基于VxWorks的PLC通信管理模件的研究与开发
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摘要
现地控制单元是水电厂监控系统的重要组成部分，在以专用PLC为基础的现地控制装置中，采用通信管理模件与单元内调速装置，励磁装置和继电保护装置的通信是一种有效的现场通信解决方案。
本课题是以金智科技水电事业部的现地控制装置的升级改造项目为背景，针对工程实际需求而进行的对该装置的研究与开发。本文首先界定了通信管理模件在现地控制单元中的地位，完成功能需求分析，根据功能需求确定出模件采用嵌入式系统平台；其次，对比分析了目前主流的嵌入式系统解决方案，选择出VxWorks作为本模件的操作系统；然后，根据本模件的应用需求和接口要求确定了硬件结构平台，并完成VxWorks向硬件平台的移植，构建了本模件基础运行开发环境；接着，使用结构化分析方法对应用软件进行系统分析，根据系统分析，开始在本模件的基础运行开发环境中设计开发流程，并详细设计系统调试模块的循环队列结构；最后对本模件的发展趋势进行探讨，提出在电力系统通信规约向统一化的过渡过程中，本模件的一种可能存在形式——IEC 61850网关的结构。
本文对软件的构成细节进行了详细研究，希望对其它嵌入式系统应用软件的开发提供一定的参考。
Local Control Unit (LCU) was an important component in Hydropower Plant Monitoring and Controlling System. Communicating with governor, exciter, relay devices via Communications Management Module was an effective solution in a Special-PLC based LCU device.
Developing this device/module was a part of the LCU-upgrading-project from Hydro Division of Wiscom System. Firstly, the functions of Communications Management Module in LCU were defined, then functional requirements analysis was completed, and embedded system platform was choose under the functional requirements. Secondly, VxWorks was selected as the operating system on this module after comparative analysis of the current mainstream Embedded System Solutions. Thirdly, hardware platform was created according to the module's application needs and interface requirements, then VxWorks was ported to this hardware platform, and then the application software development environment was established. Fourthly, the structural analysis was used for application software analysis. According to the software's system analysis, the application software was developed in the module's software development environment, especially, the design of a circular queue structure used in system debugging agent sub-module was described here. Finally, the development trend of Communications Management Module was discussed, and this module may exist in a form of IEC 61850 Gateway before IEC 61850 became universal standard in power system.
A detailed study on embedded system software design was included in this paper, which would be helpful on the other embedded system software development.
本课题是以金智科技水电事业部的现地控制装置的升级改造项目为背景，针对工程实际需求而进行的对该装置的研究与开发。本文首先界定了通信管理模件在现地控制单元中的地位，完成功能需求分析，根据功能需求确定出模件采用嵌入式系统平台；其次，对比分析了目前主流的嵌入式系统解决方案，选择出VxWorks作为本模件的操作系统；然后，根据本模件的应用需求和接口要求确定了硬件结构平台，并完成VxWorks向硬件平台的移植，构建了本模件基础运行开发环境；接着，使用结构化分析方法对应用软件进行系统分析，根据系统分析，开始在本模件的基础运行开发环境中设计开发流程，并详细设计系统调试模块的循环队列结构；最后对本模件的发展趋势进行探讨，提出在电力系统通信规约向统一化的过渡过程中，本模件的一种可能存在形式——IEC 61850网关的结构。
本文对软件的构成细节进行了详细研究，希望对其它嵌入式系统应用软件的开发提供一定的参考。
Local Control Unit (LCU) was an important component in Hydropower Plant Monitoring and Controlling System. Communicating with governor, exciter, relay devices via Communications Management Module was an effective solution in a Special-PLC based LCU device.
Developing this device/module was a part of the LCU-upgrading-project from Hydro Division of Wiscom System. Firstly, the functions of Communications Management Module in LCU were defined, then functional requirements analysis was completed, and embedded system platform was choose under the functional requirements. Secondly, VxWorks was selected as the operating system on this module after comparative analysis of the current mainstream Embedded System Solutions. Thirdly, hardware platform was created according to the module's application needs and interface requirements, then VxWorks was ported to this hardware platform, and then the application software development environment was established. Fourthly, the structural analysis was used for application software analysis. According to the software's system analysis, the application software was developed in the module's software development environment, especially, the design of a circular queue structure used in system debugging agent sub-module was described here. Finally, the development trend of Communications Management Module was discussed, and this module may exist in a form of IEC 61850 Gateway before IEC 61850 became universal standard in power system.
A detailed study on embedded system software design was included in this paper, which would be helpful on the other embedded system software development.
引文
[1] 施冲，朱辰，方辉钦等．水电厂计算机监控技术发展趋势分析[J]．水电站自动化与大坝监测，2002，26(6)：1-4，17．
[2] 徐洁，黄健．水电厂监控系统[J]．电力系统自动化，2000(24)：51-52．
[3] 杨金栋，周志清，方辉钦．我国水电厂“无人值班”(少人值守)工作评述[J]．水电自动化与大坝监测，2002，26(05)：1-3，9．
[4] 陆爱林，冯冬芹，容冈等．工业以太网的发展趋势[J]．自动化仪表，2005，25(2)：1-4．
[5] 方晓柯．现场总线网络技术的研究[D]．沈阳：东北大学，2005．
[6] 王涛，贾嵘，南海鹏等．基于现场总线的水电厂计算机监控系统[J]．西安理工大学学报，2000，16(1)：84-86．
[7] 耿良田．PLC的现状及发展趋势[J]．数字化工，2005(08)：20-22．
[8] 郝战存．可编程控制器发展综述[J]．河北工业科技，2004，21(2)：53-56．
[9] 邹科，向小峰．计算机监控系统可靠性的几个问题[J]．水电自动化与大坝监测，2004(3)：9-11．
[10] 刘晓波．水电厂LCU若干设计原则及其发展趋势探讨[J]．水电站机电技术，2004(3)：18-19，21，71．
[11] Barr, Michael. Choosing an RTOS[J]. Embedded Systems Programming, 2003(1).
[12] Dedicated Systems Experts. What Makes A Good RTOS[Z]. RTOS Evaluation Project, 2001-06-11.
[13] Stewart, David, Michael Barr. Rate Monotonic Scheduling[J]. Embedded Systems Programming, 2002(3): 79-80.
[14] Microsoft. MSDN Library: Mobile and Embedded Development: Embedded Operating System Development: Windows Embedded CE: Windows CE 5.0 [DB/OL]. http://msdn2.microsoft.com/en-us/library/ms950422.aspx.
[15] Jean J. Labrosse. MicroC/OS-II, the Real Time Kernel[M]. Second Edition, 2002.
[16] Dedicated Systems Experts. QNX(?) NEUTRINO RTOS V6.2[Z]. RTOS Evaluation Program, 2002-08-13.
[17] Kalinsky, David, Michael Barr. Priority Inversion[J]. Embedded Systems Programming, 2002(4): 55-56.
[18] Dedicated Systems Experts. COMPARISON BETWEEN QNX RTOS v6.1, VxWorks AE 1.1 and Windows CE.NET[Z]. RTOS Evaluation Project, 2002-06-21.
[19] Philip Melanson, Siamak Tafazoli. A Selection Methodology for the RTOS Market[R]. Prague, Czech Republic: Data Systems in Aerospace (DASIA 2003) conference, 2003-06-04.
[20] Gary Gilliland. Perspectives on Evaluating Real-Time Operating Systems[J]. RTCMagezine, 2003(10).
[21] Modbus ORG. Modbus over serial line specification and implementation guide V1.0[Z]. 2002.
[22] DL／667T-1999，远动设备及系统第5部分传输规约，第103篇：继电保护设备信息接口配套标准[S]．1999．
[23] 金智科技．DBJ保护监控通讯协议V2.0[Z]．2006．
[24] 刘文府编．标准化概述[J]．航天标准化，2001(1)：38-42．
[25] 徐钧．标准化与可持续发展[J]．标准化报道，1999，20(3)：3-5．
[26] 谭文恕．变电站通信网络和系统协议IEC61850介绍[J]．电网技术，2001，25(9)：8-11，15．
[27] J. A. W. Jansen van der Sligte. How to benefit from the IEC Communication standards[Z]. T&D World Readers' Forum, 2002-10-08.
[28] 金智科技．ECPro-600可编程主控装置说明书[Z]．2006．
[29] 刘鲁新，权进国，林孝康．ARM9处理器与ARM7处理器比较[J]．电子技术应用，2004，30(11)：13-15．
[30] Atmel Corporation. ARM920T-based Microcontroller AT91RM9200[Z]. 1768G-ATARM-29-Sep-06, 2006-09-29.
[31] Philips Semiconductors. SJA1000Stand-alone CAN controller Data Sheet[Z]. 2000-01-04.
[32] Texas Instruments. TL16C554, TL16C554I ASYNCHRONOUS COMMUNICATIONS ELEMENT[Z]. 2006-03.
[33] 石峻，申崇江，余松煜．嵌入式操作系统VxWorks中的串行通信[J]．计算机工程，2000，26(6)．
[34] DAVICOM Semiconductor, Inc. DM9061-DS-F04, DM9161 10/100 Mbps Fast Ethernet Physical Layer TX/FX Single Chip Transceiver[Z]. 2004-06-01.
[35] 朱凌众，李立恒，居悌．基于VxWorks的板级支持包的开发[J]．南京邮电学院学报，2003，23(2)：71-73，77．
[36] 常新亮．基于QNX的SCADA系统嵌入式通讯前置机的应用研究[D]．成都：西南交通大学，2002．
[37] 冉汉政．嵌入式控制系统实时性分析与设计[D]．成都：西南交通大学，2003．
[38] 古幼鹏．嵌入式实时软件的结构化开发技术研究[D]．成都：电子科技大学，2005．
[39] 刘尉悦，张万生，邢涛等．VxWorks操作系统及实时多任务程序设计[J]．单片机与嵌入式系统应用，2001(5)：12-14，21．
[40] 章巍，舒畅．GPS综合对时系统在发电厂的应用[J]．浙江电力，2006(4)：71-73．
[41] 王玮琪，刘国兴．循环队列数据结构在实时数据处理系统中的实现[J]．华北科技学院学报，2003，5(2)：52-53．
[42] 严蔚敏，吴伟民．数据结构[M]．北京：清华大学出版社，1999．
[43] Wind River. VxWorks API Reference: OS Libraries: Routines[DB/DK]. Tornado/docs/vxworks/ref/taskLib. html.
[44] 藤小羽，黄健．面向对象的计算机监控软件(EC2000)[J]．电力系统自动化，2000(04)：67-68．
[45] IEC 61850-5 Ed. 1. Communication networks and systems in substations-Part 5: Communication requirements for functions and device models[S]. 2003-04-25.
[46] IEC 61850-6 ed. 1. Communication Networks and Systems in Substations Part 6: Configuration description language for communication in electrical substations related to IEDs[S]. 2002-11-15.
[47] IEC 61850-7-1Ed. 1. Communication networks and systems in substations-Part 7-1: Basic communication structure for substations and feeder equipment-Principles and models[S]. 2001-2-23.
[48] IEC 61850-8-1 R1-06/DraftCDV. Communication networks and systems in substations Part 8-1: Specific communication service mapping(SCSM)-Mappings to MMS (ISO/IEC 9506 Part 1 and Part 2) and to ISO/IEC 8802-3[S]. 2002-11-22.
[49] IEC 61850-9-1Ed. 1. Communication networks and systems in substations-Part 9-1: Specific communication service mapping(SCSM)-Sampled values over serial unidirectional multidrop point to point link IS]. 2002- 12-10.
[50] Craig Preuss, Bob Pellegrini, Black & Veatch Corporation. MAKING SUBSTATIONS MORE INTELLIGENT BY DESIGN [Z]. 2006.
[51] Jonas Liden. Design and Implementation of an IEC 61850 gateway for PLC Systems [D]. Stockholm, Sweden: KTH, School of Electrical Engineering, 2006.
[2] 徐洁，黄健．水电厂监控系统[J]．电力系统自动化，2000(24)：51-52．
[3] 杨金栋，周志清，方辉钦．我国水电厂“无人值班”(少人值守)工作评述[J]．水电自动化与大坝监测，2002，26(05)：1-3，9．
[4] 陆爱林，冯冬芹，容冈等．工业以太网的发展趋势[J]．自动化仪表，2005，25(2)：1-4．
[5] 方晓柯．现场总线网络技术的研究[D]．沈阳：东北大学，2005．
[6] 王涛，贾嵘，南海鹏等．基于现场总线的水电厂计算机监控系统[J]．西安理工大学学报，2000，16(1)：84-86．
[7] 耿良田．PLC的现状及发展趋势[J]．数字化工，2005(08)：20-22．
[8] 郝战存．可编程控制器发展综述[J]．河北工业科技，2004，21(2)：53-56．
[9] 邹科，向小峰．计算机监控系统可靠性的几个问题[J]．水电自动化与大坝监测，2004(3)：9-11．
[10] 刘晓波．水电厂LCU若干设计原则及其发展趋势探讨[J]．水电站机电技术，2004(3)：18-19，21，71．
[11] Barr, Michael. Choosing an RTOS[J]. Embedded Systems Programming, 2003(1).
[12] Dedicated Systems Experts. What Makes A Good RTOS[Z]. RTOS Evaluation Project, 2001-06-11.
[13] Stewart, David, Michael Barr. Rate Monotonic Scheduling[J]. Embedded Systems Programming, 2002(3): 79-80.
[14] Microsoft. MSDN Library: Mobile and Embedded Development: Embedded Operating System Development: Windows Embedded CE: Windows CE 5.0 [DB/OL]. http://msdn2.microsoft.com/en-us/library/ms950422.aspx.
[15] Jean J. Labrosse. MicroC/OS-II, the Real Time Kernel[M]. Second Edition, 2002.
[16] Dedicated Systems Experts. QNX(?) NEUTRINO RTOS V6.2[Z]. RTOS Evaluation Program, 2002-08-13.
[17] Kalinsky, David, Michael Barr. Priority Inversion[J]. Embedded Systems Programming, 2002(4): 55-56.
[18] Dedicated Systems Experts. COMPARISON BETWEEN QNX RTOS v6.1, VxWorks AE 1.1 and Windows CE.NET[Z]. RTOS Evaluation Project, 2002-06-21.
[19] Philip Melanson, Siamak Tafazoli. A Selection Methodology for the RTOS Market[R]. Prague, Czech Republic: Data Systems in Aerospace (DASIA 2003) conference, 2003-06-04.
[20] Gary Gilliland. Perspectives on Evaluating Real-Time Operating Systems[J]. RTCMagezine, 2003(10).
[21] Modbus ORG. Modbus over serial line specification and implementation guide V1.0[Z]. 2002.
[22] DL／667T-1999，远动设备及系统第5部分传输规约，第103篇：继电保护设备信息接口配套标准[S]．1999．
[23] 金智科技．DBJ保护监控通讯协议V2.0[Z]．2006．
[24] 刘文府编．标准化概述[J]．航天标准化，2001(1)：38-42．
[25] 徐钧．标准化与可持续发展[J]．标准化报道，1999，20(3)：3-5．
[26] 谭文恕．变电站通信网络和系统协议IEC61850介绍[J]．电网技术，2001，25(9)：8-11，15．
[27] J. A. W. Jansen van der Sligte. How to benefit from the IEC Communication standards[Z]. T&D World Readers' Forum, 2002-10-08.
[28] 金智科技．ECPro-600可编程主控装置说明书[Z]．2006．
[29] 刘鲁新，权进国，林孝康．ARM9处理器与ARM7处理器比较[J]．电子技术应用，2004，30(11)：13-15．
[30] Atmel Corporation. ARM920T-based Microcontroller AT91RM9200[Z]. 1768G-ATARM-29-Sep-06, 2006-09-29.
[31] Philips Semiconductors. SJA1000Stand-alone CAN controller Data Sheet[Z]. 2000-01-04.
[32] Texas Instruments. TL16C554, TL16C554I ASYNCHRONOUS COMMUNICATIONS ELEMENT[Z]. 2006-03.
[33] 石峻，申崇江，余松煜．嵌入式操作系统VxWorks中的串行通信[J]．计算机工程，2000，26(6)．
[34] DAVICOM Semiconductor, Inc. DM9061-DS-F04, DM9161 10/100 Mbps Fast Ethernet Physical Layer TX/FX Single Chip Transceiver[Z]. 2004-06-01.
[35] 朱凌众，李立恒，居悌．基于VxWorks的板级支持包的开发[J]．南京邮电学院学报，2003，23(2)：71-73，77．
[36] 常新亮．基于QNX的SCADA系统嵌入式通讯前置机的应用研究[D]．成都：西南交通大学，2002．
[37] 冉汉政．嵌入式控制系统实时性分析与设计[D]．成都：西南交通大学，2003．
[38] 古幼鹏．嵌入式实时软件的结构化开发技术研究[D]．成都：电子科技大学，2005．
[39] 刘尉悦，张万生，邢涛等．VxWorks操作系统及实时多任务程序设计[J]．单片机与嵌入式系统应用，2001(5)：12-14，21．
[40] 章巍，舒畅．GPS综合对时系统在发电厂的应用[J]．浙江电力，2006(4)：71-73．
[41] 王玮琪，刘国兴．循环队列数据结构在实时数据处理系统中的实现[J]．华北科技学院学报，2003，5(2)：52-53．
[42] 严蔚敏，吴伟民．数据结构[M]．北京：清华大学出版社，1999．
[43] Wind River. VxWorks API Reference: OS Libraries: Routines[DB/DK]. Tornado/docs/vxworks/ref/taskLib. html.
[44] 藤小羽，黄健．面向对象的计算机监控软件(EC2000)[J]．电力系统自动化，2000(04)：67-68．
[45] IEC 61850-5 Ed. 1. Communication networks and systems in substations-Part 5: Communication requirements for functions and device models[S]. 2003-04-25.
[46] IEC 61850-6 ed. 1. Communication Networks and Systems in Substations Part 6: Configuration description language for communication in electrical substations related to IEDs[S]. 2002-11-15.
[47] IEC 61850-7-1Ed. 1. Communication networks and systems in substations-Part 7-1: Basic communication structure for substations and feeder equipment-Principles and models[S]. 2001-2-23.
[48] IEC 61850-8-1 R1-06/DraftCDV. Communication networks and systems in substations Part 8-1: Specific communication service mapping(SCSM)-Mappings to MMS (ISO/IEC 9506 Part 1 and Part 2) and to ISO/IEC 8802-3[S]. 2002-11-22.
[49] IEC 61850-9-1Ed. 1. Communication networks and systems in substations-Part 9-1: Specific communication service mapping(SCSM)-Sampled values over serial unidirectional multidrop point to point link IS]. 2002- 12-10.
[50] Craig Preuss, Bob Pellegrini, Black & Veatch Corporation. MAKING SUBSTATIONS MORE INTELLIGENT BY DESIGN [Z]. 2006.
[51] Jonas Liden. Design and Implementation of an IEC 61850 gateway for PLC Systems [D]. Stockholm, Sweden: KTH, School of Electrical Engineering, 2006.