CN103744342B - A kind of PAC real-time control system based on dual core processor - Google Patents
A kind of PAC real-time control system based on dual core processor Download PDFInfo
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- CN103744342B CN103744342B CN201410033505.8A CN201410033505A CN103744342B CN 103744342 B CN103744342 B CN 103744342B CN 201410033505 A CN201410033505 A CN 201410033505A CN 103744342 B CN103744342 B CN 103744342B
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Abstract
The present invention relates to automation controller PAC system technical field able to programme, a kind of PAC real-time control system based on dual core processor, including dual core processor based on Industrial PC Computer, shared drive and I/O equipment, described dual core processor includes processor core CPU0 and CPU1；Third party application in described CPU0 is connected with human-computer interaction module, human-computer interaction module is connected with kernel interface module, kernel interface module is connected with real time kernel module and shared drive respectively, and the real time kernel module in described CPU1 is connected with shared drive and I/O equipment respectively；Described CPU0 runs Windows operating system and is responsible for man-machine interaction and network service, makes CPU1 run PAC real-time kernel code and be responsible for the control performed in real time with I/O equipment of user program；The present invention is by independent for the two of dual core processor cores, and separate CPU0 and CPU1 runs different system kernels owing to sharing different task, thus ensure that the opening of system, stability and real-time.
Description
Technical field
The present invention relates to a kind of PAC real-time control system based on dual core processor, belong to automatization able to programme control
Device PAC system technical field processed.
Background technology
In industrial automation, programmable controller PLC is that one designs exclusively for industrial environment application
Digital operation electronic installation, it is by logical operations, arithmetical operation, sequential control, timing and counting etc.
Operational order is saved in memorizer, and by digital or analog I/O interface, controls various types of
Machinery and production process.Networking and intellectuality, tradition PLC soft or hard is increasingly pursued along with industrial control system
Part system is limited to the design drawback of its exclusive formula, and its interoperability and motility are very poor, can not fully meet
User's request, then the concept of PAC is arisen at the historic moment.As a kind of system-level multi-functional control platform, PAC
Combine that PLC real-time and reliability, Soft-PLC be open and Industrial PC computing and communication capacity several the most excellent
Gesture, not only architecture is open, interoperability is strong, also has more preferable real-time and stability, meets height
Hold commercial Application to multi-field control, extensive control, control algolithm optimization, network device communications, count in real time
Requirement according to functions such as process and enterprise data integrations.
Exploitation PAC control system mainly has two kinds of methods: a kind of is development plan based on PLC platform, this
PAC is developed by tradition PLC upgrading, has stronger stability and a real-time, but most PLC manufacturer
It is to realize newly by the way of adding ethernet communication, motor control and advanced algorithm in existing scan-type framework
Function, therefore causes system to lack open and motility；Another kind is exploitation side based on Industrial PC platform
Case, this PAC, based on Industrial PC hardware platform and I/O equipment, runs under commercial operating systems environment,
It is the mainstream scheme of PAC design and development, although the program has stronger opening and a versatility, but due to
Commercial operating systems is not real time operating system, it is impossible to ensure stability and the real-time of PAC system.At present,
The PAC control system of reasonable price complete function simultaneously is not also found on domestic market.
Summary of the invention
In order to overcome the deficiencies in the prior art, it is an object of the present invention to provide a kind of based on dual core processor
PAC real-time control system.This system includes dual core processor based on Industrial PC Computer, shared drive and I/O
Equipment, described dual core processor includes processor core CPU0 and processor core CPU1；Double-core is made to process
A core cpu CPU0 in device is responsible for man-machine interaction and network service, makes another core cpu CPU1
Being responsible for the control performed in real time with I/O equipment of user program, two separate core cpus are owing to sharing
Different task and run different system kernels, it is ensured that the opening of system, stability and real-time.
In order to realize foregoing invention purpose, solve the problem in the presence of prior art, the technology that the present invention takes
Scheme is: a kind of PAC real-time control system based on dual core processor, including double-core based on Industrial PC Computer
Processor, shared drive and I/O equipment, described dual core processor includes processor core CPU0 and processor
Core CPU 1；Described CPU0 contains third party application, human-computer interaction module and kernel interface module,
Described CPU1 contains real time kernel module；Third party application in described CPU0 and human-computer interaction module
Connect, human-computer interaction module be connected with kernel interface module, kernel interface module respectively with real time kernel module and
Shared drive connects, and the real time kernel module in described CPU1 is connected with shared drive and I/O equipment respectively；
Described CPU0 runs Windows operating system, by operating the Advanced Programmable Interrupt Controllers APICs of CPU0
ICR depositor in APIC produces and interrupts between CPU, sends initialization command and starts order to CPU1,
CPU1 is made to run real-time kernel code.
Described human-computer interaction module is the Windows operating system client layer application program performed on CPU0,
It is connected with third party application by the service of EPA agreement application layer communication, it is provided that PAC real-time control system
Monitoring interface, by I/O request bag be connected with kernel interface module；Described human-computer interaction module will receive
PLC user program and monitor command with I/O request bag form be sent to kernel interface module process, kernel
Result is returned to human-computer interaction module with the form of I/O request bag and is shown to user by interface module again.
Described kernel interface module is the Windows operating system nucleus layer device drives performed on CPU0
Program, is responsible for the interfaces between human-computer interaction module and real time kernel module, by I/O request bag and people
Machine interactive module connects, by send interrupt between CPU and set up in Industrial PC Computer internal memory shared drive with
Real time kernel module connects, and guides CPU1 to initialize and load real-time kernel code, reads and be stored in this earth magnetism
The CONFIG.SYS of dish, is deposited system configuration information, PLC user program and monitor command by dispatch routine
Store up in shared drive and read for real time kernel module, then read real time kernel module and be stored in shared drive
Running status and result are also sent to human-computer interaction module with the form of I/O request bag.
Described real time kernel module is the kernel code operating in CPU1 high privilege level ring0 layer, takies
The whole depositor of CPU1 and cache resources, the management of real-time calling time control, program, memory management and driving
Managing four functional modules, when wherein said time control module utilizes CPU1 timing, base provides high precision timing
Device, described memory management module and shared Memory linkage, in shared drive real-time servicing system running state and
User program variable.
Described program management module includes logic control instruction, motion control instruction and process control instruction, is responsible for
Scan round, order perform the instruction of PLC user program, it is provided that 4M user program memory space, support symbol
Close ladder diagram and the functional device graphical programming language of IEC61131-3 standard.
Described driven management module includes that Ethernet drives routine and RS-485 serial port drive routine, described Ethernet
Driving routine to be connected with exterior I/O device by EtherCAT agreement, completion system I/O refreshes and I/O dot cycle
Point extension；Described RS-485 serial port drive routine is connected with exterior I/O device by serial mode, it is provided that
The service of Modbus slave station and Profibus slave station service, and can carry out serial communication with exterior I/O device simultaneously.
The medicine have the advantages that a kind of PAC real-time control system based on dual core processor, including based on
The dual core processor of Industrial PC Computer, shared drive and I/O equipment, described dual core processor includes processor core
CPU0 and processor core CPU1；Described CPU0 contains third party application, human-computer interaction module and interior
Kernel interface module, described CPU1 contains real time kernel module；Third party application in described CPU0 with
Human-computer interaction module connect, human-computer interaction module be connected with kernel interface module, kernel interface module respectively with reality
Time kernel module and shared drive connect, the real time kernel module in described CPU1 respectively with shared drive and I/O
Equipment connects；Described CPU0 runs Windows operating system, in the advanced programmable by operation CPU0
ICR depositor in disconnected controller APIC produces and interrupts between CPU, sends initialization command and starts order extremely
CPU1, makes CPU1 run real-time kernel code.Compared with the prior art, the present invention is by the two of dual core processor
Individual core CPU 0 and CPU1 is independent, makes CPU0 run Windows operating system and be responsible for man-machine friendship
Mutually and network service, CPU1 is made to run PAC real-time kernel code and be responsible for execution and the I/O in real time of user program
The control of equipment, separate CPU0 and CPU1 runs in different systems owing to sharing different task
Core, it is ensured that the opening of system, stability and real-time, it is achieved thereby that meet the PAC of Product Definition standard
Real-time control system.
Accompanying drawing explanation
Fig. 1 is the general frame of the present invention.
Fig. 2 is the real time kernel module composition frame chart in the present invention.
Fig. 3 is operational flow diagram of the present invention.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.
As it is shown in figure 1, a kind of PAC real-time control system based on dual core processor, including based on Industrial PC
The dual core processor of machine, shared drive and I/O equipment, described dual core processor includes processor core CPU0
With processor core CPU1；Described CPU0 contains third party application, human-computer interaction module and kernel and connects
Mouth die block, described CPU1 contains real time kernel module；Third party application in described CPU0 is with man-machine
Interactive module connects, human-computer interaction module is connected with kernel interface module, kernel interface module is interior with real-time respectively
Core module and shared drive connect, and the real time kernel module in described CPU1 sets with shared drive and I/O respectively
Standby connection；Described CPU0 runs Windows operating system, by operating the advanced programmable interrupt of CPU0
ICR depositor in controller APIC produces and interrupts between CPU, sends initialization command and starts order extremely
CPU1, makes CPU1 run real-time kernel code.Described human-computer interaction module performs on CPU0
Windows operating system client layer application program, is serviced and third-party application by EPA agreement application layer communication
Program connects, it is provided that the monitoring interface of PAC real-time control system, by I/O request bag and kernel interface module
Connect；The shape that the PLC user program received and monitor command are wrapped by described human-computer interaction module with I/O request
Formula is sent to kernel interface module and processes, and result is returned by kernel interface module again with the form of I/O request bag
Back to human-computer interaction module and be shown to user.Described kernel interface module is the Windows performed on CPU0
Operating system nucleus layer device driver, is responsible for the interface work between human-computer interaction module and real time kernel module
Make, be connected with human-computer interaction module by I/O request bag, by interrupting and in Industrial PC between transmission CPU
Machine internal memory sets up shared drive be connected with real time kernel module, guide CPU1 initialize and load real-time kernel
Code, reads the CONFIG.SYS being stored in local disk, by dispatch routine by system configuration information, PLC
User program and monitor command store in shared drive and read for real time kernel module, then read real-time kernel mould
Running status that block is stored in shared drive and result are also sent to man-machine friendship with the form of I/O request bag
Module mutually.The system platform that the present invention is applied includes that PAC development platform based on dual core processor and I/O set
Standby, described PAC development platform uses Industrial PC Computer, and its processor is Intel double-core four thread Atom-D525
Model processor, this processor comprises two core cpus, i.e. CPU0 and CPU1, CPU0 and CPU1
Between by interrupting communicating between CPU, by independent for the core CPU 0 and CPU1 of dual core processor,
Make CPU0 run Windows operating system, in Windows operating system, run human-computer interaction module and interior
Kernel interface module；CPU1 is made only to run PAC real-time kernel code, i.e. real time kernel module.Described for realizing
The distribution to dual core processor core, need first to close in the BIOS of Industrial PC Computer is arranged hyperthread function,
Then Windows operating system is carried out system configuration, make Windows operating system only use a core
CPU0, now core CPU 1 the most just can run PAC real-time kernel code.Described for realizing
The initialization to CPU1, need by kernel interface module operation core CPU 0 advanced programmable interrupt
In controller APIC, ICR depositor produces and interrupts between CPU, i.e. by movable core CPU 0
The initialization command interrupted between CPU and startup order is sent directly to run PAC after starting to CPU1, CPU1 real
Time kernel code.Directly run PAC real-time kernel code after starting for the CPU1 described in realization, need in advance
Bootstrap Boot code and real-time kernel code are loaded into specified memory position.During because CPU1 just starts
Being in real pattern state, need to jump to protected mode from real pattern, under real pattern, the addressing range of CPU1 is only
It is front 1M memory headroom, and before computer, 1M internal memory is used to startup system and is used, so kernel interface mould
Bootstrap Boot code is loaded into before internal memory in 1M space by block, is added by PAC real-time kernel code simultaneously
It is downloaded to the code segment core position specified for real time kernel module.CPU0 is sent between the CPU of CPU1 interrupt
Command sequence contains the entry address of bootstrap Boot code, and CPU1 jumps to after having received three orders
This address is gone to perform bootstrap Boot code, i.e. opens protected mode, opens 32 bit address line and initialization
Global memory's descriptor table, CPU1 jumps to the entry address of PAC real-time kernel code again and goes to perform reality afterwards
Time kernel module.For realize described in PAC real-time kernel code is loaded into the generation specified for real time kernel module
Code section core position, needs the guide page option of Windows operating system is carried out system configuration, thus distributes
Go out 256M physical memory space, wherein 196M memory headroom distribute to real time kernel module as code segment,
Data segment and stack segment, remaining 60M memory headroom is as shared drive, for kernel interface module and real-time kernel
It is mutual that module carries out information and date.Pass through to share for the kernel interface module described in realization and real time kernel module
It is mutual that internal memory carries out information and date, and use when needing device driver kernel interface module to be run patrols
Collect address and become physical address through the conversion of section page, can be by calling the api function of Windows operating system
MmMapIoSpace, the pointer variable making kernel interface module be used is pointing directly in shared drive.
As in figure 2 it is shown, described real time kernel module is the kernel generation operating in CPU1 high privilege level ring0 layer
Code, takies the whole depositor of CPU1 and cache resources, the management of real-time calling time control, program, internal memory pipe
Reason and four functional modules of driven management, by performing PLC user program in real time, meet PAC and control in real time
System is to stability and the requirement of real-time.Wherein said time control module keeps with Windows operating system
Time synchronized, in when utilizing CPU1 timing, base provides high-resolution timer, described memory management module and shares
Deposit connection, be responsible for real time kernel module to the data access of shared drive and storage, real in shared drive
Time safeguard system running state and user program variable.Described program management module is responsible for scan round, order is held
The instruction of row PLC user program, it is provided that 4M user program memory space, supports to meet IEC61131-3 mark
Accurate ladder diagram and functional device graphical programming language, refer to including 143 logic control instructions, 45 motor controles
Order and PID process control instruct, by global pointer variable corresponding for instruction pointer register EIP to user's journey
Sequence instruction is addressed, each scanning process includes inputting data sampling, programmed instruction performs and output data brush
New three steps, global pointer variable is initially directed to store the code segment memory address of user program, according to instruction
1st operation code that word is stored jumps to the execution function of this instruction, skips this again after completing this command function
The memory area of instruction, continues to point to the instruction that the next one is to be performed.Described driven management module includes Ethernet
Driving routine and RS-485 serial port drive routine, described Ethernet drives routine by EtherCAT agreement with outer
Portion's I/O equipment connects, completion system I/O refreshes and the extension of I/O point dot cycle；Described RS-485 serial port drive
Routine is connected with exterior I/O device by serial mode, it is provided that the service of Modbus slave station and Profibus slave station
Service, can carry out serial communication with exterior I/O device simultaneously.
Finally illustrate is that the PAC real-time control system based on dual core processor that the present invention provides is not limited to
State embodiment, it is also possible to make various amendment, convert and deform.Therefore, specification and drawings is considered as
Illustrative and not restrictive.Every foundation technical scheme is modified, is modified or equivalent variations,
Without deviating from thought and the scope of technical solution of the present invention, its all should contain scope of the presently claimed invention it
In.
Claims (6)
1. a PAC real-time control system based on dual core processor, including based on Industrial PC Computer double
Core processor, shared drive and I/O equipment, it is characterised in that: described dual core processor includes processor core
Heart CPU0 and processor core CPU1；Described CPU0 contains third party application, man-machine interaction mould
Block and kernel interface module, described CPU1 contains real time kernel module；Third party in described CPU0 should
With program be connected with human-computer interaction module, human-computer interaction module is connected with kernel interface module, kernel interface mould
Block is connected with real time kernel module and shared drive respectively, the real time kernel module in described CPU1 respectively with
Shared drive and I/O equipment connect；Described CPU0 runs Windows operating system, by operation CPU0
Advanced Programmable Interrupt Controllers APICs APIC in ICR depositor produce and interrupt between CPU, send initial
Change order and startup is ordered to CPU1, make CPU1 run real-time kernel code.
A kind of PAC real-time control system based on dual core processor, its
It is characterised by: described human-computer interaction module is that the Windows operating system client layer performed on CPU0 should
By program, it is connected with third party application by the service of EPA agreement application layer communication, it is provided that PAC is real
Time control system monitoring interface, by I/O request bag be connected with kernel interface module；Described man-machine interaction
The PLC user program received and monitor command are sent to kernel interface with the form of I/O request bag by module
Resume module, result is returned to man-machine interaction mould with the form of I/O request bag by kernel interface module again
Block is also shown to user.
A kind of PAC real-time control system based on dual core processor, its
It is characterised by: described kernel interface module is that the Windows operating system nucleus layer performed on CPU0 sets
Standby driver, is responsible for the interfaces between human-computer interaction module and real time kernel module, please by I/O
Ask bag to be connected with human-computer interaction module, interrupt between CPU by sending and set up in Industrial PC Computer internal memory
Shared drive is connected with real time kernel module, guides CPU1 to initialize and load real-time kernel code, reads
It is stored in the CONFIG.SYS of local disk, by dispatch routine by system configuration information, PLC user's journey
Sequence and monitor command store in shared drive and read for real time kernel module, then read real time kernel module and deposit
Store up the running status in shared drive and result and be sent to man-machine interaction with the form of I/O request bag
Module.
A kind of PAC real-time control system based on dual core processor, its
It is characterised by: described real time kernel module is the kernel generation operating in CPU1 high privilege level ring0 layer
Code, takies the whole depositor of CPU1 and cache resources, the management of real-time calling time control, program, internal memory
Management and four functional modules of driven management, when wherein said time control module utilizes CPU1 timing, base carries
For high-resolution timer, described memory management module and shared Memory linkage, real-time servicing in shared drive
System running state and user program variable.
A kind of PAC real-time control system based on dual core processor, it is special
Levy and be: described program management module includes logic control instruction, motion control instruction and process control instruction,
It is responsible for scan round, the instruction of order execution PLC user program, it is provided that 4M user program memory space,
Support to meet ladder diagram and the functional device graphical programming language of IEC61131-3 standard.
A kind of PAC real-time control system based on dual core processor, it is special
Levy and be: described driven management module includes that Ethernet drives routine and RS-485 serial port drive routine, institute
Stating Ethernet drives routine to be connected with exterior I/O device by EtherCAT agreement, completion system I/O point week
Phase refreshes and I/O point extends；Described RS-485 serial port drive routine is by serial mode and exterior I/O device
Connect, it is provided that the service of Modbus slave station and Profibus slave station service, can enter with exterior I/O device simultaneously
Row serial communication.
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| CN105827654A (en) * | 2016-05-26 | 2016-08-03 | 西安电子科技大学 | Multi-core parallel protocol stack structure design method based on GMR-1 3G system |
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| CN109189429A (en) * | 2018-09-11 | 2019-01-11 | 武汉正维电子技术有限公司 | CPU0 updates the method for CPU1 program under dual core processor AMP mode |
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| CN110083394B (en) * | 2019-04-04 | 2022-04-22 | 龙芯中科技术股份有限公司 | Serial port driving method, device and storage medium |
| CN110620712B (en) * | 2019-09-03 | 2021-08-20 | 武汉久同智能科技有限公司 | Method for realizing real-time EtherCAT master station of Window platform |
| CN110703677A (en) * | 2019-09-29 | 2020-01-17 | 四川中曼电气工程技术有限公司 | PLC control system integrated on industrial personal computer |
| CN111708631B (en) * | 2020-05-06 | 2023-06-30 | 深圳震有科技股份有限公司 | Data processing method based on multipath server, intelligent terminal and storage medium |
| CN112579514B (en) * | 2020-12-10 | 2022-07-26 | 海光信息技术股份有限公司 | Method and device for initializing multi-core processor stack |
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