Control device, control method, and program

Abstract

A control device (1k) according to the present disclosure comprises: a gate control list calculation unit (107) that designs a first gate control list of a plurality of communication devices in one control communication network and calculates transmission timings for frames by the plurality of communication devices in the one control communication network, on the basis of a network topology, delay guarantee communication design information, an existing gate control list, and transmission timings for frames by a plurality of communication devices in another control communication network; a delay requirement determination unit (109) that determines whether or not an end-to-end delay satisfies a delay requirement; and a control frame generation information transmission unit (111) that, when it has been determined that the end-to-end delay satisfies the delay requirement, transmits control frame generation information indicating a design command.

Description

Technical Field

[0001] The present disclosure relates to a control device, a control method, and a program.

Background Art

[0002] TSN (Time-Sensitive Networking) is known as a technology for guaranteeing reduction of delay and jitter in communication. In TSN, a control device (for example, a CNC (Central Network Controller)) guarantees reduction of delay and jitter by controlling a switch synchronized with the control device via a control communication network. In TSN, usually, it is assumed that a single CNC controls switches that are strictly time-synchronized within a single control communication network.

[0003] In recent years, there has been an increasing need to reduce delay and jitter even in long-distance communication. Therefore, the use of TSN is being considered not only within a single control communication network but also in communication via a main signal network that connects a user's control communication network and a carrier's control communication network (Non-Patent Document 1 and Non-Patent Document 2).

Prior Art Documents

Non-Patent Documents

[0004]

Non-Patent Document 1

Non-Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the above - described technology, in communication via the main signal network that connects between multiple control communication networks, the control device cannot manage the switches of control communication networks different from the control communication network to which the control device is connected. Also, it is not stipulated that multiple control devices in each of the multiple control communication networks cooperate with each other to perform communication control, synchronization, etc.

[0006] Specifically, as shown in FIG. 20, control device A designs the gate control list (GCL) of switches SW1 - 1 and SW1 - 2 of the control communication network to which the device itself is connected, and control device B designs the GCL of switches SW2 - 1 and SW2 - 2 of the control communication network to which the device itself is connected. In such a configuration, in the control communication network of control device A, the GCL can be designed such that the timing obtained by adding the propagation delay T T1 to the frame transmission completion time at switch SW1 - 1 becomes the transmission start timing at the next switch SW1 - 2. Thus, control device A can reduce the delay of frames in its own control communication network.

[0007] However, since control device B, which is different from control device A, designs the GCL of switches SW2 - 1 and SW2 - 2 of the control communication network of control device B, the frame transmitted from switch SW1 - 2 and received completely at switch SW2 - 1 may start transmitting the frame at a time point delayed from the ideal transmission start instead of the timing obtained by adding the propagation delay T T2 to the frame transmission end timing by switch SW1 - 2 (ideal transmission start). As a result, the queuing delay TQ Occurs.

[0008] Thus, in communication across a plurality of control communication networks, it is difficult to reduce delay, and as an example, a delay of up to one cycle of GCL may occur.

[0009] An object of the present disclosure made in view of such circumstances is to provide a control device, a control method, and a program capable of reducing delay in communication across a plurality of control communication networks.

Means for Solving the Problem

[0010] To solve the above problems, a control device according to the present disclosure belongs to one of a plurality of control communication networks connected by a main signal network, and transfers a frame transmitted from a transmission terminal to a reception terminal. In a control device that designs a first gate control list for each of a plurality of communication devices in the one control communication network, a delay guarantee communication design information input unit that receives an input of delay guarantee communication design information indicating information related to the design of the first gate control list, a network topology storage unit that stores the network topology of the one control communication network, a gate control list storage unit that stores an existing gate control list of the one control communication network, the network topology, the delay guarantee communication design information, the existing gate control list, and a second gate control list for each of a plurality of communication devices in the other control communication network designed by another control device belonging to another control communication network adjacent to the one control communication network. Based on the transmission timing of the frame by the plurality of communication devices in the other control communication network when the frame is transferred according to the list, the first gate control list is designed, and the transmission timing of the frame by the plurality of communication devices in the one control communication network when the frame is transferred by the first gate control list is calculated. A delay requirement determination unit that determines whether the inter-terminal delay from the transmission start timing of the frame by the transmission terminal to the reception end timing of the frame by the reception terminal satisfies the delay requirement when the frame is transferred according to the gate control lists designed for each of the plurality of communication devices in the plurality of control communication networks by each of the plurality of control devices belonging to the plurality of control communication networks, and when it is determined that the inter-terminal delay satisfies the delay requirement, a control frame generation information transmission unit that transmits control frame generation information indicating a design instruction to set each of the gate control lists in the corresponding communication device.

[0011] Also, in order to solve the above problems, a control device according to the present disclosure belongs to one of a plurality of control communication networks connected by a main signal network, and transfers a frame transmitted from a transmission terminal to a reception terminal, and is a control device that designs a gate control list of a plurality of communication devices in the one control communication network, the control device including: a delay guarantee communication design information input unit that receives an input of delay guarantee communication design information indicating information related to the design of the gate control list; A network topology storage unit that stores the network topology of the one control communication network, a gate control list storage unit that stores an existing gate control list for a plurality of communication devices in the one control communication network, based on the network topology, the delay guarantee communication design information, and the existing gate control list, designing one or more gate control list candidates for a plurality of communication devices in the one control communication network, and calculating the transmission timing of the frame by the plurality of communication devices in the one control communication network when the frame is transferred according to each of the designed one or more gate control list candidates; a gate control list candidate calculation unit; based on the transmission timing of the frame corresponding to each of the one or more gate control list candidates for each of the plurality of communication devices in the plurality of control communication networks designed by the plurality of control devices belonging to the plurality of control communication networks respectively, calculating the inter-terminal delay from the transmission start timing of the frame by the transmission terminal to the reception end timing of the frame by the reception terminal when the frame is transferred by each combination of the gate control list candidates for each of the plurality of communication devices, selecting the combination with the minimum inter-terminal delay, and determining each of the gate control list candidates constituting the combination as the gate control list for each of the plurality of communication devices in the plurality of control communication networks; an overall gate control list calculation unit; a delay requirement determination unit that determines whether the inter-terminal delay when the frame is transferred according to the determined gate control list satisfies the delay requirement; and a control frame generation information transmission unit that transmits control frame generation information including a design command indicating that the gate control list determined by the overall gate control list calculation unit is set for each of the plurality of communication devices when it is determined that the inter-terminal delay satisfies the delay requirement.

[0012] Also, in order to solve the above problems, a control device according to the present disclosure belongs to one of a plurality of control communication networks connected by a main signal network, and transfers a frame transmitted from a transmission terminal to a reception terminal. In a control device that designs a gate control list for a plurality of communication devices in each of the plurality of control communication networks, a delay guarantee communication design information input unit that receives an input of delay guarantee communication design information indicating information related to the design of the communication, a whole network topology storage unit that stores a whole network topology including the network topologies of the plurality of control communication networks, a gate control list storage unit that stores an existing overall gate control list including the existing gate control lists of the plurality of control communication networks, based on the whole network topology, the delay guarantee communication design information, and the existing overall gate control list, designs a gate control list for a plurality of communication devices in the whole of the plurality of control communication networks, and calculates a transmission timing of the frame by the plurality of communication devices when the frame is transferred by the designed gate control list; a delay requirement determination unit that calculates an inter-terminal delay from a reception end timing of the frame by the reception terminal to a transmission start timing of the frame by the transmission terminal based on the transmission timing, and determines whether or not the inter-terminal delay satisfies a delay requirement; and a control frame generation information transmission unit that, when it is determined that the inter-terminal delay satisfies the delay requirement, transmits control frame generation information including a design command for setting a gate control list for communication devices in other control communication networks in the gate control list designed by the overall gate control list calculation unit to the other control devices.

[0013] Also, in order to solve the above problems, a control method according to the present disclosure belongs to one of a plurality of control communication networks connected by a main signal network, and transfers a frame transmitted from a transmission terminal to a reception terminal. A control device that designs a gate control list of a plurality of communication devices in the one control communication network, the control method of the control device including: a network topology storage unit that stores the network topology of the one control communication network; and a gate control list storage unit that stores the gate control list of the one control communication network. In the control method, a step of receiving an input of delay guarantee communication design information indicating information related to the design of the gate control list; based on the network topology, the delay guarantee communication design information, and an existing gate control list, designing one or more gate control list candidates for a plurality of communication devices in the one control communication network, and calculating transmission timings of the frame by the plurality of communication devices in the one control communication network when the frame is transferred according to each of the designed one or more gate control list candidates; based on the transmission timings of the frame corresponding to each of the one or more gate control list candidates for each of the plurality of communication devices in the plurality of control communication networks designed by a plurality of control devices belonging to the plurality of control communication networks respectively, calculating an inter-terminal delay from a transmission start timing of the frame by the transmission terminal to a reception end timing of the frame by the reception terminal when the frame is transferred by each combination of the gate control list candidates for each of the plurality of communication devices, selecting the combination with the minimum inter-terminal delay, and determining each of the gate control list candidates constituting the combination as a gate control list for each of the plurality of communication devices in the plurality of control communication networks; a step of determining whether an inter-terminal delay when a frame is transferred according to the determined gate control list satisfies a delay requirement; and when it is determined that the inter-terminal delay satisfies the delay requirement,A step of transmitting control frame generation information including a design instruction indicating to set the determined gate control list to each of the plurality of communication devices.

[0014] To solve the above problems, the program according to the present disclosure causes a computer to operate as the control device described above.

Advantages of the Invention

[0015] According to the control device, control method, and program according to the present disclosure, delay can be reduced in communication across a plurality of control communication networks.

Brief Description of the Drawings

[0016]

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Embodiments for Carrying Out the Invention

[0017] <<First Embodiment>> With reference to FIG. 1, the overall configuration of the first embodiment will be described. FIG. 1 is a schematic diagram showing an example of a control system 100 according to the first embodiment.

[0018] The control system 100 includes a plurality of control devices 1k (k is an integer from 1 to n, and n is an integer of 2 or more), communication devices 2k-j (j is an integer from 1 to m, and m is an integer of 2 or more) that each of the plurality of control devices 1k controls via a control communication network NW1k, a transmitting terminal (Talker) 3, and a receiving terminal (Listener) 4. In the following description, the control communication networks NW11, NW12, ···, NW1n are in the order in which the frame transmitted from Talker 3 propagates. Therefore, the control communication network NW1k to which Talker 3 belongs is control communication network NW11, and the control communication network NW1k to which Listener 4 belongs is control communication network NW1n.

[0019] In the example shown in FIG. 1, n = 3, and the control system 100 includes control device 11, control device 12, and control device 13. Also, in the example shown in FIG. 1, m = 2. Control device 11 controls communication devices 21-1 and 21-2 via control communication network NW11, control device 12 controls communication devices 22-1 and 22-2 via control communication network NW12, and control device 13 controls communication devices 23-1 and 23-2 via control communication network NW13. Note that, in the example shown in FIG. 1, the number of communication devices 2k-j in each control communication network NW1k is the same, but this is not restrictive, and they may be different from each other.

[0020] Talker 3 transmits a frame to Listener 4 by delay-guaranteed communication (ST (Scheduled Traffic) communication) via a plurality of communication devices 2k-j. ST communication is communication in which the transmission timing and transmission interval of the frame are controlled. In ST communication, the communication device 2k-j performs time-division transfer control by a TAS (Time Aware Shaper), whereby the delay and jitter are controlled.

[0021] Lisner4 receives the frames transmitted by Talker3 and relayed by the plurality of communication devices 2k-j of each of the plurality of control communication networks NW1k. In the example shown in FIG. 1, the frames transmitted by Talker3 are relayed in order by the communication devices 21-1, 21-2, 22-1, 22-2, 23-1, and 23-2 and received by Lisner4.

[0022] <Configuration of the control device> The control device 1k belongs to one of the plurality of control communication networks NW1k connected by the main signal network NW2k. The control device 1k can be, for example, a CNC. The main signal network NW2k is a communication network that transmits and receives information between the control communication network NW1k and the control communication network NW1(k + 1). Specifically, the main signal network NW2k is a communication network that connects the communication device 2k-m of the control communication network NW1k and the communication device 2(k + 1)-1 of the control communication network NW1(k + 1). Note that the fact that the control device 1k "belongs to the control communication network NW1k" means that it is connected to the communication line constituting the control communication network NW1k via the communication port of the control device 1k (the "management port 101" in the following embodiments).

[0023] In addition, the control device 1k designs a GCL (first GCL) for each of the plurality of communication devices 2k-j in each of the plurality of control communication networks NW1k that relays the frames transmitted from Talker3 to Listener4.

[0024] As shown in FIG. 2, the control device 1k includes a management port 101, a control frame notification signal receiving unit (control frame notification information receiving unit) 102, an adjacent network transmission timing reading unit (adjacent NW transmission timing reading unit) 103, a receiving terminal arrival time reading unit (Listener arrival time reading unit) 104, a network topology storage unit (NW topology storage unit) 105, a delay guarantee communication design information input unit (ST design information input unit) 106, a gate control list storage unit (GCL storage unit) 107, a gate control list calculation unit (GCL calculation unit) 108, a delay requirement determination unit 109, a gate control list transmission timing reading unit (GCL transmission timing reading unit) 110, and a control frame generation signal transmission unit (control frame generation information transmission unit) 111.

[0025] The management port 101 is composed of a communication interface. For the communication interface, standards such as Ethernet (registered trademark), FDDI (Fiber Distributed Data Interface), Wi-Fi (registered trademark), etc. may be used. The control frame notification signal receiving unit 102, the adjacent NW transmission timing reading unit 103, the Listener arrival time reading unit 104, the ST design information input unit 106, the GCL calculation unit 108, the delay requirement determination unit 109, the GCL transmission timing reading unit 110, and the control frame generation signal transmission unit 111 are composed of a controller. The controller may be composed of dedicated hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array), or may be composed of a processor, or may be composed of both. The NW topology storage unit 105 and the GCL storage unit 107 are composed of a memory. The memory may be composed of registers in hardware such as an ASIC or an FPGA, or may be composed of an HDD (Hard Disk Drive), an SSD (Solid State Drive), an EEPROM (Electrically Erasable Programmable Read-Only Memory), a ROM (Read-Only Memory), and a RAM (Random Access Memory), etc.

[0026] The management port 101 is a port for the control device 1k to connect to the control communication network NW1k.

[0027] The control frame notification signal receiving unit 102 receives control frame notification information corresponding to the control frame generation information transmitted from another control device 1k. The control frame notification information may be a control frame notification signal converted from a control frame, or may be the control frame itself. In the following description, an example where the control frame notification information is a control frame notification signal will be described, but it is not limited to this example.

[0028] Note that, as will be described in detail later, the above control frame is generated by a communication device 2k-j of another control communication network NW1k based on a control frame generation signal. Then, the generated frame is received by a communication device 2k-j of one control communication network NW1k via the main signal network NW2k. And the communication device 2k-j of one control communication network NW1k converts the received control frame into a control frame notification signal. As a result, the control frame notification signal receiving unit 102 can receive the control frame notification signal. The control frame notification signal indicates the same content as the corresponding control frame generation signal.

[0029] In the first embodiment, the control frame notification signal includes a transmission timing indicated by an absolute time. That is, the transmission timing is absolute time information. The transmission timing is either the transmission start timing of the frame by the communication device 2k-1 that first transmits the frame among the communication devices 2k-j of the control communication network NW1k or the transmission end timing of the frame by the communication device 2k-m that last transmits the frame among the communication devices 2k-j of the control communication network NW1k when transmitting the frame from Talker3 to Listener4. Specifically, the control frame notification signal received from the control device 1(k-1) belonging to the control communication network NW1(k-1) includes the transmission end timing. The control communication network NW1(k-1) is a communication network adjacent to the control communication network NW1k on the side that receives the frame from Talker3. Also, the control frame notification signal received from the control device 1(k+1) belonging to the control communication network NW1(k+1) includes the transmission start timing. The control communication network NW1(k+1) is a communication network adjacent to the control communication network NW1k on the side that transmits the frame to Listener4.

[0030] That is, the control frame notification signal receiving unit 102 receives a control frame including the above transmission end timing from the control device 1(k-1) belonging to the control communication network NW1(k-1) adjacent to the side receiving the frame from Talker3 in the control communication network (one control communication network) NW1k to which the control device 1k including the control frame notification signal receiving unit 102 belongs. Further, the control device 1k receives a control frame including the above transmission start timing from the control device 1(k+1) belonging to the control communication network NW1(k+1) adjacent to the side transmitting the frame to Listener4 in the one control communication network NW1k.

[0031] Further, the control frame notification signal includes the Listener arrival time. The Listener arrival time is the reception end timing of the frame by Listener4 when the frame is transmitted according to the GCL designed by the control device 1n belonging to the control communication network NW1n to which Listener4 belongs.

[0032] The adjacent NW transmission timing reading unit 103 reads out the transmission timing included in the control frame notification signal received by the control frame notification signal receiving unit 102.

[0033] The Listener arrival time reading unit 104 reads out the Listener arrival time included in the control frame notification signal received by the control frame notification signal receiving unit 102.

[0034] The NW topology storage unit 105 stores the network topology (NW topology) of one control communication network NW1k. The NW topology is information indicating the connection form of the communication device 2k-j in one control communication network NW1k.

[0035] The ST design information input unit 106 receives the input of delay guarantee communication design information (ST design information) indicating information related to the design of the GCL. The ST design information is information for designing the GCL and may include, for example, frame length, transmission period, etc.

[0036] The GCL storage unit 107 stores the existing (initial state) GCLs for a plurality of communication devices 2k-j in one control communication network NW1k. Specifically, the GCL storage unit 107 stores the existing GCLs for each communication port of each of the plurality of communication devices 2k-j in one control communication network NW1k.

[0037] Also, the GCL storage unit 107 updates the stored existing GCLs to the GCLs designed by the GCL calculation unit 108.

[0038] The GCL calculation unit 108 reads out the NW topology of one control communication network NW1k from the NW topology storage unit 105. Also, the GCL calculation unit 108 reads out the existing GCLs for a plurality of communication devices 2k-j in one control communication network NW1k from the GCL storage unit 107.

[0039] The GCL calculation unit 108 designs the GCLs (first GCLs) for a plurality of communication devices 2k-j in one control communication network NW1k based on the NW topology, the ST design information, the existing GCLs, and the frame transmission timings by the communication devices 2k-j belonging to another control communication network NW1k' adjacent to one control communication network NW1k. Here, k' is k-1 or k+1. Also, the frame transmission timings by the communication devices 2k'-j of the adjacent control communication network NW1k' are the transmission timings when the frames are transferred according to the GCLs (second GCLs) for each of the plurality of communication devices 2k'-j in the other control communication network NW1k' designed by another control device 1k' belonging to the other adjacent control communication network NW1k'.

[0040] Also, the GCL calculation unit 108 calculates the frame transmission timings by the plurality of communication devices 2k-j in one control communication network NW1k when the frames are transferred according to the designed GCLs (first GCLs).

[0041] In the first embodiment, each control device 1k executes processes in the order determined based on the network policy. In one example, due to a high accommodation rate, processes may be executed from the control device 1-k belonging to the control communication network NW1k with many constraints in designing the GCL. "High accommodation rate" of the GCL means, for example, a high complexity of the GCL, a large number of time slots or CoS (Class of Service) defined in the GCL, and the like. In another example, the control device 1k may execute processes in the order of transferring frames transmitted by Talker3 from the control device 1k belonging to the control communication network NW1k to which Talker3 belongs.

[0042] Specifically, first, the GCL calculation unit 108 of the control device 1k that first executes a process reads the NW topology of the control communication network NW1k from the NW topology storage unit 105. Also, the GCL calculation unit 108 acquires the ST design information received by the input of the ST design information input unit 106. Further, the GCL calculation unit 108 reads the existing GCL for the communication device 2k-j of the control communication network NW1k from the GCL storage unit 107. Then, the GCL calculation unit 108 designs the GCL for a plurality of communication devices 2k-j based on the NW topology, the ST design information, and the existing GCL. Then, when a frame is transferred according to the designed GCL, the GCL calculation unit 108 calculates the frame transmission start timing by the communication device 2k-1 that first transmits the frame in the control communication network NW1k and the frame transmission end timing by the communication device 2k-m that finally transmits the frame.

[0043] Next, the control communication network NW1k of the control device 1k that first executes the process reads the NW topology of the control communication network NW1(k+1) adjacent to the side that transmits the frame from the NW topology storage unit 105. Also, the GCL calculation unit 108 acquires the ST design information received by the input from the ST design information input unit 106. Further, the GCL calculation unit 108 reads the existing GCL for the communication device 2(k+1)-j of the control communication network NW1(k+1) from the GCL storage unit 107. Then, the GCL calculation unit 108 designs the GCL of the communication device 2(k+1)-j in the control communication network NW1(k+1) based on the NW topology, the ST design information, the existing GCL, and further, the frame transmission end timing by the communication device 2k-m. For example, the GCL calculation unit 108 may design the GCL such that the timing obtained by adding the propagation delay T T to the frame transmission end timing by the communication device 2k-m becomes the frame transmission start timing by the communication device 2(k+1)-1. Then, when the frame is transferred according to the designed GCL, the GCL calculation unit 108 calculates the frame transmission end timing by the communication device 2(k+1)-m that finally receives the frame in the control communication network NW1(k+1).

[0044] Also, the GCL calculation unit 108 of the control device 1(k-1) of the control communication network NW1(k-1) adjacent to the control communication network NW1k on the receiving side of the frame reads the NW topology of the control communication network NW1(k-1) from the NW topology storage unit 105. Also, the GCL calculation unit 108 acquires the ST design information received by the input of the ST design information input unit 106. Also, the GCL calculation unit 108 reads the existing GCL for the communication device 2(k-1)-j of the control communication network NW1(k-1) from the GCL storage unit 107. Then, based on the NW topology, the ST design information, the existing GCL, and further, the transmission start timing of the frame by the communication device 2k-1, the GCL for the communication device 2(k-1)-j in the control communication network NW1(k-1) is designed. For example, the GCL calculation unit 108 may design the GCL such that the timing obtained by subtracting the propagation delay T T from the transmission start timing of the frame by the communication device 2k-1 becomes the transmission end timing of the frame by the communication device 2(k-1)-m. Then, when the frame is transferred according to the designed GCL, the GCL calculation unit 108 calculates the transmission start timing of the frame by the communication device 2(k-1)-1 that first receives the frame in the control communication network NW1(k-1).

[0045] In this way, the calculation of the above-described transmission timing is repeated until the processing in both the control device 11 of the control communication network NW1 to which Talker3 belongs and the control device 1n of the control communication network NW1n to which Listener4 belongs is executed. Also, the GCL calculation unit 108 of the control device 1n of the control communication network NW1n to which Listener4 belongs further calculates the Listener arrival time.

[0046] Here, in the control system 100 shown in FIG. 1, an example in the case where the control device 11 first executes the processing will be described. In this example, the GCL calculation unit 108 of the control device 11 designs the GCLs of the communication devices 21-1 and 21-2, and the transmission end timing of the frame by the communication device 21-2 (T in FIG. 3) 1fCalculate

[0047] Then, the GCL calculation unit 108 of the control device 12 designs the GCLs of the communication devices 22-1 and 22-2 based on the transmission end timing of the frame by the communication device 21-2 (T in FIG. 3 1f ). For example, the GCL calculation unit 108 of the control device 12 may design the GCL such that the transmission start timing of the frame by the communication device 22-1 (T in FIG. 3 1f ) is the timing obtained by adding the propagation delay T 12 to the transmission end timing of the frame by the communication device 21-2 (T in FIG. 3). Also, the GCL calculation unit 108 of the control device 12 calculates the transmission end timing of the frame by the communication device 22-2 (T in FIG. 3 2s ). 2f Calculate

[0048] Then, the GCL calculation unit 108 of the control device 13 designs the GCLs of the communication devices 23-1 and 23-2 based on the transmission end timing of the frame by the communication device 22-2 (T in FIG. 3 2f ). For example, the GCL calculation unit 108 of the control device 13 may design the GCL such that the transmission start timing of the frame by the communication device 23-1 (T in FIG. 3 2f ) is the timing obtained by adding the propagation delay T 23 to the transmission end timing of the frame by the communication device 22-2 (T in FIG. 3). Also, the GCL calculation unit 108 of the control device 13 calculates the transmission end timing of the frame by the communication device 23-2. Further, the GCL calculation unit 108 of the control device 13 calculates the Listener arrival time (T in FIG. 3 3s ). L Calculate

[0049] The delay requirement determination unit 109 determines whether the end-to-end delay (End to End delay) T e when the frame is transferred according to the GCLs of the plurality of communication devices 2k-j in the plurality of control communication networks NW1k designed by the respective plurality of control devices 1k belonging to the plurality of control communication networks NW1k satisfies the delay requirement. End to End delay Te is the time from the start timing of frame transmission by Talker3 to the end timing of frame reception by Listener4.

[0050] Specifically, first, the delay requirement determination unit 109 calculates the End to End delay T e . For example, the delay requirement determination unit 109 calculates the End to End delay T e based on the Li arrival time read by the Listener arrival time reading unit 104. Then, the delay requirement determination unit 109 determines whether the End to End delay T e meets the delay requirement. For example, the delay requirement determination unit 109 may determine that the delay requirement is met when the End to End delay T e is less than a predetermined time, and determine that the delay requirement is not met when the End to End delay T e is greater than or equal to the predetermined time.

[0051] When it is determined that the End to End delay T e meets the delay requirement, the delay requirement determination unit 109 determines the GCL designed by the GCL calculation unit 108 of each control device 1k as the GCL to be used in the communication from Talker3 to Listener4. Also, in this case, the delay requirement determination unit 109 transmits a design instruction indicating that the GCLs for the plurality of communication devices 2k-j in each of the plurality of control communication networks NW1k used in the calculation of the transmission timing are to be set for each of the plurality of communication devices 2k-j.

[0052] When it is determined that the End to End delay T e does not meet the delay requirement, the GCL calculation unit 108 of each control device 1k designs different GCLs by the method described above, calculates the transmission timing by the method described above using the different GCLs. Then, the delay requirement determination unit 109 determines whether the End to End delay T e based on the GCL meets the delay requirement. And the End to End delay T eThese processes are repeated until it is determined that the delay requirement is satisfied.

[0053] The GCL transmission timing reading unit 110 reads the transmission timing calculated by the GCL calculation unit 108. The transmission timing is either the transmission start timing of a frame by the communication device 2k-j that first transmits a frame in a control communication network NW1k or the transmission end timing of a frame by the communication device 2k-j that last transmits a frame in a control communication network NW1k.

[0054] The control frame generation signal transmission unit 111 transmits control frame generation information to another control device 1k. The control frame generation information may be a control frame generation signal for generating a control frame or the control frame itself. In the following description, an example in which the control frame generation information is a control frame generation signal will be described, but it is not limited to this example. Also, in the first embodiment, the control frame generation signal includes the transmission timing calculated by the GCL calculation unit 108.

[0055] Specifically, the control frame notification signal transmitted to the control device 1(k-1) of the control communication network NW1(k-1) adjacent to the side that receives the frame from Talker3 in the control communication network NW1k includes the transmission start timing. Also, the control frame notification signal transmitted to the control device 1(k+1) of the control communication network NW1(k+1) adjacent to the side that transmits the frame to Listener4 in the control communication network NW1k includes the transmission end timing.

[0056] That is, the control frame generation signal transmission unit 111 transmits a control frame generation signal including transmission start timing to the control device 1(k-1) of the control communication network NW1(k-1) adjacent to the side that receives the frame from Talker3 in one control communication network NW1k. Further, the control frame generation signal transmission unit 111 transmits control frame generation information including transmission end timing to the control device 1(k+1) of the control communication network NW1(k+1) adjacent to the side that transmits the frame to Listener4 in one control communication network NW1k.

[0057] Also, the control frame generation signal transmission unit 111 transmits, via the management port 101, a control frame generation signal including a design instruction generated by the delay requirement determination unit 109 to set each GCL to the corresponding communication device 2k-j, to another control device 1k.

[0058] <Configuration of Communication Device> The communication device 2k-j is a network device that transfers the frames received via the control communication network NW1k and the main signal network NW2k according to the destination of the frames, and can be, for example, a switch.

[0059] As shown in FIG. 4, the communication device 2k-j includes a management port 201, a control frame generation signal reception unit 202, a control frame generation unit 203, a control frame transmission unit 204, a main signal port 205, a control frame reception unit 206, and a control frame notification signal transmission unit 207. The management port 201 and the main signal port 205 are configured by a communication interface. The control frame generation signal reception unit 202, the control frame generation unit 203, the control frame transmission unit 204, the control frame reception unit 206, and the control frame notification signal transmission unit 207 are configured by a controller.

[0060] The management port 201 is a port for the communication device 2k-j to connect to the control communication network NW1k.

[0061] The control frame generation signal reception unit 202 receives a control frame generation signal from the control device 1k.

[0062] The control frame generation unit 203 generates a control frame corresponding to the control frame generation signal received by the control frame generation signal reception unit 202.

[0063] The control frame transmission unit 204 transmits the control frame generated by the control frame generation unit 203 via the main signal port 205.

[0064] The main signal port 205 is a port for the communication device 2k-j to connect to the main signal network NW2k.

[0065] The control frame reception unit 206 receives a control frame via the main signal port 205.

[0066] The control frame notification signal transmission unit 207 transmits a control frame notification signal corresponding to the control frame received by the control frame reception unit 206 to the control device 1k belonging to the same control communication network NW1k via the management port 201.

[0067] <Operation of the control device> Next, the operation of the control device 1k according to the first embodiment will be described with reference to FIGS. 5 to 8. FIGS. 5 to 8 are flowcharts showing an example of the operations of the control devices 1k, 1k', 1n, 1 according to the present embodiment. The operations of the control devices 1k, 1k', 1n, 1 described with reference to FIGS. 5 to 8 correspond to the control methods executed by the control devices 1k, 1k', 1n, 1 according to the present embodiment.

[0068] First, with reference to FIG. 5, the operation of the control device 1k that first executes the process will be described.

[0069] In step S10, the ST design information input unit 106 receives an input of ST design information indicating information related to the design of the GCL.

[0070] In step S11, the GCL calculation unit 108 reads out the NW topology of one control communication network NW1k from the NW topology storage unit 105.

[0071] In step S12, the GCL calculation unit 108 reads out the existing GCLs for each of the plurality of communication devices 2k-j of one control communication network NW1k from the GCL storage unit 107.

[0072] In step S13, the GCL calculation unit 108 calculates the GCL. Specifically, the GCL calculation unit 108 designs the GCLs for the plurality of communication devices 2k-j in one control communication network NW1k based on the NW topology, the ST design information, and the existing GCLs. Then, the GCL calculation unit 108 calculates the frame transmission timings by the plurality of communication devices 2k-j in one control communication network NW1k when frames are transferred according to the designed GCLs.

[0073] In step S14, the GCL calculation unit 108 updates the stored existing GCLs to the GCLs designed by the GCL calculation unit 108.

[0074] In step S15, the GCL transmission timing reading unit 110 reads out the transmission timings calculated by the GCL calculation unit 108.

[0075] In step S16, the control frame generation signal transmission unit 111 transmits a control frame generation signal including the transmission timing to the control device 1k' of the control communication network NW1k' adjacent to one control communication network NW1k. Specifically, the control frame generation signal transmission unit 111 transmits a control frame generation signal including the transmission start timing to the control device 1(k-1) of the control communication network NW1(k-1) adjacent on the side that receives frames from Talker3. Also, the control frame generation signal transmission unit 111 transmits a control frame generation signal including the transmission end timing to the control device 1(k+1) of the control communication network NW1(k+1) adjacent on the side that transmits frames to Listener4.

[0076] Note that the order of the processes from step S10 to step S12 executed by the control device 1k is an example and is not limited to this order. Also, among the processes from step S10 to step S12, any two or more processes may be executed at the same timing.

[0077] Next, with reference to FIG. 6, an example of the operation of the control device 1k' that executes processes other than the first and the last will be described.

[0078] In step S20, the control frame notification signal receiving unit 102 receives a control frame notification signal corresponding to the control frame generation signal including the transmission timing, which is transmitted from the control device 1k.

[0079] In step S21, the adjacent NW transmission timing reading unit 103 reads out the transmission timing included in the control frame notification signal received by the control frame notification signal receiving unit 102.

[0080] In step S22, the ST design information input unit 106 receives the input of ST design information indicating information related to the design of the GCL.

[0081] In step S23, the GCL calculation unit 108 reads out the NW topology of the control communication network NW1k' from the NW topology storage unit 105.

[0082] In step S24, the GCL calculation unit 108 reads out the existing GCLs for each of the plurality of communication devices 2k'-j of the control communication network NW1k' from the GCL storage unit 107.

[0083] In step S25, the GCL calculation unit 108 calculates the GCL. Specifically, the GCL calculation unit 108 designs the GCL for a plurality of communication devices 2k'-j in the control communication network NW1k' based on the NW topology, the existing GCL, and the frame transmission timing by the communication device 2k-j in the control communication network NW1k. Then, the GCL calculation unit 108 calculates the frame transmission timing by the plurality of communication devices 2k'-j in the control communication network NW1k' when the frame is transferred according to the designed GCL.

[0084] In step S26, the GCL storage unit 107 updates the stored existing GCL to the GCL designed by the GCL calculation unit 108.

[0085] In step S27, the GCL transmission timing reading unit 110 reads the transmission timing calculated by the GCL calculation unit 108.

[0086] In step S28, the control frame generation signal transmission unit 111 transmits a control frame generation signal including the transmission timing to the control device 1k'' of the control communication network NW1k'' adjacent to the control communication network NW1k'. Here, when k' = k - 1, k'' = k - 2. Also, when k' = k + 1, k'' = k + 2. Specifically, when k' = k - 1, the control frame generation signal transmission unit 111 transmits a control frame generation signal including the transmission start timing to the control device 1(k - 2) of the control communication network NW1(k - 2) adjacent to the side that receives the frame from Talker3 in the control communication network NW1(k - 1). Also, when k' = k + 1, the control frame generation signal transmission unit 111 transmits a control frame generation signal including the transmission end timing to the control device 1(k + 2) of the control communication network NW1(k + 2) adjacent to the side that transmits the frame to Listener4 in the control communication network NW1(k + 1).

[0087] Note that the order of the processes from step S21 to step S24 executed by the control device 1k’ is an example and is not limited to this order. Also, among the processes from step S21 to step S24, any two or more processes may be executed at the same timing.

[0088] Next, with reference to FIG. 7, an example of the operation of the control device 1n of the control communication network NW1n to which the Listener 4 belongs will be described.

[0089] In step S30, the control frame notification signal receiving unit 102 receives a control frame notification signal corresponding to the control frame generation signal including the transmission timing, which is transmitted from the control device 1(n - 1).

[0090] In step S31, the adjacent NW transmission timing reading unit 103 reads out the transmission timing included in the control frame notification signal received by the control frame notification signal receiving unit 102.

[0091] In step S32, the ST design information input unit 106 receives an input of ST design information indicating information related to the design of the GCL.

[0092] In step S33, the GCL calculation unit 108 reads out the NW topology of the control communication network NW1n from the NW topology storage unit 105.

[0093] In step S34, the GCL calculation unit 108 reads out the existing GCLs for each of the plurality of communication devices 2n - j of the control communication network NW1n from the GCL storage unit 107.

[0094] In step S35, the GCL calculation unit 108 calculates the GCL. Specifically, the GCL calculation unit 108 designs the GCL for a plurality of communication devices 2n-j in the control communication network NW1n based on the NW topology, the ST design information, the existing GCL, and the frame transmission timing by the communication device 2(n-1)-m in the control communication network NW1(n-1). Then, the GCL calculation unit 108 calculates the frame transmission timing by the plurality of communication devices 2n-j in the control communication network NW1n when the frame is transferred according to the designed GCL.

[0095] In step S36, the GCL storage unit 107 updates the stored existing GCL to the GCL designed by the GCL calculation unit 108.

[0096] In step S37, the GCL calculation unit 108 calculates the Listener arrival time.

[0097] In step S38, the control frame generation signal transmission unit 111 transmits a control frame generation signal including the Listener arrival time to the control device 11 of the control communication network NW11 to which Talker3 belongs.

[0098] Note that the order of the processes from step S31 to step S34 executed by the control device 1n is an example and is not limited to this order. Also, among the processes from step S31 to step S34, any two or more processes may be executed at the same timing.

[0099] Subsequently, with reference to FIG. 8, an example of the operation of the control device 11 of the control communication network NW11 to which Talker3 belongs will be described.

[0100] In step S40, the control frame notification signal reception unit 102 receives a control frame notification signal corresponding to the control frame generation signal including the Listener arrival time transmitted from the control device 1n.

[0101] In step S41, the Listener arrival time reading unit 104 reads out the Listener arrival time included in the control frame notification signal received by the control frame notification signal receiving unit 102.

[0102] In step S42, the delay requirement determination unit 109 calculates the End to End delay T when frames are transferred according to the GCL for a plurality of communication devices 2k-j in a plurality of control communication networks NW1k designed by a plurality of control devices 1k belonging to the plurality of control communication networks NW1k. e to calculate.

[0103] In step S43, the delay requirement determination unit 109 determines whether the End to End delay T e meets the delay requirement.

[0104] In step S43, if it is determined that the End to End delay T e meets the delay requirement, in step S44, the delay requirement determination unit 109 determines the GCL calculated by the GCL calculation unit 108 as the GCL to be used in communication. Then, the delay requirement determination unit 109 transmits a design instruction indicating that the GCL for a plurality of communication devices 2k-j in a plurality of control communication networks NW1k used for calculating the transmission timing is set for each of the plurality of communication devices 2k-j.

[0105] In step S43, if it is determined that the End to End delay T e does not meet the delay requirement, the process returns to step S10 in FIG. 5 and the process is repeated. That is, if it is determined that the End to End delay T e does not meet the delay requirement, the GCL calculation unit 108 of each control device 1k designs a GCL different from the already designed GCL. Then, the process of the transmission timing of frames by a plurality of communication devices 2k-j in each of the plurality of control communication networks NW1k when frames are transferred according to the different GCL is performed for the End to End delay T eRepeat until it is determined that the delay requirement is satisfied.

[0106] As described above, according to the first embodiment, the control device 1k can reduce the delay in communication across the plurality of control communication networks NW1k. Specifically, the control device 1k' determines the GCL of the communication device 2k'-j in the control communication network NW1k' based on the transmission timing of the frame based on the GCL of the communication device 2k-j in the adjacent control communication network NW1k, so that, as described with reference to FIG. 20, the occurrence of an unnecessary queuing delay TQ can be suppressed.

[0107] Also, according to the first embodiment, the control device 1k can prevent the NW topology and GCL of each control communication network NW1k from being unnecessarily leaked out because it determines the GCL of the communication device 2k-j without using the NW topology and GCL of the control communication network NW1k to which another control device 1k belongs.

[0108] Also, according to the first embodiment, the control device 1k can design the GCL with a high degree of freedom within the control communication network NW1k to which the self-control device 1k belongs without being exclusivity-controlled by the design of the GCL by another control device 1k.

[0109] Also, according to the first embodiment, when it is determined that the End to End delay T e satisfies the delay requirement, it is determined to set the GCL used in the calculation of the End to End delay T e to each communication device 2k-j. Therefore, each control device 1k does not need to calculate the transmission timing for all patterns of the GCL. Therefore, the processing load on each control device 1k can be reduced.

[0110] <<Second Embodiment>> The overall configuration of the second embodiment will be described with reference to FIG. 9. FIG. 9 is a schematic diagram showing an example of the control system 100-1 according to the second embodiment. In the second embodiment, the same reference numerals are added to the same functional parts as in the first embodiment, and the description thereof is omitted.

[0111] The control system 100-1 includes a plurality of control devices 1k-1, communication devices 2k-j controlled by each of the plurality of control devices 1k-1 via a control communication network NW1k, a Talker 3, and a Listener 4.

[0112] In the example shown in FIG. 9, n = 3, and the control system 100-1 includes a control device 11-1, a control device 12-1, and a control device 13-1. Also, in the example shown in FIG. 9, m = 2. The control device 11-1 controls the communication devices 21-1 and 21-2 via the control communication network NW11, the control device 12-1 controls the communication devices 22-1 and 22-2 via the control communication network NW12, and the control device 13-1 controls the communication devices 23-1 and 23-2 via the control communication network NW13-1.

[0113] As shown in FIG. 10, the control device 1k-1 includes a management port 101, a control frame notification signal receiving unit 102-1, a NW topology storage unit 105, an ST design information input unit 106, a GCL storage unit 107, a gate control list candidate calculation unit (GCL candidate calculation unit) 108-1, a delay requirement determination unit 109-1, a GCL transmission timing reading unit 110, a control frame generation signal transmission unit 111-1, an overall gate control list candidate reading unit (overall GCL candidate reading unit) 112, and an overall gate control list calculation unit (overall GCL calculation unit) 113. The GCL candidate calculation unit 108-1, the delay requirement determination unit 109-1, the control frame generation signal transmission unit 111-1, the overall GCL candidate reading unit 112, and the overall GCL calculation unit 113 are constituted by a controller.

[0114] The control frame notification signal receiving unit 102-1 receives a control frame notification signal corresponding to a control frame generation signal transmitted from another control device 1k-1.

[0115] In the second embodiment, the control frame generation signal includes the respective transmission timings when the frame is transferred according to one or more GCL candidates for each of the plurality of communication devices 2k-j. In the second embodiment, the transmission timing refers to, when transmitting a frame from Talker3 to Listener4, both the transmission start timing of the frame by the communication device 2k-1 that first transmits the frame among the communication devices 2k-j belonging to the control communication network NW1k and the transmission end timing of the frame by the communication device 2k-1 that last transmits the frame among the communication devices 2k-j belonging to the control communication network NW1k.

[0116] The GCL candidate calculation unit 108-1 designs one or more GCL candidates for the plurality of communication devices 2k-j in the control communication network NW1k based on the NW topology, the ST design information, and the existing GCL. Further, the GCL candidate calculation unit 108-1 calculates the transmission timings of the frames by the plurality of communication devices 2k-j in the control communication network NW1k when the frames are transferred according to each of the one or more GCL candidates.

[0117] In the first embodiment, each control device 1k executes the processes in the order determined based on the network policy. However, in the second embodiment, each control device 1k-1 can execute the processes regardless of the timings at which other control devices 1k-1 execute the processes and the results of the processes by other control devices 1k-1.

[0118] The control frame generation signal transmission unit 111-1 transmits the control frame generation signal including the transmission timing read by the GCL transmission timing reading unit 110 via the management port 101. Specifically, the control frame generation signal transmission unit 111 transmits a control frame generation signal including the transmission end timing and the transmission start timing to a predetermined control device 1k-1. The predetermined control device 1k-1 is one predetermined control device 1k-1 among the plurality of control devices 1k-1.

[0119] The overall GCL candidate reading unit 112 of the predetermined control device 1k-1 reads the transmission timings of the respective plurality of communication devices 2k-j when a frame is transferred according to one or more GCL candidates respectively calculated by the GCL calculation units 108 of the respective control devices 1k-1, which are included in the control frame notification signal.

[0120] The overall GCL calculation unit 113 of the predetermined control device 1k-1 calculates the End-to-End delay T (see FIG. 11) from the frame transmission start timing by Talker3 to the frame reception end timing by Listener4 when a frame is transferred according to each combination of GCL candidates for each of the plurality of communication devices 2k-j based on the transmission timings corresponding to one or more GCL candidates for each of the plurality of communication devices 2k-j in the plurality of control communication networks NW1k. e (See FIG. 11). Further, the overall GCL calculation unit 113 e selects the combination with the minimum End-to-End delay T.

[0121] Also, the overall GCL calculation unit 113 of the predetermined control device 1k-1 determines each GCL candidate that constitutes the combination with the minimum End-to-End delay T as the GCL for each of the plurality of communication devices 2k-j in the plurality of control communication networks NW1k. e

[0122] The delay requirement determination unit 109-1 of the predetermined control device 1k-1 determines whether the End-to-End delay T when a frame is transferred according to the GCL determined by the overall GCL calculation unit 113 satisfies the delay requirement. e

[0123] When it is determined that the End-to-End delay T e satisfies the delay requirement, the control frame generation signal transmission unit 111-1 transmits a control frame generation signal including a design instruction indicating that the GCL determined by the overall GCL calculation unit 113 is set for each of the plurality of communication devices 2k-j.

[0124] Note that the above-mentioned predetermined control device 1k-1 includes the overall GCL candidate reading unit 112 and the overall GCL calculation unit 113, and other control devices 1k-1 may not include the overall GCL candidate reading unit 112 and the overall GCL calculation unit 113. In the present embodiment, a control device 1k-1 that is not the predetermined control device 1k-1 transmits a control frame generation signal indicating the transmission timing in the case of following the GCL candidate calculated by the GCL candidate calculation unit 108-1 to the predetermined control device 1k-1 via the communication device 2k-j. Then, the overall GCL candidate reading unit 112 and the overall GCL calculation unit 113 of the predetermined control device 1k-1 use the transmission timing indicated by the control frame notification signal corresponding to the control frame generation signal received from the control device 1k-1 that is not the predetermined control device 1k-1 and the transmission timing calculated by the predetermined control device 1k-1 to execute the above-mentioned processing.

[0125] <Operation of Control Device> Next, with reference to FIG. 12, the operation for the above-mentioned predetermined control device 1k-1 according to the second embodiment to determine the overall GCL will be described. FIG. 12 is a flowchart showing an example of the operation for the control device 1k-1 according to the present embodiment to determine the overall GCL. The operation of the control device 1k-1 described with reference to FIG. 12 corresponds to the control method executed by the control device 1k-1 according to the present embodiment. In this operation, the GCL candidate calculation unit 108-1 of the predetermined control device 1k-1 designs one or more GCL candidates for each of the plurality of communication devices 2k-j of the control communication network NW1k to which the self-control device 1k-1 belongs and calculates the transmission timing.

[0126] First, in step S50, the control frame notification signal receiving unit 102 receives a control frame notification signal corresponding to the control frame generation signal including the transmission timing, which is transmitted from a control device 1k that is not the predetermined control device 1k-1. The transmission timing of the GCL candidate included in the received control frame notification signal is read by the overall GCL candidate reading unit 112 and stored by the overall GCL storage unit 113.

[0127] In step S51, the overall GCL candidate reading unit 112 reads the transmission timings of the respective plurality of communication devices 2k-j when a frame is transferred according to one or more GCL candidates respectively calculated by the GCL calculation unit 108 of each control device 1k-1.

[0128] In step S52, the overall GCL calculation unit 113 calculates the End-to-End delay T e when a frame is transferred according to each combination of GCL candidates for the plurality of communication devices 2k-j in the plurality of control communication networks NW1k, based on the transmission timings read by the overall GCL candidate reading unit 112.

[0129] In step S53, the overall GCL calculation unit 113 e selects the combination with the minimum End-to-End delay T. Also, the overall GCL calculation unit 113 determines, as the GCL for each of the plurality of communication devices 2k-j in the plurality of control communication networks NW1k, each of the GCL candidates that make up the combination with the minimum End-to-End delay T. e

[0130] In step S54, the delay requirement determination unit 109-1 determines whether the End-to-End delay T e (that is, the minimum End-to-End delay T e ) satisfies the delay requirement when a frame is transferred according to the GCL determined by the overall GCL calculation unit 113.

[0131] In step S54, when it is determined that the End-to-End delay T e satisfies the delay requirement, in step S55, the control frame generation signal transmission unit 111-1 transmits a control frame generation signal including a design instruction indicating that the GCL determined by the overall GCL calculation unit 113 is set for each of the plurality of communication devices 2k-j.

[0132] In step S54, when the End-to-End delay T e ​When it is determined that the delay requirement is not satisfied, the control device 1k-1 ends the process.

[0133] As described above, according to the second embodiment, the control device 1k-1 can reduce the delay in communication over a plurality of control communication networks NW1k, similar to the control device 1k of the first embodiment. Specifically, the control device 1k-1 determines the GCL of the communication device 2k-j of the control communication network NW1k based on the transmission timing of the frame based on the GCL of the communication device 2k-j of the adjacent control communication network NW1k. Therefore, as described with reference to FIG. 20, the unnecessary queuing delay T Q can be suppressed from occurring.

[0134] Also, according to the second embodiment, the control device 1k-1 can prevent the NW topology and GCL of each control communication network NW1k from being unnecessarily leaked out because it determines the GCL of the communication device 2k-j without using the NW topology and GCL of the control communication network NW1k to which another control device 1k-1 belongs.

[0135] Also, according to the second embodiment, the control device 1k-1 can design the GCL so that the overall end-to-end delay T e is minimized in the communication where Talker3 transmits a frame to Listener4.

[0136] <<Third Embodiment>> As shown in FIG. 13, the control system 100-2 of the third embodiment includes one parent control device (control device) 1a and one or more child control devices (other control devices) 1bk. In the third embodiment, the same reference numerals are added to the same functional parts as in the first embodiment, and the description thereof is omitted.

[0137] <Configuration of Parent Control Device> As shown in FIG. 14, the parent control device 1a includes a management port 101, a control frame notification signal receiving unit 102-2, an ST design information input unit 106, an overall GCL calculation unit 108-2, a delay requirement determination unit 109-2, a control frame generation signal transmission unit 111-2, a network topology reading unit (NW topology reading unit) 114, a network topology updating unit (NW topology updating unit) 115, a gate control list reading unit (GCL reading unit) 116, a gate control list updating unit (GCL updating unit) 117, an overall network topology storage unit (overall NW topology storage unit) 118, and an overall gate control list storage unit (overall GCL storage unit) 119. The overall GCL calculation unit 108-2, the delay requirement determination unit 109-2, the control frame generation signal transmission unit 111-2, the NW topology reading unit 114, the NW topology updating unit 115, the GCL reading unit 116, and the GCL updating unit 117 are constituted by a controller. The overall NW topology storage unit 118 and the overall GCL storage unit 119 are constituted by a memory. Further, the parent control device 1a can be a CNC or the like managed by a service provider that provides a long-distance communication service.

[0138] The control frame notification signal receiving unit 102-2 receives a control frame notification signal corresponding to the control frame generation signal transmitted from the child control device 1bk.

[0139] In the third embodiment, the control frame notification signal received by the control frame notification signal receiving unit 102-2 of the parent control device 1a includes the NW topology and GCL of each of the child control devices 1bk.

[0140] The NW topology reading unit 114 reads out the NW topology of each of the control communication networks NW1bk to which the child control devices 1bk belong, which is included in the control frame notification signal.

[0141] The NW topology update unit 115 updates the NW topology of each control communication network NW1bk to which the slave control device 1bk belongs, which is stored in the overall GCL storage unit 119, with the corresponding NW topology read by the NW topology reading unit 114.

[0142] The GCL reading unit 116 reads the GCLs of the plurality of communication devices 2bk-j of each control communication network NW1bk to which the slave control device 1bk belongs, which are included in the control frame notification signal.

[0143] The GCL update unit 117 updates the GCLs of the plurality of communication devices 2bk-j of each control communication network NW1bk, which are stored in the overall GCL storage unit 119, with the corresponding GCLs read by the GCL reading unit 116.

[0144] The overall NW topology storage unit 118 stores the overall NW topology including the NW topologies of the plurality of control communication networks NW1a and NW1bk.

[0145] The overall GCL storage unit 119 stores the existing overall GCL including the existing GCLs of the plurality of communication devices 2a-j and 2bk-j of the plurality of control communication networks NW1a and NW1bk.

[0146] The overall GCL calculation unit 108-2 designs the overall GCL including the GCLs of the plurality of communication devices 2a-j and 2bk-j in the whole of the plurality of control communication networks NW1a and NW1bk based on the overall NW topology, the ST design information, and the existing overall GCL. Also, the overall GCL calculation unit 108-2 calculates the frame transmission timing by the plurality of communication devices 2a-j and 2bk-j in the plurality of control communication networks NW1a and NW1bk when the frame is transferred by the designed overall GCL as shown in FIG. 15. Also, the overall GCL calculation unit 108-2 calculates the Listener arrival time.

[0147] Based on the transmission timing calculated by the overall GCL calculation unit 108-2, the delay requirement determination unit 109-2 calculates the End to End delay T e The delay requirement determination unit 109 also determines whether the End to End delay T e meets the delay requirements.

[0148] If the End to End delay T e is determined to meet the delay requirements, the delay requirement determination unit 109 determines the overall GCL designed by the overall GCL calculation unit 108-2 as the overall GCL to be used in the communication. Further, the delay requirement determination unit 109 reads out the GCL for the communication device 2bk-j of the control communication network NW1bk to which the slave control device 1bk belongs in the determined overall GCL, and generates a design instruction to set the GCL in the communication device 2bk-j.

[0149] If the End to End delay T e is determined not to meet the delay requirements, the overall GCL calculation unit 108-2 of the master control device 1a designs a different GCL, calculates the transmission timing based on the GCL, and repeats the process until the End to End delay T e meets the delay requirements.

[0150] The control frame generation signal transmission unit 111-2 transmits a control frame generation signal including the design instruction generated by the delay requirement determination unit 109-2 and the GCL design information to the slave control device 1bk. That is, when it is determined that the End to End delay T e meets the delay requirements, the control frame generation signal transmission unit 111-2 transmits a control frame generation signal including a design instruction for setting the GCL for the communication device 2bk-j of the slave control communication network NW1bk in the overall GCL designed by the overall GCL calculation unit 108-2 in each communication device 2bk-j, and the GCL design information indicating the GCL, to the slave control device 1bk.

[0151] <Configuration of Slave Control Device> As shown in FIG. 16, the slave control device 1bk includes a management port 101, a control frame notification signal receiving unit 102-2, a NW topology storage unit 105, a GCL storage unit 107, a control frame generation signal transmitting unit 111-2, a NW topology reading unit 114, a GCL reading unit 116, and a GCL update unit 117.

[0152] The control frame generation signal transmitting unit 111-2 transmits a control frame generation signal including the NW topology read by the NW topology reading unit 114 and the GCL read by the GCL reading unit 116. As a result, the control frame notification signal receiving unit 102-2 of the master control device 1a described above can receive a control frame notification signal including the NW topology and the GCL corresponding to the control frame generation signal transmitted from the slave control device 1bk.

[0153] The control frame notification signal receiving unit 102-2 receives a control frame notification signal corresponding to the control frame generation signal including the design command and the GCL information transmitted by the control frame generation signal transmitting unit 111-2 of the master control device 1a described above.

[0154] The GCL update unit 117 updates the GCL stored in the GCL storage unit 107 with the GCL indicated by the GCL information included in the control frame notification signal received by the control frame notification signal receiving unit 102-2.

[0155] <Operation of the control device> Next, the operation of the master control device 1a according to the third embodiment will be described with reference to FIG. 17. FIG. 17 is a flowchart showing an example of the operation of the master control device 1a according to the present embodiment. The operation of the master control device 1a described with reference to FIG. 17 corresponds to the control method executed by the master control device 1a according to the present embodiment.

[0156] In step S600, the control frame notification signal receiving unit 102-2 receives a control frame notification signal corresponding to the control frame generation signal transmitted from the slave control device 1bk.

[0157] In step S601, the NW topology reading unit 114 reads out the NW topology of each control communication network NW1bk to which the slave control device 1bk belongs, which is included in the control frame notification signal.

[0158] In step S602, the NW topology updating unit 115 updates the overall NW topology stored in the overall GCL storage unit 119 with the NW topology read by the NW topology reading unit 114.

[0159] In step S603, the GCL reading unit 116 reads out the GCLs of the plurality of communication devices 2bk-j of each control communication network NW1bk to which the slave control device 1bk belongs, which is included in the control frame generation signal.

[0160] In step S604, the GCL updating unit 117 updates the overall GCL stored in the overall GCL storage unit 119 with the GCL read by the GCL reading unit 116.

[0161] In step S605, the ST design information input unit 106 receives the input of ST design information indicating information related to the design of the GCL.

[0162] In step S606, the overall GCL calculation unit 108-2 reads out the overall NW topology stored in the overall NW topology storage unit 118.

[0163] In step S607, the overall GCL calculation unit 108-2 reads out the existing overall GCL stored in the overall GCL storage unit 119. That is, the overall GCL calculation unit 108-2 reads out the existing overall GCL including the GCLs of each communication device 2bk-j of the control communication network NW1bk to which each slave control device 1bk belongs and the GCLs of each communication device 2a-j of the control communication network NW1a to which the master control device 1a belongs.

[0164] In step S608, the overall GCL calculation unit 108-2 calculates the overall GCL based on the ST design information, the overall NW topology, and the existing overall GCL. Specifically, the overall GCL calculation unit 108-2 designs the overall GCL. Then, the overall GCL calculation unit 108-2 calculates the transmission timings of frames by the plurality of communication devices 2a-j, 2bk-j in the plurality of control communication networks NW1a, NW1bk when frames are transferred according to the designed overall GCL. At this time, the overall GCL calculation unit 108-2 calculates the Listener arrival time.

[0165] In step S609, the overall GCL storage unit 119 updates the stored existing GCL to the overall GCL designed by the overall GCL calculation unit 108-2.

[0166] In step S610, based on the transmission timings calculated by the overall GCL calculation unit 108-2, the delay requirement determination unit 109-2 calculates the End to End delay T e thereof.

[0167] In step S611, the delay requirement determination unit 109 determines whether the End to End delay T e meets the delay requirement.

[0168] In step S611, if it is determined that the End to End delay T e does not meet the delay requirement, the parent control device 1a returns to step S608 and repeats the process.

[0169] In step S611, if it is determined that the End to End delay T e meets the delay requirement, then in step S612, the delay requirement determination unit 109 reads out the GCL for the communication devices 2bk-j in the control communication network NW1bk to which the child control device 1bk belongs in the designed overall GCL.

[0170] In step S613, a design instruction for setting the GCL in the communication device 2bk-j and the GCL information are transmitted to the slave control device 1bk.

[0171] Note that the order of the processes from step S605 to step S607 executed by the master control device 1a is an example, and is not limited to this order. Also, among the processes from step S605 to step S607, any two or more processes may be executed at the same timing. Further, in the above-described operation executed by the master control device 1a, step S601 and S602 may be executed after step S603 and S604 are executed. Also, step S601 and S602 and step S603 and S604 may be executed at the same timing.

[0172] As described above, according to the third embodiment, the master control device 1a designs the GCL for each of the plurality of communication devices 2a-j, 2bk-j across all the control communication networks NW1a, NW1bk. Thereby, in communication across the plurality of control communication networks NW1a, NW1bk, delay can be reduced.

[0173] Note that in the third embodiment, it is preferable that the NW topology and the GCL are not transmitted and received between the plurality of slave control devices 1bk, and the slave control device 1bk transmits the NW topology and the GCL only to the master control device 1a. Thereby, the slave control device 1bk does not receive the NW topology and the GCL of other slave control devices 1bk, and it is possible to avoid unnecessary diffusion of the NW topology and the GCL.

[0174] <Modification Example> In addition, in the first embodiment described above, as shown in FIG. 18A, the control device 1k (in the example of FIG. 18A, the control device 11) transmits a control frame generation signal to the communication device 2k-m (in the example of FIG. 18A, the communication device 21-2). In such a configuration, the communication device 2k-m generates a control frame based on the control frame generation signal, and transmits the control frame to the communication device 2(k+1)-1 (in the example of FIG. 18A, the communication device 22-1) via the main signal network NW2k (in the example of FIG. 18A, the main signal network NW21). Then, the communication device 2(k+1)-1 transmits a control frame notification signal based on the control frame to the control device 1(k+1) (in the example of FIG. 18A, the control device 12).

[0175] However, it is not limited to the example shown in FIG. 18A. For example, as shown in FIG. 18B, the control device 1k (in the example of FIG. 18B, the control device 11) may transmit a control frame generated based on the control frame generation signal to the communication device 2k-m (in the example of FIG. 18B, the communication device 21-2). In such a configuration, the communication device 2k-m transmits the control frame to the communication device 2(k+1)-1 (in the example of FIG. 18B, the communication device 22-1) via the main signal network NW2k (in the example of FIG. 18B, the main signal network NW21). Then, the communication device 2(k+1)-1 transmits the control frame to the control device 1(k+1) (in the example of FIG. 18B, the control device 12). Further, the control device 1(k+1) generates a control frame notification signal based on the control frame. The same applies to the second and third embodiments.

[0176] <Program> The above-described control device 1k, control device 1k-1, parent control device 1a, and child control device 1bk can be realized by a computer 501. Further, a program for causing the above-described control device 1k, control device 1k-1, parent control device 1a, and child control device 1bk to function may be provided. Further, the program may be stored in a storage medium or provided through a network. FIG. 19 is a block diagram showing a schematic configuration of a computer 501 that functions as the control device 1k. Computers that function as the control device 1k-1, the parent control device 1a, and the child control device 1bk may be configured in the same manner as the computer 501. Here, the computer 501 may be a general-purpose computer, a dedicated computer, a workstation, a PC (Personal Computer), an electronic notebook, or the like. The program instructions may be program codes, code segments, etc. for executing necessary tasks.

[0177] As shown in FIG. 19, the computer 501 includes a processor 510, a ROM (Read Only Memory) 520, a RAM (Random Access Memory) 530, a storage 540, an input unit 550, an output unit 560, and a communication interface (I / F) 570. Each component is communicably connected to each other via a bus 580. Specifically, the processor 510 is a CPU (Central Processing Unit), MPU (Micro Processing Unit), GPU (Graphics Processing Unit), DSP (Digital Signal Processor), SoC (System on a Chip), etc., and may be composed of a plurality of processors of the same type or different types.

[0178] The processor 510 controls each component and executes various arithmetic processes. That is, the processor 510 reads a program from the ROM 520 or the storage 540 and executes the program using the RAM 530 as a working area. The processor 510 controls each of the above components and performs various arithmetic processes according to the program stored in the ROM 520 or the storage 540. In the above-described embodiment, the program according to the present disclosure is stored in the ROM 520 or the storage 540.

[0179] The program may be stored in a computer-readable storage medium. By using such a storage medium, it is possible to install the program in the computer 501. Here, the storage medium in which the program is stored may be a non-transitory storage medium. The non-transitory storage medium is not particularly limited, and may be, for example, a CD-ROM, a DVD-ROM, a USB (Universal Serial Bus) memory, or the like. Further, the program may be in a form downloaded from an external device via a network.

[0180] The ROM 520 stores various programs and various data. The RAM 530 temporarily stores a program or data as a working area. The storage 540 is composed of an HDD (Hard Disk Drive) or an SSD (Solid State Drive) and stores various programs and various data including an operating system.

[0181] The input unit 550 includes one or more input interfaces that receive a user's input operation and acquire information based on the user's operation. For example, the input unit 550 is a pointing device, a keyboard, a mouse, etc., but is not limited thereto.

[0182] The output unit 560 includes one or more output interfaces for outputting information. For example, the output unit 560 may be a display for outputting information visually or a speaker for outputting information audibly, but is not limited thereto. When the output unit 560 is a touch panel type display, it also functions as the input unit 550.

[0183] The communication interface (I / F) 570 is an interface for communicating with an external device.

[0184] Regarding the above embodiments, the following additional remarks are disclosed. [Supplementary Note 1] In a control device that designs a first gate control list for each of a plurality of communication devices in one of a plurality of control communication networks connected by a main signal network and transfers a frame transmitted from a transmission terminal to a reception terminal, comprising a memory and a controller, the controller includes a delay-guaranteed communication design information input unit that receives an input of delay-guaranteed communication design information indicating information related to the design of the first gate control list, the memory stores the network topology of the one control communication network, stores the existing gate control list of the one control communication network, the controller designs the first gate control list based on the network topology, the delay-guaranteed communication design information, the existing gate control list, and the transmission timing of the frame by a plurality of communication devices in the other control communication network when the frame is transferred according to a second gate control list for each of a plurality of communication devices in the other control communication network designed by other control devices belonging to the other control communication network adjacent to the one control communication network, and calculates the transmission timing of the frame by a plurality of communication devices in the one control communication network when the frame is transferred by the first gate control list. When the frame is transferred according to the gate control list for each of the plurality of communication devices in the plurality of control communication networks, which are designed by each of the plurality of control devices belonging to the plurality of control communication networks, it is determined whether the inter-terminal delay from the transmission start timing of the frame by the transmission terminal to the reception end timing of the frame by the reception terminal satisfies the delay requirement. A control device that transmits control frame generation information indicating a design instruction to set each of the gate control lists to the corresponding communication device when it is determined that the inter-terminal delay satisfies the delay requirement. [Additional item 2] The transmission timing is either the transmission start timing of the frame by the communication device that first receives the frame in the one control communication network or the transmission end timing of the frame by the communication device that last receives the frame in the one control communication network, and The controller transmits control frame generation information including the transmission start timing to the control device of the control communication network adjacent to the one control communication network on the side that receives the frame from the transmission terminal, and transmits control frame generation information including the transmission end timing to the control device of the control communication network adjacent to the one control communication network on the side that transmits the frame to the reception terminal. The control device according to claim 1. [Additional item 3] The memory updates the existing gate control list to the gate control list designed by the first gate control list calculation unit. The control device according to claim 1 or 2. [Additional item 4] In a control device that belongs to one of the plurality of control communication networks connected by a main signal network and designs a gate control list for a plurality of communication devices in the one control communication network that transfer a frame transmitted from a transmission terminal to a reception terminal, Comprising a memory and a controller, The controller includes a delay-guaranteed communication design information input unit that receives an input of delay-guaranteed communication design information indicating information related to the design of the gate control list, The memory stores the network topology of the one control communication network, stores existing gate control lists for a plurality of communication devices in the one control communication network, The controller designs one or more gate control list candidates for a plurality of communication devices in the one control communication network based on the network topology, the delay-guaranteed communication design information, and the existing gate control lists, and calculates the transmission timing of the frame by the plurality of communication devices in the one control communication network when the frame is transferred according to each of the designed one or more gate control list candidates, calculates the inter-terminal delay from the transmission start timing of the frame by the transmission terminal to the reception end timing of the frame by the reception terminal when the frame is transferred by each combination of the gate control list candidates for each of the plurality of communication devices in the plurality of control communication networks, based on the transmission timing of the frame corresponding to each of the one or more gate control list candidates for each of the plurality of communication devices in the plurality of control communication networks designed by a plurality of control devices respectively belonging to the plurality of control communication networks, selects the combination with the minimum inter-terminal delay, and determines each of the gate control list candidates constituting the combination as the gate control list for each of the plurality of communication devices in the plurality of control communication networks, determines whether the inter-terminal delay when the frame is transferred according to the determined gate control list satisfies the delay requirement, When it is determined that the inter-terminal delay satisfies the delay requirement, a control device that transmits control frame generation information including a design command indicating that the gate control list determined by the overall gate control list calculation unit is set for each of the plurality of communication devices. [Additional Item 5] A control device that belongs to one of a plurality of control communication networks connected by a main signal network and designs a gate control list for a plurality of communication devices in each of the plurality of control communication networks to transfer a frame transmitted from a transmission terminal to a reception terminal, comprising a memory and a controller, The controller includes a delay-guaranteed communication design information input unit that receives an input of delay-guaranteed communication design information indicating information related to the design of the communication, The memory, stores an overall network topology including the network topologies of each of the plurality of control communication networks, stores an existing overall gate control list including the existing gate control lists of the plurality of control communication networks, The controller, designs a gate control list for a plurality of communication devices in the entire plurality of control communication networks based on the overall network topology, the delay-guaranteed communication design information, and the existing overall gate control list, and calculates the transmission timing of the frame by the plurality of communication devices when the frame is transferred by the designed gate control list; an overall gate control list calculation unit; calculates an inter-terminal delay from the reception end timing of the frame by the reception terminal to the transmission start timing of the frame by the transmission terminal based on the transmission timing, and determines whether the inter-terminal delay satisfies a delay requirement; a delay requirement determination unit; when it is determined that the inter-terminal delay satisfies the delay requirement, control frame generation information including a design instruction for setting the gate control list for the communication devices of other control communication networks in the GCL designed by the overall gate control list calculation unit to each of the corresponding communication devices is transmitted to the other control devices; a control frame generation signal transmission unit; A control device comprising. [Additional Item 6] A control device that belongs to one of a plurality of control communication networks connected by a main signal network and designs a gate control list for a plurality of communication devices in the one control communication network to transfer a frame transmitted from a transmission terminal to a reception terminal, the control device comprising: a memory that stores the network topology of the one control communication network; and a memory that stores the gate control list of the one control communication network. In the control method of the control device, Receiving an input of delay guarantee communication design information indicating information related to the design of the gate control list, Based on the network topology, the delay guarantee communication design information, and an existing gate control list, designing one or more gate control list candidates for a plurality of communication devices in the one control communication network, and calculating the transmission timing of the frame by the plurality of communication devices in the one control communication network when the frame is transferred according to each of the designed one or more gate control list candidates, Based on the transmission timing of the frame corresponding to each of one or more gate control list candidates for each of the plurality of communication devices in the plurality of control communication networks designed by a plurality of control devices respectively belonging to the plurality of control communication networks, calculating the inter-terminal delay from the transmission start timing of the frame by the transmission terminal to the reception end timing of the frame by the reception terminal when the frame is transferred by each combination of the gate control list candidates for each of the plurality of communication devices, selecting the combination with the minimum inter-terminal delay, and determining each of the gate control list candidates constituting the combination as the gate control list for each of the plurality of communication devices in the plurality of control communication networks, Determining whether or not the inter-terminal delay when the frame is transferred according to the determined gate control list satisfies a delay requirement, When it is determined that the terminal-to-terminal delay satisfies the delay requirement, a control method of transmitting control frame generation information including a design instruction indicating that the determined gate control list is set in each of the plurality of communication devices. [Appended Claim 7] A non-transitory storage medium storing a program executable by a computer, the non-transitory storage medium storing a program that causes the computer to operate as the control device according to any one of claims 1 to 5.

[0185] All documents, patent applications, and technologies described in this specification are incorporated herein by reference to the same extent as if each individual document, patent application, and technology was specifically and individually described as being incorporated by reference.

[0186] Although the above-described embodiments have been described as representative examples, it will be apparent to those skilled in the art that many changes and substitutions can be made within the spirit and scope of the present disclosure. Therefore, the present invention should not be construed as being limited by the above-described embodiments, and various modifications or changes are possible without departing from the scope of the claims.

Explanation of Reference Numerals

[0187] 1k, 1k-1, 1a, 1bk Control Device 2k-j, 2a-j, 2bk-j Communication Device 3 Transmitting Terminal (Talker) 4 Receiving Terminal (Listener) 100, 100-1, 100-2 Control System 101 Management Port 102, 102-1, 102-2 Control Frame Notification Signal Receiving Unit (Control Frame Notification Information Receiving Unit) 103 Adjacent Network Transmission Timing Reading Unit (Adjacent NW Transmission Timing Reading Unit) 104 Receiving Terminal Arrival Time Reading Unit (Listener Arrival Time Reading Unit) 105 Network Topology Storage Unit (NW Topology Storage Unit) 106 Delay Guarantee Communication Design Information Input Section (ST Design Information Input Section) 107 Gate Control List Storage Section (GCL Storage Section) 108 Gate Control List Calculation Section (GCL Calculation Section) 108-1 Gate Control List Candidate Calculation Section (GCL Candidate Calculation Section) 108-2 Overall Gate Control List Calculation Section (Overall GCL Calculation Section) 109, 109-1, 109-2 Delay Requirement Judgment Section 110 Gate Control List Transmission Timing Reading Section (GCL Transmission Timing Reading Section) 111, 111-1, 111-2 Control Frame Generation Signal Transmission Section (Control Frame Generation Information Transmission Section) 112 Overall Gate Control List Candidate Reading Section (Overall GCL Candidate Reading Section) 113 Overall Gate Control List Calculation Section (Overall GCL Calculation Section) 114 Network Topology Reading Section (NW Topology Reading Section) 115 Network Topology Update Section (NW Topology Update Section) 116 Gate Control List Reading Section (GCL Reading Section) 117 Gate Control List Update Section (GCL Update Section) 118 Overall Network Topology Storage Section (Overall NW Topology Storage Section) 119 Overall Gate Control List Storage Section (Overall GCL Storage Section) 201 Management Port 202 Control Frame Generation Signal Receiving Section 203 Control Frame Generation Section 204 Control Frame Transmission Section 205 Main Signal Port 206 Control Frame Receiving Section 207 Control Frame Notification Signal Transmission Section 501 Computer 510 Processor 520 ROM 530 RAM 540 Storage 550 Input section 560 Output section 570 Communication interface 580 Bus NW1k, NWa, NWbk Control communication network NW2k Main signal network

Claims

1. In a control device that belongs to one of a plurality of control communication networks connected by a main signal network and designs a first gate control list for a plurality of communication devices in the one control communication network to transfer a frame transmitted from a transmission terminal to a reception terminal, a delay-guaranteed communication design information input unit that receives an input of delay-guaranteed communication design information indicating information related to the design of the first gate control list; a network topology storage unit that stores the network topology of the one control communication network; a gate control list storage unit that stores an existing gate control list of the one control communication network; based on the network topology, the delay-guaranteed communication design information, the existing gate control list, and the transmission timing of the frame by a plurality of communication devices in the other control communication network when the frame is transferred according to a second gate control list for the plurality of communication devices in the other control communication network designed by other control devices belonging to other control communication networks adjacent to the one control communication network, the first gate control list is designed, and when the frame is transferred by the first gate control list, the transmission timing of the frame by the plurality of communication devices in the one control communication network is calculated; a gate control list calculation unit; a delay requirement determination unit that determines whether or not the end-to-end delay from the transmission start timing of the frame by the transmission terminal to the reception end timing of the frame by the reception terminal satisfies the delay requirement when the frame is transferred according to the gate control lists designed by the plurality of control devices belonging to the plurality of control communication networks; a control frame generation information transmission unit that transmits control frame generation information indicating a design instruction to set the gate control list to each of the plurality of communication devices when it is determined that the end-to-end delay satisfies the delay requirement; A control device comprising:

2. The transmission timing is either the transmission start timing of the frame by the communication device that first receives the frame in the one control communication network or the transmission end timing of the frame by the communication device that last receives the frame in the one control communication network, A control frame generation information transmission unit is further provided, which transmits control frame generation information including the transmission start timing to a control device of a control communication network adjacent to the side that receives the frame from the transmission terminal in the one control communication network, and transmits control frame generation information including the transmission end timing to a control device of a control communication network adjacent to the side that transmits the frame to the reception terminal in the one control communication network. The control device according to claim 1.

3. The control device according to claim 1 or 2, wherein the gate control list storage unit updates the existing gate control list to a first gate control list designed by the gate control list calculation unit.

4. A control device that belongs to one of a plurality of control communication networks connected by a main signal network and designs a gate control list for a plurality of communication devices in the one control communication network that transfer a frame transmitted from a transmission terminal to a reception terminal, A delay guarantee communication design information input unit that receives an input of delay guarantee communication design information indicating information related to the design of the gate control list; A network topology storage unit that stores the network topology of the one control communication network; A gate control list storage unit that stores an existing gate control list for a plurality of communication devices in the one control communication network; Based on the network topology, the delay guarantee communication design information, and the existing gate control list, one or more gate control list candidates for a plurality of communication devices in the one control communication network are designed, and the transmission timing of the frame by the plurality of communication devices in the one control communication network when the frame is transferred according to each of the designed one or more gate control list candidates is calculated. A gate control list candidate calculation unit; Based on the transmission timing of the frame corresponding to each of one or more gate control list candidates for each of the plurality of communication devices in the plurality of control communication networks designed by a plurality of control devices respectively belonging to the plurality of control communication networks, calculate the inter-terminal delay from the transmission start timing of the frame by the transmission terminal to the reception end timing of the frame by the reception terminal when the frame is transferred by each combination of the gate control list candidates, select the combination with the minimum inter-terminal delay, and determine each of the gate control list candidates constituting the combination as the gate control list for each of the plurality of communication devices in the plurality of control communication networks, an overall gate control list calculation unit; A delay requirement determination unit that determines whether the inter-terminal delay when the frame is transferred according to the gate control list determined by the overall gate control list calculation unit satisfies the delay requirement; When it is determined that the inter-terminal delay satisfies the delay requirement, a control frame generation information transmission unit that transmits control frame generation information including a design instruction indicating that the gate control list determined by the overall gate control list calculation unit is set for each of the plurality of communication devices; A control device comprising.

5. A control device that belongs to one of the plurality of control communication networks connected by a main signal network and designs a gate control list for a plurality of communication devices in each of the plurality of control communication networks that transfer a frame transmitted from a transmission terminal to a reception terminal, A delay guarantee communication design information input unit that receives an input of delay guarantee communication design information indicating information related to the design of the gate control list; An overall network topology storage unit that stores an overall network topology including the network topologies of the plurality of control communication networks; A gate control list storage unit that stores an existing overall gate control list including the existing gate control lists of the plurality of control communication networks; Based on the overall network topology, the delay-guaranteed communication design information, and the existing overall gate control list, design a gate control list for a plurality of communication devices in the entire plurality of control communication networks, and calculate the transmission timing of the frame by the plurality of communication devices when the frame is transferred according to the designed gate control list. An overall gate control list calculation unit; Based on the transmission timing, calculate the inter-terminal delay from the reception end timing of the frame by the receiving terminal to the transmission start timing of the frame by the transmitting terminal, and determine whether the inter-terminal delay satisfies the delay requirement. A delay requirement determination unit; When it is determined that the inter-terminal delay satisfies the delay requirement, control frame generation information including a design instruction for setting the gate control list for the communication devices of other control communication networks in the gate control list designed by the overall gate control list calculation unit to each of the corresponding communication devices is transmitted to the other control devices. A control frame generation information transmission unit; A control device comprising:

6. A control device that belongs to one of a plurality of control communication networks connected by a main signal network and transfers a frame transmitted from a transmitting terminal to a receiving terminal, and designs a gate control list for a plurality of communication devices in the one control communication network. In a control method of a control device comprising a network topology storage unit that stores the network topology of the one control communication network and a gate control list storage unit that stores the gate control list of the one control communication network, A step of receiving an input of delay-guaranteed communication design information indicating information related to the design of the gate control list; Based on the network topology, the delay-guaranteed communication design information, and the existing gate control list, design one or more gate control list candidates for a plurality of communication devices in the one control communication network, and calculate the transmission timing of the frame by the plurality of communication devices in the one control communication network when the frame is transferred according to each of the designed one or more gate control list candidates. A step; Based on the transmission timing of the frame corresponding to each of one or more gate control list candidates for each of the plurality of communication devices in the plurality of control communication networks designed by a plurality of control devices respectively belonging to the plurality of control communication networks, calculate the inter-terminal delay from the transmission start timing of the frame by the transmission terminal to the reception end timing of the frame by the reception terminal when the frame is transferred by each combination of the gate control list candidates for each of the plurality of communication devices, select the combination with the minimum inter-terminal delay, and determine each of the gate control list candidates constituting the combination as the gate control list for each of the plurality of communication devices in the plurality of control communication networks; Determine whether the inter-terminal delay when the frame is transferred according to the determined gate control list satisfies the delay requirement; When it is determined that the inter-terminal delay satisfies the delay requirement, transmit control frame generation information including a design instruction indicating setting the determined gate control list to each of the plurality of communication devices; A control method including the above.

7. A program for causing a computer to function as the control device according to claim 1, 2, 4, or 5.

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