Multi-network synchronous measurement and control system and method for strong real-time network measurement and control

Abstract

The invention discloses a multi-network synchronous measurement and control system and method for strong real-time network measurement and control. The multi-network synchronous measurement and control system comprises a master PXIE industrial personal computer, a plurality of slave industrial personal computers, a TTE core switch, a Glink optical fiber network switch and an Ethercat switch. The main PXIE industrial personal computer is used as a core time service server, and a TTE network communication node board card is loaded on the main PXIE industrial personal computer; tTE network communication node board cards are loaded on the slave industrial personal computers, and Glink network communication node board cards and / or Ethercat network communication node board cards are loaded on the slave industrial personal computers according to needs; the slave industrial personal computer is in hardware connection with the master PXIE industrial personal computer through the TTE core switch, obtains time service from the master PXIE industrial personal computer through a registration mechanism and performs data synchronization; and the TTE core switch, the Glink optical fiber network switch and the Ethercat switch are used for respectively providing communication support for the corresponding types of network communication node board cards.

Description

Technical Field

[0001] The present invention relates to a multi-network synchronous measurement and control system and method for strong real-time network measurement and control, and belongs to the technical field of measurement and control. Background Technique

[0002] Real-time network measurement and control technology refers to the measurement and control technology that uses real-time network communication technologies such as ETHERCAT, domestic TTE, and domestic GLINK to form a real-time network for the object to be measured and complete the entire process of control and testing. Real-time network measurement and control technology is mainly applied to ships, aviation, aerospace, and automated industrial production lines, mainly using the characteristics of strong real-time, high bandwidth, good stability and versatility of real-time network communication to solve the strong real-time measurement and control and high-precision synchronization test requirements of the object to be measured, sensors, and the main control end.

[0003] Chinese Patent CN201410425989.0, a novel fully digital measurement and control method, only mentions using ETHERCAT to synchronize with field bus devices such as 1553B and CAN to obtain measurement and control feedback signals; Chinese Patent CN202310925132.4, a method for configuring and maintaining the MAC address table of a spaceborne dual-redundant TTE network, only mentions using the TTE time synchronization Ethernet protocol of the United States and European standards to implement the configuration and maintenance of the network MAC address table and the flexible communication function with the ground ordinary Ethernet; Chinese Patent CN202310987506.5, a TTE network system and its design method under the on-chip network architecture of a test device, only mentions using the AXI4 protocol interface to interface with the TTE service layer network scheduling system in an embedded measurement and control device system to implement the TTE real-time Ethernet communication function; Chinese Patent CN202310636040.4, an FC-AE-1553 boundary clock port status configuration method and system, only mentions using the broadcast of Announce frames inside the FC-AE-1553 bus to respectively determine the configuration status information of each target port of each boundary clock and perform status configuration to achieve the real-time synchronization function of each port inside the FC-AE-1553 bus; Chinese Patent CN202310636753.0, a multi-domain dynamic control method, system, and application based on the FC-AE-1553 network, only mentions using multi-domain dynamic control in the FC-AE-1553 network to optimize network bandwidth and strong real-time network communication. The above patents only mention the problems of synchronous triggering and real-time testing inside the strong real-time network communication or between the ordinary Ethernet and the real-time field bus, and do not consider the multi-network synchronous measurement and control problem between multiple strong real-time networks. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: aiming at the synchronization and real-time problems between the test data obtained by using multiple strong real-time network communications during multiple strong real-time network test experiments, a multi-network synchronous measurement and control system and method for strong real-time network measurement and control are proposed, which meet the high-precision synchronization and strong real-time test experiment requirements between multiple strong real-time network communication data acquisitions.

[0005] The object of the present invention is realized by the following technical solutions:

[0006] In the first aspect, the present invention provides a multi-network synchronous measurement and control system for strong real-time network measurement and control, including a main PXIE industrial control computer, several slave industrial control computers, and a TTE core switch, a Glink fiber optic network switch, and an Ethercat switch;

[0007] The main PXIE industrial control computer is used as the core timing server, on which a TTE network communication node board is loaded; several slave industrial control computers, on which TTE network communication node boards are loaded, and Glink network communication node boards and / or Ethercat network communication node boards are loaded as needed; the slave industrial control computers are hardware-connected to the main PXIE industrial control computer through the TTE core switch and obtain timing and data synchronization from the main PXIE industrial control computer through the registration mechanism; the TTE core switch, the Glink fiber optic network switch, and the Ethercat switch are used to provide communication support for the corresponding types of network communication node boards respectively.

[0008] In the second aspect, a measurement and control method based on the multi-network synchronous measurement and control system described in the first aspect includes:

[0009] S1. The TTE network switch will send heartbeats to the devices accessing the network at regular intervals; after the core PXIE industrial control computer starts, it will initialize the timing service and the service list, and listen for the access requests of each slave industrial control computer that needs to perform strong real-time processing;

[0010] S2. After receiving the heartbeat of the TTE network switch, the core PXIE industrial control computer will traverse the service list and send timing messages to all slave industrial control computers registered to the timing service;

[0011] S3. After each slave industrial control computer starts, it will establish communication sub-threads under the relevant protocol according to its own business needs respectively, wait for the program initialization to complete, and at the same time initialize the timing sub-thread, and send a registration request to the core PXIE industrial control computer through the registration mechanism;

[0012] S4. After receiving the registration request, the core PXIE industrial control computer will add the slave industrial control computer to the service list;

[0013] After the slave industrial computer receives the time synchronization message, it extracts the timestamp information, injects the time into the communication sub-thread through memory sharing, and drives the communication sub-thread to perform communication and data interaction.

[0014] Based on the first or second aspect, in an embodiment of the present invention, the Ethercat network communication node board is used to collect sensor signals, the Glink network communication node board is used to collect servo system control signals, and the TTE network communication node board is used to collect servo system main controller data, and the synchronous upload and telemetry functions of the collected data are realized based on three real-time network communications.

[0015] Based on the first or second aspect, in an embodiment of the present invention, the test experiment software on the slave industrial computer will respectively establish a time synchronization sub-thread and a communication sub-thread after startup. Memory spaces are respectively provided on the main PXIE industrial computer and each slave industrial computer, and the memory sharing and mapping mechanism is adopted to map the data in the time synchronization sub-thread completely and in real time into the communication sub-thread.

[0016] In an embodiment of the present invention, a data buffer area and a synchronous data area are defined in the shared memory space; the data in both areas are organized in the form of queues, and mutex locks are set to ensure that only one thread can read and write the data at the same time, so as to ensure the integrity and consistency of the data.

[0017] In an embodiment of the present invention, the data in the data buffer area is used as a resource and is managed in the producer-consumer mode: the communication sub-thread, as the producer, adds the collected data to the data buffer queue as long as it collects data; as long as the time synchronization sub-thread receives the time synchronization signal, it takes the data from the data buffer queue, marks the data with a timestamp, and stores it in the synchronous data queue.

[0018] The present invention has the following beneficial effects compared with the prior art:

[0019] (1) The present invention uses the high-precision time scale reference signal generated by the TTE core switching network time synchronization technology as the trigger signal and standard clock signal for GLINK and ETHERCAT real-time network communications, realizes multi-network synchronous measurement and control among multiple strong real-time networks, reduces the test time error of test data among multiple real-time networks, and improves the synchronization and real-time performance of test data among multiple strong real-time networks.

[0020] (2) The high-precision time scale reference signal of the TTE real-time network obtained by the memory mapping technology used in the present invention can not only be used as the trigger signal and standard clock signal for GLINK and ETHERCAT real-time network communications, but also be used as the clock reference of the entire measurement and control system to calibrate the overall data of the finally obtained multi-network synchronous test data, thereby improving its data real-time performance and accuracy.

[0021] (3) The measurement and control device of the present invention that simultaneously uses three strong real-time Ethernet networks, namely TTE, GLINK, and ETHERCAT, can simultaneously achieve the high-precision synchronous measurement and control functions of three strong real-time network communication protocols. Compared with the existing measurement and control method that combines strong real-time networks and real-time digital buses, it has a significant improvement in terms of overall data bandwidth, test accuracy, and real-time performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the composition of the measurement and control device of the present invention and the connection in the test state.

[0023] Figure 2 It is a schematic diagram of the operation of the memory mapping mechanism.

[0024] Figure 3 It is a schematic diagram of the core real-time network architecture of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will further describe the embodiments of the present invention in detail with reference to the accompanying drawings.

[0026] As Figure 1 shown, a multi-network synchronous measurement and control system for strong real-time network measurement and control includes a main PXIE industrial computer (i.e., the core PXIE industrial computer), several slave industrial computers, a TTE core switch, a Glink fiber optic network switch, and an Ethercat switch;

[0027] The main PXIE industrial computer is used as the core time synchronization server, on which a TTE network communication node board is loaded; several slave industrial computers, on which various different network communication boards are loaded as needed (including TTE network communication node boards, Glink network communication node boards, Ethercat network communication node boards). The slave industrial computers are hardware-connected to the main PXIE industrial computer through the TTE core switch and obtain time synchronization and data synchronization from the main PXIE industrial computer through the registration mechanism; the TTE core switch, Glink fiber optic network switch, and Ethercat switch are used to provide communication support for the corresponding types of network communication node boards respectively. The present invention collects sensor signals through the Ethercat network communication node board, collects servo system control signals through the Glink network communication node board, and collects data of the servo system main controller through the TTE network communication node board, and realizes the synchronous upload and telemetry functions of the collected data based on the above three real-time network communications.

[0028] As Figure 2As shown in the figure, the main PXIE industrial control computer and each slave industrial control computer are respectively provided with a memory space. By using the memory sharing and mapping mechanism, the data in the timing thread is completely and real-time mapped to other communication sub-threads, including:

[0029] 1) After the test and experiment software on the slave industrial control computer is started, it will respectively establish a TTE timing sub-thread, a GLINK and an ETHERCAT network communication sub-thread; create a shared memory space and map this shared memory space to the address space of the thread.

[0030] 2) Two areas are defined in the shared memory: a data buffer area and a synchronization data area. The data in both areas is organized in the form of queues, and mutex locks are set to ensure that only one thread can read and write the data at the same time, so as to ensure the integrity and consistency of the data.

[0031] 3) The data in the data buffer area is used as a resource and is managed in the producer-consumer mode: as long as the communication thread collects data (such as sensor data, control data, etc.), it adds it to the data buffer queue; as long as the timing sub-thread receives a timing signal, it takes the data from the data buffer queue, marks the data with a timestamp, and stores it in the synchronization data queue.

[0032] 4) The above-mentioned board card acquisition and TTE timing are carried out at a high frequency, ensuring the accuracy of the data time. Finally, when the communication thread sends data, it can read the data from the synchronization data queue and send it at different frequencies. At this time, the data has been marked with accurate timestamps, ensuring the synchronization and consistency of the data.

[0033] 5) The above processing process should also consider the matching problem between the shared memory size and the communication data volume. When the data volume is too large, the first-in-first-out mechanism of the queue should be considered to discard the data that enters the queue earliest to prevent memory overflow.

[0034] Such as Figure 3 shown, the TTE switch is used as the timing driver and periodically sends network timing frames (heartbeats) to the main industrial control computer node board card. The main industrial control computer, as the timing center, is driven by the switch heartbeat and sends timing messages to all registered slave industrial control computers; the slave industrial control computer synchronously starts the GLINK and ETHERCAT real-time network communication sub-threads and the timing sub-thread in terms of software and hardware. The timing sub-thread is driven by the timing message sent from the main industrial control computer and triggers the time and data synchronization mechanism between multi-threads.

[0035] A multi-network synchronous measurement and control method for strong real-time network measurement and control, including:

[0036] 1) The TTE network switch (TTESwitcher) has the characteristics of high precision and low latency, and will send heartbeats to the devices accessing the network at regular intervals. After the core PXIE industrial computer starts, it will initialize the timing service (Service) and the service list, and listen for the access requests of each slave industrial computer that needs to perform strong real-time processing.

[0037] 2) After receiving the heartbeat from the TTE network switch, the core PXIE industrial computer will traverse the service list (Sublist) and send timing messages to all slave industrial computers (Subscribers) registered to the timing service.

[0038] 3) After each slave industrial computer (Subscriber) starts, it will respectively establish communication sub-threads under the relevant protocol according to its own business needs, and wait for the program initialization to complete; at the same time, it initializes the timing sub-thread and sends a registration request to the core PXIE industrial computer through the registration mechanism.

[0039] 4) After receiving the registration request, the core PXIE industrial computer will add the slave industrial computer to the service list (Sublist).

[0040] 5) After receiving the timing message, the slave industrial computer (Subscriber) will extract the timestamp information, and inject the time into the communication sub-thread through memory sharing, and drive the communication sub-thread to perform communication and data interaction.

[0041] In the above way, with the core TTE switch as the core, the network data transmission is driven in the way of service registration and message response, ensuring the real-time performance of multiple networks.

[0042] The content not described in detail in the specification of the present invention belongs to the well-known technology of those skilled in the art.

[0043] Although the present invention has been disclosed above with preferred embodiments, it is not used to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the technical solution of the present invention all belong to the protection scope of the technical solution of the present invention.

Claims

1. A multi-network synchronous measurement and control system for strong real-time network measurement and control, characterized in that, It includes a main PXIE industrial control computer, several slave industrial control computers, a TTE core switch, a Glink fiber optic network switch, and an Ethercat switch; The main PXIE industrial control computer is used as the core timing server, on which a TTE network communication node board is loaded; several slave industrial control computers, on which a TTE network communication node board is loaded, and a Glink network communication node board and / or an Ethercat network communication node board are loaded as required; the slave industrial control computers are hardware-connected to the main PXIE industrial control computer through the TTE core switch and obtain timing from the main PXIE industrial control computer through the registration mechanism and perform data synchronization; the TTE core switch, the Glink fiber optic network switch, and the Ethercat switch are used to provide communication support for the corresponding types of network communication node boards respectively.

2. The multi-network synchronous measurement and control system according to claim 1, wherein The Ethercat network communication node board is used to collect sensor signals, the Glink network communication node board is used to collect servo system control signals, and the TTE network communication node board is used to collect servo system main controller data, and realizes the synchronous upload and telemetry functions of the collected data based on three real-time network communications.

3. The multi-network synchronous measurement and control system according to claim 1, characterized in that, After the test experiment software on the slave industrial control computer starts, it will respectively establish a timing sub-thread and a communication sub-thread. Memory spaces are respectively provided on the main PXIE industrial control computer and each slave industrial control computer. The memory sharing and mapping mechanism is adopted to map the data in the timing sub-thread completely and in real time into the communication sub-thread.

4. The multi-network synchronous measurement and control system according to claim 3, characterized in that, A data buffer area and a synchronization data area are defined in the shared memory space; the data in both areas are organized in the form of queues, and a mutex lock is set to ensure that only one thread can read and write the data at the same time to ensure the integrity and consistency of the data.

5. The multi-network synchronous measurement and control system according to claim 4, characterized in that, The data in the data buffer area is used as a resource and is managed in the producer-consumer mode: the communication sub-thread, as the producer, adds the data it collects to the data buffer queue as long as it collects data; the timing sub-thread, as long as it receives a timing signal, takes the data from the data buffer queue, marks the data with a time stamp, and stores it in the synchronization data queue.

6. A measurement and control method for the multi-network synchronous measurement and control system according to claim 1, characterized in that, It includes: S1. The TTE network switch will periodically send heartbeats to the devices accessing the network; After the core PXIE industrial control computer starts, it will initialize the timing service and the service list, and listen for the access requests of each slave industrial control computer that needs to perform strong real-time processing; S2. After the core PXIE industrial control computer receives the heartbeat of the TTE network switch, it will traverse the service list and send timing messages to all slave industrial control computers registered to the timing service; S3. After each slave industrial control computer starts, it will respectively establish communication sub-threads under the relevant protocol according to its own business needs, wait for the program initialization to complete, and at the same time initialize the timing sub-thread, and send a registration request to the core PXIE industrial control computer through the registration mechanism; S4. After the core PXIE industrial control computer receives the registration request, it will add the slave industrial control computer to the service list; S5. After the slave industrial control computer receives the timing message, it will extract the time stamp information, and perform time injection to the communication sub-thread through memory sharing, and drive the communication sub-thread to perform communication and data interaction.

7. The measurement and control method according to claim 6, characterized in that, The Ethercat network communication node board is used to collect sensor signals, the Glink network communication node board is used to collect servo system control signals, and the TTE network communication node board is used to collect data from the main controller of the servo system. Based on three real-time network communications, the synchronous upload and telemetry functions of the collected data are realized.

8. The measurement and control method according to claim 6, wherein After the test experiment software is started on the industrial control computer, it will respectively establish a timing sub-thread and a communication sub-thread. Memory spaces are respectively set on the main PXIE industrial control computer and each slave industrial control computer. Using the memory sharing and mapping mechanism, the data in the timing sub-thread is completely and real-timely mapped into the communication sub-thread.

9. The measurement and control method according to claim 8, characterized in that, A data buffer area and a synchronous data area are defined in the shared memory space; the data in both areas are organized in the form of queues, and mutex locks are set to ensure that only one thread can read and write the data at the same time, so as to ensure the integrity and consistency of the data.

10. The measurement and control method according to claim 9, wherein The data in the data buffer area is used as a resource and is managed in the producer-consumer mode: the communication sub-thread, as the producer, adds the collected data to the data buffer queue as long as it collects data; as long as the timing sub-thread receives a timing signal, it takes the data from the data buffer queue, marks the data with a timestamp, and stores it in the synchronous data queue.

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