Control board, control method, control system, and storage medium

Abstract

The application discloses a control board, a control method, a control system and a storage medium, relates to the technical field of industrial control, and the control board comprises a processing module, a first interface module and a second interface module. The first interface module comprises a plurality of first communication interfaces connected in parallel to the processing module, the first communication interfaces support connection with a controller, the second interface module has a plurality of second communication interfaces, the second interface module is connected with the processing module, the second communication interfaces support connection with a power unit, and each first communication interface is mapped with at least one second communication interface. The plurality of first communication interfaces support access to controllers of at least two different carrier frequencies, the processing module is used for realizing data interaction between each first communication interface and the mapped second communication interface according to the carrier frequency of the corresponding controller, and thus the hardware cost of the industrial control system is reduced.

Description

Technical Field

[0001] This application relates to the field of industrial control technology, and in particular to a control board, control method, control system and storage medium. Background Technology

[0002] In traditional industrial control systems, in order to reduce the high costs caused by hardware resource redundancy, parallel boards are usually used to logically combine and distribute the control signals of multiple controllers.

[0003] However, in the existing technology, a single parallel board can often only support one type of device. When the industrial control system needs to connect to different types of controllers, a separate parallel board needs to be configured for each type of controller. This causes the number of hardware components in the industrial control system to increase linearly with the number of controller types, thus increasing the hardware cost of the industrial control system. Summary of the Invention

[0004] The main purpose of this application is to provide a control board, control method, control system and storage medium, which aims to reduce the hardware cost of industrial control systems.

[0005] To achieve the above objectives, this application proposes a control board, which includes a processing module, a first interface module, and a second interface module. The first interface module includes multiple first communication interfaces connected in parallel to the processing module, and the second interface module has multiple second communication interfaces. The second interface module is connected to the processing module. The first communication interface supports connection to the controller, and the second communication interface supports connection to the power unit. Each of the first communication interfaces is mapped to at least one of the second communication interfaces. The first communication interfaces support access to controllers with at least two different carrier frequencies, and the processing module is used to realize data interaction between each first communication interface and the mapped second communication interface according to the carrier frequency of the corresponding controller.

[0006] In one embodiment, the control board further includes a storage module, the processing module includes a routing decision unit, and the storage module stores user configuration information, including a mapping relationship between the first communication interface and the second communication interface; The routing decision unit is used to receive a first instruction signal sent by the controller, and route the first instruction signal to the corresponding second communication interface according to the mapping relationship, and to receive operating status data sent by the power unit, and route the operating status data to the corresponding first communication interface according to the mapping relationship.

[0007] In one embodiment, the control board further includes a data recording module, which includes a data caching unit; The routing decision unit is further configured to group the running status data according to the mapping relationship and transmit each grouped data to the data cache unit; The data caching unit is used to receive each of the packet data and cache each of the packet data according to the carrier frequency of the corresponding controller.

[0008] In one embodiment, the data recording module further includes a cache arbitration unit; The cache arbitration unit is used to determine the caching sequence of each group of data based on the data caching status of the data caching unit; The data caching unit is also used to cache each group of data according to the caching sequence.

[0009] In one embodiment, the cache arbitration unit is further configured to determine the product between the time required for a single data cache and the number of currently running first communication interfaces, and when the product is less than the minimum carrier frequency corresponding to the currently running first communication interfaces, the cache timing is fed back to the data cache unit.

[0010] In one embodiment, the first interface module is used to connect the main controller and the redundant controller, and the routing decision unit is used to receive a second instruction signal sent by the main controller and a third instruction signal sent by the redundant controller, decide whether the main controller is operating normally based on the second instruction signal, and transmit the second instruction signal to the power unit through the corresponding second communication interface when the main controller is operating normally, or transmit the third instruction signal to the power unit through the corresponding second communication interface when the main controller is abnormal.

[0011] In one embodiment, the routing decision unit, the main controller, and the redundant controller share the same carrier frequency.

[0012] In one embodiment, the control board further includes a DIDO control module, each of the power units is used to connect to a client device, a switch is provided between each of the power units and the client device, and the DIDO control module is connected to the switch; The DIDO control module is used to send on / off control signals to the switch according to the mapping relationship.

[0013] In one embodiment, the processing module further includes at least one third communication interface, the DIDO control module is connected to the routing decision unit, and the third communication interface is used to connect to a programmable logic controller; The routing decision unit is also used to receive the switch control command issued by the programmable logic controller and route the switch control command to the DIDO control module; The DIDO control module is also used to send on / off control signals to the switch according to the switch control command.

[0014] In one embodiment, the second communication interfaces mapped to each of the first communication interfaces are at least partially the same; or, the second communication interfaces mapped to each of the first communication interfaces are different.

[0015] In one embodiment, the data communication format between each of the second communication interfaces and each of the power units is the same.

[0016] In one embodiment, the control board further includes a plurality of carrier frequency buffer modules, each carrier frequency buffer module corresponding to a first communication interface, and the carrier frequency buffer module is used to update and buffer the current carrier frequency sent by the controller corresponding to the first communication interface in each control cycle.

[0017] Furthermore, to achieve the above objectives, this application also proposes a control method applied to a control board, wherein the control board supports access to at least two controllers with different carrier frequencies and multiple power units, the control board includes multiple parallel data transmission channels, each controller corresponds to one data transmission channel, and each controller is mapped to at least one power unit, the control method comprising: Receive the first instruction signal sent by each of the controllers; Based on the carrier frequency of each controller, the first instruction signal is transmitted to the target power unit mapped by the corresponding controller through the corresponding data transmission channel.

[0018] In one embodiment, the controller includes a main controller and a redundant controller. The first command signal includes a second command signal sent by the main controller and a third command signal sent by the redundant controller. The step of transmitting the first command signal to the target power unit mapped by the corresponding controller through a corresponding data transmission channel according to the carrier frequency of each controller includes: The decision on whether the main controller operates normally is based on the second instruction signal; When the main controller is operating normally, the second command signal is transmitted to the corresponding target power unit through the corresponding data transmission channel; When the main controller malfunctions, the third instruction signal is transmitted to the corresponding target power unit through the corresponding data transmission channel.

[0019] In one embodiment, each power unit supports connection to at least one client device, and a switch is provided between each power unit and the client device. The switch is connected to the control board. Before the step of transmitting the first command signal to the target power unit mapped by the corresponding controller through a corresponding data transmission channel according to the carrier frequency of each controller, the method further includes: Based on the mapping relationship between each controller and each power unit, an on / off control signal is sent to the switch.

[0020] In addition, to achieve the above objectives, this application also proposes a control system, which includes a control board, a controller, and a power unit. The control board supports access to at least two controllers with different carrier frequencies and multiple power units, and each controller is mapped to at least one power unit. The control board is used to receive the first instruction signal sent by each of the controllers, and transmit the first instruction signal to the target power unit mapped by the corresponding controller through the corresponding data transmission channel according to the carrier frequency of each controller.

[0021] In addition, to achieve the above objectives, this application also proposes a storage medium on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the control method described above.

[0022] One or more technical solutions proposed in this application have at least the following technical effects: The control board of this application includes a processing module, a first interface module, and a second interface module. The first interface module includes multiple first communication interfaces connected in parallel to the processing module; that is, each first communication interface is independent of the others and does not interfere with each other.

[0023] The first communication interface supports connection to the controller. The second interface module has multiple second communication interfaces. The second interface module is connected to the processing module. The second communication interface supports connection to the power unit. Each first communication interface is mapped to at least one second communication interface. That is, each controller and the power unit have an independent logical channel: the first communication interface connected to the controller and the corresponding mapped second communication interface.

[0024] Multiple first communication interfaces support access to controllers with at least two different carrier frequencies. The processing module is used to realize data interaction between each first communication interface and the mapped second communication interface according to the carrier frequency of the corresponding controller. That is, controllers with different carrier frequencies can realize parallel control of each power unit through the above-mentioned independent logic channels. This application can access controllers with at least two different carrier frequencies through a single control board. When the industrial control system needs to access different types of controllers, it is not necessary to configure a parallel board for each type of controller, thereby reducing the hardware cost of the industrial control system. Attached Figure Description

[0025] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a topology diagram for controller redundancy application in this application; Figure 2 This is a functional diagram of the core modules of the control board in this application; Figure 3 This is a schematic diagram of the application topology of the control system in this application; Figure 4 This is a diagram illustrating the controller redundancy application scenario in this application; Figure 5 This is a diagram illustrating the on-demand parallel operation scenario for this application; Figure 6 This is a diagram illustrating an application scenario where multiple controllers share a power unit, as described in this application. Figure 7 This is a flowchart illustrating the control method of this application.

[0028] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0029] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0030] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0031] It should be noted that in traditional industrial control systems, different types of controllers, such as rectifiers and inverters, typically require their own independent power units. To reduce the high costs caused by hardware resource redundancy, parallel boards are usually used to logically combine and distribute the control signals of different types of controllers, allowing different types of controllers to share the same set of power units. The power unit is used to perform corresponding power conversion processing of electrical energy and includes components such as power semiconductor switching modules, drive and protection circuits, DC support capacitors, and heat sinks.

[0032] Reference Figure 1 Taking two controllers as an example, a parallel board needs to be configured for controller 3 and controller 4 respectively. Each parallel board performs logical combination and distribution on the received control signals and then outputs them to the corresponding power unit 1 and power unit 2, so that the two controllers can share power unit 1 and power unit 2 and finally drive the customer equipment 3.

[0033] However, when controller 3 and controller 4 have different carrier frequencies (for example, the carrier frequency of controller 3 is 4kHz and the carrier frequency of controller 4 is 6kHz), when the control signals of controller 3 and controller 4 are combined in the parallel board, the rising and falling edges of the different carrier frequencies cannot be kept synchronized, causing timing disorder, resulting in distortion of the output waveform of the power unit and affecting the operational stability of the control system.

[0034] Based on this, the embodiments of this application provide a control board, referring to... Figure 2 , Figure 2 This is a functional diagram of the core modules of the control board of this application. The control board includes a processing module, a first interface module, and a second interface module. The first interface module includes multiple first communication interfaces connected in parallel to the processing module. The second interface module has multiple second communication interfaces. The second interface module is connected to the processing module. The first communication interfaces support connection with the controller, and the second communication interfaces support connection with the power unit. Each first communication interface is mapped to at least one second communication interface.

[0035] In this embodiment, the above-mentioned processing module is a module with computing power and data processing capability, the first interface module is a set of interfaces for parallel access to multiple controllers and independent transmission of multiple controller signals, and the second interface module is a set of interfaces for parallel access to multiple power units and independent transmission of multiple power unit signals.

[0036] The first interface module includes multiple first communication interfaces connected in parallel to the processing module. The first communication interfaces are communication interfaces for data interaction between the controller and the processing module. The second interface module has multiple second communication interfaces, which are communication interfaces for data interaction between the power unit and the processing module.

[0037] Optionally, the processing module can be an independent processing chip, and the first interface module and the second interface module are independently configured interface expansion devices or interface circuits. The first interface module and the second interface module are respectively connected to the processing module through an external bus.

[0038] Optionally, the above-mentioned processing module can adopt a chip carrier that supports hardware-level parallel processing; for example, the processing module can adopt an FPGA (Field-Programmable Gate Array), which contains programmable logic units and configurable hardware resources. The logic function of the processing module can be configured into the FPGA through a hardware description language, so that the processing module can simultaneously implement multiple independent data interaction channels at the hardware circuit level; the processing module can also adopt an ASIC (Application-Specific Integrated Circuit) and a multi-core central processing unit with independent hardware threads, etc. The specific choice can be determined according to the actual situation, and the embodiments in this specification do not limit this.

[0039] Optionally, the processing module, the first interface module, and the second interface module can also be integrated inside the same processing chip. That is, the first interface module and the second interface module are respectively connected to the processing module through the internal bus or internal interconnection line of the processing chip; the first communication interface and the second communication interface are physical pins or terminals of the processing chip.

[0040] Optionally, taking the processing module implemented using an FPGA chip as an example, the first interface module and the second interface module are respectively connected to the I / O (input / output) pins of the FPGA chip via a parallel bus. Each first communication interface in the first interface module is connected to the FPGA chip via independent PCB (Printed Circuit Board) traces, thereby achieving a physical parallel connection.

[0041] Optionally, each of the first communication interfaces is connected to the processing module in parallel. Each of the first communication interfaces supports connection to the controller, and the second communication interface supports connection to the power unit. The number of the first and second communication interfaces can be flexibly configured. For example, the number of the first communication interfaces can be set to 1, 2, 3, 4, 8, or 16, etc., to adapt to the connection requirements of different numbers of controllers. The number of the second communication interfaces can be set to 2, 4, 6, 8, 10, 12, 15, 16, or 32, etc., to adapt to the connection requirements of different numbers of power units.

[0042] Reference Figure 2Taking the first interface module as having 4 first communication interfaces and the second interface module as having 15 second communication interfaces as an example, the 4 first communication interfaces are first communication interface 1, first communication interface 2, first communication interface 3 and first communication interface 4, which are connected in parallel to the processing module and each of the 4 first communication interfaces supports connection to the controller; the second interface module has second communication interfaces 1 to 15, and each of the second communication interfaces supports connection to the power unit.

[0043] Optionally, since each of the first communication interfaces is connected to the processing module in parallel, and each of the first communication interfaces supports connection to the controller, the processing module can independently receive signals from different controllers through each of the first communication interfaces, and the signals from each controller are separated through the parallel first communication interfaces before entering the processing module; even if multiple first communication interfaces receive signals from different controllers at the same time, the signals from each controller will not overlap or interfere with each other on the transmission path.

[0044] Optionally, since the second interface module is connected to the processing module, the second communication interface supports connection to the power unit. Each first communication interface is mapped to at least one second communication interface. The processing module can transmit the processed signal through each second communication interface of the second interface module to the power unit mapped by the corresponding controller.

[0045] For example, the first communication interface 1 is mapped to the second communication interfaces 1 to 4, the first communication interface 2 is mapped to the second communication interfaces 5 to 8, the first communication interface 3 is mapped to the second communication interfaces 9 to 12, and the first communication interface 4 is mapped to the second communication interfaces 13 to 15.

[0046] Optionally, the mapping relationship between each first communication interface and each second communication interface can be pre-configured. For example, before the control board leaves the factory or during the system power-on initialization phase, the user writes the mapping relationship into the non-volatile storage medium inside the control board in the form of static configuration data according to at least one of the following: the type of the connected controller, the layout of the power unit, the redundancy requirements, and the load distribution strategy.

[0047] Optionally, each first communication interface supports access to at least two controllers with different carrier frequencies, and the processing module realizes data interaction between each first communication interface and the mapped second communication interface according to the carrier frequency of the corresponding controller.

[0048] That is, during operation, the processing module receives control signals from the controllers connected to each of the first communication interfaces. The processing module maintains an independent interaction timing sequence for each first communication interface. The timing of this interaction timing sequence is determined by the carrier frequency of the controller connected to that interface. Based on the interaction timing sequence of the corresponding controller, the processing module outputs control commands to the corresponding power unit through the mapped second communication interface, thereby driving the corresponding power unit to work independently according to the carrier frequency of the corresponding controller.

[0049] Optionally, the processing module can acquire the carrier frequency of each controller in real time, or determine the carrier frequency of each controller by reading the carrier frequency value of each controller connected to a pre-configured first communication interface. For example, the processing module continuously monitors the control signals received by each first communication interface during operation, and extracts the corresponding carrier frequency information from the control signals in real time to dynamically determine the current carrier frequency of each controller.

[0050] Optionally, the control board also includes multiple carrier frequency buffer modules, each corresponding to a first communication interface. The carrier frequency buffer module is used to update and buffer the current carrier frequency sent by the controller corresponding to the first communication interface in each control cycle.

[0051] Optionally, each carrier frequency buffer module can be set independently of the first interface module, and each carrier frequency buffer module is connected to a first communication interface, as shown in the figure. Figure 2 .

[0052] Optionally, each carrier frequency buffer module can also be integrated into a first communication interface, so that each carrier frequency buffer module corresponds to a first communication interface.

[0053] Optionally, each carrier frequency buffer module obtains the current carrier frequency information from the corresponding first communication interface in each control cycle, and stores the current carrier frequency information in the storage unit inside the carrier frequency buffer module, overwriting the old carrier frequency value stored in the previous control cycle, thereby realizing the periodic update and caching of the carrier frequency value.

[0054] Since each carrier frequency buffer module corresponds to a first communication interface, and each carrier frequency buffer module only stores the carrier frequency information of its corresponding controller, the carrier frequency buffer modules are independent of each other and do not share storage areas. Each carrier frequency buffer module can execute its corresponding carrier frequency update operation in parallel without affecting the storage status of the corresponding carrier frequency values ​​of other controllers, thus ensuring the accuracy of data interaction.

[0055] Optionally, the processing module reads the corresponding current carrier frequency from each carrier frequency buffer module and implements data interaction between each first communication interface and the mapped second communication interface according to the current carrier frequency.

[0056] Because the processing module controls the data interaction cycle of each controller according to its own carrier frequency, instead of combining or distributing all controller signals under the same clock domain, when there are at least two access controllers with different carrier frequencies, the processing module performs data interaction with the controller signal of the high-frequency carrier frequency at a faster cycle, and at the same time performs data interaction with the controller signal of the low-frequency carrier frequency at a slower cycle, so that the controllers with different carrier frequencies can operate independently. That is, the control signals of different carrier frequencies are transmitted along independent paths: starting from the controller, entering the processing module through the corresponding first communication interface, and then reaching the corresponding power unit through the mapped second communication interface.

[0057] Optionally, each first communication interface includes a timing control subunit, a parallel current sharing subunit, a master control interaction subunit, and a group fast shutdown subunit. The timing control subunit is used to control the timing of data interaction within the corresponding channel according to the carrier frequency of the controller connected to the first communication interface. The parallel current sharing module is used to balance and adjust the output current or output power of each power unit when multiple power units are running in parallel. The master control interaction module is used to communicate and interact with the connected controller. The group fast shutdown module is used to shut down the power unit mapped to the first communication interface according to a preset shutdown sequence when a shutdown command is received or a fault condition is detected.

[0058] Since each first communication interface is independently configured with its own complete timing control subunit, parallel current sharing subunit, master control interaction subunit, and group fast shutdown subunit, each first communication interface has independent processing capabilities in four aspects: carrier frequency adaptation, power balancing, controller communication, and fast shutdown, enabling independent control and fault isolation when multiple systems are running simultaneously.

[0059] Optionally, the data communication format between each second communication interface and each power unit is the same.

[0060] Optionally, the same data communication format includes the same frame structure, the same data bit width, the same baud rate, the same check method, and the same encoding rules.

[0061] The data communication format of each second communication interface is the same. When the processing module sends data to any second communication interface, it can use the same set of communication logic for data encapsulation and transmission. There is no need to maintain multiple sets of communication protocol stacks or format conversion logic for different second communication interfaces, nor is there a need to adapt different communication protocols for different power units. This reduces the complexity of the communication processing logic inside the processing module. In addition, any power unit can be connected to any second communication interface of the control board. The communication between power units is universal and not limited by communication protocols. The installation position of the power units can be arbitrarily interchanged without reconfiguring their communication parameters after replacing the power unit.

[0062] In this embodiment, the first communication interfaces are independent of each other and do not interfere with each other; each controller and power unit have an independent logic channel: a first communication interface connected to the controller and a corresponding mapped second communication interface; controllers with different carrier frequencies can achieve parallel control of each power unit through independent logic channels, that is, at least two different carrier frequency controllers can be connected through one control board. When the industrial control system needs to connect different types of controllers, it is not necessary to configure a parallel board for each type of controller, thereby reducing the hardware cost of the industrial control system.

[0063] In the second embodiment of this application, the control board further includes a storage module, the processing module includes a routing decision unit, the storage module stores user configuration information, and the user configuration information includes a mapping relationship between the first communication interface and the second communication interface.

[0064] Optionally, the storage module can be integrated inside the processing chip, for example, the storage module is a non-volatile storage area inside the processing chip; or, the storage module can be located outside the processing chip, that is, the storage module is implemented using an external storage device independent of the processing chip.

[0065] Optionally, user configuration information can be pre-set by the user and stored in the storage module; or during operation, it can be sent to the control board via a programmable logic controller (PLC). After receiving the user configuration information sent by the PLC, the processing module stores the user configuration information in the storage module. When the mapping relationship needs to be changed, there is no need to re-program the control board. The PLC can remotely send new configuration information through the communication link to complete the online update of the mapping relationship, thereby reducing the workload of on-site maintenance and downtime.

[0066] Optionally, the user configuration information may include a mapping relationship between the first communication interface and the second communication interface.

[0067] Optionally, the user configuration information can be organized according to a preset data structure, which includes a mapping table. The mapping table is indexed by the first communication interface number, and each index entry stores one or more second communication interface numbers to represent the mapping relationship between the first communication interface and the second communication interface.

[0068] Optionally, the second communication interfaces mapped to each of the first communication interfaces are at least partially the same; or, the second communication interfaces mapped to each of the first communication interfaces are different.

[0069] That is, two or more first communication interfaces are mapped to the same second communication interface, enabling multiple controllers to share power units in a time-sharing or selective manner. The same power unit can receive control commands from different controllers at different times without physically reconnecting the wiring between the controller and the power unit, thus improving configuration flexibility. Furthermore, by sharing power units, it is not necessary to configure a dedicated power unit group for each controller or each operating condition, which can reduce the total number of power units, lower costs, and flexibly allocate power unit resources according to actual load requirements, thereby improving work efficiency.

[0070] Alternatively, the second communication interfaces mapped to each of the first communication interfaces are completely different; that is, each first communication interface is mapped to a set of non-overlapping second communication interfaces, for example, referring to... Figure 3 Controller 1 is mapped to power unit 1-2, and controller 2 is mapped to power unit 3; so that each controller independently controls its corresponding power unit, and there is no shared power unit between the control paths.

[0071] In this embodiment, if the controllers do not share a power unit, a routing decision unit is not required. The control board can use the processing module to independently configure the interaction timing for each controller according to its carrier frequency, thereby enabling data interaction between each first communication interface and the mapped second communication interface. This ensures that the signals of each controller are transmitted independently according to their corresponding carrier frequencies without interference.

[0072] Optionally, the routing decision unit can be used to receive a first instruction signal sent by the controller, and route the first instruction signal to the corresponding second communication interface according to the mapping relationship, and to receive operating status data sent by the power unit, and route the operating status data to the corresponding first communication interface according to the mapping relationship.

[0073] Optionally, in the downlink direction where the controller sends a command signal to the power unit, the routing decision unit receives the first command signal sent by the controller through the first communication interface, finds a second communication interface that has a mapping relationship with the first communication interface, and sends the first command signal to the corresponding power unit through the second communication interface to complete the downlink data routing.

[0074] Optionally, the first command signal is used to control the power unit to perform a specific operation, and the first command signal includes at least one of pulse width modulation duty cycle command, voltage setting command, and fault reset command.

[0075] Optionally, in the uplink direction of the power unit to the controller operating status data, the routing decision unit receives the operating status data sent by the power unit through the second communication interface, finds the first communication interface that has a mapping relationship with the second communication interface, and sends the operating status data to the corresponding controller through the first communication interface to complete the uplink data routing.

[0076] Optionally, the operating status data is information generated by the power unit during operation that reflects the current operating status. The operating status data includes at least one of the following: output voltage value, temperature value, fault code, operating mode identifier, or alarm information.

[0077] By configuring a routing decision unit, data interaction between each controller and each power unit can be achieved, allowing the communication path between the controller and the power unit to be flexibly adjusted based on the mapping relationship. The same power unit can receive commands from different controllers under different operating conditions by reconfiguring the mapping relationship, without changing the physical wiring. Furthermore, commands from the same controller can be simultaneously sent to multiple power units, achieving one-to-many control distribution.

[0078] In the third embodiment of this application, the control board may further include a data recording module, which includes a data caching unit; the routing decision unit is further configured to group the running status data according to the mapping relationship and transmit each grouped data to the data caching unit; the data caching unit is configured to receive each grouped data and cache each grouped data according to the carrier frequency of the corresponding controller.

[0079] Alternatively, the data logging module can be integrated into the processing chip or implemented using an external black box.

[0080] Optionally, during the uplink data routing process, the routing decision unit routes the running status data from the second communication interface to the corresponding first communication interface, and also groups the running status data according to the mapping relationship to obtain grouped data.

[0081] Optionally, based on the mapping relationship, the operation status data can be grouped by aggregating all operation status data from the second communication interfaces mapped by the same controller into the same group, forming grouped data based on the controller.

[0082] Optionally, the routing decision unit transmits each packet data to the data buffer unit in the data recording module. Upon receiving each packet data, the data buffer unit buffers it according to the carrier frequency of the controller corresponding to each packet data. That is, for packet data with a corresponding controller carrier frequency of f1, the data buffer unit updates the buffer for that packet data at a frequency of f1; for packet data with a corresponding controller carrier frequency of f2, the data buffer unit updates the buffer for that packet data at a frequency of f2. The buffer update frequency of each group of data is independent of other groups and does not affect each other.

[0083] Because each data packet is independently cached according to its corresponding controller carrier frequency, the data packets corresponding to different controllers maintain their own independent timelines in the cache area. Even if multiple controllers with different carrier frequencies exist simultaneously, each data packet can be completely recorded in the cache area according to its corresponding carrier frequency, and no data packet will be overwritten or lost by other data packets during the caching process due to carrier frequency differences.

[0084] Optionally, the data recording module may also include a cache arbitration unit; the cache arbitration unit is used to determine the cache timing of each group of data according to the data cache status of the data cache unit; the data cache unit is also used to cache each group of data according to the cache timing.

[0085] Optionally, the cache arbitration unit detects the current cache status of the data cache unit in each cache cycle. For example, it detects whether the remaining capacity of the cache area corresponding to each group is sufficient, whether each cache area is performing a write operation, and whether there is high-priority data waiting to be written.

[0086] Optionally, the cache arbitration unit determines the writing order and time window of each group of data according to the detected cache status and a preset arbitration strategy, generating a corresponding cache timing sequence. The data cache unit executes the writing operation of each group of data sequentially according to the cache timing sequence, storing each group of data into its corresponding cache area.

[0087] For example, when multiple data packets arrive at the data recording module at the same time and the write bandwidth of the data cache unit is limited, the cache arbitration unit allocates the write operations of each data packet to different time windows according to the controller carrier frequency, data size, or preset priority of each packet, so that multiple write requests are staggered in time and occupy cache write resources in a time-sharing manner.

[0088] The data recording module can dynamically adjust the writing sequence of each group of data according to the actual cache status of the data caching unit. When multiple groups of data arrive at the same time and the cache writing resources are limited, the cache arbitration unit will stagger the writing operations in time to ensure that each group of data can be written to the cache within its allocated time window, and will not cause writing conflicts or data loss due to multiple write requests competing for the same cache resources at the same time.

[0089] Optionally, the cache arbitration unit is also used to determine the product between the time required for a single data cache and the number of currently running first communication interfaces. When the product is less than the minimum carrier frequency corresponding to the currently running first communication interface, the cache timing is fed back to the data cache unit.

[0090] It should be noted that the time required for a single data buffer operation refers to the time required for the data buffer unit to complete one complete data write operation. This time can be determined based on the specific parameters of the hardware implementation. The time required for a single data buffer operation includes the data transfer time from the data recording module to the data buffer unit, the buffer address resolution time, the write pulse setup and hold time, and the write operation completion confirmation time.

[0091] The number of currently active first communication interfaces refers to the total number of first communication interfaces that are currently in an active working state (i.e., connected to a valid controller and performing data interaction operations) during the actual operation of the control board. The minimum carrier frequency refers to the carrier frequency with the smallest value among all the carrier frequencies of the controllers connected to the currently active first communication interfaces.

[0092] Optionally, the cache arbitration unit can obtain the number N of the first communication interfaces currently in operation and the time T required for a single data cache operation, and calculate the total time required for each of the N first communication interfaces to complete a data cache operation in sequence, i.e., the product of the time T required for a single data cache operation and the number N of the currently running first communication interfaces, T×N. The cache arbitration unit obtains the carrier frequency of each controller corresponding to all the currently running first communication interfaces, and determines the carrier frequency fmin with the smallest value from the carrier frequencies of each controller.

[0093] Optionally, the cache arbitration unit compares the product T×N with the minimum carrier frequency fmin.

[0094] If the product is less than the minimum carrier frequency, it means that the current data cache unit's write capability can meet the data cache requirements of all currently running first communication interfaces, and the cache timing is fed back to the data cache unit, which then performs the write operation according to the cache timing.

[0095] If the product is greater than the minimum carrier frequency, it means that the data caching unit cannot complete the data caching operation of all currently running groups before the next round of data update. The caching arbitration unit can take corresponding measures, such as reporting a cache overload warning to the processing module, reducing the caching frequency of some group data, or temporarily stopping the caching of some non-critical group data, so as to prioritize the caching integrity of critical data.

[0096] In this embodiment, the cache arbitration unit dynamically determines the cache timing based on the cache status to resolve concurrent write conflicts; and by actively judging the cache processing capacity of the data cache unit, it promptly reports faults to prompt the user to adjust the total number of devices or control the frequency, thereby avoiding the risk of data loss due to insufficient cache capacity.

[0097] In the fourth embodiment of this application, the first interface module is used to connect the main controller and the redundant controller, and the routing decision unit is used to receive the second instruction signal sent by the main controller and the third instruction signal sent by the redundant controller, decide whether the main controller is operating normally based on the second instruction signal, and transmit the second instruction signal to the power unit through the corresponding second communication interface when the main controller is operating normally, or transmit the third instruction signal to the power unit through the corresponding second communication interface when the main controller is abnormal.

[0098] Optionally, the main controller is connected to the control board through a first communication interface of the first interface module, and the redundant controller is connected to the control board through another first communication interface of the first interface module. During operation, the main controller can continuously send a second command signal to the control board, and the redundant controller can continuously or periodically send a third command signal to the control board.

[0099] Optionally, the routing decision unit receives the second instruction signal and the third instruction signal respectively, and monitors the second instruction signal according to the preset judgment rules to determine whether the main controller is operating normally.

[0100] The preset judgment rules may include at least the following: if no second command signal from the main controller is received for two consecutive carrier frequency cycles, the main controller is judged to be abnormal; otherwise, the main controller is judged to be operating normally. Similarly, if the checksum field in the received command signal does not match the data content, the corresponding controller is judged to be abnormal; otherwise, the main controller is judged to be operating normally. Furthermore, if the amplitude of the command signal exceeds a preset normal operating range, the corresponding controller is judged to be abnormal; otherwise, the main controller is judged to be operating normally. It is understood that the above preset judgment rules can be adjusted according to actual circumstances, as long as the abnormality judgment can be achieved. This embodiment of the specification does not limit this.

[0101] Optionally, when the main controller is operating normally, the routing decision unit transmits the signal to the power unit through the corresponding second communication interface, without needing to transmit the third command signal to the corresponding power unit.

[0102] Optionally, in the event of a main controller malfunction, a third command signal is transmitted to the power unit via the corresponding second communication interface.

[0103] Reference Figure 3 Controller 3 is the main controller, and controller 4 is a redundant controller. Controller 3 and controller 4 are respectively connected to the control board. The routing decision unit in the control board receives the second instruction signal from controller 3 and the third instruction signal from controller 4 in real time. The routing decision unit decides whether the main controller is operating normally based on the second instruction signal.

[0104] Controller 3 and Controller 4 are connected to the same power unit 4 via a control board, which ultimately drives the customer equipment 3. When Controller 3 is operating normally, the control board sends the second command signal from Controller 3 to the corresponding power unit 4, and Controller 4 is in standby mode. When an abnormality is detected in Controller 3, the control board sends the third command signal from Controller 4 to the power unit 4, thereby achieving hot standby redundancy of the controller and ensuring that the customer equipment 3 does not stop.

[0105] Optionally, when the routing decision unit determines that the main controller is malfunctioning and transmits the third command signal sent by the redundant controller to the power unit through the corresponding second communication interface, the routing decision unit continues to monitor the recovery status of the second command signal of the original main controller. When the second command signal of the original main controller is detected to have returned to normal, the routing decision unit can decide whether to switch back to the original main controller according to a preset recovery strategy.

[0106] The preset recovery strategies include at least immediately switching back to the main controller, waiting for a manual command to switch back, or maintaining the current redundant controller in operation until the next system maintenance.

[0107] Optionally, the main controller and the redundant controller are connected to two first communication interfaces on the control board via fiber optic interfaces, and the two first communication interfaces are physically independent of each other. The routing decision unit can internally be equipped with two command receiving buffers, used to buffer the second command signal from the main controller and the third command signal from the redundant controller, respectively. During each carrier frequency cycle, the routing decision unit reads the latest received command signal from each of the two command receiving buffers and monitors the command signals.

[0108] Optionally, the second communication interface may include a fault judgment unit, that is, the second communication interface has a fault detection and identification function, which is used to monitor the operating status of the power unit connected through the second communication interface in real time, identify whether there is an abnormal condition of the power unit (such as communication timeout, data verification error, feedback data exceeding the limit, etc.), and generate a corresponding fault identifier or fault code for further processing by the processing module.

[0109] Optionally, the second communication interface further includes a data extraction unit, which is used to extract the operating status data required by the processing module or controller from the received power unit feedback data, and to perform format conversion or preprocessing on the extracted data.

[0110] Optionally, the second communication interface also includes a data communication unit, which is used to realize the data transmission and reception function between the control board and the power unit.

[0111] Optionally, the routing decision unit, the main controller, and the redundant controller share the same carrier frequency.

[0112] Optionally, the main controller and the redundant controller have the same carrier frequency and send command signals at the same time. When the routing decision unit monitors, compares and determines the status of the two command signals, it does not need to configure different sampling timings for signals with different carrier frequencies, thereby simplifying the status monitoring logic inside the routing decision unit.

[0113] Optionally, when the main controller malfunctions, since the main controller and the redundant controller have the same carrier frequency, the third command signal and the second command signal have the same control cycle. The power unit side will not experience a sudden change in control timing due to the carrier frequency jump. The output waveform of the power unit remains continuous before and after the switching, which can realize a smooth switching between the main controller and the redundant controller.

[0114] Optionally, in application scenarios where the control board needs to connect to multiple sets of main controllers and redundant controllers simultaneously, the carrier frequencies of each set can be different, but the carrier frequencies of the main controllers and redundant controllers within the same set must be consistent, so that the routing decision unit can monitor and determine the signals of the two controllers in the set based on a unified timing reference, thereby reducing the management complexity of the control board for multiple sets of redundant controllers.

[0115] Reference Figure 1 Traditional redundancy schemes require an additional high-speed communication link at the control cycle level between the main controller and the redundant controller. In this embodiment, both the main controller and the redundant controller are connected to the same control board. The routing decision unit inside the control board receives the two control signals and performs the operation status determination. There is no need to set up an additional high-speed communication link between the main controller and the redundant controller for status synchronization and data exchange.

[0116] Furthermore, in traditional redundancy schemes, each power unit needs to receive information from two controllers simultaneously, thus requiring two communication interfaces. In this embodiment, the routing decision unit only outputs the command signal from the normally operating controller to the corresponding second communication interface. Therefore, the power unit only needs to receive the command signal from the control board through one communication interface, without needing to be aware of the existence of the main controller and the redundant controller. This means that the number of communication interfaces on the power unit side does not need to double due to redundancy configuration, reducing the impact of the number of fiber optic interfaces on system cost.

[0117] Reference Figure 4 ,and Figure 1 Compared to the traditional redundancy scheme shown, this embodiment can save 3 pairs of fiber optic communication and one parallel board. Figure 1 The blue section represents communication components that can be eliminated, reducing system costs while improving system reliability and integration.

[0118] In the fifth embodiment of this application, the control board may further include a DIDO (Digital Input / Digital Output) control module. Each power unit is used to connect to the customer equipment, and a switch is provided between each power unit and the customer equipment. The DIDO control module is connected to the switch. The DIDO control module is used to send on / off control signals to the switch according to the mapping relationship.

[0119] Optionally, the output of the DIDO control module is connected to the control terminal of the switch between each power unit and the customer equipment. This switch is used to establish or disconnect the electrical connection between the power unit and the customer equipment. Figure 3 The switches K1, K2, K3, and K4 shown in the diagram can be relays, solid-state relays, contactors, or semiconductor switching devices, etc.

[0120] Optionally, the customer device is a terminal load device driven by a power unit, such as a servo motor, a frequency converter, or an industrial robot actuator. The DIDO control module is used to control the closing and opening of the switch according to the mapping relationship between the first communication interface and the second communication interface, thereby controlling the on / off state of the customer device.

[0121] Optionally, during the operation of the control board, the DIDO control module determines the second communication interface with which the mapping relationship exists based on the mapping relationship between the first communication interface and the second communication interface; the DIDO control module generates a corresponding on / off control signal based on the second communication interface with which the mapping relationship exists, and the on / off control signal includes a closing control signal and an opening control signal.

[0122] For example, for a power unit corresponding to a second communication interface with an existing mapping relationship, the DIDO control module sends a closing control signal to the switch between the power unit and the customer equipment, establishing an electrical connection between the power unit and the customer equipment, thereby enabling the power unit to output electrical energy to the customer equipment; for a power unit corresponding to a second communication interface without an existing mapping relationship, the DIDO control module sends a disconnection control signal to the switch between the power unit and the customer equipment, cutting off the electrical connection between the power unit and the customer equipment, thereby electrically isolating the power unit from the customer equipment.

[0123] Optionally, by sending on / off control signals to the switch based on the mapping relationship, the physical connection topology between the power unit and the customer equipment can be automatically adjusted according to the mapping relationship configuration. When the mapping relationship changes, the DIDO control module sends on / off control signals to the switch according to the updated mapping relationship. That is, the user can synchronously change the physical connection topology between the power unit and the customer equipment by changing the mapping relationship configuration, avoiding operational delays and error risks introduced by manual switch operation or rewiring.

[0124] Optionally, the processing module may also include at least one third communication interface. The DIDO control module is connected to the routing decision unit, and the third communication interface is used to connect to the programmable logic controller. The routing decision unit is also used to receive the switch control instructions issued by the programmable logic controller and route the switch control instructions to the DIDO control module. The DIDO control module is also used to send on / off control signals to the switch according to the switch control instructions.

[0125] Optionally, during operation, the PLC can generate switch control commands based on instructions from the upper-level scheduling system, operator input, or its own logic program, and send these commands to the routing decision unit via the third communication interface. The routing decision unit receives the switch control command via the third communication interface and routes it to the DIDO control module. Upon receiving the switch control command, the DIDO control module parses the command content, determines the target switch and its on / off state (closed or open), and sends an on / off control signal to the corresponding switch, driving the switch to perform the corresponding closing or opening action.

[0126] Optionally, by issuing switch control commands through the PLC, there is no need to change the mapping configuration stored inside the control board or restart the control board. Switch control commands can be directly issued to the control board through the third communication interface to achieve independent control of the connection status between a specific power unit and the customer equipment.

[0127] Optionally, the DIDO control module can be equipped with multiple digital input terminals. External devices (e.g., buttons, selector switches, relay contacts, etc.) are connected to the digital input terminals via physical wires. The external devices send hard-wired signals (e.g., high or low level, contact closed or open) to the DIDO control module. The DIDO control module acquires the level or contact status of each input terminal in real time and generates corresponding on / off control signals according to preset logic rules (e.g., a high level on a certain input terminal closes the corresponding switch, and a low level on the corresponding switch opens the corresponding switch). The DIDO control module sends the on / off control signal to the switch through the digital output terminal, driving the switch to perform the closing or opening action.

[0128] Optionally, if no switch is set between each power unit and the customer equipment, the routing decision unit can also control whether the power unit outputs power to the customer equipment by sending enable / disable commands to the power unit according to the mapping relationship.

[0129] Optionally, when the controller needs to switch the number of power units in operation under different operating conditions (e.g., switching from two power units in parallel under normal operating conditions to three power units in parallel under full load conditions), only the above mapping relationship needs to be updated. The DIDO control module can then control the corresponding switches to close or open based on the updated mapping relationship, without requiring manual operation by on-site personnel, thereby improving the automation level and response speed of the system when switching between different operating conditions.

[0130] Operating conditions refer to the operating status of customer equipment under different working stages or load conditions. Operating conditions include normal operation, full load operation, light load operation, and overload operation, each with different power consumption requirements. In traditional solutions, to meet the power consumption requirements of customer equipment under different operating conditions, a fixed number of power units are usually configured according to the maximum power consumption. This results in a large number of power units being idle or operating inefficiently under normal operation or light load conditions, leading to energy waste and hardware resource redundancy.

[0131] This embodiment pre-configures power units corresponding to different power consumption requirements and switches the number of power units engaged when the operating conditions change. This allows for the use of fewer power units during light load or normal operation to reduce power consumption and heat loss, and the use of more power units during full load or overload to ensure output capacity. This reduces system operating costs and energy consumption while extending the service life of the power units.

[0132] Specifically, the control board can receive operating condition switching commands from the host computer. The routing decision unit determines the power consumption required by the customer equipment under the switched operating condition based on these commands. The control board then calculates the number of power units that need to be activated based on this power consumption requirement; for example, two power units are needed under normal operating conditions, and three power units are needed under full-load operating conditions. The routing decision unit adjusts the power units mapped to the corresponding controller (e.g., controller 1). The DIDO control module controls the closing or opening of corresponding switches according to the adjusted mapping relationship to activate or deactivate specific power units. That is, the actual number of power units activated is changed by controlling the on / off state of the switches without altering the routing logic within the control board.

[0133] like Figure 5 As shown, taking three controllers (HCU1, HCU2, HCU3) and three power units (INV1, INV2, INV3) as an example, the three power units can be connected to different customer devices. The control board, through its internal routing decision unit and DIDO control module, controls the on / off state of corresponding switches (K1, K2, K3, K4, etc.) according to the mapping relationship between the first and second interface modules, thereby achieving flexible allocation of the number of power units under different operating conditions.

[0134] For example, when customer equipment 1 requires two units to run in parallel, the control board closes K1 and K2 and opens K3, so that HCU1 and HCU2 are connected in parallel to supply power to the DC bus, while INV1 and INV2 are connected in parallel to drive customer equipment 1; when customer equipment 1 requires three units to run in parallel, the control board closes K1, K2, and K3 and opens K4, so that HCU1, HCU2, and HCU3 are connected in parallel to supply power, while INV1, INV2, and INV3 are connected in parallel to drive customer equipment 1.

[0135] Optionally, refer to Figure 6 Each power unit can connect to at least two customer devices. When at least two customer devices need to run in parallel, the routing decision unit adjusts the power units mapped by the controllers of different carrier frequencies. The DIDO control module controls the closing and opening of the switches according to the adjusted mapping relationship, so that the power unit sets mapped by each controller do not overlap, and each power unit set is connected to the corresponding customer device.

[0136] Specifically, the routing decision unit determines all client devices that need to run in parallel and their corresponding controllers based on user configuration information. According to the mapping relationship, the routing decision unit allocates a set of non-overlapping power units to each controller (i.e., the power unit sets of each controller have no common power units). The DIDO control module, based on the above mapping relationship, controls the opening and closing of the switches between each power unit and each client device, ensuring that the output of each power unit set is only connected to its corresponding client device and disconnected from other client devices.

[0137] Reference Figure 3 Taking a power unit (e.g., power unit 1) that can be connected to customer equipment 1 and customer equipment 2 via switches K1 and K2 respectively as an example, multiple power units and multiple customer equipment form a cross-connected network. The routing decision unit adjusts the power units mapped by each controller (e.g., controller 1, controller 2, etc.), and the DIDO control module controls the closing or opening of the corresponding switches, so that the power unit sets mapped by each controller do not overlap (i.e., the same power unit is used by only one controller at a time), and each power unit set is connected to the corresponding customer equipment through a closed switch, thereby enabling multiple types of customer equipment to operate independently in parallel under the support of the same control board.

[0138] For example, in one application scenario, customer device 1 requires two power units to operate in parallel to meet normal operating conditions, while customer device 2 only needs a single power unit to meet its power requirements. Controller 1 is used to implement the control requirements of customer device 1, and controller 2 is used to implement the control requirements of customer device 2. The routing decision unit completes the mapping relationship between the controllers and the power units (i.e., mapping the first communication interface 1 to the second communication interface 1 and the second communication interface 2, and mapping the first communication interface 2 to the second communication interface 3). The DIDO control module closes switches K1, K2, and K4, and opens K3, so that power units 1 and 2 are connected to customer device 1, and power unit 3 is connected to customer device 2. This allows controllers 1 and 2 to independently control their mapped power units, enabling customer device 1 and customer device 2 to operate independently and stably under their respective operating conditions. This allows multiple loads to operate in parallel using the same control board, eliminating the additional overhead of configuring a separate parallel board for each load.

[0139] Optionally, at least two customer devices are connected to the same power unit set, and each customer device corresponds to a device operating mode. When the routing decision unit determines that a customer device needs to switch its device operating mode, it controls the closing and opening of the switch to connect the same power unit set with the customer device corresponding to the switched device operating mode.

[0140] Optionally, the equipment operating mode refers to the operating mode or functional type corresponding to the customer's equipment. For example, different customer equipment may represent different production process stages or different load types. Each customer equipment corresponds to one equipment operating mode.

[0141] Before the control board is powered on or before operation, the operating mode of each customer device can be preset in the user configuration information. During operation, when the control board receives an operating mode switching command from the PLC or host computer, the control board first determines the target device operating mode to be switched, and then determines the target customer device corresponding to the target device operating mode.

[0142] For example, in an energy storage system, charging mode and discharging mode (i.e., different device operating modes) correspond to different customer devices: in charging mode, the power unit set needs to be connected to the energy storage battery (as a load); in discharging mode, the same power unit set needs to be connected to the grid or electrical equipment (as a power source). After receiving the mode switching command, the routing decision unit determines that the device operating mode after the switch is discharging mode, and then determines that the customer device corresponding to this discharging mode is a grid-side inverter or load.

[0143] The DIDO control module disconnects the switch between the power unit assembly and the energy storage battery, and closes the switch between the power unit assembly and the grid-side equipment, enabling the same group of power units to switch from the charging circuit to the discharging circuit, thereby achieving flexible switching between energy storage and release.

[0144] The sixth embodiment of this application proposes a control method applied to the processing module in the control board. The control board supports access to at least two controllers with different carrier frequencies and multiple power units. The control board includes multiple parallel data transmission channels, each controller corresponds to one data transmission channel, and each controller is mapped to at least one power unit.

[0145] In this embodiment, refer to Figure 7 The control method includes steps S10-S20: Step S10: Receive the first instruction signal sent by each controller; Optionally, since each controller corresponds to a data transmission channel, the first command signal of each controller is independently received by the processing module through its dedicated data transmission channel, and there is no intersection or sharing of signal paths between the data transmission channels. When there are at least two controllers with different carrier frequencies, each controller sends the first command signal at its own carrier frequency, and each data transmission channel receives the signal independently according to the carrier frequency of its corresponding controller, without affecting each other.

[0146] Optionally, multiple parallel data transmission channels can be implemented using independent logic resource areas within the FPGA chip or multiple independent hardware data paths embedded within the ASIC chip; for example, the FPGA chip allocates a set of independent logic resource blocks for each controller, and each logic resource block includes an independent clock domain, independent storage resources, and independent combinational logic circuits.

[0147] Optionally, multiple parallel data transmission channels can correspond to multiple logical paths between the first communication interface and the second communication interface. For example, starting from receiving data from a certain first communication interface, the routing decision unit inside the processing module performs path selection and routing distribution according to the mapping relationship, and finally sends the data to the target power unit through one or more corresponding second communication interfaces.

[0148] Step S20: Based on the carrier frequency of each controller, the first command signal is transmitted to the target power unit mapped by the corresponding controller through the corresponding data transmission channel.

[0149] Optionally, since each controller may have different carrier frequencies, that is, the frequency and timing of the first command signal sent by each controller may be different, in this embodiment, each controller corresponds to a data transmission channel. Each data transmission channel works independently and in parallel. The processing module transmits the first command signal to the target power unit mapped by the corresponding controller through the corresponding data transmission channel according to the carrier frequency of each controller. The transmission timing of each data transmission channel is independently driven by the carrier frequency of its corresponding controller, thereby realizing the parallel transmission of the command signals of each controller.

[0150] For example, the data transmission channel corresponding to the controller with carrier frequency f1 transmits the first command signal to its mapped target power unit at a clock cycle of f1; the data transmission channel corresponding to the controller with carrier frequency f2 transmits the first command signal to its mapped target power unit at a clock cycle of f2. The logical isolation and parallelism of each data transmission channel prevent the convergence of signals from different carrier frequencies within the same logical path, thus avoiding timing conflicts or signal aliasing.

[0151] Optionally, the controller includes a main controller and redundant controllers. The first command signal includes a second command signal sent by the main controller and a third command signal sent by the redundant controllers. Depending on the carrier frequency of each controller, the first command signal can be transmitted to the target power unit mapped by the corresponding controller via a corresponding data transmission channel in the following manner: The main controller is determined based on the second command signal to determine whether it is operating normally. When the main controller is operating normally, the second command signal is transmitted to the corresponding target power unit through the corresponding data transmission channel. When the main controller is abnormal, the third command signal is transmitted to the corresponding target power unit through the corresponding data transmission channel.

[0152] Optionally, the main controller and the redundant controller are connected to the control board through different data transmission channels. The main controller continuously sends a second command signal through its data transmission channel, and the redundant controller continuously or periodically sends a third command signal through its data transmission channel.

[0153] Optionally, after receiving the second instruction signal and the third instruction signal, the processing module decides whether the main controller should operate normally based on the second instruction signal and the preset judgment rules.

[0154] Optionally, when the main controller is operating normally, the processing module transmits the second instruction signal to the target power unit it is mapped through the data transmission channel corresponding to the main controller; the third instruction signal is not transmitted to the target power unit.

[0155] Since the main controller and the redundant controller each have their own independent data transmission channels, the two command signals are always transmitted in parallel along their respective independent channels within the control board. An abnormal state of one signal will not affect the normal transmission of the other signal. There is no need to set up an additional high-speed communication link between the main controller and the redundant controller for state synchronization.

[0156] When the main controller malfunctions, since the data transmission channel of the redundant controller is always running, the processing module transmits the third command signal sent by the redundant controller to the target power unit through the data transmission channel of the redundant controller. This eliminates the need to wait for the redundant controller to restart or re-establish the communication link, thereby achieving rapid switching and uninterrupted transmission of command signals in the case of controller redundancy.

[0157] Optionally, each power unit supports connection to at least one customer device, and a switch is provided between each power unit and the customer device. The switch is connected to the control board. Before the step of transmitting the first command signal to the target power unit mapped by the corresponding controller through the corresponding data transmission channel according to the carrier frequency of each controller, the following can also be done: Based on the mapping relationship between each controller and each power unit, on / off control signals are sent to the switch.

[0158] Optionally, the mapping relationship between each controller and each power unit can be obtained in the following ways: The system retrieves user configuration information stored in the internal storage module of the control board. This user configuration information includes the mapping relationship between the first communication interface and the second communication interface inside the control board. Based on the mapping relationship between the first communication interface and the second communication interface, the current connection relationship between the first communication interface and the power unit, and the current connection relationship between the second communication interface and the controller, the system determines the mapping relationship between each controller and each power unit.

[0159] Optionally, the processing module determines which power units need to be put into operation based on the mapping relationship between each controller and each power unit. That is, it determines that the power units that have a mapping relationship with a certain controller need to be connected to the customer equipment corresponding to that controller, and the power units that have no mapping relationship with any controller are in an idle state.

[0160] Optionally, the DIDO control module sends corresponding on / off control signals to the switch: for power units that need to be put into operation, the processing module sends a closing control signal to the switch between the power unit and the corresponding customer equipment to establish an electrical connection between the power unit and the customer equipment; for power units that do not need to be put into operation, the processing module sends a disconnection control signal to the switch between the power unit and the customer equipment to electrically isolate the power unit from the customer equipment.

[0161] When the mapping relationship changes, the transmission of the on / off control signal and the routing of the command signal change synchronously, eliminating the need for on-site personnel to manually operate the switch to enable or disable the power unit, thus avoiding the delay and error risks introduced by manual operation.

[0162] The sixth embodiment of this application provides a control system, which includes a control board, a controller, and a power unit. The control board supports access to at least two controllers with different carrier frequencies and multiple power units. Each controller is mapped to at least one power unit. The control board is used to receive a first instruction signal sent by each controller and, according to the carrier frequency of each controller, transmit the first instruction signal to the target power unit mapped by the corresponding controller through the corresponding data transmission channel.

[0163] The control system provided in this application, employing the control method described in the above embodiments, can reduce the hardware cost of industrial control systems. Compared with the prior art, the beneficial effects of the control system provided in this application are the same as those of the control method described in the above embodiments, and other technical features in the control system are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0164] This application also provides a storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the control methods described above.

[0165] The storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, memory, optical fibers, optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0166] The aforementioned storage medium may be included in the control device; or it may exist independently and not be assembled into the control device.

[0167] The aforementioned storage medium carries one or more programs, which, when executed by the control device, cause the control device to perform the aforementioned control method.

[0168] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0169] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0170] The readable storage medium provided in this application is a storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described control method, which can reduce the hardware cost of industrial control systems. Compared with the prior art, the beneficial effects of the storage medium provided in this application are the same as the beneficial effects of the control method provided in the above embodiments, and will not be repeated here.

[0171] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the control board, control system and control method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

Claims

1. A control board, characterized in that, The control board includes a processing module, a first interface module, and a second interface module. The first interface module includes multiple first communication interfaces connected in parallel to the processing module. The second interface module has multiple second communication interfaces and is connected to the processing module. The first communication interface supports connection to the controller, and the second communication interface supports connection to the power unit. Each of the first communication interfaces is mapped to at least one of the second communication interfaces. The first communication interfaces support access to controllers with at least two different carrier frequencies, and the processing module is used to realize data interaction between each first communication interface and the mapped second communication interface according to the carrier frequency of the corresponding controller.

2. The control board as described in claim 1, characterized in that, The control board further includes a storage module, the processing module includes a routing decision unit, the storage module stores user configuration information, and the user configuration information includes a mapping relationship between the first communication interface and the second communication interface; The routing decision unit is used to receive a first instruction signal sent by the controller, and route the first instruction signal to the corresponding second communication interface according to the mapping relationship, and to receive operating status data sent by the power unit, and route the operating status data to the corresponding first communication interface according to the mapping relationship.

3. The control board as described in claim 2, characterized in that, The control board also includes a data recording module, which includes a data caching unit. The routing decision unit is further configured to group the running status data according to the mapping relationship and transmit each grouped data to the data cache unit; The data caching unit is used to receive each of the packet data and cache each of the packet data according to the carrier frequency of the corresponding controller.

4. The control board as described in claim 3, characterized in that, The data recording module also includes a cache arbitration unit; The cache arbitration unit is used to determine the caching sequence of each group of data based on the data caching status of the data caching unit; The data caching unit is also used to cache each group of data according to the caching sequence.

5. The control board as described in claim 4, characterized in that, The cache arbitration unit is also used to determine the product between the time required for a single data cache and the number of currently running first communication interfaces. When the product is less than the minimum carrier frequency corresponding to the currently running first communication interface, the cache timing is fed back to the data cache unit.

6. The control board as described in claim 2, characterized in that, The first interface module is used to connect the main controller and the redundant controller. The routing decision unit is used to receive the second instruction signal sent by the main controller and the third instruction signal sent by the redundant controller, decide whether the main controller is operating normally based on the second instruction signal, and transmit the second instruction signal to the power unit through the corresponding second communication interface when the main controller is operating normally, or transmit the third instruction signal to the power unit through the corresponding second communication interface when the main controller is abnormal.

7. The control board as described in claim 6, characterized in that, The routing decision unit, the main controller, and the redundant controller all share the same carrier frequency.

8. The control board as described in claim 2, characterized in that, The control board also includes a DIDO control module. Each of the power units is used to connect to the customer equipment. A switch is provided between each power unit and the customer equipment. The DIDO control module is connected to the switch. The DIDO control module is used to send on / off control signals to the switch according to the mapping relationship.

9. The control board as described in claim 8, characterized in that, The processing module further includes at least one third communication interface. The DIDO control module is connected to the routing decision unit, and the third communication interface is used to connect to the programmable logic controller. The routing decision unit is also used to receive the switch control command issued by the programmable logic controller and route the switch control command to the DIDO control module; The DIDO control module is also used to send on / off control signals to the switch according to the switch control command.

10. The control board as described in claim 1, characterized in that, The second communication interfaces mapped to each of the first communication interfaces are at least partially the same; or, the second communication interfaces mapped to each of the first communication interfaces are different.

11. The control board as described in claim 1, characterized in that, The data communication format between each of the second communication interfaces and each of the power units is the same.

12. The control board as described in claim 1, characterized in that, The control board also includes multiple carrier frequency buffer modules, each of which corresponds to one of the first communication interfaces. The carrier frequency buffer modules are used to update and buffer the current carrier frequency sent by the controller corresponding to the first communication interface in each control cycle.

13. A control method, characterized in that, The control board is applied to a control board that supports access to at least two controllers with different carrier frequencies and multiple power units. The control board includes multiple parallel data transmission channels, each controller corresponding to one data transmission channel, and each controller mapping to at least one power unit. The control method includes: Receive the first instruction signal sent by each of the controllers; Based on the carrier frequency of each controller, the first instruction signal is transmitted to the target power unit mapped by the corresponding controller through the corresponding data transmission channel.

14. The control method as described in claim 13, characterized in that, The controller includes a main controller and redundant controllers. The first command signal includes a second command signal sent by the main controller and a third command signal sent by the redundant controllers. The step of transmitting the first command signal to the target power unit mapped by the corresponding controller through the corresponding data transmission channel according to the carrier frequency of each controller includes: The decision on whether the main controller operates normally is based on the second instruction signal; When the main controller is operating normally, the second command signal is transmitted to the corresponding target power unit through the corresponding data transmission channel; When the main controller malfunctions, the third instruction signal is transmitted to the corresponding target power unit through the corresponding data transmission channel.

15. The control method as described in claim 13, characterized in that, Each of the power units supports connection to at least one client device. A switch is provided between each power unit and the client device. The switch is connected to the control board. Before the step of transmitting the first command signal to the target power unit mapped by the corresponding controller through the corresponding data transmission channel according to the carrier frequency of each controller, the method further includes: Based on the mapping relationship between each controller and each power unit, an on / off control signal is sent to the switch.

16. A control system, characterized in that, The control system includes a control board, a controller, and a power unit. The control board supports access to at least two controllers with different carrier frequencies and multiple power units. Each controller is mapped to at least one power unit. The control board is used to receive the first instruction signal sent by each of the controllers, and transmit the first instruction signal to the target power unit mapped by the corresponding controller through the corresponding data transmission channel according to the carrier frequency of each controller.

17. A storage medium, characterized in that, The storage medium is a storage medium on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the control method as described in any one of claims 13 to 15.

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