication module, and is used to transmit the application layer data packaged by the application layer data extraction module and the self-generated system synchronization frame to the interleaved communication module of the sub-controller, and receive the feedback data of the sub-controller transmitted by the interleaved communication module and input the feedback data into the system status monitoring module; The system status monitoring module is respectively connected to the application layer data extraction module, the internal Ethernet transceiver module, the time slot adjustment module, and the status record integration module, and is used to monitor the running status of each sub-controller in the system, compare the data transmitted by the application layer data extraction module and the internal Ethernet transceiver module, extract the time slot offset, and transmit the result to the time slot adjustment module; the system status monitoring module analyzes the running status of each sub-controller in the feedback data and transmits the result to the status record integration module; The time slot adjustment module is connected to the system status monitoring module, and is used to calculate the time slot adjustment value according to the time slot offset transmitted by the system status monitoring module, and send it back to the system status monitoring module; The status record integration module is respectively connected to the system status monitoring module and the data storage module, and is used to statistically integrate the status information of the system sub-controllers transmitted by the system status monitoring module, and transmit the statistical information to the data storage module; The data storage module is respectively connected to the application layer data extraction module, the status record integration module, and the external Ethernet sending module, and is used to store the configuration data, feedback data, and running status information of each sub-controller, and transmit them to the external Ethernet sending module; The external Ethernet sending module is connected to the data storage module, and is used to extract the system data stored in the data storage module and transmit it to the PC through the 10 Gigabit optical port; The interleaved communication module is respectively connected to the internal Ethernet transceiver module, the data arbitration module, the dynamic data processing module, and the interleaved communication module of the adjacent sub-controller, and is used to input the configuration data transmitted by the internal Ethernet transceiver module and the working data of the interleaved communication module of the adjacent sub-controller into the dynamic data processing module, and perform autonomous sending or forwarding of other sub-controller data according to the arbitration result of the data arbitration module; The data arbitration module is respectively connected to the interleaved communication module, the custom protocol packet assembly module, and the status jump module, and is used to judge whether to send the feedback data completed by the custom protocol packet assembly module or forward the data of the remaining sub-controllers received through the interleaved communication module according to the sub-controller time status result transmitted by the status jump module; The custom protocol packet assembly module is respectively connected to the data arbitration module and the dynamic data processing module, and is used to extract the feedback data provided by the dynamic data processing module and perform data packet packaging and encapsulation according to the custom frame format, and transmit the data packet to the data arbitration module; The data acquisition module is respectively connected to the dynamic data processing module and the decision module, and is used to collect the actual working data of the industrial equipment and transmit the data to the dynamic data processing module and the decision module; The dynamic data processing module is respectively connected to the interleaved communication module, the custom protocol packet assembly module, the data acquisition module, the parameter storage module, and the device driver module, and is used to extract the configuration data transmitted by the interleaved communication module according to its own device number, and transmit the extraction result to the parameter storage module and the device driver module; the dynamic data processing module receives the actual working data of the device transmitted by the data acquisition module and provides it to the custom protocol packet assembly module; The parameter storage module is respectively connected to the dynamic data processing module, the decision module, and the state jump module, and is used to receive and store the processing result of the dynamic data processing module, and transmit the result to the decision module and the state jump module; The device driver module is connected to the dynamic data processing module, and is used to receive the configuration data provided by the dynamic data processing module and drive the actual industrial device according to this data; The decision module is respectively connected to the data acquisition module, the parameter storage module, and the state jump module, and is used to compare the differences between the device feedback data and the configuration data and the operating state of the sub-controller, and make the result of the fault decision; The state jump is connected to the data arbitration module, the parameter storage module, and the decision module, and is used to perform the working state jump of the sub-controller according to the system configuration data (including the controller link position, the transmission time slot position, and the transmission time slot length) stored in the parameter storage module, and transmit the real-time state to the data arbitration module and the decision module; The data input module includes a local receiving module and an external Ethernet receiving module. The local receiving module is connected to the input selection module and is used to transmit the user configuration data input under the local operating system to the input selection module; the external Ethernet receiving module is connected to the input selection module and is used to receive and transmit the configuration data of the PC side to the input selection module.

[0006] The internal Ethernet transceiver module includes an internal Ethernet sending module and an internal Ethernet receiving module. The internal Ethernet sending module is connected to the application layer data extraction module and the interleaved communication module, and is used to transmit the configuration data from the main controller to the sub-controller; the internal Ethernet receiving module is connected to the system status monitoring module and the interleaved communication module, and is used to receive the feedback data of the sub-controller and transmit the data to the system status monitoring module.

[0007] The described interleaved communication module includes a first interleaved communication module and a second interleaved communication module. The first interleaved communication module is respectively connected to the internal Ethernet transmission module, the internal Ethernet reception module, and the second interleaved communication module, and is used to receive the configuration data transmitted by the main controller, send its own feedback data to the main controller, and forward the feedback data of other sub-controllers received by the second interleaved communication module. The second interleaved communication module is respectively connected to the internal Ethernet transmission module, the internal Ethernet reception module, and the first interleaved communication module, and is used to receive the configuration data transmitted by the main controller, send its own feedback data to the main controller, and forward the feedback data of other sub-controllers received by the first interleaved communication module.

[0008] The described state jump module, based on the idea of dynamic jump, extracts in real time the slot position and slot length information of each sub-controller stored in the parameter storage module to complete the state jump, so as to achieve time synchronization between the sub-controllers, send its own feedback data within its corresponding transmission slot, otherwise perform the action of forwarding the feedback data of the remaining sub-controllers.

[0009] Among them, after the data input module receives the user configuration data from the local end or the PC end, it forwards the configuration data to the input selection module.

[0010] The input selection module classifies and selects the input data to form a data stream for subsequent processing.

[0011] The application layer data extraction module unloads the data link layer, network layer, and transport layer protocols of the input data according to the frame format, repackages the application layer data according to the format requirements of the AXI timing, and synchronously forwards the packaged data stream to the system status monitoring module, the data storage module, and the internal Ethernet transceiver module.

[0012] After the internal Ethernet transceiver module receives the data transmitted by the application layer data extraction module, the main controller directly forwards it bidirectionally to the adjacent sub-controller, and when there is no updated configuration data at the input end, it sends a synchronization frame within each TDMA cycle to ensure that the controllers on the link are in the time synchronization state; after receiving the data of the sub-controller transmitted by the interleaved communication module, it forwards it to the system status monitoring module.

[0013] After the system status monitoring module receives the data transmitted by the application layer data extraction module, it analyzes the controller slot position and slot length therein, and performs preliminary time synchronization based on this to enter the system monitoring state. In each TDMA cycle, the system status monitoring module will perform status monitoring according to the feedback data and feedback time of the sub-controller, calculate the slot offset and transmit it to the slot adjustment module, and adjust the slot length of the controller according to the feedback result of the slot adjustment module, and put its adjustment result into the synchronization frame.

[0014] The time slot adjustment module calculates the adjustment result according to the error adjustment algorithm based on the time slot offset transmitted by the system status monitoring module, and feeds the result back to the system status monitoring module.

[0015] After one of the ports of the interleaved communication module receives the configuration data from the main controller or the feedback data from other sub-controllers, it immediately forwards the data through the other port, and synchronously transmits the data stream to the dynamic data processing module for subsequent processing.

[0016] The dynamic data processing module parses the received configuration data according to the frame format, stores the controller time slot position and time slot length in the parameter storage module, synchronously extracts the working operation parameters of the industrial equipment, transmits them to the equipment drive module, and receives the real-time working data of the equipment transmitted by the data acquisition module, integrates it and sends it to the custom protocol packet assembly module.

[0017] The equipment drive module drives the equipment according to the transmitted equipment working parameters.

[0018] The data acquisition module collects the actual working data of the equipment within the preset time and transmits the acquisition result to the dynamic data processing module.

[0019] When the equipment conducts data feedback, the custom protocol packet assembly module assembles the link sub-controller status data and the equipment feedback data according to the custom frame format conforming to the TTP specification as the feedback data packet. Otherwise, between two feedbacks of the equipment, only the link sub-controller status data is assembled as the breathing packet. After the packet assembly is completed, the data packet is sent to the data selection module.

[0020] The status jump module dynamically jumps between its own sending status and listening status according to the corresponding time slot information of the sub-controller stored in the parameter storage module, and forwards the real-time status result to the data selection module and the decision module.

[0021] The data selection module makes a choice between sending its own data packet or forwarding the data packets of other sub-controllers according to the current status information provided by the status jump module, and completes the data sending through the interleaved communication module.

[0022] The decision module determines whether the working status of the current system is safe based on the preset parameters in the parameter storage module and the actual status jump result.

[0023] The data storage module stores and integrates the feedback data of the sub-controller and forwards it to the external Ethernet sending module.

[0024] After the external Ethernet sending module receives the feedback data, it packs the data in the TCP / UDP protocol frame format and sends it to the PC through the 10 Gigabit optical port.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows: a. Both the main controller and the sub - controller of the present invention use the PL part of ZYNQUltrascale+ to complete the parsing, sending and receiving, detection of network data, and the functional logic of the system core. It fully utilizes the advantages of high concurrency of FPGA and trading area for speed, ensuring the real - time performance of the entire large - scale industrial network communication and greatly improving the communication efficiency.

[0026] b. The present invention realizes a brand - new network architecture based on the TTP protocol. A single main controller and multiple sub - controllers are connected in a ring through 10 Gigabit optical ports. It can not only ensure the security and reliability of the whole system based on the TTP concept, but also raise the communication rate to 10 Gigabit, further improving compared with the conventional 4M / 25M TTP underlying communication rate.

[0027] c. For the logic design part of the main controller and the sub - controller, the present invention adopts the design idea of reusability and distribution, ensuring that the logic wiring of each controller is the same, further reducing the global clock difference between controllers and improving the accuracy of time synchronization.

[0028] d. The core processing logic of the present invention does not depend on the operating system and is all completed by the hardware bottom layer, so the system has strong portability and high configurability.

[0029] e. The present invention can not only achieve efficient data communication, but also has the functions of security monitoring and high - resolution video monitoring. Therefore, the overall system has strong security and high reliability. Brief Description of the Drawings

[0030] Figure 1 is the structural block diagram of the present invention; Figures 2 - 3 is the schematic diagram of the working process of the present invention. Detailed Embodiments

[0031] The present invention will be described in detail below with reference to the drawings.

[0032] Refer to Figure 1 , the present invention is an industrial communication system based on ZYNQUltrascale+ composed of a single main controller and N sub - controllers. Both the main controller and the sub - controllers are developed based on the ZYNQUltrascale+ series chip xczu7ev - ffvc1156 - 2 - e. In the figure, the direction of the arrow represents the flow direction of the data stream.

[0033] In the present invention, the main controller includes a data input module 1, an input selection module 2, an application layer data extraction module 3, an internal Ethernet transceiver module 4, a system status monitoring module 5, a time slot adjustment module 6, a status record integration module 7, a data storage module 8, and an external Ethernet sending module 9. The sub - controller includes an interleaved communication module 10, a data arbitration module 11, a custom protocol packet assembly module 12, a data acquisition module 13, a dynamic data processing module 14, a parameter storage module 15, a device driver module 16, a decision - making module 17, and a status jump module 18. Among them, the data input module, the input selection module, the application layer data extraction module, the internal Ethernet transceiver module, the system status monitoring module, the time slot adjustment module, the status record integration module, the data storage module, and the external Ethernet sending module are jointly controlled by the programmable logic unit, the high - speed transceiver GTH, and the embedded static storage device on the PL side of the main controller xczu7ev - ffvc1156 - 2 - e chip; the interleaved communication module, the data arbitration module, the custom protocol packet assembly module, the dynamic data processing module, the parameter storage module, and the status jump module are jointly controlled by the programmable logic unit, the high - speed transceiver GTH, and the embedded static storage device on the PL side of the sub - controller xczu7ev - ffvc1156 - 2 - e chip; the data acquisition module and the device driver module are jointly controlled by the PL side and the PS side of the sub - controller xczu7ev - ffvc1156 - 2 - e chip according to the AXI - UART bus protocol; the decision - making module is controlled by the micro - controller on the PS side of the sub - controller xczu7ev - ffvc1156 - 2 - e chip; The data input module 1 is connected to the input selection module 2 and is used to receive user data from the local end or the PC end and input it to the subsequent stage, including the operating parameters of the sub - controller and the configuration data of the industrial equipment operation.

[0034] The input selection module 2 is respectively connected to the data input module 1 and the application layer data extraction module 3, and is used to select the input data in the data input module 1, classify it into local data and PC - end data, and transmit it to the subsequent - stage parsing.

[0035] The application layer data extraction module 3 is respectively connected to the input selection module 2, the internal Ethernet transceiver module 4, the system status monitoring module 5, and the data storage module 8, and is used to unload the configuration data transmitted by the input selection module 2 at the data link layer, network layer, and transport layer, extract the application layer data therein, and repackage it into AXI timing protocol data and transmit it to the internal Ethernet transceiver module 4, the system status monitoring module 5, and the data storage module 8.

[0036] The internal Ethernet transceiver module 4 is respectively connected to the application layer data extraction module 3, the system status monitoring module 5, and the interleaved communication module 10, and is used to transmit the application layer data packaged by the application layer data extraction module 3 and the self-generated system synchronization frame to the interleaved communication module 10 of the sub-controller, and receive the feedback data of the sub-controller transmitted by the interleaved communication module 10, and input the feedback data into the system status monitoring module 5.

[0037] The system status monitoring module 5 is respectively connected to the application layer data extraction module 3, the internal Ethernet transceiver module 4, the time slot adjustment module 6, and the status record integration module 7, and is used to monitor the operating status of each sub-controller in the system, compare the data transmitted by the application layer data extraction module 3 and the internal Ethernet transceiver module 4, extract the time slot offset, and transmit the result to the time slot adjustment module 6; the system status monitoring module 5 analyzes the operating status of each sub-controller in the feedback data and transmits the result to the status record integration module 7.

[0038] The time slot adjustment module 6 is connected to the system status monitoring module 5, and is used to calculate the time slot adjustment value according to the time slot offset transmitted by the system status monitoring module 5 and send it back to the system status monitoring module 5.

[0039] The status record integration module 7 is respectively connected to the system status monitoring module 5 and the data storage module 8, and is used to statistically integrate the status information of the system sub-controllers transmitted by the system status monitoring module 5 and transmit the statistical information to the data storage module 8.

[0040] The data storage module 8 is respectively connected to the application layer data extraction module 3, the status record integration module 7, and the external Ethernet sending module 9, and is used to store the configuration data, feedback data, and operating status information of each sub-controller and transmit them to the external Ethernet sending module 9.

[0041] The external Ethernet sending module 9 is connected to the data storage module 8, and is used to extract the system data stored in the data storage module 8 and transmit it to the PC side through a 10 Gigabit optical port.

[0042] The interleaved communication module 10 is respectively connected to the internal Ethernet transceiver module 4, the data arbitration module 11, the dynamic data processing module 14, and the interleaved communication module 10 of the adjacent sub-controller, and is used to input the configuration data transmitted by the internal Ethernet transceiver module 10 and the working data of the interleaved communication module 10 of the adjacent sub-controller into the dynamic data processing module 12, and perform autonomous sending or forwarding of other sub-controller data according to the arbitration result of the data arbitration module 11.

[0043] The data arbitration module 11 is respectively connected to the interleaved communication module 10, the custom protocol packet assembly module 12, and the status jump module 18, and is used to judge whether to send the feedback data completed by the custom protocol packet assembly module 12 or forward the data of the remaining sub - controllers received through the interleaved communication module 10 at the current time according to the sub - controller time status result transmitted by the status jump module 18.

[0044] The custom protocol packet assembly module 12 is respectively connected to the data arbitration module 11 and the dynamic data processing module 14, and is used to extract the feedback data provided by the dynamic data processing module 14, perform data packet packaging according to the custom frame format, and transmit the data packet to the data arbitration module 11.

[0045] The data acquisition module 13 is respectively connected to the dynamic data processing module 14 and the judgment module 17, and is used to acquire the actual working data of the industrial equipment and transmit the data to the dynamic data processing module 14 and the judgment module 17.

[0046] The dynamic data processing module 14 is respectively connected to the interleaved communication module 10, the custom protocol packet assembly module 12, the data acquisition module 13, the parameter storage module 15, and the device driver module 16. It is used to extract the configuration data transmitted by the interleaved communication module 10 according to its own device number, and transmit the extraction result to the parameter storage module 15 and the device driver module 16. The dynamic data processing module 14 receives the actual working data of the device transmitted by the data acquisition module 13 and provides it to the custom protocol packet assembly module 12.

[0047] The parameter storage module 15 is respectively connected to the dynamic data processing module 14, the judgment module 17, and the status jump module 18, and is used to receive and store the processing result of the dynamic data processing module 14, and transmit the result to the judgment module 17 and the status jump module 18.

[0048] The device driver module 16 is connected to the dynamic data processing module 14, and is used to receive the configuration data provided by the dynamic data processing module 14 and drive the actual industrial equipment according to this data.

[0049] The judgment module 17 is respectively connected to the data acquisition module 13, the parameter storage module 15, and the status jump module 18, and is used to compare the differences between the device feedback data and the configuration data and the operating status of the sub - controller, and make the result of the fault judgment.

[0050] The state transition 18 is connected to the data arbitration module 11, the parameter storage module 15, and the decision module 17, and is used to perform the working state transition of the sub-controller according to the system configuration data (including the controller link position, the transmission time slot position, and the transmission time slot length) stored in the parameter storage module 15, and transmit the real-time state information to the data arbitration module 11 and the decision module 17.

[0051] The data input module 1 includes a local reception module 19 and an external Ethernet reception module 20. The local reception module 19 is connected to the input selection module 2 and is used to transmit the user configuration data input under the local operating system to the input selection module 2; the external Ethernet reception module 19 is connected to the input selection module 2 and is used to receive and transmit the configuration data of the PC side to the input selection module 2.

[0052] The internal Ethernet transceiver module 4 includes an internal Ethernet transmission module 41 and an internal Ethernet reception module 42. The internal Ethernet transmission module 41 is connected to the application layer data extraction module 3 and the interleaved communication module 10, and is used to transmit the configuration data from the main controller to the sub-controller; the internal Ethernet reception module 42 is connected to the system status monitoring module 5 and the interleaved communication module 10, and is used to receive the feedback data of the sub-controller and transmit the data to the system status monitoring module 5.

[0053] The interleaved communication module 10 includes a first interleaved communication module 22 and a second interleaved communication module 23. The first interleaved communication module 22 is respectively connected to the internal Ethernet transmission module 41, the internal Ethernet reception module 42, and the second interleaved communication module 23, and is used to receive the configuration data transmitted by the main controller, send its own feedback data to the main controller, and forward the feedback data of other sub-controllers received by the second interleaved communication module 23; the second interleaved communication module 23 is respectively connected to the internal Ethernet transmission module 41, the internal Ethernet reception module 42, and the first interleaved communication module 22, and is used to receive the configuration data transmitted by the main controller, send its own feedback data to the main controller, and forward the feedback data of other sub-controllers received by the first interleaved communication module 22.

[0054] The functions implemented by the present invention mainly include five functions: network data packet data offloading and reconstruction, custom network protocol packet assembly, low-latency, high-reliability, and high-security communication of the industrial network system, system network security monitoring, and industrial network data statistical analysis.

[0055] See Figure 2 , Figure 3 , the present invention works as follows: After the device is powered on and started, the main controller starts to work. See Figure 2After power-on startup, the user can input the configuration data of the system at the local end or the PC end. The data input module receives this part of the data and transmits it to the input selection module. The input selection module classifies the data and integrates a complete data stream. The application layer data extraction module extracts the application layer part of the data stream, repackages it according to the AXI protocol format, and forwards the packaged data to the data storage module, the system security monitoring module, and the internal Ethernet sending module. The data storage module stores the preset configuration data. The internal Ethernet sending module simultaneously forwards the packaged data stream to the adjacent sub-controller. After receiving the packaged data, the system security monitoring module extracts the time slot information and device information therein and enters the security monitoring state accordingly. During operation, the internal Ethernet receiving module continuously receives the feedback data sent by the sub-controller. The system security monitoring module extracts the time slot offset according to the content and arrival time of the feedback data and sends it to the time slot adjustment module and the data storage module. The time slot adjustment module calculates the time adjustment value of the entire system according to the time slot offsets of different controllers and sends it back to the system security monitoring module for a new round of system monitoring. The external Ethernet sending module extracts the feedback data in the data storage module in real time and uses the TCP / UDP protocol to packetize and send the feedback data to the PC end.

[0056] See Figure 3 , the sub-controller starts working after receiving the configuration data sent by the master controller for the first time. The interleaved communication module forwards the data to the dynamic data processing module. The dynamic data processing module extracts the specific data according to the controller's own number and classifies it into time slot information and device configuration information and stores it in the parameter storage module. The device driver module extracts the device configuration information and performs corresponding device driving. The state jump module extracts the time slot information in the parameter storage module, uses this as the standard for initial time slot synchronization, and performs a state jump. The data acquisition module continuously performs periodic acquisition after the configuration data arrives and sends the acquisition results to the dynamic data processing module for caching and statistics. The data selection module continuously monitors the current time of the system and determines whether it is the time slot for its own data transmission. When the system detects that the current time is the time slot for its own data transmission, the data selection module sends the feedback data packet generated by the custom protocol packetizing module when there is new feedback data, otherwise it will select to send a heartbeat packet to the interleaved communication module for data transmission; if the current is not its own transmission time slot, the data selection module will select to forward the data received by the interleaved communication module to the adjacent sub-controller. During the operation of the entire system, the decision-making module performs decision analysis on system failures based on the comprehensive comparison of preset parameters, actual state jump situations, and feedback data.

Claims

1. A TTP low-latency industrial Ethernet communication system based on ZYNQ Ultrascale+, characterized in that: The system is composed of a single main controller and N sub-controllers. The main controller includes a data input module (1), an input selection module (2), an application layer data extraction module (3), an internal Ethernet transceiver module (4), a system status monitoring module (5), a time slot adjustment module (6), a status record integration module (7), a data storage module (8) and an external Ethernet transmission module (9). The sub-controller includes an interleaved communication module (10), a data arbitration module (11), a custom protocol package module (12), a data acquisition module (13), a dynamic data processing module (14), a parameter storage module (15), a device driver module (16), a judgment module (17) and a status jump module (18). The data input module (1) is connected to the input selection module (2) and is used to receive user data from a local terminal or a PC terminal and input it to a subsequent stage, including sub-controller operation parameters and configuration data of industrial equipment operation; The input selection module (2) is connected to the data input module (1) and the application layer data extraction module (3) respectively, and is used to select the input data in the data input module (1), classify it into local data and PC end data, and transmit it to the subsequent analysis; The application layer data extraction module (3) is respectively connected to the input selection module (2), the internal Ethernet transceiver module (4), the system status monitoring module (5) and the data storage module (8), and is used to unload the configuration data transmitted by the input selection module (2) at the data link layer, the network layer and the transport layer, extract the application layer data therein and repackage it into AXI timing protocol data and transmit it to the internal Ethernet transceiver module (4), the system status monitoring module (5) and the data storage module (8); The internal Ethernet transceiver module (4) is respectively connected to the application layer data extraction module (3), the system status monitoring module (5) and the interleaving communication module (10), and is used to transmit the application layer data packaged by the application layer data extraction module (3) and the self-generated system synchronization frame to the interleaving communication module (10) of the sub-controller, and receive feedback data of the sub-controller transmitted by the interleaving communication module (10), and input the feedback data into the system status monitoring module (5); The system status monitoring module (5) is respectively connected to the application layer data extraction module (3), the internal Ethernet transceiver module (4), the time slot adjustment module (6) and the status record integration module (7), and is used to monitor the operating status of each sub-controller in the system, compare the data transmitted by the application layer data extraction module (3) and the internal Ethernet transceiver module (4), extract the time slot offset, and transmit the result to the time slot adjustment module (6); the system status monitoring module (5) analyzes the operating status of each sub-controller in the feedback data and transmits the result to the status record integration module (7); The time slot adjustment module (6) is connected to the system status monitoring module (5) and is used to calculate the time slot adjustment value according to the time slot offset transmitted by the system status monitoring module (5), and transmit the calculated value back to the system status monitoring module (5); The state record integration module (7) is connected to the system state monitoring module (5) and the data storage module (8) respectively, and is used to statistically integrate the state information of the system sub-controllers transmitted by the system state monitoring module (5), and transmit the statistical information to the data storage module (8); The data storage module (8) is respectively connected to the application layer data extraction module (3), the status record integration module (7) and the external Ethernet transmission module (9), and is used to store the configuration data, feedback data and operation status information of each sub-controller, and transmit them to the external Ethernet transmission module (9); The external Ethernet transmission module (9) is connected to the data storage module (8) and is used to extract the system data stored in the data storage module (8) and transmit it to the PC end through the 10 Gigabit optical port; The interleaved communication module (10) is respectively connected to the internal Ethernet transceiver module (4), the data arbitration module (11), the dynamic data processing module (14) and the interleaved communication module (10) of the adjacent sub-controller, and is used to input the configuration data transmitted by the internal Ethernet transceiver module (4) and the working data of the interleaved communication module (10) of the adjacent sub-controller into the dynamic data processing module (12), and autonomously send or forward other sub-controller data according to the arbitration result of the data arbitration module (11); The data arbitration module (11) is respectively connected to the interleaving communication module (10), the custom protocol packaging module (12) and the state jump module (18), and is used to determine whether to send the feedback data packaged by the custom protocol packaging module (12) at the current time or to forward the data of the remaining sub-controllers received through the interleaving communication module (10) according to the sub-controller time state result transmitted by the state jump module (18); The custom protocol packet assembly module (12) is respectively connected to the data arbitration module (11) and the dynamic data processing module (14), and is used to extract the feedback data provided by the dynamic data processing module (14), perform data packaging and encapsulation according to the custom frame format, and transmit the data packet to the data arbitration module (11); The data acquisition module (13) is connected to the dynamic data processing module (14) and the judgment module (17) respectively, and is used to collect actual working data of the industrial equipment and transmit the data to the dynamic data processing module (14) and the judgment module (17); The dynamic data processing module (14) is respectively connected to the interleaving communication module (10), the custom protocol packaging module (12), the data acquisition module (13), the parameter storage module (15) and the device driver module (16), and is used to extract the configuration data transmitted by the interleaving communication module (10) according to its own device number, and transmit the extraction result to the parameter storage module (15) and the device driver module (16); the dynamic data processing module (14) receives the actual working data of the device transmitted by the data acquisition module (13), and provides it to the custom protocol packaging module (12); The parameter storage module (15) is respectively connected to the dynamic data processing module (14), the decision module (17) and the state jump module (18), and is used to receive and store the processing result of the dynamic data processing module (14), and transmit the result to the decision module (17) and the state jump module (18); The device driving module (16) is connected to the dynamic data processing module (14) and is used to receive the configuration data provided by the dynamic data processing module (14) and drive the actual industrial equipment according to the data; The judgment module (17) is respectively connected to the data acquisition module (13), the parameter storage module (15) and the state jump module (18), and is used to compare the difference between the device feedback data and the configuration data and the operating state of the sub-controller, and make a fault judgment result; The state jump (18) is connected to the data arbitration module (11), the parameter storage module (15) and the decision module (17), and is used to jump the working state of the sub-controller according to the system configuration data (including the controller link position, the transmission time slot position, and the transmission time slot length) stored in the parameter storage module (15), and transmit the real-time state status to the data arbitration module (11) and the decision module (17).

2. The TTP low-latency industrial Ethernet communication system according to claim 1, characterized in that: The data input module (1) comprises a local receiving module (19) and an external Ethernet receiving module (20); the local receiving module (19) is connected to the input selection module (2) and is used to transmit user configuration data input in the local operating system to the input selection module (2); the external Ethernet receiving module (19) is connected to the input selection module (2) and is used to receive configuration data from the PC and transmit it to the input selection module (2).

3. The TTP low-latency industrial Ethernet communication system according to claim 1, characterized in that: The internal Ethernet transceiver module (4) comprises an internal Ethernet sending module (41) and an internal Ethernet receiving module (42); the internal Ethernet sending module (41) is connected to the application layer data extraction module (3) and the interleaving communication module (10) and is used to transmit configuration data from the main controller to the sub-controller; the internal Ethernet receiving module (42) is connected to the system status monitoring module (5) and the interleaving communication module (10) and is used to receive feedback data from the sub-controller and transmit the data to the system status monitoring module (5).

4. The TTP low-latency industrial Ethernet communication system according to claim 1, characterized in that: The interleaved communication module (10) comprises a first interleaved communication module (22) and a second interleaved communication module (23); the first interleaved communication module (22) is respectively connected to the internal Ethernet sending module (41), the internal Ethernet receiving module (42) and the second interleaved communication module (23), and is used for receiving the configuration data transmitted by the main controller, sending its own feedback data to the main controller and forwarding the feedback data of other sub-controllers received by the second interleaved communication module (23); the second interleaved communication module (23) is respectively connected to the internal Ethernet sending module (41), the internal Ethernet receiving module (42) and the first interleaved communication module (22), and is used for receiving the configuration data transmitted by the main controller, sending its own feedback data to the main controller and forwarding the feedback data of other sub-controllers received by the first interleaved communication module (22).

5. The TTP low-latency industrial Ethernet communication system according to claim 1, characterized in that: The state jump module (18) is based on the concept of dynamic jump, and extracts the time slot position and time slot length information of each sub-controller stored in the parameter storage module (15) in real time to complete the state jump, so as to achieve time synchronization between the sub-controllers, and send its own feedback data in the corresponding sending time slot, otherwise it executes the action of forwarding the feedback data of other sub-controllers.

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