WO2017148279A1 - 多个受控部件的同步控制方法和同步控制系统 - Google Patents

多个受控部件的同步控制方法和同步控制系统 Download PDF

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Publication number
WO2017148279A1
WO2017148279A1 PCT/CN2017/073922 CN2017073922W WO2017148279A1 WO 2017148279 A1 WO2017148279 A1 WO 2017148279A1 CN 2017073922 W CN2017073922 W CN 2017073922W WO 2017148279 A1 WO2017148279 A1 WO 2017148279A1
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Prior art keywords
controlled
controller
controlled component
component
duration
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English (en)
French (fr)
Inventor
杨志千
高瑞
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Beijing Etechwin Electric Co Ltd
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Beijing Etechwin Electric Co Ltd
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Priority to AU2017226399A priority Critical patent/AU2017226399B2/en
Priority to EP17759130.2A priority patent/EP3392724B1/en
Priority to US16/073,456 priority patent/US10775756B2/en
Priority to ES17759130T priority patent/ES2858300T3/es
Publication of WO2017148279A1 publication Critical patent/WO2017148279A1/zh
Anticipated expiration legal-status Critical
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G05B19/052—Linking several PLC's
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Program control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Program control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0421—Multiprocessor system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/22—Pc multi processor system
    • G05B2219/2208—Each processor controls a different function of the machine
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/22—Pc multi processor system
    • G05B2219/2214—Multicontrollers, multimicrocomputers, multiprocessing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/22—Pc multi processor system
    • G05B2219/2231—Leader-follower
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/22—Pc multi processor system
    • G05B2219/2236—Leader determines critical time when each of followers must be controlled
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25232—DCS, distributed control system, decentralised control unit
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25483—Synchronize several controllers using messages over data bus

Definitions

  • the present invention relates to control technology, and more particularly to a synchronous control method and a synchronous control system for a plurality of controlled components.
  • a converter of a wind power system typically includes a plurality of controllers that form a distributed control system; these controllers include a master controller and a plurality of slave controllers; When the converter overload protection function is performed, the main controller generates a control command to send to the slave controller and/or the controlled component, and after receiving the control command sent by the master controller, the controller forwards the control command to the corresponding controlled component.
  • the present invention provides a synchronous control method for a plurality of controlled components for cooperative operation and a synchronous control system for implementing the same, so that a plurality of controlled components working in cooperation can simultaneously complete operations corresponding to corresponding control commands. Thereby avoiding mechanical or electrical overload failure of the controlled components and reducing the damage rate of the controlled components.
  • a method of synchronous control of a plurality of controlled components includes: respectively acquiring response durations of the plurality of controlled components to execute their corresponding control commands; determining, according to the response durations of the plurality of controlled components executing the corresponding control commands, respectively
  • the instructions corresponding to the plurality of controlled components perform a delay duration, and control the plurality of controlled components to execute their corresponding control commands according to the instruction execution delay time corresponding to the plurality of controlled components, so that the A plurality of controlled components complete their corresponding operations in synchronization.
  • the plurality of controlled components include a first controlled component that directly receives a control command sent by the first controller and/or receives a first controller through the second controller The second controlled component of the transmitted control command.
  • the response duration according to the execution of the corresponding control instruction by the plurality of controlled components respectively determines processing of an instruction execution delay duration corresponding to the plurality of controlled components
  • the method includes: selecting a maximum response duration of the response durations of the plurality of controlled components; if the controlled component corresponding to the maximum response duration is a second controlled component, increasing the maximum response duration to the first controller and a communication period between the second controller; a difference between the maximum response duration and a response duration of the first controlled component is used as an instruction execution delay duration of the first controlled component, and/or And subtracting, from the maximum response duration, a difference between a response duration of the second controlled component and a sum of communication periods between the first controller and the second controller as an instruction execution of the second controlled component Delay time.
  • the performing a delay duration according to an instruction corresponding to the plurality of controlled components to control the plurality of controlled components to execute their corresponding control instructions comprises: The first controller sends the second to the second controller after waiting for the instruction execution delay time of the second controlled component or the number of beats corresponding to the instruction execution delay time of the second controlled component Controlling a control component, or transmitting a control instruction and an instruction execution delay time of the second controlled component to the second controller, so that the second controller is waiting for the second controlled a command execution delay time of the component or a number of beats corresponding to the instruction execution delay time of the second controlled component, and then transmitting a control instruction of the second controlled component to the second controlled component, the second
  • the number of beats corresponding to the instruction execution delay duration of the controlled component is a ratio of the instruction execution delay duration of the second controlled component to the sampling period of the second controller; or/and the first controller is Waiting for the first Sending a control instruction of the first controlled component to the first controlled component after the
  • the synchronization control method further includes: obtaining a minimum response duration from a response duration of the plurality of controlled components; determining the first controller according to the minimum response duration The communication cycle between the second controllers.
  • a synchronous control system for a plurality of controlled components includes a first controller and a plurality of controlled components connected to the first controller, wherein the first controller includes: a response duration acquisition module, configured to respectively acquire a plurality of controlled components a response duration of the corresponding control instruction is executed; the control module is configured to determine, according to the response duration of the plurality of controlled components to execute the corresponding control instruction, an instruction execution delay duration corresponding to the plurality of controlled components, and Execution of the delay duration according to the instructions of the plurality of controlled components controls the plurality of controlled components to execute their corresponding control commands to cause the plurality of controlled components to complete their corresponding operations in synchronization.
  • a response duration acquisition module configured to respectively acquire a plurality of controlled components a response duration of the corresponding control instruction is executed
  • the control module is configured to determine, according to the response duration of the plurality of controlled components to execute the corresponding control instruction, an instruction execution delay duration corresponding to the plurality of controlled components, and Execution of the delay duration according to the instructions
  • the synchronization control system further includes a second controller, the plurality of controlled components including a first reception directly receiving a control instruction sent by the first controller a control component and/or a second controlled component that receives a control command sent by the first controller by the second controller, the first controller being signally coupled to the second controller.
  • the control module includes: a selecting unit, configured to select a maximum response duration of response times of the plurality of controlled components; and an adjusting unit, if The controlled component corresponding to the maximum response duration is the second controlled component, and the maximum response duration is increased by the communication period between the first controller and the second controller; the instruction execution delay duration determining unit is used for Determining a difference between a maximum response duration and a response duration of the first controlled component as an instruction execution delay duration of the first controlled component; and/or subtracting the maximum response duration from the second The difference between the response duration of the controlled component and the sum of the communication cycles between the first controller and the second controller is used as the instruction execution delay duration of the second controlled component.
  • the control module further includes: a cooperative control unit, configured to wait for an instruction execution delay time of the second controlled component or the second controlled component
  • the instruction execution delay time corresponds to the number of beats, and then sends the control instruction of the second controlled component to the second controller, or the control command and the instruction of the second controlled component Execution delay time is sent to the second controller, so that the second controller waits for the instruction execution delay time of the second controlled component or the instruction execution delay time of the second controlled component Sending, by the corresponding number of beats, a control instruction of the second controlled component to the second controlled component, where the number of beats corresponding to the instruction execution delay time of the second controlled component is the second controlled component
  • the instruction execution delay time ratio is proportional to the sampling period of the second controller; or/and waiting for the instruction execution delay time of the first controlled component or the instruction execution delay of the first controlled component a control instruction of the first controlled component is sent to the first controlled component after the number of beats corresponding to the duration, and the number of beat
  • the first controller further includes: a minimum response duration acquisition module, configured to obtain a minimum response duration from a response duration of the plurality of controlled components; a communication cycle And a determining module, configured to determine a communication period between the first controller and the second controller according to the minimum response duration.
  • the synchronization control method and the synchronization control system of the plurality of controlled components respectively acquire the response durations of the corresponding control commands by acquiring the plurality of controlled components that work together, and determine the above according to the acquired response durations.
  • Exchanging an instruction execution time of the plurality of controlled components, and then controlling the plurality of controlled components to execute their corresponding control commands according to the instruction execution delay time lengths of the plurality of controlled components, respectively, to synchronize the plurality of controlled components Complete the corresponding operations to avoid mechanical or electrical overload failure of these controlled components and reduce the damage rate of these controlled components.
  • FIG. 1 is a flow chart showing a method of synchronizing control of a plurality of controlled components according to a first embodiment of the present invention
  • FIG. 2 is a flow chart showing a method of synchronizing control of a plurality of controlled components according to a second embodiment of the present invention
  • FIG. 3 is an exemplary block diagram showing the structure of a distributed synchronization control system according to an embodiment of the present invention
  • FIG. 4 is a diagram showing a synchronization control system of a plurality of controlled components according to a third embodiment of the present invention.
  • FIG. 5 is another logic block diagram showing a synchronous control system of a plurality of controlled components according to a third embodiment of the present invention.
  • FIG. 6 is a logic block diagram showing a first controller in a synchronous control system of a plurality of controlled components according to a third embodiment of the present invention
  • FIG. 7 is still another logic block diagram showing a first controller in a synchronous control system of a plurality of controlled components according to a third embodiment of the present invention.
  • the inventive concept of the present solution is to control the time at which the corresponding controlled component completes the control instruction by controlling the transmission time of the control instruction of the controlled component, so that the plurality of controlled components working in cooperation can simultaneously complete the corresponding control instruction correspondingly. Operation to avoid mechanical or electrical overload failure of the controlled components and reduce the damage rate of the controlled components.
  • FIG. 1 is a flow chart showing a method of synchronizing control of a plurality of controlled components according to a first embodiment of the present invention.
  • the synchronization control method shown in FIG. 1 can be performed by the synchronous control system shown in FIG. 4, wherein the synchronization control method can be specifically executed by a controller or the like in the synchronous control system.
  • a method for synchronously controlling a plurality of controlled components according to Embodiment 1 of the present invention includes:
  • a set of control instructions for controlling a plurality of controlled components for cooperative work is acquired.
  • the controlled component may be any electrical component, mechanical component, etc. that can be controlled by the controller, such as an air switch, a transformer, an ammeter, a voltmeter, etc., mechanical components such as a brake, a drive shaft, and a coupling.
  • the control command may be an instruction for controlling the controlled component to perform an operation, such as a control command for controlling the opening of the circuit breaker.
  • the above controller may be, for example, a programmable logic controller PLC or the like, which may control a controlled component to perform a corresponding operation by generating a control command by a control function to be executed, and then transmitting the control command to the controlled component.
  • a controller in a synchronous control system, generally including a controller and a controlled component, the controller can control the controlled component to perform a corresponding operation by transmitting a control command to the controlled component.
  • the controller determines by monitoring the working state of the controlled component. Whether each controlled component works normally. For a certain control function performed by the controller, it is often required that a plurality of controlled components work together. Therefore, when the control function is executed, the controller can analyze the control function and decompose it into multiple control work. The control instructions of the controlled components, thereby obtaining a set of control instructions consisting of control instructions of the plurality of controlled components.
  • the response duration may be a length of time from when the controlled component receives the control command until the controlled component completes the operation corresponding to the control command.
  • the controlled component is a circuit breaker
  • the operation corresponding to the control command is a circuit breaker opening. If the time when the circuit breaker receives the control command is 10:05:30150, the circuit breaker switches its switching state according to the control command. When the closing adjustment is to open the gate to complete the opening operation time is 10:05:30350, the response time of the control command corresponding to the opening operation of the circuit breaker is 200 milliseconds.
  • a control instruction may be extracted from the control instruction set, and the corresponding controlled component is determined by analyzing the control instruction, and then the response duration of the controlled component to execute the corresponding control instruction may be acquired.
  • the manner of obtaining the response duration of the controlled component to execute the corresponding control instruction may include multiple types.
  • the response duration of the controlled component to execute the corresponding control command may be measured and recorded (or calibrated) by a timer; or the response duration of each control component in the synchronous control system to execute the corresponding control command may be measured and recorded in advance by the timer,
  • the recorded response duration is stored in the form of a table and stored in the controller.
  • the instruction execution delay duration may be a length of time from the generation of the control instruction to the transmission to the controlled component in order for the plurality of controlled components operating in cooperation to simultaneously complete their respective control instructions.
  • the plurality of controlled components working in cooperation are a circuit breaker and an IGBT
  • the control command of the circuit breaker is an instruction for controlling the opening of the circuit breaker
  • the control command of the IGBT is an instruction for controlling the stop modulation of the IGBT
  • the circuit breaker performs the same
  • the response time of the corresponding control command is 200. In milliseconds, the response time of the IGBT executing its corresponding control command is 0.4 milliseconds.
  • the IGBT will first complete the control command to stop the modulation, and the circuit breaker is still at this time.
  • the closing state which causes the components connected to the circuit breaker (such as the DC supporting capacitor) to remain in operation, thereby causing damage to the component; for this reason, the response duration of the corresponding control command can be determined based on the circuit breaker and the IGBT, respectively.
  • the instruction execution delay time of the circuit breaker and IGBT is
  • the command execution delay time of the circuit breaker can be 0 (ie 200-200), and the command execution delay time of the IGBT can be 199.6 (ie 200-0.4). millisecond.
  • the IGBT is indirectly controlled by the main controller through the slave controller, and the communication cycle between the master and slave controllers is 2 milliseconds, then the command execution delay of the circuit breaker is extended.
  • the duration can be 0 (ie 200-200), and the IGBT instruction execution delay can be 197.6 (ie 200-0.4-2) milliseconds.
  • the corresponding parameters include a control command, a response duration, and an instruction execution delay duration.
  • the controller obtains the instruction execution delay time of the controlled component through the above processing, and then can control the corresponding controlled component to execute the corresponding control command after the corresponding instruction execution delay duration. For example, based on the above example of S130, the instruction execution delay time of the circuit breaker is 0, and the instruction execution delay time of the IGBT is 199.6 milliseconds; therefore, after the controller generates the control command, the control command of the circuit breaker can be sent to the open circuit first. The device is executed immediately, and for the IGBT, the controller can send the IGBT control command to the IGBT for immediate execution after 199.6 milliseconds.
  • S110 and S120 are not strictly defined in the execution order.
  • the delay time may be executed according to the S120 and S130 instructions, and then when multiple controlled components are executed to execute their corresponding control commands, The instruction execution delay duration corresponding to the plurality of controlled components controls the plurality of controlled components to execute their corresponding control commands.
  • the response durations of the corresponding control commands are respectively executed by acquiring the plurality of controlled components that work in cooperation, and the plurality of controlled times are respectively determined according to the acquired response durations.
  • the instruction execution time of the component is executed, and then the delay time duration is controlled according to the instruction of the plurality of controlled components to control the plurality of controlled components to execute their corresponding control fingers. So that a plurality of controlled components complete their corresponding operations in synchronization, thereby avoiding mechanical or electrical overload failure of the controlled components and reducing the damage rate of the controlled components.
  • FIG. 2 is a flow chart showing a method of synchronizing control of a plurality of controlled components according to a second embodiment of the present invention.
  • the embodiment shown in FIG. 2 can be regarded as a specific implementation of the synchronization control method shown in FIG. 1.
  • the synchronous control method of a plurality of controlled components shown in FIG. 1 can be applied to a centralized synchronous control system, and can also be applied to a distributed synchronous control system.
  • the synchronous control method shown in FIG. 1 will be described in detail below with reference to FIG. 2 as an example of a distributed synchronous control system, wherein the body that executes the synchronous control method may be a master controller or a controller that generates control commands.
  • the master controller and the slave controller may be included in the distributed synchronous control system.
  • the master controller can be identical to the slave controller. In this case, one of the multiple controllers can be selected as the master controller and the other controllers as the slave controller.
  • the master controller and the slave controller may also be different, for example, the master controller may be a programmable logic controller, and the slave controller may be a non-programmable logic controller.
  • the main controller can be used for control signal summarization, logic judgment, control instruction distribution, bus communication monitoring, and controlled component monitoring, etc.
  • the slave controller can be used to receive and execute control commands sent by the main controller, communicate with the main controller, Control action dispatching and controlled component monitoring. In the embodiments described below in conjunction with FIGS.
  • the primary controller is referred to as a first controller
  • the secondary controller is referred to as a second controller
  • the control transmitted by the first controller is directly received.
  • the controlled component of the command is referred to as the first controlled component
  • the controlled component that receives the control command sent by the first controller through the second controller is referred to as the second controlled component.
  • S210 and S220 are substantially identical to S110 and S120 in FIG. 1, and S230-S290 are specific implementations of S130 in FIG.
  • S290 may be implemented by processing: the first controller waits for the instruction execution delay time of the second controlled component or the instruction execution delay time of the second controlled component corresponds to the number of beats to the second
  • the controller sends a control instruction of the second controlled component, or sends the control instruction of the second controlled component and the instruction execution delay duration to the second controller, so that the second controller waits for the instruction of the second controlled component
  • the execution delay instruction or the control instruction corresponding to the second controlled component is sent to the second controlled component after the execution delay time or the instruction execution delay time corresponding to the second controlled component.
  • the number of beats corresponding to the instruction execution delay duration of the second controlled component is the ratio of the instruction execution delay duration of the second controlled component to the sampling period of the second controller.
  • the S260 may be implemented by: the first controller waiting for the instruction execution delay time of the first controlled component or the number of beats corresponding to the instruction execution delay time of the first controlled component to the first
  • the controlled component sends a control command for the first controlled component.
  • the number of beats corresponding to the instruction execution delay duration of the first controlled component is the ratio of the instruction execution delay duration of the first controlled component to the sampling period of the first controller.
  • the distributed synchronous control system includes a primary controller S (ie, controller 1) and a secondary controller (ie, The controller 2, the controller 3, the controller p), the main controller S and each of the slave controllers are respectively connected with a plurality of controlled components, that is, the component S1, the component S2, the component 21, the component 22, The component 31, the component 32, the component p1, the component p2, and the like may be connected between the controller and the controlled component through a signal line or a communication line, and the main controller and each slave controller are connected by a communication bus.
  • a primary controller S ie, controller 1
  • a secondary controller ie, The controller 2, the controller 3, the controller p
  • the main controller S and each of the slave controllers are respectively connected with a plurality of controlled components, that is, the component S1, the component S2, the component 21, the component 22,
  • the component 31, the component 32, the component p1, the component p2, and the like may be connected between the controller and the controlled component through a signal line or a communication line, and
  • the response time of each controlled component in the distributed synchronous control system to execute the corresponding control command may be measured by a measuring component (such as a timer), and the measured response duration, the control command, and the information of the controlled component (eg, controlled) may be measured.
  • the part number of the part, etc. is stored in the main controller in the form of a table, as shown in Table 1.
  • Controlled component Control instruction Response time Component S1 Instruction 1 100 milliseconds Component S1 Instruction 2 120 milliseconds Component 21 Instruction 3 5 milliseconds Component 22 Instruction 4 20 milliseconds Component 31 Instruction 5 10 milliseconds Component S2 Instruction 6 200 milliseconds
  • the response time of the same controlled component to execute different control commands may be different.
  • the response time of the control command corresponding to the closing operation of the circuit breaker may be 210 milliseconds
  • the response time of the control command corresponding to the execution of the opening operation may be 200 milliseconds.
  • a control instruction set for controlling a plurality of controlled components for cooperative operation is acquired.
  • the main controller S may analyze the control function.
  • Control instructions to be executed by the controlled components ie, component S1, component S2, component 21, component 22, and component 31
  • component S1 needs to execute instruction 2 in Table 1
  • component S2 needs to execute instruction 6 in Table 1.
  • the component 21 needs to execute the instruction 3 in Table 1
  • the component 22 needs to execute the instruction 4 in Table 1
  • the component 31 needs to execute the instruction 5 in Table 1, thereby obtaining a control instruction set composed of a plurality of control instructions.
  • the control function can be a protection control function for the controlled component.
  • the main controller S and each of the slave controllers respectively monitor the controlled components controlled by the controller, and when it is found that one or more controlled components work abnormally, the corresponding control components need to be controlled by the relevant protection control functions. Perform the corresponding operation.
  • the control function can also be the system function achieved by a series of operations that need to be performed during the normal operation of the synchronous control system.
  • the protection control function may be a combination control action of a controller that needs to initiate control to form a corresponding controlled component when a certain controlled component is abnormal or their detection parameters are abnormal, so that the The protection control function protects abnormally controlled components or abnormal detection parameters.
  • the response time of the component S1 ie, the controlled component
  • the response time of the component S2 executing the instruction 6 is 200 milliseconds
  • the component The response time of the execution instruction 3 is 5 milliseconds
  • the response time of the component 22 executing the instruction 4 is 20 milliseconds
  • the response time of the component 31 executing the instruction 5 is 10 milliseconds.
  • the maximum response duration of the response durations of the plurality of controlled components is selected.
  • a reference response duration can be selected.
  • the maximum response time length of the response time length obtained in the above S220 may be selected as the reference response time length of the current process.
  • the process may specifically include: the controller compares the acquired multiple response time lengths, and selects from the plurality of response time lengths. Maximum response time.
  • the acquired response duration includes 120 milliseconds, 200 milliseconds, 5 milliseconds, 20 milliseconds, and 10 milliseconds.
  • the maximum response duration is 200 milliseconds.
  • the maximum response duration is increased by a communication period between the first controller and the second controller.
  • the maximum response duration is 20 milliseconds.
  • the communication cycle between the primary controller and the secondary controller is 2 milliseconds (where the communication cycle of the controller can be pre-stored in the primary controller)
  • the duration of the second controlled component receiving and executing the corresponding control command is 22 milliseconds, that is, the maximum response duration increases the communication cycle between the master controller and the slave controller, which is 22 milliseconds.
  • the difference between the maximum response duration and the response duration of the first controlled component is taken as the instruction execution delay duration of the first controlled component.
  • the increased maximum response duration is 22 milliseconds
  • the controlled components whose response duration is 5 milliseconds and 10 milliseconds respectively are the first controlled component
  • the response durations are 5 milliseconds and 10, respectively.
  • the instruction execution delay time of the controlled component corresponding to milliseconds is 17 (ie 22-5) milliseconds and 12 (ie 22-10) milliseconds.
  • the first controller connected to the first controlled component sends the first received component to the first controlled component after waiting for the corresponding instruction execution delay time of the first controlled component The control command corresponding to the control component.
  • the first controlled component can execute the control command immediately, and no other time is needed in the whole process; therefore, the main control When the corresponding control command is sent to the first controlled component, only need to wait The instruction execution time corresponding to the first controlled component may be delayed.
  • the slave controller since the control command is generated by the main controller and sent to the slave controller, the slave controller forwards the received control command to the corresponding controlled component, and the control command is sent from the master controller to the slave controller.
  • the controller needs a certain communication cycle; therefore, the second controlled component cannot achieve the expected result of synchronization only by the execution delay time of the instruction, and also needs to consider the communication cycle between the master and the slave controller, and the corresponding processing can be referred to the following S270. ⁇ S290.
  • a minimum response duration is obtained from a response duration of the plurality of controlled components, and a communication period between the first controller and the second controller is determined according to the minimum response duration.
  • a correspondence relationship between the controlled component and the information of the controller connected thereto may be stored in the main controller, wherein the information of the controller connected to the controlled component may be a number of the controller or the like.
  • the main controller determines a plurality of controlled components that need to work in cooperation when performing a certain control function
  • information of the controller connected to each controlled component may be found from the above correspondence relationship, thereby determining the second controlled component with each of the second controlled components. Connected controller.
  • the minimum response duration can be obtained by comparing in the obtained response duration, and then according to the formula
  • Tcom is a communication period between the first controller and the second controller
  • Tmin is a minimum response duration
  • N is a predetermined parameter
  • N is taken
  • the value can be any value greater than zero.
  • N in order to make the communication period between the controllers much smaller than the minimum response duration, N may take any value greater than 10.
  • the difference between the response time length of the second controlled component and the sum of the communication cycles between the first controller and the second controller is subtracted from the maximum response duration as the instruction execution delay time of the second controlled component.
  • the control command is transmitted from the main controller to the second controlled component
  • the specific processing may be: calculating the sum of the response duration of the second controlled component and the communication cycle between the master and slave controllers The value is further subtracted from the above sum value using the maximum response duration described above, and the obtained difference can be used as the instruction execution delay duration of the second controlled component.
  • the instruction execution delay duration of the other second controlled components that work together can be calculated.
  • the increased maximum response duration is 22 milliseconds. If the controlled component whose response duration is 15 milliseconds and 20 milliseconds respectively is the second controlled component, the response durations are 15 milliseconds and 20 milliseconds respectively.
  • the instruction execution delay time of the controlled component is 7 (ie 22-15) milliseconds and 2 (22-20) milliseconds.
  • a delay instruction is executed according to an instruction of the second controlled component to transmit a control instruction corresponding to the second controlled component to the second controller connected to the second controlled component.
  • the main controller needs to first send a control instruction of the second controlled component to a controller connected to the second controlled component, and the controller sends the control command to the controller
  • the second controlled component the second controlled component may execute the control instruction, wherein in the process, a communication cycle exists between the primary controller and the secondary controller, and the second controlled component executes the control instruction
  • the response time is long. Therefore, after the main controller generates the control command, it can wait for the instruction execution delay time of the second controlled component to send the control command to the second controlled component.
  • processing of the foregoing S290 may have multiple processing manners.
  • the following provides two feasible processing manners, including:
  • control instruction of the second controlled component is sent to the second controller connected to the second controlled component according to the instruction execution delay of the second controlled component.
  • the main controller may generate the corresponding control instruction, the information of the second controlled component corresponding to the control instruction may be acquired, and then the instruction execution delay duration of the second controlled component may be obtained, and the first a controller connected to the second controlled component; then, the main controller may send the control instruction and the instruction execution delay time of the second controlled component to the controller, and the controller receives the control command and the instruction execution delay After the time period, the control execution instruction can be sent to the second controlled component after waiting for the instruction execution delay time, and the second controlled component can execute the control instruction.
  • the processing of the above S240 need not be performed, and the subsequent S250 to S290 are directly executed.
  • the obtained maximum response duration is 200 milliseconds, wherein the controlled component corresponding to the maximum response duration is the first controlled component, and the plurality of controlled components working in cooperation perform the response of the corresponding control command.
  • the durations are 120 milliseconds, 200 milliseconds, 5 milliseconds, 20 milliseconds, and 10 milliseconds, respectively, and the instruction execution delay time of the corresponding controlled component is obtained by using the maximum response duration minus the response duration of each controlled component executing its corresponding control instruction, That is, the instruction execution delay time of the component S1 (ie, the controlled component) is 80 milliseconds, the instruction execution delay time of the component S2 is 0 milliseconds, the instruction execution delay time of the component 21 is 115 milliseconds, and the instruction execution delay of the component 22 is delayed.
  • the duration is 180 milliseconds, and the instruction execution delay of component 31 is 190 milliseconds.
  • the controlled component corresponding to the maximum response duration is the first controlled component, but the maximum response duration in the response duration of the second controlled component plus the value of the communication cycle is greater than the maximum response duration obtained above, then The maximum response duration in the response duration of the second controlled component plus the value of the communication cycle as the maximum response duration.
  • the response duration of the first controlled component is 201 milliseconds
  • the response duration of the second controlled component is 200 milliseconds
  • the communication period is 5 milliseconds
  • the maximum response duration is 205 milliseconds (ie, 200 milliseconds + 5 milliseconds)
  • subsequent processing See S250 ⁇ S290.
  • the above-mentioned process of determining the execution delay time of the instruction may also be determined by delaying the number of beats, wherein each sampling period of the controller may be referred to as a beat, sampling.
  • the period length can be set in advance.
  • Different controllers may have different delay beats, such as a controller connected to the first controlled component (such as a main controller), and a controller connected to the second controlled component (such as slave control)
  • the delay time of the controller is different, wherein the delay time of the controller connected to the first controlled component is the ratio of the instruction execution delay time to the sampling period of the controller (such as the main controller) that generates the control command
  • the delay time of the controller connected to the second controlled component is a ratio of the instruction execution delay duration to the sampling period of the controller connected to the second controlled component
  • Tmax is the maximum response duration
  • T1 is the response duration of the first controlled component
  • T2 is the response duration of the second controlled component
  • Tcom is the communication cycle
  • Ts1 is the sampling period of the controller connected to the first controlled component
  • Ts2 is the sampling period of the controller connected to the second controlled component
  • P1 is the delay beat of the controller connected to the first controlled component
  • P2 is the delay of the controller connected to the second controlled component Number of shots.
  • the communication period between the controllers C1 and C2 is 5 ms
  • the sampling frequency of the C1 controller is 2.5 kHz, that is, the sampling period length is 0.4 ms
  • the sampling frequency of the C2 controller is 2 kHz, that is, the sampling period length is 0.5 ms.
  • the controlled component (ie, the first controlled component) controlled by the C1 controller is an IGBT
  • the controlled component (ie, the second controlled component) controlled by the C2 controller is a machine-side circuit breaker.
  • the C1 controller determines that the IGBT needs to execute a control command to stop the modulation, and the machine-side circuit breaker needs to execute a control command for the opening operation, wherein the response time of the control command for stopping the modulation of the IGBT is 0.4 ms.
  • the response time of the control command for the side circuit breaker to perform the opening operation is 200 ms, in order to avoid the execution of the corresponding control commands by the above two controlled components.
  • the electrical overload problem caused by the inconsistency of time may be determined by the processing of S210 to S260 to determine that the controlled component corresponding to the maximum response time of 200 milliseconds is the second controlled component.
  • the communication cycle needs to be increased for the maximum response duration, that is, 205.
  • the delayed beat number of the C2 controller is 0, and the IGBT that responds faster performs the control command to stop the modulation at the 513th beat after the delay of 512 beats, and the control command of the machine side circuit breaker No delay is made, so that the time at which the IGBT and the machine side circuit breaker complete the corresponding control command is substantially consistent within the error tolerance range, and the multiple controlled components that work together are prevented from completing the operation corresponding to the corresponding control command. Inconsistent moments of mechanical load or overload of electrical loads.
  • the synchronous control system of multiple controlled components provided by the embodiments of the present invention, on the one hand, because of the unique structure of the distributed synchronous control system, the controllers use the bus to communicate, and if the bus communication cycle is greater than the response duration of the controlled component, The controller's monitoring of the controlled components will result in a longer blind spot and reduce the control accuracy.
  • the present invention measures and records (or calibrates) the response time of each control component in the distributed synchronous control system to execute the corresponding control command.
  • the delay algorithm for executing the corresponding control instruction enables the different controlled components working in cooperation to synchronously complete the corresponding operation of the corresponding control command, thereby reducing the electrical and mechanical loads of the controlled component, improving system stability and controlling component life. Reduce the operating and maintenance costs of the system.
  • FIG. 4 is a logic block diagram showing a synchronous control system of a plurality of controlled components according to a third embodiment of the present invention.
  • the synchronous control system includes a first controller 410 and a plurality of controlled components 420, wherein the first controller 410 includes a control command acquisition mode Block 411, response duration acquisition module 412, and control module 413.
  • the first controller 410 may be the main controller S as in FIG. 3, and the plurality of controlled components 420 may be the component S1, the component S2, the component 21, the component 22, the component 31, the component 32, the component p1 as in FIG. And parts p2 and so on.
  • the control instruction acquisition module 411 is configured to acquire a control instruction set for controlling a plurality of controlled components 420 that work in cooperation.
  • the response duration acquisition module 412 is configured to respectively obtain a response duration of the plurality of controlled components 420 executing their corresponding control instructions.
  • the control module 413 is configured to determine an instruction execution delay duration corresponding to the plurality of controlled components 420 according to the response duration of the plurality of controlled components 420 to execute the corresponding control instruction, and execute the delay duration according to the instruction of each controlled component 420.
  • Each controlled component 420 is controlled to execute its corresponding control command to cause the plurality of controlled components 420 to complete their corresponding operations in synchronization.
  • the synchronous control system as shown in FIG. 5 further includes a second controller 430, and the plurality of controlled components 420 include directly receiving the control commands sent by the first controller 410.
  • the first controlled component and/or the second controlled component that receives the control command sent by the first controller 410 via the second controller 430, the first controller 410 is in signal connection with the second controller 430.
  • the second controller 430 may be the controller 2, the controller 3, and the controller p in FIG.
  • control module 413 includes: a selecting unit, configured to select a maximum response duration of the response durations of the plurality of controlled components 420; and an adjusting unit, configured to: if the controlled component corresponding to the maximum response duration is the second controlled component, And increasing the maximum response duration by the communication period between the first controller and the second controller; the instruction execution delay duration determining unit is configured to use a difference between the maximum response duration and the response duration of the first controlled component as The instruction of the first controlled component performs a delay time, and/or subtracts the maximum response duration from the sum of the response duration of the second controlled component and the sum of the communication cycles between the first controller and the second controller The instruction execution delay time as the second controlled component.
  • control module 413 further includes a cooperative control unit, configured to send to the second controller 430 after waiting for the instruction execution delay duration of the second controlled component or the number of beats corresponding to the instruction execution delay duration of the second controlled component.
  • a control instruction of the second controlled component or transmitting a control instruction of the second controlled component and an instruction execution delay duration to the second controller 430 to enable the second controller 430, after waiting for the instruction execution delay time of the second controlled component or the number of beats corresponding to the instruction execution delay time of the second controlled component, sending a control instruction of the second controlled component to the second controlled component, the second receiving
  • the number of beats corresponding to the instruction execution delay duration of the control component is the ratio of the instruction execution delay duration of the second controlled component to the sampling period of the second controller 430; or/and waiting for the corresponding instruction execution of the first controlled component
  • the delay duration or the number of beats corresponding to the instruction execution delay time of the first controlled component sends a control instruction of the first controlled component to the first controlled component, and the instruction of the
  • the first controller 410 shown in FIG. 6 further includes: a minimum response duration acquisition module 414, configured to obtain from the response duration of the plurality of controlled components 420.
  • the minimum response duration; the communication period determining module 415 is configured to determine a communication period between the first controller and the second controller according to the minimum response duration.
  • the first controller 410 shown in FIG. 7 further includes: a delayed beat determination module 416, according to the maximum response duration, the first controlled component
  • Ts2 is a second control connected to the second controlled component
  • the sampling period is, P1 is a delay of a first controller connected to the first controlled member beats, P2 is the delay of the second controller is connected to the second controlled member beats.
  • the synchronous control system of the plurality of controlled components obtained by the embodiment of the present invention obtains the response duration of the corresponding control instruction by acquiring the plurality of controlled components that work in cooperation respectively, and determines the plurality of controlled times according to the acquired response duration respectively.
  • the instruction execution delay time of the component is performed, and then, according to the instruction execution delay time length, respectively, controlling the plurality of controlled components to execute their corresponding control commands,
  • the plurality of controlled components are synchronized to perform their corresponding operations, thereby avoiding mechanical or electrical overload failure of the controlled components and reducing the damage rate of the controlled components.
  • the controllers use the bus to communicate. If the bus communication period is greater than the response duration of the controlled component, the controller controls the controlled component. Monitoring the blind zone that will appear for a long time and reducing the control precision.
  • the present invention measures and records (or calibrates) the response time of each control component in the distributed synchronous control system to execute the corresponding control command, and sets the controller
  • the communication period is much smaller than the response duration of the corresponding controlled component, thereby ensuring the control accuracy; on the other hand, the response duration of the controlled component of each controller obtained by the measurement, and the delay of the established controlled component executing the corresponding control command
  • the algorithm enables different controlled components working together to complete the corresponding operation of the corresponding control commands synchronously, thereby reducing the electrical and mechanical loads of the controlled components, improving system stability and the life of the controlled components, and reducing system operation and maintenance. cost.
  • the above method according to the present invention can be implemented in hardware, firmware, or as software or computer code that can be stored in a recording medium such as a CD ROM, a RAM, a floppy disk, a hard disk, or a magneto-optical disk, or can be downloaded through a network.
  • a recording medium such as a CD ROM, a RAM, a floppy disk, a hard disk, or a magneto-optical disk, or can be downloaded through a network.
  • the computer code originally stored in a remote recording medium or non-transitory machine readable medium and to be stored in a local recording medium, whereby the methods described herein can be stored using a general purpose computer, a dedicated processor, or programmable or dedicated Such software processing on a recording medium of hardware such as an ASIC or an FPGA.
  • a computer, processor, microprocessor controller or programmable hardware includes storage components (eg, RAM, ROM, flash memory, etc.) that can store or receive software or computer code, when the software or computer code is The processing methods described herein are implemented when the processor or hardware is accessed and executed. Moreover, when a general purpose computer accesses code for implementing the processing shown herein, the execution of the code converts the general purpose computer into a special purpose computer for performing the processing shown herein.

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Abstract

一种多个受控部件的同步控制方法和同步控制系统。所述同步控制方法包括：分别获取多个受控部件（420）执行其对应的控制指令的响应时长（S120、S220）；根据多个受控部件（420）执行其对应的控制指令的响应时长分别确定多个受控部件（420）对应的指令执行延时时长，并根据多个受控部件（420）的指令执行延时时长控制多个受控部件（420）执行其对应的控制指令，以使多个受控部件（420）同步地完成其对应的操作（S130）。该同步控制方法和同步控制系统可以避免受控部件（420）发生机械或电气过载故障，降低受控部件（420）的损坏率。

Description

多个受控部件的同步控制方法和同步控制系统 技术领域
本发明涉及控制技术，尤其涉及一种多个受控部件的同步控制方法和同步控制系统。
背景技术
在包括集中式控制系统和分布式控制系统在内的各种控制系统中，往往需要控制多个受控部件协同工作来完成一个或多个控制功能。例如，风力发电系统的变流器中通常包括多个控制器，这些控制器构成一个分布式控制系统；这些控制器包括一个主控制器和多个从控制器；在执行某一控制功能，例如变流器过载保护功能时，主控制器生成控制指令发送给从控制器和/或受控部件，从控制器接收到主控制器发送的控制指令后将其转发给相应的受控部件。
然而，由于分布式控制系统中的主控制器与从控制器之间的通信延时、以及受控部件执行其对应的控制指令的响应时长存在不同，使得协同工作的各受控部件不能同步完成相应的操作，从而导致受控部件出现机械或电气过载，造成受控部件损坏。
发明内容
本发明提供了一种用于协同工作的多个受控部件的同步控制方法以及实现该方法的同步控制系统，以使得协同工作的多个受控部件可以同步完成相应的控制指令对应的操作，从而避免受控部件发生机械或电气过载故障，降低受控部件的损坏率。
根据本发明的一方面，提供一种多个受控部件的同步控制方法。所述同步控制方法包括：分别获取多个受控部件执行其对应的控制指令的响应时长；根据所述多个受控部件执行其对应的控制指令的响应时长分别确定 所述多个受控部件对应的指令执行延时时长，并根据所述多个受控部件对应的指令执行延时时长控制所述多个受控部件执行其对应的控制指令，以使所述多个受控部件同步地完成其对应的操作。
在根据本发明的一方面的一些实施例中，所述多个受控部件包括直接接收第一控制器发送的控制指令的第一受控部件和/或通过第二控制器接收第一控制器发送的控制指令的第二受控部件。
在根据本发明的一方面的一些实施例中，所述根据所述多个受控部件执行其对应的控制指令的响应时长分别确定所述多个受控部件对应的指令执行延时时长的处理包括：选取所述多个受控部件的响应时长当中的最大响应时长；如果所述最大响应时长对应的受控部件是第二受控部件，则将所述最大响应时长增加第一控制器与第二控制器之间的通信周期；将所述最大响应时长与所述第一受控部件的响应时长之间的差值作为所述第一受控部件的指令执行延时时长，和/或将所述最大响应时长减去所述第二受控部件的响应时长与第一控制器与第二控制器之间的通信周期的和值的差值作为所述第二受控部件的指令执行延时时长。
在根据本发明的一方面的一些实施例中，所述根据所述多个受控部件对应的指令执行延时时长控制所述多个受控部件执行其对应的控制指令的处理包括：所述第一控制器在等待所述第二受控部件的指令执行延时时长或所述第二受控部件的指令执行延时时长对应的节拍数后向所述第二控制器发送所述第二受控部件的控制指令，或者将所述第二受控部件的控制指令和指令执行延时时长发送给所述第二控制器，以使所述第二控制器在等待所述第二受控部件的指令执行延时时长或所述第二受控部件的指令执行延时时长对应的节拍数后向所述第二受控部件发送所述第二受控部件的控制指令，所述第二受控部件的指令执行延时时长对应的节拍数为所述第二受控部件的指令执行延时时长与所述第二控制器的采样周期的比值；或者/并且所述第一控制器在等待所述第一受控部件的指令执行延时时长或所述第一受控部件的指令执行延时时长对应的节拍数后向所述第一受控部件发送所述第一受控部件的控制指令，所述第一受控部件的指令执行延时时长对应的节拍数为所述第一受控部件的指令执行延时时长与所述第一控制器 的采样周期的比值。
在根据本发明的一方面的一些实施例中，所述同步控制方法还包括：从所述多个受控部件的响应时长中获取最小响应时长；根据所述最小响应时长确定第一控制器与第二控制器之间的通信周期。
根据本发明的另一方面，提供一种多个受控部件的同步控制系统。所述同步控制系统包括第一控制器和与所述第一控制器连接的多个受控部件，其中，所述第一控制器包括：响应时长获取模块，用于分别获取多个受控部件执行其对应的控制指令的响应时长；控制模块，用于根据所述多个受控部件执行其对应的控制指令的响应时长分别确定所述多个受控部件对应的指令执行延时时长，并根据所述多个受控部件的指令执行延时时长控制所述多个受控部件执行其对应的控制指令，以使所述多个受控部件同步地完成其对应的操作。
在根据本发明的另一方面的一些实施例中，所述同步控制系统还包括第二控制器，所述多个受控部件包括直接接收所述第一控制器发送的控制指令的第一受控部件和/或通过所述第二控制器接收所述第一控制器发送的控制指令的第二受控部件，所述第一控制器与所述第二控制器信号连接。
在根据本发明的另一方面的一些实施例中，所述控制模块包括：选取单元，用于选取所述多个受控部件的响应时长当中的最大响应时长；调整单元，用于如果所述最大响应时长对应的受控部件是第二受控部件，则将所述最大响应时长增加第一控制器与第二控制器之间的通信周期；指令执行延时时长确定单元，用于将所述最大响应时长与所述第一受控部件的响应时长之间的差值作为所述第一受控部件的指令执行延时时长；和/或将所述最大响应时长减去所述第二受控部件的响应时长与第一控制器与第二控制器之间的通信周期的和值的差值作为所述第二受控部件的指令执行延时时长。
在根据本发明的另一方面的一些实施例中，所述控制模块还包括：协同控制单元，用于在等待所述第二受控部件的指令执行延时时长或所述第二受控部件的指令执行延时时长对应的节拍数后向所述第二控制器发送所述第二受控部件的控制指令，或者将所述第二受控部件的控制指令和指令 执行延时时长发送给所述第二控制器，以使所述第二控制器在等待所述第二受控部件的指令执行延时时长或所述第二受控部件的指令执行延时时长对应的节拍数后向所述第二受控部件发送所述第二受控部件的控制指令，所述第二受控部件的指令执行延时时长对应的节拍数为所述第二受控部件的指令执行延时时长与所述第二控制器的采样周期的比值；或者/并且在等待所述第一受控部件的指令执行延时时长或所述第一受控部件的指令执行延时时长对应的节拍数后向所述第一受控部件发送所述第一受控部件的控制指令，所述第一受控部件的指令执行延时时长对应的节拍数为所述第一受控部件的指令执行延时时长与所述第一控制器的采样周期的比值。
在根据本发明的另一方面的一些实施例中，所述第一控制器还包括：最小响应时长获取模块，用于从所述多个受控部件的响应时长中获取最小响应时长；通信周期确定模块，用于根据所述最小响应时长确定第一控制器与第二控制器之间的通信周期。
根据本发明实施例的多个受控部件的同步控制方法和同步控制系统，通过分别获取协同工作的多个受控部件执行其对应的控制指令的响应时长，并根据获取的响应时长分别确定上述多个受控部件的指令执行延时时长，然后分别根据上述多个受控部件的指令执行延时时长控制上述多个受控部件执行其对应的控制指令，以使上述多个受控部件同步地完成其对应的操作，从而避免这些受控部件发生机械或电气过载故障，降低这些受控部件的损坏率。
附图说明
图1是示出根据本发明实施例一的多个受控部件的同步控制方法的流程图；
图2是示出根据本发明实施例二的多个受控部件的同步控制方法的流程图；
图3是示出根据本发明实施例的一种分布式同步控制系统结构的示例性框图；
图4是示出根据本发明实施例三的多个受控部件的同步控制系统的一 个逻辑框图；
图5是示出根据本发明实施例三的多个受控部件的同步控制系统的另一个逻辑框图；
图6是示出根据本发明实施例三的多个受控部件的同步控制系统中第一控制器的一个逻辑框图；
图7是示出根据本发明实施例三的多个受控部件的同步控制系统中第一控制器的又一个逻辑框图。
具体实施方式
本方案的发明构思是，通过控制受控部件的控制指令的发送时间来控制相应的受控部件完成该控制指令的时间，以使得协同工作的多个受控部件可以同步完成相应的控制指令对应的操作，从而避免受控部件发生机械或电气过载故障，降低受控部件的损坏率。
下面结合附图详细描述本发明的示例性实施例。
实施例一
图1是示出根据本发明实施例一的多个受控部件的同步控制方法的流程图。图1所示的同步控制方法可以由图4所示的同步控制系统执行，其中，该同步控制方法具体可以由该同步控制系统中的控制器等执行。
参照图1，本发明实施例一的多个受控部件的同步控制方法包括：
在S110，获取用于控制协同工作的多个受控部件的控制指令集合。
其中，受控部件可以为能够接受控制器控制的任意电气部件、机械部件等，电气部件如空气开关、互感器、电流表和电压表等，机械部件如制动器、传动轴和联轴器等。控制指令可以是用于控制受控部件执行某项操作的指令，如用于控制断路器分闸的控制指令等。上述控制器可以是例如，可编程逻辑控制器PLC等，其可以通过将要执行的控制功能生成控制指令，然后将控制指令发送给受控部件来控制受控部件执行相应的操作。
具体地，在同步控制系统中，通常包括控制器和受控部件，控制器可以通过向受控部件发送控制指令来控制受控部件执行相应的操作。在同步控制系统正常工作时，控制器通过对受控部件的工作状态的监控，来确定 各受控部件是否正常工作。对于控制器执行的某控制功能，往往需要多个受控部件协同工作才能实现，因此，当执行该控制功能时，控制器可以分析该控制功能，并将其分解为用于控制协同工作的多个受控部件的控制指令，从而得到由多个受控部件的控制指令组成的控制指令集合。
在S120，分别获取多个受控部件执行其对应的控制指令的响应时长。
其中，响应时长可以为从受控部件接收到控制指令开始到该受控部件完成该控制指令对应的操作时的时间长度。例如，受控部件为断路器，控制指令对应的操作为断路器分闸，如果该断路器接收到该控制指令的时间为10:05:30150，该断路器根据该控制指令将其开关状态由合闸调整为分闸从而完成分闸操作的时间为10:05:30350，则该断路器执行分闸操作对应的控制指令的响应时长即为200毫秒。
具体地，可以从控制指令集合中提取一个控制指令，通过对该控制指令进行分析确定其对应的受控部件，然后可以获取该受控部件执行相应控制指令的响应时长。其中，获取受控部件执行相应控制指令的响应时长的方式可以包括多种。例如，可以通过计时器测量并记录(或标定)该受控部件执行相应控制指令的响应时长；也可以预先通过计时器测量并记录同步控制系统中各个受控部件执行相应控制指令的响应时长，以表格的形式存储已记录的响应时长并将该表格存储在控制器中，当从控制指令集合中提取一个控制指令后可以从上述表格中查找到相应的受控部件执行该控制指令的响应时长。
在S130，根据多个受控部件执行其对应的控制指令的响应时长分别确定多个受控部件对应的指令执行延时时长，并根据多个受控部件对应的指令执行延时时长控制多个受控部件执行其对应的控制指令，以使多个受控部件同步地完成其对应的操作。
具体地，指令执行延时时长可以是为了使协同工作的多个受控部件同步完成其相应的控制指令而确定的从控制指令被生成到被发送给受控部件的时间长度。例如，协同工作的多个受控部件为断路器和IGBT，断路器的控制指令为用于控制断路器分闸的指令，IGBT的控制指令为用于控制IGBT停止调制的指令，断路器执行与其相应的控制指令的响应时长为200 毫秒，IGBT执行与其相应的控制指令的响应时长为0.4毫秒，如果控制器同时将相应的控制指令分别发送给断路器和IGBT，则IGBT会先完成停止调制的控制指令，此时断路器仍然处于合闸状态，这样会使得与断路器连接的部件(如直流支撑电容等)仍然处于工作状态，从而导致该部件损坏；为此，可以基于断路器和IGBT执行相应的控制指令的响应时长分别确定断路器和IGBT的指令执行延时时长。基于上述示例，为使断路器和IGBT同时完成相应的操作，断路器的指令执行延时时长可以为0(即200-200)，IGBT的指令执行延时时长可以为199.6(即200-0.4)毫秒。如果断路器由分布式同步控制系统中的主控制器直接控制，IGBT由主控制器通过从控制器间接控制，且主从控制器之间的通信周期为2毫秒，则断路器的指令执行延时时长可以为0(即200-200)，IGBT的指令执行延时时长可以为197.6(即200-0.4-2)毫秒。
基于上述S110～S130的相关内容可知，对于每一个受控部件，其对应的参数包括控制指令、响应时长和指令执行延时时长。
控制器通过上述处理得到受控部件的指令执行延时时长，然后可以控制相应的受控部件在与其相应的指令执行延时时长后执行相应的控制指令。例如，基于上述S130的示例，断路器的指令执行延时时长为0，IGBT的指令执行延时时长为199.6毫秒；因此，控制器生成控制指令后，可以先将断路器的控制指令发送给断路器即时执行，而对于IGBT，控制器可以在199.6毫秒后再将IGBT的控制指令发送给IGBT即时执行。
需要说明的是，S110与S120并没有严格的执行顺序限定，具体操作时可以先根据S120及S130指令执行延时时长，然后在收到多个受控部件执行其对应的控制指令时，再根据多个受控部件对应的指令执行延时时长控制多个受控部件执行其对应的控制指令。
根据本发明实施例的多个受控部件的同步控制方法，通过分别获取协同工作的多个受控部件执行其对应的控制指令的响应时长，并根据获取的响应时长分别确定上述多个受控部件的指令执行延时时长，然后分别根据多个受控部件的指令执行延时时长控制多个受控部件执行其对应的控制指 令，以使多个受控部件同步地完成其对应的操作，从而避免受控部件发生机械或电气过载故障，降低受控部件的损坏率。
实施例二
图2是示出根据本发明实施例二的多个受控部件的同步控制方法的流程图。图2所示的实施例可视为图1所示的同步控制方法的一种具体实现方案。图1所示的多个受控部件的同步控制方法可以应用于集中式同步控制系统中，也可以应用于分布式同步控制系统中。下面结合图2，以分布式同步控制系统为例对图1所示的同步控制方法进行详细说明，其中，执行该同步控制方法的主体可以为主控制器或生成控制指令的控制器。
分布式同步控制系统中可以包括主控制器和从控制器。主控制器可以与从控制器完全相同，此时可以在多个控制器中选择一个控制器作为主控制器，其它控制器作为从控制器。此外，主控制器与从控制器也可以不同，例如主控制器可以是可编程逻辑控制器，从控制器可以是非可编程逻辑控制器。主控制器可以用于控制信号汇总、逻辑判断、控制指令分发、总线通信监控和受控部件监控等，从控制器可以用于接收主控制器发送的控制指令并执行、与主控制器通信、控制动作下发和受控部件监控等。在下面结合图2至图3说明的实施例中，为了方便描述，将主控制器称为第一控制器，将从控制器称为第二控制器，将直接接收第一控制器发送的控制指令的受控部件称为第一受控部件，并将通过第二控制器接收第一控制器发送的控制指令的受控部件称为第二受控部件。
具体地，S210及S220与图1中的S110及S120基本一致，S230-S290为图1中的S130的具体实施方式。
在一些实施例中，S290可以通过以下处理实现：第一控制器在等待第二受控部件的指令执行延时时长或第二受控部件的指令执行延时时长对应的节拍数后向第二控制器发送第二受控部件的控制指令，或者将第二受控部件的控制指令和指令执行延时时长发送给第二控制器，以使第二控制器在等待第二受控部件的指令执行延时时长或第二受控部件的指令执行延时时长对应的节拍数后向第二受控部件发送第二受控部件对应的控制指令。 第二受控部件的指令执行延时时长对应的节拍数为第二受控部件的指令执行延时时长与第二控制器的采样周期的比值。
在一些实施例中，S260可以通过以下处理实现：第一控制器在等待第一受控部件的指令执行延时时长或第一受控部件的指令执行延时时长对应的节拍数后向第一受控部件发送第一受控部件的控制指令。第一受控部件的指令执行延时时长对应的节拍数为第一受控部件的指令执行延时时长与第一控制器的采样周期的比值。
图3为根据本发明实施例的一种分布式同步控制系统的结构示意图，如图3所示，该分布式同步控制系统中包括主控制器S(即控制器1)和从控制器(即控制器2、控制器3......控制器p)，主控制器S和各个从控制器下各连接有多个受控部件，即部件S1、部件S2、部件21、部件22、部件31、部件32、部件p1和部件p2等，控制器与受控部件之间可通过信号线或通信线连接，主控制器与每个从控制器之间通过通信总线连接。可以通过测量部件(如计时器)测量上述分布式同步控制系统中每个受控部件执行相应控制指令的响应时长，可以将测得的响应时长、控制指令和受控部件的信息(如受控部件的部件编号等)以表格的形式对应存储在主控制器中，可如表1所示。
表1
受控部件 控制指令 响应时长
部件S1 指令1 100毫秒
部件S1 指令2 120毫秒
部件21 指令3 5毫秒
部件22 指令4 20毫秒
部件31 指令5 10毫秒
部件S2 指令6 200毫秒
需要说明的是，同一受控部件执行不同控制指令的响应时长可以不同。例如，断路器执行合闸操作对应的控制指令的响应时长可以为210毫秒，执行分闸操作对应的控制指令的响应时长可以为200毫秒。
参照图2，在S210，获取用于控制协同工作的多个受控部件的控制指令集合。
具体地，在图3的分布式同步控制系统中，如果某控制功能需要部件S1、部件S2、部件21、部件22和部件31协同完成，则主控制器S对该控制功能进行分析后，可以得到受控部件(即部件S1、部件S2、部件21、部件22和部件31)需要执行的控制指令，例如，部件S1需要执行表1中的指令2，部件S2需要执行表1中的指令6，部件21需要执行表1中的指令3，部件22需要执行表1中的指令4，部件31需要执行表1中的指令5，从而得到多个控制指令组成的控制指令集合。
其中，控制功能可以是对受控部件的保护控制功能。具体地，主控制器S及各从控制器分别对其控制的受控部件进行监控，当发现某个或多个受控部件工作异常时，需要通过相关的保护控制功能控制相应的受控部件执行对应的操作。控制功能也可以是同步控制系统正常工作过程中需要执行的一系列操作所达到的系统功能。基于上述相关内容可知，保护控制功能可以是在某几个受控部件异常或它们的检测参数异常时，需要发起控制的控制器经过逻辑处理形成相应受控部件的组合控制动作，这样可以通过该保护控制功能保护异常的受控部件或异常的检测参量等。
在S220，分别获取多个受控部件执行其对应的控制指令的响应时长。
具体地，基于上述S210的示例以及表1，可以得到部件S1(即受控部件)执行指令2(即控制指令)的响应时长为120毫秒，部件S2执行指令6的响应时长为200毫秒，部件21执行指令3的响应时长为5毫秒，部件22执行指令4的响应时长为20毫秒，部件31执行指令5的响应时长为10毫秒。
在S230，选取多个受控部件的响应时长当中的最大响应时长。
具体地，为了获取各个受控部件的指令执行延时时长，可以选定一个基准响应时长。为了简化处理过程，可以选择使用上述S220中获取的响应时长中的最大响应时长作为本次处理的基准响应时长，该处理具体可包括：控制器将获取到的多个响应时长进行比较，从中选择最大响应时长。
基于上述S220的示例，获取的响应时长包括120毫秒、200毫秒、5毫秒、20毫秒和10毫秒，通过比较可知，其中的最大响应时长为200毫秒。
在S240，如果该最大响应时长对应的受控部件是第二受控部件，则将该最大响应时长增加第一控制器与第二控制器之间的通信周期。
具体地，如果多个受控部件的响应时长分别为5毫秒、10毫秒、15毫秒和20毫米，则其中的最大响应时长为20毫秒。如果20毫秒的响应时长对应的受控部件为第二受控部件，主控制器和从控制器之间的通信周期为2毫秒(其中，主控制器中可以预先存储有控制器的通信周期)，则第二受控部件接收并执行对应的控制指令的时长为22毫秒，即最大响应时长增加主控制器和从控制器之间的通信周期，为22毫秒。
在上述S240的情况下，对于同步控制系统中包含的第一受控部件，其指令执行延时时长的确定方式以及根据该指令执行延时时长控制第一受控部件执行其对应的控制指令的处理可参见下述S250和S260；对于同步控制系统中包含的第二受控部件，其指令执行延时时长的确定方式、以及根据该指令执行延时时长控制第二受控部件执行其对应的控制指令的处理可参见下述S270～S290。
在S250，将最大响应时长与第一受控部件的响应时长之间的差值作为第一受控部件的指令执行延时时长。
具体地，基于上述S240的示例，增加后的最大响应时长为22毫秒，如果响应时长分别为5毫秒和10毫秒对应的受控部件为第一受控部件，则响应时长分别为5毫秒和10毫秒对应的受控部件的指令执行延时时长为17(即22-5)毫秒和12(即22-10)毫秒。
在S260，对于每个第一受控部件，与第一受控部件连接的第一控制器在等待第一受控部件相应的指令执行延时时长后向第一受控部件发送该第一受控部件对应的控制指令。
对于每个第一受控部件，当主控制器将控制指令发送给第一受控部件后，第一受控部件可即时执行该控制指令，整个过程中不需要耗用其它时间；因此，主控制器在向第一受控部件发送相应的控制指令时，只需要等 待该第一受控部件对应的指令执行延时时长即可。对于第二受控部件，由于控制指令由主控制器生成并发送给从控制器，从控制器再将接收到的控制指令转发给相应的受控部件，而控制指令从主控制器发送到从控制器需要一定的通信周期；因此，第二受控部件仅仅通过指令执行延时时长无法达到同步的预期结果，还需要考虑主从控制器之间的通信周期，相应的处理可参见下述S270～S290。
在S270，从多个受控部件的响应时长中获取最小响应时长，并根据该最小响应时长确定第一控制器与第二控制器之间的通信周期。
具体地，主控制器中可以存储有受控部件以及与其连接的控制器的信息之间的对应关系，其中，与受控部件连接的控制器的信息可以为控制器的编号等。主控制器在执行某控制功能时确定需要协同工作的多个受控部件后，可以从上述对应关系中查找到与各个受控部件连接的控制器的信息，从而确定与各个第二受控部件连接的控制器。
当通过上述S220的处理获取到多个受控部件执行其对应的控制指令的响应时长后，可以在获取的响应时长中通过比较得到最小响应时长，然后可以根据公式
Tcom＝Tmin/N.............................(1)
计算第一控制器与第二控制器之间的通信周期Tcom，其中，Tcom为第一控制器与第二控制器之间的通信周期，Tmin为最小响应时长，N为预定参数，N的取值可以是大于0的任意数值。在一些实施例中，为了使得控制器之间的通信周期远小于最小响应时长，N可以取大于10的任意数值。
基于上述S230的示例，协同工作的多个受控部件执行其对应的控制指令的响应时长分别为120毫秒、200毫秒、5毫秒、20毫秒和10毫秒，其中最小响应时长为5毫秒。如果N＝20，则通过上述公式(1)计算可得控制器之间的通信周期为0.25毫秒。
在S280，将最大响应时长减去第二受控部件的响应时长与第一控制器与第二控制器之间的通信周期的和值的差值作为第二受控部件的指令执行延时时长。
具体地，在控制指令由主控制器传输到第二受控部件的过程中，由于主控制器与从控制器之间需要进行通信，因此需要进一步考虑主从控制器之间的通信周期。即，对于每一个第二受控部件，可以利用上述最大响应时长、第二受控部件的响应时长、以及第一控制器与第二控制器(即本实施例中的主从控制器)之间的通信周期，使用预定算法计算该第二受控部件的指令执行延时时长，具体处理可以为：计算第二受控部件的响应时长与主从控制器之间的通信周期的和得到和值，再使用上述最大响应时长减去上述和值，得到的差值可以作为第二受控部件的指令执行延时时长。通过上述处理方式，可以计算得到协同工作的其它第二受控部件的指令执行延时时长。
基于上述S240的示例，增加后的最大响应时长为22毫秒，如果响应时长分别为15毫秒和20毫秒对应的受控部件为第二受控部件，则响应时长分别为15毫秒和20毫秒对应的受控部件的指令执行延时时长为7(即22-15)毫秒和2(22-20)毫秒。
在S290，分别根据第二受控部件的指令执行延时时长向与第二受控部件连接的第二控制器发送第二受控部件对应的控制指令。
具体地，对于任一第二受控部件，主控制器需要先将该第二受控部件的控制指令发送给与该第二受控部件连接的控制器，该控制器将该控制指令发送给该第二受控部件，该第二受控部件可以执行该控制指令，上述过程中，考虑到主控制器与从控制器之间存在通信周期，并且存在该第二受控部件执行该控制指令的响应时长，因此，主控制器生成控制指令后，可以等待该第二受控部件的指令执行延时时长后再将该控制指令发送给该第二受控部件。
进一步地，上述S290的处理可以有多种处理方式，以下提供两种可行的处理方式，具体包括：
方式一，根据第二受控部件的指令执行延时时长延迟地向与第二受控部件连接的第二控制器发送第二受控部件的控制指令。
方式一的处理可参见上述S290的相关内容，在此不再赘述。
方式二，将第二受控部件的控制指令以及指令执行延时时长发送给与第二受控部件连接的第二控制器，以使与第二受控部件连接的第二控制器延迟地控制第二受控部件执行其对应的控制指令。
具体地，主控制器生成相应的控制指令后，可以获取该控制指令对应的第二受控部件的信息，进而可以得到该第二受控部件的指令执行延时时长，同时可以确定与该第二受控部件连接的控制器；然后，主控制器可以将该控制指令和该第二受控部件的指令执行延时时长发送给上述控制器，该控制器接收到该控制指令和指令执行延时时长后，可以等待指令执行延时时长后再将该控制指令发送给该第二受控部件，该第二受控部件可以执行该控制指令。
另外，如果该最大响应时长对应的受控部件不是第二受控部件而是第一受控部件，则不需要执行上述S240的处理，而直接执行后续S250～S290。
具体地，基于上述S230的示例，得到的最大响应时长为200毫秒，其中最大响应时长对应的受控部件为第一受控部件，协同工作的多个受控部件执行其对应的控制指令的响应时长分别为120毫秒、200毫秒、5毫秒、20毫秒和10毫秒，通过使用最大响应时长减去各受控部件执行其对应的控制指令的响应时长得到相应受控部件的指令执行延时时长，即部件S1(即受控部件)的指令执行延时时长为80毫秒，部件S2的指令执行延时时长为0毫秒，部件21的指令执行延时时长为115毫秒，部件22的指令执行延时时长为180毫秒，部件31的指令执行延时时长为190毫秒。
特别地，如果该最大响应时长对应的受控部件是第一受控部件，但是第二受控部件的响应时长中的最大响应时长加上通信周期的数值大于上述获取的最大响应时长，则将第二受控部件的响应时长中的最大响应时长加上通信周期的数值作为最大响应时长。例如，第一受控部件的响应时长为201毫秒，第二受控部件的响应时长为200毫秒，通信周期为5毫秒，则最大响应时长为205毫秒(即200毫秒+5毫秒)，后续处理可参见S250～S290。
在实际应用中，为了简化数值的存储和表示方式，上述确定指令执行延时时长的处理还可以通过延时拍数的方式确定，其中，控制器的每个采样周期可称为一拍，采样周期长度可以预先设定。不同的控制器，其延时拍数可以不同，如与第一受控部件连接的控制器(如主控制器)的延时拍数可与第二受控部件连接的控制器(如从控制器)的延时拍数不同，其中，与第一受控部件连接的控制器的延时拍数为指令执行延时时长与生成控制指令的控制器(如主控制器)的采样周期的比值，与第二受控部件连接的控制器的延时拍数为指令执行延时时长与该第二受控部件连接的控制器的采样周期的比值，具体处理可包括：根据最大响应时长、第一受控部件的响应时长和与第一受控部件连接的控制器的采样周期，通过公式P1＝(Tmax-T1)/Ts1，确定与第一受控部件连接的控制器的延时拍数；和/或根据最大响应时长、第二受控部件的响应时长、通信周期和与第二受控部件连接的控制器的采样周期，通过公式P2＝(Tmax-T2-Tcom)/Ts2，确定与第二受控部件连接的控制器的延时拍数。
其中，Tmax为最大响应时长，T1为第一受控部件的响应时长，T2为第二受控部件的响应时长，Tcom为通信周期，Ts1为与第一受控部件连接的控制器的采样周期，Ts2为与第二受控部件连接的控制器的采样周期，P1为与第一受控部件连接的控制器的延时拍数，P2为与第二受控部件连接的控制器的延时拍数。
为了便于理解，现对上述过程进行举例说明，具体如下：
假设某一个控制功能由C1控制器发起，C2控制器转发控制指令。其中，控制器C1与C2之间的通信周期为5ms，C1控制器的采样频率为2.5kHz，即采样周期长度为0.4ms，C2控制器的采样频率为2kHz，即采样周期长度为0.5ms。此外，C1控制器控制的受控部件(即第一受控部件)为IGBT，C2控制器控制的受控部件(即第二受控部件)为机侧断路器。C1控制器对该控制功能分析后，确定IGBT需要执行停止调制的控制指令，机侧断路器需要执行分闸操作的控制指令，其中，IGBT执行停止调制的控制指令的响应时长为0.4ms，机侧断路器执行分闸操作的控制指令的响应时长为200ms，为避免上述两种受控部件执行相应的控制指令的完 成时间不一致导致的电气过载问题，则可以通过上述S210～S260的处理，确定最大响应时长200毫秒对应的受控部件为第二受控部件，此时需要为最大响应时长增加通信周期，即205毫秒，进而计算得出C1控制器下的第一受控部件IGBT的指令执行延时拍数为(205-0.4)/0.4＝511.5，其中，如果指令执行延时拍数大于零，则可以对其计算值取整，因此，511.5取整即为512。进一步地，可以通过上述S270～S280的处理计算得出C2控制器下的第二受控部件机侧断路器的指令执行延时拍数为(205-5-200)/0.5＝0。这样，可以计算得出C2控制器的延时拍数为0，而响应较快的IGBT经过512拍的延时后，在第513拍时执行停止调制的控制指令，机侧断路器的控制指令不做延时，这样就保证了IGBT与机侧断路器完成相应控制指令对应的操作的时刻在误差允许的范围内基本一致，防止协同工作的多个受控部件由于完成相应控制指令对应的操作的时刻不一致导致的机械载荷或电气负载的过载问题。
本发明实施例提供的多个受控部件的同步控制系统，一方面，由于分布式同步控制系统的特有结构，控制器间采用总线进行通信，如果总线通信周期大于受控部件的响应时长，则控制器对于受控部件的监控将出现较长时间的盲区而降低控制精度，为此，本发明通过测量和记录(或标定)分布式同步控制系统中各个受控部件执行相应控制指令的响应时长，并通过设定控制器通信周期远小于相应受控部件的响应时长，从而保证控制精度；另一方面，通过测量得到的每个控制器的受控部件的响应时长，以及建立的受控部件执行相应控制指令的延时算法，使得协同工作的不同受控部件同步地完成相应的控制指令对应的操作，这样可以减小受控部件的电气和机械载荷，提高系统稳定性和受控部件寿命，降低系统的运行维护成本。
实施例三
基于相同的技术构思，图4是示出根据本发明实施例三的多个受控部件的同步控制系统的逻辑框图。参照图4，该同步控制系统包括第一控制器410和多个受控部件420，其中，第一控制器410包括控制指令获取模 块411、响应时长获取模块412和控制模块413。第一控制器410可以为如图3中的主控制器S，多个受控部件420可以为如图3中的部件S1、部件S2、部件21、部件22、部件31、部件32、部件p1和部件p2等。
控制指令获取模块411用于获取用于控制协同工作的多个受控部件420的控制指令集合。
响应时长获取模块412用于分别获取多个受控部件420执行其对应的控制指令的响应时长。
控制模块413用于根据多个受控部件420执行其对应的控制指令的响应时长分别确定多个受控部件420对应的指令执行延时时长，并根据各受控部件420的指令执行延时时长控制各受控部件420执行其对应的控制指令，以使多个受控部件420同步地完成其对应的操作。
进一步地，在如图4的实施例的基础上，如图5所示的同步控制系统还包括第二控制器430，多个受控部件420包括直接接收第一控制器410发送的控制指令的第一受控部件和/或通过第二控制器430接收第一控制器410发送的控制指令的第二受控部件，第一控制器410与第二控制器430信号连接。其中，第二控制器430可以为如图3中的控制器2、控制器3......控制器p。
进一步地，控制模块413包括：选取单元，用于选取多个受控部件420的响应时长当中的最大响应时长；调整单元，用于如果最大响应时长对应的受控部件是第二受控部件，则将最大响应时长增加第一控制器与第二控制器之间的通信周期；指令执行延时时长确定单元，用于将最大响应时长与第一受控部件的响应时长之间的差值作为第一受控部件的指令执行延时时长，和/或将最大响应时长减去第二受控部件的响应时长与第一控制器与第二控制器之间的通信周期的和值的差值作为第二受控部件的指令执行延时时长。
此外，控制模块413还包括协同控制单元，用于在等待第二受控部件的指令执行延时时长或第二受控部件的指令执行延时时长对应的节拍数后向第二控制器430发送第二受控部件的控制指令，或者将第二受控部件的控制指令以及指令执行延时时长发送给第二控制器430，以使第二控制器 430在等待第二受控部件的指令执行延时时长或第二受控部件的指令执行延时时长对应的节拍数后向第二受控部件发送第二受控部件的控制指令，第二受控部件的指令执行延时时长对应的节拍数为第二受控部件的指令执行延时时长与第二控制器430的采样周期的比值；或者/并且在等待第一受控部件相应的指令执行延时时长或第一受控部件的指令执行延时时长对应的节拍数后向第一受控部件发送第一受控部件的控制指令，第一受控部件的指令执行延时时长对应的节拍数为第一受控部件的指令执行延时时长与第一控制器410的采样周期的比值。
进一步地，在如图5的实施例的基础上，如图6所示的第一控制器410还包括：最小响应时长获取模块414，用于从该多个受控部件420的响应时长中获取最小响应时长；通信周期确定模块415，用于根据该最小响应时长确定第一控制器与第二控制器之间的通信周期。
进一步地，在如图6的实施例的基础上，如图7所示的第一控制器410还包括：延时拍数确定模块416，用于根据该最大响应时长、该第一受控部件的响应时长和与该第一受控部件连接的第一控制器的采样周期，通过公式P1＝(Tmax-T1)/Ts1，确定与该第一受控部件连接的第一控制器的延时拍数；和/或根据该最大响应时长、该第二受控部件的响应时长、第一控制器与第二控制器之间的通信周期、和与该第二受控部件连接的第二控制器的采样周期，通过公式P2＝(Tmax-T2-Tcom)/Ts2，确定与该第二受控部件连接的第二控制器的延时拍数；其中，Tmax为该最大响应时长，T1为该第一受控部件的响应时长，T2为该第二受控部件的响应时长，Tcom为第一控制器与第二控制器之间的通信周期，Ts1为与该第一受控部件连接的第一控制器的采样周期，Ts2为与该第二受控部件连接的第二控制器的采样周期，P1为与该第一受控部件连接的第一控制器的延时拍数，P2为与该第二受控部件连接的第二控制器的延时拍数。
本发明实施例提供的多个受控部件的同步控制系统，通过分别获取协同工作的多个受控部件执行其对应的控制指令的响应时长，并根据获取的响应时长分别确定上述多个受控部件的指令执行延时时长，然后，分别根据该指令执行延时时长控制上述多个受控部件执行其对应的控制指令，以 使多个受控部件同步地完成其对应的操作，从而避免受控部件发生机械或电气过载故障，降低受控部件的损坏率。
进一步地，本发明实施例中，一方面，由于分布式同步控制系统的特有结构，控制器间采用总线进行通信，如果总线通信周期大于受控部件的响应时长，则控制器对于受控部件的监控将出现较长时间的盲区而降低控制精度，为此，本发明通过测量和记录(或标定)分布式同步控制系统中各个受控部件执行相应控制指令的响应时长，并通过设定控制器通信周期远小于相应受控部件的响应时长，从而保证控制精度；另一方面，通过测量得到的每个控制器的受控部件的响应时长，以及建立的受控部件执行相应控制指令的延时算法，使得协同工作的不同受控部件同步地完成相应的控制指令对应的操作，这样可以减小受控部件的电气和机械载荷，提高系统稳定性和受控部件的寿命，降低系统的运行维护成本。
需要指出，根据实施的需要，可将本申请中描述的各个步骤/部件拆分为更多步骤/部件，也可将两个或多个步骤/部件或者步骤/部件的部分操作组合成新的步骤/部件，以实现本发明的目的。
上述根据本发明的方法可在硬件、固件中实现，或者被实现为可存储在记录介质(诸如CD ROM、RAM、软盘、硬盘或磁光盘)中的软件或计算机代码，或者被实现通过网络下载的原始存储在远程记录介质或非暂时机器可读介质中并将被存储在本地记录介质中的计算机代码，从而在此描述的方法可被存储在使用通用计算机、专用处理器或者可编程或专用硬件(诸如ASIC或FPGA)的记录介质上的这样的软件处理。可以理解，计算机、处理器、微处理器控制器或可编程硬件包括可存储或接收软件或计算机代码的存储组件(例如，RAM、ROM、闪存等)，当所述软件或计算机代码被计算机、处理器或硬件访问且执行时，实现在此描述的处理方法。此外，当通用计算机访问用于实现在此示出的处理的代码时，代码的执行将通用计算机转换为用于执行在此示出的处理的专用计算机。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可 轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所述权利要求的保护范围为准。

Claims (12)

  1. 一种多个受控部件的同步控制方法，其特征在于，所述同步控制方法包括：
    分别获取多个受控部件执行其对应的控制指令的响应时长；
    根据所述多个受控部件执行其对应的控制指令的响应时长分别确定所述多个受控部件对应的指令执行延时时长，并根据所述多个受控部件对应的指令执行延时时长控制所述多个受控部件执行其对应的控制指令，以使所述多个受控部件同步地完成其对应的操作。
  2. 根据权利要求1所述的同步控制方法，其特征在于，所述多个受控部件包括直接接收第一控制器发送的控制指令的第一受控部件和/或通过第二控制器接收所述第一控制器发送的控制指令的第二受控部件。
  3. 根据权利要求2所述的同步控制方法，其特征在于，所述根据所述多个受控部件执行其对应的控制指令的响应时长分别确定所述多个受控部件对应的指令执行延时时长的处理包括：
    选取所述多个受控部件的响应时长当中的最大响应时长；
    如果所述最大响应时长对应的受控部件是第二受控部件，则将所述最大响应时长增加所述第一控制器与所述第二控制器之间的通信周期；
    将所述最大响应时长与所述第一受控部件的响应时长之间的差值作为所述第一受控部件的指令执行延时时长，和/或将所述最大响应时长减去所述第二受控部件的响应时长与所述第一控制器与所述第二控制器之间的通信周期的和值的差值作为所述第二受控部件的指令执行延时时长。
  4. 根据权利要求2或3所述的同步控制方法，其特征在于，所述根据所述多个受控部件对应的指令执行延时时长控制所述多个受控部件执行其对应的控制指令的处理包括：
    所述第一控制器在等待所述第二受控部件的指令执行延时时长或所述第二受控部件的指令执行延时时长对应的节拍数后向所述第二控制器发送所述第二受控部件的控制指令，或者将所述第二受控部件的控制指令和指令执行延时时长发送给所述第二控制器，以使所述第二控制器在等待所述 第二受控部件的指令执行延时时长或所述第二受控部件的指令执行延时时长对应的节拍数后向所述第二受控部件发送所述第二受控部件的控制指令，所述第二受控部件的指令执行延时时长对应的节拍数为所述第二受控部件的指令执行延时时长与所述第二控制器的采样周期的比值；或者/并且
    所述第一控制器在等待所述第一受控部件的指令执行延时时长或所述第一受控部件的指令执行延时时长对应的节拍数后向所述第一受控部件发送所述第一受控部件的控制指令，所述第一受控部件的指令执行延时时长对应的节拍数为所述第一受控部件的指令执行延时时长与所述第一控制器的采样周期的比值。
  5. 根据权利要求4所述的同步控制方法，其特征在于，所述同步控制方法还包括：
    从所述多个受控部件的响应时长中获取最小响应时长；
    根据所述最小响应时长确定所述第一控制器与所述第二控制器之间的通信周期。
  6. 一种多个受控部件的同步控制系统，其特征在于，所述同步控制系统包括第一控制器和与所述第一控制器连接的多个受控部件，其中，所述第一控制器包括：
    响应时长获取模块，用于分别获取多个受控部件执行其对应的控制指令的响应时长；
    控制模块，用于根据所述多个受控部件执行其对应的控制指令的响应时长分别确定所述多个受控部件对应的指令执行延时时长，并根据所述多个受控部件对应的指令执行延时时长控制所述多个受控部件执行其对应的控制指令，以使所述多个受控部件同步地完成其对应的操作。
  7. 根据权利要求6所述的同步控制系统，其特征在于，所述同步控制系统还包括第二控制器，所述多个受控部件包括直接接收所述第一控制器发送的控制指令的第一受控部件和/或通过所述第二控制器接收所述第一控制器发送的控制指令的第二受控部件，所述第一控制器与所述第二控制器信号连接。
  8. 根据权利要求7所述的同步控制系统，其特征在于，所述控制模 块包括：
    选取单元，用于选取所述多个受控部件的响应时长当中的最大响应时长；
    调整单元，用于如果所述最大响应时长对应的受控部件是第二受控部件，则将所述最大响应时长增加所述第一控制器与所述第二控制器之间的通信周期；
    指令执行延时时长确定单元，用于将所述最大响应时长与所述第一受控部件的响应时长之间的差值作为所述第一受控部件的指令执行延时时长，和/或将所述最大响应时长减去所述第二受控部件的响应时长与所述第一控制器与所述第二控制器之间的通信周期的和值的差值作为所述第二受控部件的指令执行延时时长。
  9. 根据权利要求7或8所述的同步控制系统，其特征在于，所述控制模块还包括：
    协同控制单元，用于
    在等待所述第二受控部件的指令执行延时时长或所述第二受控部件的指令执行延时时长对应的节拍数后向所述第二控制器发送所述第二受控部件的控制指令，或者将所述第二受控部件的控制指令和指令执行延时时长发送给所述第二控制器，以使所述第二控制器在等待所述第二受控部件的指令执行延时时长或所述第二受控部件的指令执行延时时长对应的节拍数后向所述第二受控部件发送所述第二受控部件的控制指令，所述第二受控部件的指令执行延时时长对应的节拍数为所述第二受控部件的指令执行延时时长与所述第二控制器的采样周期的比值；或者/并且
    在等待所述第一受控部件的指令执行延时时长或所述第一受控部件的指令执行延时时长对应的节拍数后向所述第一受控部件发送所述第一受控部件的控制指令，所述第一受控部件的指令执行延时时长对应的节拍数为所述第一受控部件的指令执行延时时长与所述第一控制器的采样周期的比值。
  10. 根据权利要求9所述的同步控制系统，其特征在于，所述第一控制器还包括：
    最小响应时长获取模块，用于从所述多个受控部件的响应时长中获取最小响应时长；
    通信周期确定模块，用于根据所述最小响应时长确定所述第一控制器与所述第二控制器之间的通信周期。
  11. 一种用于多个受控部件的同步控制系统，包括：
    存储器，存储有计算机可执行指令；
    处理器，在执行所述计算机可执行指令时可操作以执行权利要求1至5中任一项所述的多个受控部件的同步控制方法。
  12. 一种存储介质，存储有能够实现权利要求1至5中任一项所述的多个受控部件的同步控制方法的计算机可执行指令。
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