基于国产硬件和国产实时操作系统开发了可编程控制器运行时系统软件平台,该平台包括数据管理、任务调度、在线调试、热备冗余和实时总线等功能。提出了基于自适应调度器和信号量触发机制的多类型实时任务高精度调度方案,支持微秒级运算周期,满足强实时应用场景需求;提出了编译型程序在线增量更新方案,采用乒乓原理分区切换、多线程无缝配合和数据区增量分配等技术实现高效率的程序在线替换和断面恢复运行;提出了基于智能插桩的跨平台断点和单步调试方案,实现了图形程序和文本程序的单步运行功能,提高了程序诊断、问题排查效率;提出了主/从控制器实时多任务热备冗余运行方案,支持程序文件、运行数据、任务状态同步和运行状态诊断与主/从角色智能切换。

The software platform of the programmable controller runtime system is developed based on domestic hardware and real-time operating system.The platform includes data management,task scheduling,online debugging,hot spare redundancy and real-time bus.In this paper,a multi-type real-time task scheduling scheme with high precision based on adaptive scheduler and semaphore trigger mechanism is proposed,which supports microsecond-level operation cycles and meets the requirements of strong real-time application scenarios.An online incremental update scheme for compiled programs is proposed,which uses Ping-Pong principle partition switching,seamless multi-thread coordination and incremental allocation of data area to realize efficient online program replacement and section recovery.A cross-platform breakpoint and single step debugging scheme based on intelligent pile is proposed,which realizes the single step running function of graphics program and text program,and improves the efficiency of program diagnosis and troubleshooting.A real-time multi-task hot standby redundancy operation scheme for master/slave controllers is proposed,which supports program files,running data,task status synchronization,running status diagnosis and intelligent switching of primary/secondary roles.