An industrial bus communication system and control method with dual heterogeneous topology

Abstract

This invention belongs to the field of industrial automation control and communication technology, and discloses an industrial bus communication system and control method with a dual heterogeneous topology, including a main controller, multiple nodes, and a bus connecting them. The bus contains four transmission lines, forming two physically independent and functionally separated communication networks: the first network adopts a bus topology, dedicated to high-speed real-time control data transmission; the second network adopts a daisy-chain topology, dedicated to node status management, addressing, emergency reporting, and diagnostic data. The two networks are integrated into a single composite cable, achieving "one line, two networks." Each node has a built-in signal regeneration unit and a collaborative processing unit, supporting dual-network status comparison, interface-level fault diagnosis, dynamic addressing, and plug-and-play functionality. The system also has fault degradation and partial function retention capabilities. This invention balances the high-speed real-time communication and precise node management requirements of industrial buses, improving the system's reliability, maintainability, and ease of use.

Description

Technical Field

[0001] This invention belongs to the field of industrial automation control and communication technology, and particularly relates to an industrial bus communication system and control method with a dual heterogeneous topology. Background Technology

[0002] In the field of industrial automation, fieldbus technology is widely used for data exchange between controllers and sensors / actuators. However, existing fieldbus systems all use a single topology, which has the following problems:

[0003] First, traditional fieldbuses (such as CAN, RS485, PROFIBUS, etc.) typically employ a single topology (e.g., bus, star, tree). A single topology cannot simultaneously meet the dual requirements of high-speed real-time data transmission and precise node status management. When all functions, including periodic control command transmission and aperiodic node status monitoring and fault reporting, are carried on the same physical network and topology, competition for resources such as bus bandwidth and communication time slots inevitably arise. This competition can affect the real-time performance and determinism of high-speed control command transmission, especially under high system loads or sudden events, potentially causing time jitter in the control cycle and impacting the stability and accuracy of the entire control system.

[0004] Secondly, in traditional bus-type topologies, the main controller has a relatively weak ability to perceive management information such as the online status and link connection quality of each device node. Once a node experiences a communication interruption or failure, the main controller often struggles to quickly and accurately locate the physical location of the fault, typically requiring manual point-by-point troubleshooting. This results in long fault diagnosis and system recovery times, low efficiency, and severely impacts production continuity.

[0005] Therefore, there is an urgent need in this field for a new industrial bus communication system architecture that can fundamentally solve the above contradictions, so as to significantly improve the fine-grained management capability of each node in the system without sacrificing high-speed real-time data transmission performance. Summary of the Invention

[0006] The purpose of this invention is to provide an industrial bus communication system and control method with dual heterogeneous topology to solve the technical problem that existing single-topology buses cannot simultaneously achieve high-speed real-time communication and accurate node management.

[0007] To solve the above-mentioned technical problems, the specific technical solution of the industrial bus communication system and control method with dual heterogeneous topology of the present invention is as follows:

[0008] An industrial bus communication system with a dual heterogeneous topology includes a main controller, multiple nodes, and a bus connecting the main controller and the multiple nodes. The bus includes four transmission lines, which constitute two physically independent and functionally separated communication networks.

[0009] The first network consists of a first pair of differential transmission lines and adopts a bus topology. The first network interfaces of all nodes are connected in parallel to the pair of differential transmission lines to carry high-speed real-time control data and critical status data.

[0010] The second network consists of a second pair of differential transmission lines and adopts a daisy-chain topology. The main port of the second network of the main controller is connected to the slave port of the second network of the first node, and subsequent nodes are connected in series. It is used to carry node status management, addressing, emergency reporting and diagnostic data.

[0011] Furthermore, the four transmission lines are integrated into a single composite cable, achieving "one line, two networks".

[0012] Furthermore, each node includes:

[0013] The first network interface is used to connect the first pair of differential transmission lines;

[0014] The second network interface is used to connect to the second pair of differential transmission lines. The second network interface includes a second network slave port and a second network master port. The second network slave port is used to receive signals sent by the second network master port of the previous node. The second network master port is used to send the output signals of the controller of this node to the second network slave port of the next node.

[0015] The node controller is used to handle the communication protocol stack of the first network, the management protocol of the second network, and the collaborative logic between the two networks.

[0016] The signal regeneration unit is connected between the slave port of the second network and the master port of the second network, and is used to shape, amplify and forward the received signal;

[0017] The power management module is used to supply power to the first network and the second network respectively and to achieve electrical isolation.

[0018] Furthermore, the node controller has a built-in collaborative processing unit for performing dual network status comparison, fault diagnosis, collaborative decision-making, and dual network node mapping table maintenance.

[0019] The present invention also discloses a control method for the system, comprising the following steps:

[0020] Step S1: System initialization and dual-topology identification. Nodes are identified through the first network and the second network respectively, and a dual-network node mapping table is established.

[0021] Step S2: Perform high-speed real-time data transmission through the first network;

[0022] Step S3: Perform node status management and emergency reporting through the second network;

[0023] Step S4: Dual network collaboration mechanism, including dual confirmation of node status, emergency response, dynamic addressing and plug-and-play;

[0024] Step S5: Fault degradation and recovery mechanism.

[0025] Furthermore, step S1 includes:

[0026] Step S1.1: The main controller broadcasts a network configuration message through the first network to identify all nodes connected to the first network;

[0027] Step S1.2: The main controller sends identification messages step by step through the chain structure of the second network to establish a link topology table;

[0028] Step S1.3: The collaborative processing unit matches the nodes identified by the first network and the second network to establish a dual-network node mapping table.

[0029] Furthermore, step S2 includes:

[0030] Step S2.1: The main controller periodically sends data frames through the first network to issue control commands to each node;

[0031] Step S2.2: Each node periodically feeds back real-time status data through the first network;

[0032] Step S2.3: The first network adopts a bus topology, where all nodes receive data simultaneously and support broadcast and multicast communication;

[0033] Step S2.4: The first network continues to operate, unaffected by the state of the second network.

[0034] Furthermore, step S3 includes:

[0035] Step S3.1: The main controller polls the communication status of each node through the second network level by level;

[0036] Step S3.2: The node replies with its current status through the second network main port;

[0037] Step S3.3: When a node detects a sudden event, it immediately reports it proactively through the second network;

[0038] Step S3.4: Each node reshapes and amplifies the second network packet through the signal regeneration unit before forwarding it;

[0039] Step S3.5: When a node detects a downstream link interruption, it reports a link interruption alarm to the upstream via the second network. The main controller then accurately locates the faulty node based on the link topology table.

[0040] Furthermore, step S4 includes:

[0041] Step S4.1: Double confirmation of node status: Each node periodically sends heartbeat messages through the first network, and at the same time reports its local status in the polling response through the second network; the collaborative processing unit compares the status data of the two networks to determine the fault type as a fault of the first network interface, a fault of the second network interface, or a fault of the entire node;

[0042] Step S4.2: Emergency Response: The node actively reports the emergency through the second network. After receiving the event, the collaborative processing unit immediately issues control commands through the first network.

[0043] Step S4.3: Dynamic Addressing and Plug and Play: When a new node is connected, it is automatically discovered by the upstream node through the daisy chain structure of the second network. The main controller assigns the first network address to the new node through the second network and updates the dual network node mapping table.

[0044] Furthermore, step S5 includes:

[0045] Step S5.1: If the first network fails, the system maintains status monitoring through the second network and issues a safety shutdown command;

[0046] Step S5.2: If the second network fails, the system continues to perform control functions through the first network;

[0047] Step S5.3: After the faulty node is repaired or replaced, the new node is automatically identified through the second network to restore the link topology.

[0048] The industrial bus communication system and control method with dual heterogeneous topology of the present invention have the following advantages:

[0049] 1. Achieving both high-speed real-time communication and precise node management.

[0050] This invention separates high-speed real-time control data transmission from node status management and fault reporting into different communication networks by constructing physically independent, heterogeneous first and second networks. The first network adopts a bus topology, supporting efficient communication modes such as broadcast and multicast to ensure low-latency, deterministic transmission of control commands; the second network adopts a daisy-chain topology to achieve node-level status monitoring and precise addressing. The two networks operate in parallel and independently without interference, fundamentally solving the technical challenge of balancing real-time performance and management precision in a single-topology bus.

[0051] 2. Enhance the system's fault diagnosis and location capabilities.

[0052] The second network adopts a daisy-chain structure, with each node possessing signal regeneration and forwarding capabilities. The main controller can accurately obtain the health status of each node through chain polling or node active reporting. When a link interruption or node failure occurs, the system can quickly locate the physical location of the fault based on the link topology table, greatly shortening the fault diagnosis and recovery time and improving the system's maintainability.

[0053] 3. Supports node-level dual status confirmation and interface-level fault diagnosis.

[0054] Each node simultaneously reports its status through the first network (heartbeat messages) and the second network (polling responses). The collaborative processing unit compares the status data from the two networks to accurately determine the type of fault (such as a fault in the first network interface, a fault in the second network interface, or a fault in the entire node), avoiding misjudgments and improving the diagnostic accuracy and reliability of the system.

[0055] 4. Achieve rapid and reliable response to emergencies.

[0056] When a node detects a sudden event (such as sensor over-limit or communication anomaly), it immediately reports it proactively through the second network. After receiving the event, the collaborative processing unit does not rely on the second network (to avoid daisy chain forwarding delays) but immediately issues control commands through the first network. By utilizing the deterministic and low-latency characteristics of the bus topology, it achieves a fast and reliable response to sudden events.

[0057] 5. Supports dynamic addressing and plug-and-play functionality.

[0058] After a new node joins the system, it can be automatically discovered by upstream nodes through the daisy-chain structure of the second network. The main controller dynamically assigns it a first network address and updates the mapping table, without the need for manual configuration or shutdown operations, which significantly improves the scalability and ease of use of the system.

[0059] 6. Possesses the ability to degrade due to faults while retaining some functions.

[0060] When the first network fails, the system can still maintain status monitoring and issue safety shutdown commands through the second network; when the second network fails, the system can still continue to perform control functions through the first network. Failure of either network does not affect the normal operation of the other, achieving soft degradation and high availability of the system.

[0061] 7. Signal regeneration enhances communication distance and stability.

[0062] Each node has a built-in signal regeneration unit that shapes and amplifies the second network signal before forwarding it, ensuring that the signal quality does not degrade as the number of nodes increases, effectively extending the communication distance and improving the stability and reliability of the system in long-link, multi-node scenarios.

[0063] 8. Simplify cabling and reduce project implementation costs.

[0064] Four transmission lines are integrated into a single composite cable, simultaneously supporting network connections with two heterogeneous topologies, achieving "one line, two networks." Compared to deploying two independent physical bus systems, this invention significantly reduces wiring complexity and cable costs, facilitating on-site construction and maintenance. Attached Figure Description

[0065] Figure 1 This is a schematic diagram of the overall architecture of an industrial bus communication system with a dual heterogeneous topology provided in an embodiment of the present invention.

[0066] Figure 2 This is a hardware architecture block diagram of a device node provided in an embodiment of the present invention.

[0067] Figure 3 This is a flowchart of a control method for an industrial bus communication system with a dual heterogeneous topology, provided in an embodiment of the present invention. Detailed Implementation

[0068] To better understand the purpose, structure, and function of this invention, the following detailed description, in conjunction with the accompanying drawings, provides an industrial bus communication system and control method with a dual heterogeneous topology.

[0069] like Figure 1 As shown, an industrial bus communication system with a dual heterogeneous topology in this embodiment includes a main controller, multiple nodes, and a bus connecting the main controller and the multiple nodes. The main controller and the multiple nodes (200-1, 200-2...200-N) are connected through a bus containing four transmission lines.

[0070] As shown in Table 1, the bus consists of four transmission lines, which together form two physically independent and functionally separate communication networks.

[0071] Table 1: Definitions and Functional Descriptions of the Four Transmission Lines

[0072]

[0073] The bus has four transmission lines: core 101 (A+), core 102 (A-), core 103 (B+), and core 104 (B-). Cores 101 (A+) and 102 (A-) form a differential transmission line pair, constituting the first network. This first network uses a bus topology. The first network interfaces of all nodes (200-1, 200-2, ..., 200-N) are connected in parallel to this differential transmission line pair via network transceivers and are connected to the first network interface of the main controller 100. The first network is dedicated to carrying high-speed real-time control data and critical status data. The main controller 100 periodically broadcasts motion control commands through the first network. Termination resistors can be installed at both ends of the bus as needed. Broadcast, multicast, and point-to-point communication modes are supported. It is suitable for periodic real-time data exchange.

[0074] Core 3 103 (B+) and core 4 104 (B-) are a pair of differential transmission lines, forming the second network (daisy-chain topology). The second network adopts a daisy-chain topology. The second network master port 203 of the main controller 100 is connected to the second network slave port 202 of node 1 200-1 via this pair of differential transmission lines. The second network master port 203 of node 1 200-1 is connected to the second network slave port 202 of node 2 200-2, and so on, forming a chain structure. The second network is dedicated to carrying node status management, addressing, emergency reporting, and diagnostic data; it supports node-level status monitoring, precise addressing, and fault location.

[0075] Four transmission lines are integrated into a single composite cable to achieve "one line, two networks".

[0076] The first and second networks are physically independent, topologically heterogeneous, and functionally separated. Both communication networks can operate independently, and a failure in one network will not affect the other. This balances the real-time performance of high-speed data transmission with the precision of node management.

[0077] Figure 2 The internal hardware architecture of a node 200 is shown in detail. This node includes:

[0078] The first network interface 201 is used to connect the first pair of differential transmission lines (core 101 and core 202) for high-speed real-time data transmission and reception.

[0079] The second network interface includes a second network slave port 202 and a second network master port 203, which are used to connect to the second pair of differential transmission lines (core 3 103 and core 4 104); the second network slave port 202 is used to receive signals sent by the second network master port of the previous node; the second network master port 203 is used to send the output signal of the controller of this node to the second network slave port 202 of the next node.

[0080] The node controller 204 is connected to the first network interface 201, the second network slave interface 202, and the second network master interface 203 respectively; it is used to process the communication protocol stack of the first network, the management protocol of the second network, and the dual-network collaborative logic; the node controller has a built-in collaborative processing unit, which is responsible for dual-network status comparison, fault diagnosis, collaborative decision-making, and dual-network node mapping table maintenance;

[0081] The signal regeneration unit 205 is built into the node and connected between the second network slave port 202 and the second network master port 203. It is used to reshape and amplify the signal received from the upstream second network slave port 202 and then forward it from the master port to realize step-by-step signal regeneration.

[0082] The power management module 206 supplies power to the first network and the second network respectively, achieving electrical isolation.

[0083] The present invention provides a control method for an industrial bus communication system with a dual heterogeneous topology, comprising the following steps:

[0084] Step S1: System initialization and dual-topology identification:

[0085] Step S1.1: The main controller broadcasts network configuration messages through the first network (bus type) to identify all nodes connected to the first network;

[0086] Step S1.2: The main controller sends identification messages level by level through the chain structure of the second network (daisy chain):

[0087] The main controller sends identification commands through the second network main port.

[0088] After receiving the second network port, the first node responds with its own node identifier and forwards the identification command to the next node through its second network main port.

[0089] By analogy, a link topology table is created to record the link order of each node.

[0090] Step S1.3: The collaborative processing unit matches the nodes identified by the first network and the second network to establish a dual-network node mapping table.

[0091] Step S2: High-speed real-time data transmission (first network):

[0092] Step S2.1: The main controller periodically sends data frames through the first network to issue control commands to each node;

[0093] Step S2.2: Each node periodically feeds back real-time status data through the first network;

[0094] Step S2.3: The first network adopts a bus topology, where all nodes receive data simultaneously and support broadcast and multicast communication;

[0095] Step S2.4: The first network continues to operate, unaffected by the state of the second network.

[0096] Step S3: Node status management and emergency reporting (daisy chain of the second network)

[0097] Step S3.1: Normal status monitoring: The main controller polls the communication status of each node through the daisy chain of the second network, and the polling command is passed sequentially along the chain structure;

[0098] Step S3.2: Node Response: After receiving the polling command, each node replies with its current status (normal / abnormal, communication quality, power supply status, etc.) through its second network main port.

[0099] Step S3.3: Emergency Reporting: When a node detects an emergency (such as sensor over-limit, communication failure, or hardware abnormality), it immediately reports it proactively through the second network. The reporting message is transmitted upstream or downstream along the chain structure, which can interrupt the polling of the main controller.

[0100] Step S3.4: Signal regeneration and forwarding: After receiving the second network message, each node reshapes and amplifies the signal through its internal signal regeneration unit before forwarding it, ensuring that the signal quality does not degrade as the number of nodes increases;

[0101] Step S3.5: Node-level fault location: When a node detects a downstream link interruption, it reports a "link interruption alarm" to the upstream via the second network. The main controller accurately locates the faulty node based on the link topology table.

[0102] Step S4: Dual-network collaborative mechanism:

[0103] Step S4.1: Double confirmation of node status:

[0104] Each node periodically sends heartbeat messages (or participates in periodic data exchange) through the first network.

[0105] Meanwhile, nodes report their local status in polling responses via the second network;

[0106] The collaborative processing unit compares the state data of the two networks:

[0107] First network status lost + Second network response normal → First network interface failure;

[0108] Second network response lost + First network status normal → Second network interface failure;

[0109] Both are lost → Node failure

[0110] Step S4.2: Emergency Response:

[0111] Nodes proactively report emergencies through the second network;

[0112] Upon receiving an event, the collaborative processing unit does not send control commands through the second network (to avoid uncertainty caused by delays due to daisy chain forwarding), but instead immediately issues control commands through the first network.

[0113] By leveraging the bus topology and deterministic communication characteristics of the first network, a rapid and reliable response to emergencies can be achieved.

[0114] Step S4.3: Dynamic Addressing and Plug and Play:

[0115] When a new node joins, it is automatically discovered by the upstream node through the daisy chain structure of the second network;

[0116] The main controller assigns a first network address to the new node through the second network and updates the dual-network node mapping table;

[0117] New nodes start working automatically after being added, requiring no manual configuration.

[0118] Step S5: Fault Degradation and Recovery

[0119] Step S5.1: If the first network fails, the system maintains the status monitoring function through the second network and issues a safety shutdown command through the second network;

[0120] Step S5.2: If the second network fails (e.g., a power outage at a node causes a link interruption), the system continues to perform control functions through the first network, only losing the ability to monitor the status.

[0121] Step S5.3: After the faulty node is repaired or replaced, the new node is automatically identified through the daisy chain structure of the second network to restore the link topology without manual configuration.

[0122] Example 1:

[0123] refer to Figure 1 and Figure 2 In a typical industrial automated production line control scenario, a bus system as described in this invention is deployed. The main controller 100 is an industrial PC, and the nodes 200 are various servo drives, I / O modules, and sensors.

[0124] Physical deployment: A composite cable containing four shielded twisted pairs is used for cabling. The cable runs through the entire production line, and the terminals of each equipment node are connected in parallel (first network) and cascaded (second network) according to the definition (core 101 and core 102 connect to the first network, core 3103 and core 4104 connect to the second network).

[0125] System Initialization: Upon power-up, the main controller 100 executes the initialization process. It first broadcasts a network configuration message containing its own identifier through the first network (bus type). All nodes (200-1 to 200-10) respond with their respective hardware IDs upon receiving the message. Simultaneously, the main controller 100 sends a hierarchical identification command to the link via its second network master port 203. Node 1 (200-1) receives the command from its slave port, responds with its own ID, and forwards the identification command to node 2 (200-2), and so on, until the end of the link. The main controller 100 matches the two identification lists to establish a mapping table of "node hardware ID - first network logical address - second network link location".

[0126] Normal operation:

[0127] Control data flow: The main controller 100 broadcasts a global control command packet every 1 millisecond via the first network. All nodes (200-1 to 200-10) synchronously receive the command and execute their respective actions (such as rotating the motor to a designated position). Simultaneously, each node also periodically feeds back its real-time status (such as current position and current) to the main controller via the first network. Because this network is dedicated to this purpose and employs an efficient broadcast mode, communication latency is extremely low and stable.

[0128] Management data flow: The main controller 100 initiates a status poll every 100 milliseconds through the second network. The polling command starts from node 1 (200-1) and is passed sequentially to node 10 (200-10). After receiving the command, each node replies with its own health status (temperature, communication error rate, power supply voltage, etc.) through its main port. This process is completely parallel to the data transmission of the first network and does not interfere with each other.

[0129] Troubleshooting example:

[0130] 1. Node Interface Failure: Assume that the first network interface chip of node 5 200-5 is damaged. The main controller 100 will find that it cannot receive heartbeat feedback from this node in step S3.2, but in the polling of step S3.3, node 5 200-5 can still reply normally through the second network. Based on this, the collaborative processing unit diagnoses "node 5 200-5 first network interface failure" and accurately prompts it on the human-machine interface, while the system control function continues to operate normally through the other nodes.

[0131] For nodes that are completely disconnected, the system will mark them as unavailable and trigger an alarm, requiring intervention from operations and maintenance personnel.

[0132] 2. Link Disruption Location: Assume node 7 200-7 is completely offline due to a power outage. Its upstream node 6 200-6, after sending a signal down through its second network main port 203, detects no valid response from downstream and thus determines that the downstream link is interrupted. Node 6 200-6 immediately reports a "link interruption alarm, this node is the main port" to the main controller 100 through its second network port 202. The main controller 100 queries the mapping table and finds that the downstream of node 6 200-6 should be node 7 200-7, thus accurately locating the fault at node 7 200-7 or its connection point with node 6 200-6.

[0133] Example 2: Device Hot-Swapping

[0134] During system operation, a new node 200-new needs to be added between node 8 (200-8) and node 9 (200-9). The installation personnel only need to connect the new node to the corresponding position on the composite cable, connecting its first network interface (in parallel) and second network interface (second network slave port 202 connects to the main port of node 8 (200-8), and second network main port 203 connects to the slave port of node 9 (200-9)). After power-on, the upstream node 8 (200-8) will detect the newly connected second network slave port 202 through the second network and report this event. Upon receiving this information, the main controller 100 communicates with the new node 200-new through the second network, assigns it an unused first network address, and updates the new node information in the mapping table. Subsequently, the new node 200-new can begin to participate normally in the periodic data exchange of the first network and the polling of the second network. The entire process requires no system downtime or manual configuration of software parameters.

[0135] It is understood that the present invention has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. Furthermore, under the teachings of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of the present invention.

Claims

1. An industrial bus communication system with a dual heterogeneous topology, comprising a main controller, multiple nodes, and a bus connecting the main controller and the multiple nodes, characterized in that, The bus comprises four transmission lines, which constitute two physically independent and functionally separate communication networks: The first network consists of a first pair of differential transmission lines and adopts a bus topology. The first network interfaces of all nodes are connected in parallel to the pair of differential transmission lines to carry high-speed real-time control data and critical status data. The second network consists of a second pair of differential transmission lines and adopts a daisy-chain topology. The main port of the second network of the main controller is connected to the slave port of the second network of the first node, and subsequent nodes are connected in series. It is used to carry node status management, addressing, emergency reporting and diagnostic data.

2. The industrial bus communication system with dual heterogeneous topology according to claim 1, characterized in that, The four transmission lines are integrated into a single composite cable to achieve "one line, two networks".

3. The industrial bus communication system with dual heterogeneous topology according to claim 1, characterized in that, Each node includes: The first network interface is used to connect the first pair of differential transmission lines; The second network interface is used to connect to the second pair of differential transmission lines. The second network interface includes a second network slave port and a second network master port. The second network slave port is used to receive signals sent by the second network master port of the previous node. The second network master port is used to send the output signals of the controller of this node to the second network slave port of the next node. The node controller is used to handle the communication protocol stack of the first network, the management protocol of the second network, and the collaborative logic between the two networks. The signal regeneration unit is connected between the slave port of the second network and the master port of the second network, and is used to shape, amplify and forward the received signal; The power management module is used to supply power to the first network and the second network respectively and to achieve electrical isolation.

4. The industrial bus communication system with dual heterogeneous topology according to claim 3, characterized in that, The node controller has a built-in collaborative processing unit for performing dual-network status comparison, fault diagnosis, collaborative decision-making, and dual-network node mapping table maintenance.

5. A control method based on the system according to any one of claims 1-4, characterized in that, Includes the following steps: Step S1: System initialization and dual-topology identification. Nodes are identified through the first network and the second network respectively, and a dual-network node mapping table is established. Step S2: Perform high-speed real-time data transmission through the first network; Step S3: Perform node status management and emergency reporting through the second network; Step S4: Dual network collaboration mechanism, including dual confirmation of node status, emergency response, dynamic addressing and plug-and-play; Step S5: Fault degradation and recovery mechanism.

6. The control method according to claim 5, characterized in that, Step S1 includes: Step S1.1: The main controller broadcasts a network configuration message through the first network to identify all nodes connected to the first network; Step S1.2: The main controller sends identification messages step by step through the chain structure of the second network to establish a link topology table; Step S1.3: The collaborative processing unit matches the nodes identified by the first network and the second network to establish a dual-network node mapping table.

7. The control method according to claim 5, characterized in that, Step S2 includes: Step S2.1: The main controller periodically sends data frames through the first network to issue control commands to each node; Step S2.2: Each node periodically feeds back real-time status data through the first network; Step S2.3: The first network adopts a bus topology, where all nodes receive data simultaneously and support broadcast and multicast communication; Step S2.4: The first network continues to operate, unaffected by the state of the second network.

8. The control method according to claim 5, characterized in that, Step S3 includes: Step S3.1: The main controller polls the communication status of each node through the second network level by level; Step S3.2: The node replies with its current status through the second network main port; Step S3.3: When a node detects a sudden event, it immediately reports it proactively through the second network; Step S3.4: Each node reshapes and amplifies the second network packet through the signal regeneration unit before forwarding it; Step S3.5: When a node detects a downstream link interruption, it reports a link interruption alarm to the upstream via the second network. The main controller then accurately locates the faulty node based on the link topology table.

9. The control method according to claim 5, characterized in that, Step S4 includes: Step S4.1: Double confirmation of node status: Each node periodically sends heartbeat messages through the first network, and at the same time reports its local status in the polling response through the second network; the collaborative processing unit compares the status data of the two networks to determine the fault type as a fault of the first network interface, a fault of the second network interface, or a fault of the entire node; Step S4.2: Emergency Response: The node actively reports the emergency through the second network. After receiving the event, the collaborative processing unit immediately issues control commands through the first network. Step S4.3: Dynamic Addressing and Plug and Play: When a new node is connected, it is automatically discovered by the upstream node through the daisy chain structure of the second network. The main controller assigns the first network address to the new node through the second network and updates the dual network node mapping table.

10. The control method according to claim 5, characterized in that, Step S5 includes: Step S5.1: If the first network fails, the system maintains status monitoring through the second network and issues a safety shutdown command; Step S5.2: If the second network fails, the system continues to perform control functions through the first network; Step S5.3: After the faulty node is repaired or replaced, the new node is automatically identified through the second network to restore the link topology.

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