CN108388108B - Method and device for synchronizing data in multiple redundancy control system - Google Patents
Method and device for synchronizing data in multiple redundancy control system Download PDFInfo
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Abstract
The embodiment of the application discloses a method and a device for synchronizing data in a multiple redundancy control system, wherein the method comprises the following steps: for each controller in the multiple redundant control system, according to the acquired first local fault level information and the fault level information of other controllers, a first priority module is determined, local data and local data of other controllers can be acquired at the same time, the local data of the controller in the first priority module is determined from the acquired local data, and then the local data of the controller in the first priority module can be used for updating the local data of the controller. Therefore, local data of the controllers in the first preferred module are used for updating the local data of the controllers, so that the updated local data of the controllers are consistent, and the synchronization of the local data of the controllers is realized.
Description
Technical Field
The present application relates to the field of control security technologies, and in particular, to a method and an apparatus for synchronizing data in a multiple redundancy control system.
Background
In important industrial processes, it is often necessary to control the safety of the industrial process. Multiple redundant control systems tend to have higher reliability, safety, and availability than single core control systems. For example, for a triple redundancy control system, the output data is usually voted by taking two out of three. In this way, even if a single controller fails, resulting in no data being output or erroneous data being output, the triple redundant control system can still output correct results due to the presence of the other redundant controllers. In addition, in the triple redundant control system, even if the controller in the master module fails when the master module and the slave module are switched, the reliability, the safety and the availability of the triple redundant control system can be still ensured after the master module and the slave module are switched.
However, in a multiple redundant control system, there may be inconsistencies in the critical variable data within each of the independent controllers. For example, the accumulated critical variable data inside the controllers may change with the change of the running time of the controllers, and if the crystal oscillator frequency is different between the controllers or an unexpected reset occurs to a part of the controllers, the critical variable data between the controllers or the data between the modules may be inconsistent, and the like, thereby reducing the reliability, safety and usability of the multiple redundant control system.
Disclosure of Invention
In view of the above, embodiments of the present disclosure provide a method and an apparatus for synchronizing data in a multiple redundancy control system, which improve reliability, safety and availability of the multiple redundancy control system by synchronizing critical variable data in each controller.
In order to solve the above problem, the technical solution provided by the embodiment of the present application is as follows:
in a first aspect, the present application provides a method for synchronizing data in a multiple redundancy control system, the multiple redundancy control system including at least two modules, each of the modules including at least two controllers, the method being applied to any one of the controllers, the method including:
acquiring first local fault level information and fault level information of other controllers;
determining a first preferred module from at least two modules included in the multiple redundant control system according to the first local fault level information and the fault level information of the other controllers;
acquiring local data and local data of the other controllers;
determining local data for the controller in the first preferred module from the local data and local data for the other controllers;
and updating the local data of the controller by utilizing the local data of the controller in the first preferred module.
In some possible embodiments, the multiple redundant control system includes at least two modules, each of the modules includes at least three controllers, and the updating local data of the controller using the local data of the controller in the first preferred module includes:
voting local data of at least three controllers in the first preferred module, and determining first synchronization data from the local data of the at least three controllers;
and updating local data of the user according to the first synchronization data.
In some possible embodiments, the method further comprises:
determining a secondary selection module from at least two modules included in the multiple redundancy control system according to the first local fault level information and the fault level information of the other controllers;
when the local data of the controller in the first preferred module cannot be determined from the local data and the local data of other controllers, determining the local data of the controller in the secondary selection module from the local data and the local data of other controllers;
and updating the local data of the secondary selection module by using the local data of the controller in the secondary selection module.
In some possible embodiments, before the determining a first preferred module from at least two modules included in the multiple redundant control system according to the first local failure level information and the failure level information of the other controller, the method further includes:
after the first local fault level information is acquired, the first local fault level information is judged again according to the first local fault level information and the acquisition result of the fault level information of the other controllers to obtain second local fault level information, and the second local fault level information is used as the first local fault level information.
In some possible embodiments, the determining a first preferred module from among at least two modules included in the multiple redundant control system based on the first local failure level information and the failure level information of the other controller includes:
when a second preferred module is determined from at least two modules included in the multiple redundancy control system according to the first local fault level information and the fault level information of other controllers, taking the second preferred module as a first preferred module;
or,
and determining a plurality of second preferred modules from at least two modules included in the multiple redundant control system according to the first local fault level information and the fault level information of other controllers, judging the plurality of second preferred modules according to a preset rule to obtain judged second preferred modules, and taking the judged second preferred modules as the first preferred modules.
In some possible embodiments, the method further comprises:
and sending the updated local data to the other controllers.
In a second aspect, the present application further provides an apparatus for synchronizing data in a multiple redundancy control system, the multiple redundancy control system including at least two modules, each of the modules including at least two controllers, the apparatus being applied to any one of the controllers, the apparatus including:
the first acquisition module is used for acquiring first local fault level information and fault level information of other controllers;
a first determining module, configured to determine a first preferred module from at least two modules included in the multiple redundant control system according to the first local failure level information and the failure level information of the other controllers;
the second acquisition module is used for acquiring local data and the local data of the other controllers;
a second determining module for determining local data of the controller in the first preferred module from the local data and local data of the other controllers;
and the first updating module is used for updating the local data of the first updating module by utilizing the local data of the controller in the first preferred module.
In some possible embodiments, the multiple redundant control system includes at least two modules, each of the modules including at least three controllers therein, the first update module including:
the voting unit is used for voting local data of at least three controllers in the first preferred module and determining first synchronization data from the local data of the at least three controllers;
and the updating unit is used for updating the local data of the user according to the first synchronization data.
In some possible embodiments, the apparatus further comprises:
a third determining module, configured to determine a secondary selecting module from at least two modules included in the multiple redundant control system according to the first local fault level information and the fault level information of the other controllers;
a fourth determining module, configured to determine, when the local data of the controller in the first preferred module cannot be determined from the local data and the local data of other controllers, the local data of the controller in the secondary selecting module from the local data and the local data of other controllers;
and the second updating module is used for updating the local data of the second updating module by utilizing the local data of the controller in the second selecting module.
In some possible embodiments, the apparatus further comprises:
and the judging module is used for judging the first local fault grade information again according to the first local fault grade information and the obtained result of the fault grade information of the other controllers after the first local fault grade information is obtained, so as to obtain second local fault grade information, and the second local fault grade information is used as the first local fault grade information.
In some possible embodiments, the first determining module is specifically configured to, when one second preferred module is determined from at least two modules included in the multiple redundant control system according to the first local failure level information and the failure level information of the other controller, use the second preferred module as the first preferred module;
or,
and determining a plurality of second preferred modules from at least two modules included in the multiple redundant control system according to the first local fault level information and the fault level information of other controllers, judging the plurality of second preferred modules according to a preset rule to obtain judged second preferred modules, and taking the judged second preferred modules as the first preferred modules.
In some possible embodiments, the apparatus further comprises:
and the sending module is used for sending the updated local data to the other controllers.
Therefore, the embodiment of the application has the following beneficial effects:
in the embodiment of the application, in the multiple redundant control system, for each controller, the first local fault level information of the controller and the fault level information of other controllers may be acquired, and according to the acquired first local fault level information and the fault level information of other controllers, a first priority module may be determined from at least two modules included in the multiple redundant control system, and at the same time, the local data and the local data of other controllers may be acquired, the local data of the controller in the first preferred module may be determined from the acquired local data and the local data of other controllers, and then the local data of the controller in the first preferred module may be updated by using the local data of the controller in the first preferred module. Therefore, the optimal module with the best fault condition can be determined according to the fault level information of the optimal module and the fault level information of other controllers, and then the local data of the controllers in the optimal module is used for updating the local data of the optimal module, so that the influence of the fault problem on the data of the multiple redundant control system is reduced, and the correctness, the reliability and the availability of the data are improved.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a diagram illustrating a basic hardware communication model of a triple redundancy control system according to an embodiment of the present application;
FIG. 2 is a diagram illustrating a basic hardware communication model of a dual redundancy control system according to an embodiment of the present application;
FIG. 3 is a flowchart illustrating a method for synchronizing data in a multiple redundancy control system according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of data communication in a triple redundancy control system according to an embodiment of the present application;
FIG. 5 is a flowchart illustrating a method for synchronizing data in a triple redundancy control system according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of an apparatus for synchronizing data in a multiple redundancy control system according to an embodiment of the present application.
Detailed Description
In the process of monitoring the safety of industrial production by using the multiple redundant control system, the controllers in the multiple redundant control system are the same and independent from each other, which requires that the control periods of the controllers are synchronized, and local data of the controllers are synchronized. For example, data collected by an I/O (Input/Output) card of each controller, internally accumulated key variable data, and the like, especially, the internally accumulated key variable data of each controller is usually created by a user, and may change with time variation of the operation of the controller from the beginning of creation, and even if synchronization of control cycles of each controller is ensured, there is a problem that the key variable data between the controllers is inconsistent due to different crystal frequencies in each controller or due to unexpected reset of a certain controller, and the like, thereby reducing reliability, safety, and availability of the multiple redundant control system.
In order to solve the above problem, the present application provides a method for synchronizing data in a multiple redundancy control system, so as to synchronize local data of each controller in the multiple redundancy control system. As an example, the method may be applied to the triple redundant control system shown in fig. 1, wherein the multiple redundant control system includes two modules, i.e., a module 101 and a module 102, each of which includes three controllers, and the method may be applied to any one of the controllers shown in fig. 1. The method specifically comprises the following steps: acquiring first local fault level information and fault level information of other five controllers, and determining a first preferred module from the modules 101 and 102 according to the acquired first local fault level information and the fault level information of the other five controllers; meanwhile, local data of the controller and local data of the other five controllers can be acquired, the local data of the controller in the first preferred module is determined from the acquired local data, and the local data of the controller in the first preferred module is used for updating the local data of the controller.
Therefore, when the local data are synchronized, because each controller determines the first preferred module with the best fault condition according to the same rule, and then updates the local data of the controller in the first preferred module, the updated local data of each controller are consistent, the synchronization of the local data of each controller is realized, the influence of the fault problem on the data of the multiple redundant control system is reduced, and the correctness, reliability and availability of the data are improved.
It should be noted that the multiple redundant control system in the embodiment of the present application may also be a dual redundant control system, as shown in fig. 2. The dual redundancy control system shown in fig. 2 includes two modules 201 and 202, and each module includes two controllers. In addition, the number of modules included in the multiple redundant control system may be more than two, and the like. In summary, the multiple redundant control system shown in fig. 1 is only an exemplary illustration and is not used to limit the embodiments of the present application.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the drawings are described in detail below.
Referring to fig. 3, fig. 3 is a flow chart illustrating a method for synchronizing data in a multiple redundancy control system according to an embodiment of the present application, where the method is applied to any one controller in the multiple redundancy control system, and the method specifically includes:
s301: first local failure level information and failure level information of other controllers are acquired.
The first local fault level information is also the fault level information of the controller itself. The failure level information is information reflecting whether or not the controller to which it belongs has failed and the severity of the failure. For example, in a non-limiting example, the fault level information may be divided into A, B, C, D levels according to the fault condition of the controller, and specifically, when the fault level information is level a, it indicates that the controller has not failed; when the fault grade information is B grade, the severity representing the fault of the controller is light; when the fault grade information is grade C, representing that the severity of the fault of the controller is more serious; and when the fault grade information is D grade, the controller is characterized to have serious fault and the like.
As an exemplary embodiment, each controller may read the fault level information stored in itself and transmit the read fault level information to other controllers through a data communication channel. In this way, each controller can obtain its own first local fault level information, as well as the fault level information sent by the other controllers.
In some scenarios, there may not be a direct connection of the fault level information data communication channel between some controllers due to hardware resource limitations. For example, as shown in fig. 4, in the triple redundant control system, there is no data communication channel directly connected in hardware between the controller a and the controller F. The controller F needs to obtain the fault level information of the controller a, and in general, the fault level information of the controller a needs to be transmitted to the controller C by using the channel L between the controller a and the controller C, and then the fault level information is transmitted to the controller F by using the channel between the controller C and the controller F, so that the controller F obtains the fault level information of the controller a, and thus, data communication between controllers in the multiple redundancy control system can be realized under the condition of limited hardware resources. The transmission time of the fault level information in one data communication channel is one third of the control period time. Therefore, in some examples, each controller may send its own fault level information to other controllers in a period of one third of the control period duration, and if the fault level information is transmitted normally, each controller may obtain the fault level information of other controllers in two periods. If the transmission of the fault level information in a certain data communication channel is abnormal in the current period (for example, the transmission of the fault level information is not carried out), the fault level information is transmitted in the data communication channel again in the next period, so that each controller can obtain the fault level information of other five controllers in one control period. Therefore, the fault level sensitivity of the multiple redundancy control system is one control period, and the correctness of data selection when the multiple redundancy control system fails is improved.
S302: a first preferred module is determined from the at least two modules included in the multiple redundant control system based on the first local fault level information and the fault level information of the other controllers.
Because the fault level information can reflect the fault condition of the controller to which the controller belongs, each controller can determine the first preferred module with the best fault condition according to the acquired fault level information of each controller.
As an exemplary embodiment, if only a second preferred module with the best fault condition can be determined from at least two modules included in the multiple redundant control system based on the first local fault level information and the fault level information of the other controllers, the second preferred module is taken as the first preferred module. Wherein the overall failure condition of the controller in the second preferred module is better than the failure condition of the controllers in the other modules.
However, in some scenarios, there may be situations where the failure conditions of the controllers in multiple modules are the same, and in this case, a second preferred module with the best failure conditions may be determined. For example, if there is no failure in each of the two modules in the multiple redundant control system, that is, the failure level information of each of the two modules indicates that the controller has not failed, it may be determined that both of the two modules are the second preferred module with the best failure condition. At this time, one second preferred module may be determined from the plurality of second preferred modules and be set as the first preferred module. Specifically, if a plurality of second preferred modules with the best fault conditions are determined from at least two modules included in the multiple redundancy control system according to the first local fault level information and the fault level information of other controllers, the plurality of second preferred modules are arbitrated according to a preset rule to obtain the arbitrated second preferred modules, and the arbitrated second preferred modules are used as the first preferred modules.
In practical application, in the process of synchronizing the local data of the controller this time, if one of the determined second preferred modules is the first preferred module determined in the last synchronization of the local data of the controller, the second preferred module is used as the first preferred module in the process of synchronizing the local data this time, that is, the first preferred module is kept unchanged. By keeping the first optimized module determined in the process of synchronizing the local data of the current time and the process of synchronizing the local data of the last time unchanged, data jumping can be prevented, and the stability of data selection in the whole multiple redundancy control system is improved.
If the local data of the controller has not been synchronized before (for example, the multiple redundant control system is initialized or the hardware in which the multiple redundant control system is located is just powered on), in some embodiments, the second preferred module with the smallest number in the plurality of second preferred modules may be used as the first preferred module according to the number of the modules in advance.
S303: local data is acquired as well as local data of other controllers.
It should be noted that the process of sending and receiving local data between the controllers is independent of the process of sending and receiving failure level information between the controllers. That is, the process of the controller acquiring the local data of other controllers and acquiring the fault level information of other controllers are not interfered with each other. Specifically, in the execution sequence, the controller may first acquire the local data of the other controllers, and then acquire the fault level information of the other controllers; or the controller firstly acquires the fault grade information of other controllers and then acquires the local data of other controllers; it is also possible that the controller obtains both local data and fault level information for other controllers.
S304: from the acquired local data and the local data of the other controllers, the local data of the controller in the first preferred module is determined.
As an exemplary specific implementation manner, the local data acquired by the controller may carry an identifier of a controller to which the local data belongs, and the controller may determine, according to the identifier, a controller to which each local data belongs, so as to determine the local data of the controller in the first preferred module.
For example, each controller may be numbered in advance, each number corresponds to one controller, and the number of the controller may be used as an identifier to distinguish the controllers, and accordingly, the local data received by the controller may also carry the number of the controller to which the local data belongs. The controller may determine the local data of the controller in the first preferred module according to the number carried by each local data.
S305: and updating the local data of the controller by using the determined local data of the controller in the first preferred module.
After determining the local data of the controller in the first preferred module, the local data of the controller can be updated according to a certain policy by using the local data. For example, in the triple redundancy control system, if three controllers are included in the first preferred module, two same local data are selected from the local data of the three controllers to update the local data of the controllers, or a local data at an intermediate value is selected from the local data of the three controllers to update the local data of the controllers.
Further, after the local data of the controller is updated and the synchronization of the local data of the controller is realized, the updated local data of the controller can be sent to other controllers through the data communication channel, so that when the local data of each controller is synchronized next time, other controllers can acquire the fault level information of the controller and the updated local data.
In this embodiment, for each controller in the multiple redundant control system, the first local failure level information of the controller and the failure level information of the other controllers may be acquired, and according to the acquired first local failure level information and the failure level information of the other controllers, the first priority module may be determined from at least two modules included in the multiple redundant control system, and at the same time, the local data and the local data of the other controllers may be acquired, and the local data of the controller in the first priority module may be determined from the acquired local data and the local data of the other controllers, and then the local data of the controller in the first priority module may be updated by using the local data of the controller in the first priority module. Therefore, when the local data are synchronized, because each controller determines the first preferred module with the best fault condition according to the same rule, and then updates the local data of the controller in the first preferred module, the updated local data of each controller are consistent, the synchronization of the local data of each controller is realized, the influence of the fault problem on the data of the multiple redundant control system is reduced, and the correctness, reliability and availability of the data are improved.
In order to describe the technical solution of the embodiment of the present application in more detail, the following description takes the example of synchronizing the local data of each controller in the triple redundant control system as an example. The basic hardware communication model of the triple redundant control system may be as shown in fig. 1, comprising two modules, each module comprising three controllers. Referring to fig. 5, fig. 5 is a schematic flow chart illustrating a method for synchronizing data in a triple redundancy control system according to an embodiment of the present disclosure, where the method may be applied to any controller in the triple redundancy control system, and the method specifically includes:
s501: first local failure level information and failure level information of the other five controllers are acquired.
As an exemplary embodiment, each controller may read the fault level information stored in itself and send the read fault level information to the other five controllers through the data communication channel. In this way, each controller can obtain its own first local fault level information, as well as the fault level information sent by the other five controllers.
S502: after the first local fault level information is acquired, the first local fault level information is judged again according to the first local fault level information and other acquired results of the fault level information of the other five controllers to obtain second local fault level information, and the second local fault level information is used as the first local fault level information.
It should be noted that the first local fault level information obtained by the controller is usually obtained by evaluating an operation result of the controller itself, but if a data communication channel interface of the controller fails, the controller may not necessarily detect the first local fault level information, and thus the obtained first local fault level information may not really reflect a fault condition of the controller. In this embodiment, the controller may be used to obtain the obtaining results of the fault level information of the other five controllers, determine whether the data communication channel interface of the controller itself has a fault, and re-evaluate the first local fault level information of the controller itself to obtain the second local fault level information, and then use the second local fault level information as the first local fault level information of the controller to participate in the subsequent local data synchronization process.
S503: and determining a preferred module and a secondary selection module from the two modules included in the triple redundancy control system according to the first local fault level information obtained by reevaluation and the fault level information of the other five controllers.
Because the fault level information can reflect the fault condition of the controller to which the fault level information belongs, each controller can determine the optimal module with the best fault condition and the secondary selection module with the worse fault condition according to the acquired fault level information of each controller.
The preferred module is the module with the best failure condition of the three controllers in the module, and the secondary module is the module with the failure condition of the three controllers in the module which is worse than the failure condition of the three controllers in the preferred module in the triple redundant control system. In this embodiment, the secondary module is also the remaining module except the preferred module.
S504: local data is acquired as well as local data of other controllers.
It should be noted that steps S503 to S504 in this embodiment are similar to steps S302 to S303 in the previous embodiment, and can be understood by referring to the description of relevant parts in the previous embodiment, which is not repeated herein.
S505: and judging whether the local data of the controller in the preferred module can be determined from the acquired local data of the controller and the local data of other controllers, if so, executing the step S506, and if not, executing the step S507.
It is understood that if the data communication channel between the controller and the other controller fails, the controller may not receive the local data transmitted by the other controller. At this time, if the local data acquired by the controller includes the local data of the controller in the preferred module, that is, the controller can acquire the local data of the controller in the preferred module, the controller may determine the local data of the controller in the preferred module from the acquired local data, otherwise, the controller cannot determine the local data of the controller in the preferred module.
In some possible embodiments, the local data acquired by the controller includes the local data voted in the preferred module, and the controller may determine the local data voted in the preferred module from the acquired local data, and update its local data by using the local data.
In other possible embodiments, the local data acquired by the controller includes local data of three controllers in the preferred module, and the controller may determine local data of three controllers in the preferred module from the acquired local data, and then vote the local data of the three controllers, specifically, select two same local data from the local data of the three controllers and use the same local data as the first synchronization data, or select local data located at an intermediate value from the local data of the three controllers and use the local data located at the intermediate value as the first synchronization data, so as to update the local data of the controller itself by using the first synchronization data.
S506: and updating the local data of the controller according to the local data of the controller in the preferred module.
In some possible embodiments, the local data of the controller in the preferred module may be used to replace the corresponding local data, so as to update the local data of the controller itself.
S507: and determining the local data of the three controllers in the secondary selection module from the local data and the local data of other controllers.
When the local data acquired by the controller does not include the local data of the three controllers in the preferred module, the controller may determine the local data of the three controllers in the secondary module from the acquired local data.
S508: and updating the local data of the secondary selection module by using the local data of the controller in the secondary selection module.
As an exemplary embodiment, the controller may vote on the local data of the controllers in the secondary selection module, specifically, select two same local data from the local data of the three controllers, and replace the corresponding local data in the controllers with the same local data, so as to implement the update on the local data, or select a local data located at an intermediate value from the local data of the three controllers, and replace the corresponding local data in the controllers with the local data located at the intermediate value, so as to implement the update on the local data.
In this embodiment, for each controller in the triple redundancy control system, the first local failure level information of the controller and the failure level information of the other five controllers may be acquired, the first local failure level information may be re-evaluated according to the acquisition result of acquiring the failure level information of the other five controllers, then, according to the re-evaluated first local failure level information and the failure level information of the other controllers, the priority module with the best failure condition and the sub-selection module with the worse failure condition may be determined, and the local data of the other controllers may be acquired at the same time, if the local data of the three controllers in the priority module may be determined from the acquired local data, the local data of the controllers themselves may be updated using the local data, otherwise, the local data of the three controllers in the sub-selection module may be determined from the acquired local data, and updating the local data of the user by using the local data.
Therefore, when the local data are synchronized, because each controller can determine the optimal module with the best fault condition and the secondary module with the worse fault condition according to the same rule, then the local data of the controller in the optimal module are used for updating the local data of the controller, otherwise, the local data of the controller in the secondary module are used for updating the local data of the controller, so that the updated local data of each controller are consistent, the synchronization of the local data of each controller is realized, the influence of the fault problem on the data of the multiple redundant control system is reduced, and the correctness, reliability and availability of the data are improved.
In addition, the embodiment of the application also provides a device for synchronizing data in the multiple redundancy control system. Referring to fig. 6, fig. 6 are schematic structural diagrams illustrating an apparatus for synchronizing data in a multiple redundancy control system according to an embodiment of the present application, where the multiple redundancy control system includes at least two modules, each module includes at least two controllers, and the apparatus can be applied to any one of the controllers, and the apparatus includes:
a first obtaining module 601, configured to obtain first local fault level information and fault level information of other controllers;
a first determining module 602, configured to determine a first preferred module from at least two modules included in the multiple redundant control system according to the first local failure level information and the failure level information of the other controllers;
a second obtaining module 603, configured to obtain local data and local data of other controllers;
a second determining module 604 for determining local data of the controller in the first preferred module from the local data and local data of other controllers;
a first updating module 605, configured to update local data of itself with local data of the controller in the first preferred module.
In some possible embodiments, the multiple redundant control system includes at least two modules, each module including at least three controllers therein, the first update module 605 including:
the voting unit is used for voting the local data of the at least three controllers in the first preferred module and determining first synchronization data from the local data of the at least three controllers;
and the updating unit is used for updating the local data of the updating unit according to the first synchronization data.
In some possible embodiments, the apparatus further comprises:
the third determining module is used for determining the secondary selecting module from at least two modules included in the multiple redundancy control system according to the first local fault level information and the fault level information of other controllers;
a fourth determining module, configured to determine, when the local data of the controller in the first preferred module cannot be determined from the local data and the local data of the other controllers, the local data of the controller in the secondary module from the local data and the local data of the other controllers;
and the second updating module is used for updating the local data of the second updating module by utilizing the local data of the controller in the second selecting module.
In some possible embodiments, the apparatus further comprises:
and the judging module is used for judging the first local fault grade information again according to the first local fault grade information and the obtained results of the fault grade information of other controllers after the first local fault grade information is obtained, so as to obtain second local fault grade information, and the second local fault grade information is used as the first local fault grade information.
In some possible embodiments, the first determining module 602 is specifically configured to, when one second preferred module is determined from at least two modules included in the multiple redundant control system according to the first local fault level information and the fault level information of the other controllers, take the second preferred module as the first preferred module;
or,
and determining a plurality of second preferred modules from at least two modules included in the multiple redundancy control system according to the first local fault level information and the fault level information of other controllers, judging the plurality of second preferred modules according to a preset rule to obtain judged second preferred modules, and taking the judged second preferred modules as the first preferred modules.
In some possible embodiments, the apparatus further comprises:
and the sending module is used for sending the updated local data to other controllers.
In this embodiment of the application, in the multiple redundancy control system, the first obtaining module 601 may obtain the first local failure level information of the controller and the failure level information of other controllers, the first determining module 602 determines a first priority module from at least two modules included in the multiple redundancy control system according to the obtained first local failure level information and the failure level information of other controllers, the second obtaining module 603 may obtain the local data and the local data of other controllers, the second determining module 604 determines the local data of the controller in the first preferred module from the obtained local data and the local data of other controllers, and the first updating module 605 may update its local data by using the local data of the controller in the first preferred module. Therefore, the optimal module with the best fault condition can be determined according to the fault level information of the optimal module and the fault level information of other controllers, and then the local data of the controllers in the optimal module is used for updating the local data of the controllers, so that the influence of the fault problem on the data of the multiple redundant control system is reduced, and the correctness, the reliability and the availability of the data are improved.
It should be noted that, in the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the system or the device disclosed by the embodiment, the description is simple because the system or the device corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (12)
1. A method for synchronizing data in a multiple redundancy control system, the multiple redundancy control system including at least two modules, each of the modules including at least two controllers, the method being applied to each controller in the multiple redundancy control system, the method comprising:
acquiring first local fault level information and fault level information of other controllers;
determining a first preferred module with the best fault condition from at least two modules included in the multiple redundant control system according to the first local fault level information and the fault level information of the other controllers;
acquiring local data and local data of the other controllers;
determining local data for the controller in the first preferred module from the local data and local data for the other controllers;
and updating the local data of the controller by utilizing the local data of the controller in the first preferred module.
2. The method of claim 1, wherein the multiple redundant control system comprises at least two modules, each of the modules comprising at least three controllers, and wherein updating the local data of the controller with the local data of the controller in the first preferred module comprises:
voting local data of at least three controllers in the first preferred module, and determining first synchronization data from the local data of the at least three controllers;
and updating local data of the user according to the first synchronization data.
3. The method of claim 2, further comprising:
determining a secondary selection module from at least two modules included in the multiple redundancy control system according to the first local fault level information and the fault level information of the other controllers;
when the local data of the controller in the first preferred module cannot be determined from the local data and the local data of other controllers, determining the local data of the controller in the secondary selection module from the local data and the local data of other controllers;
and updating the local data of the secondary selection module by using the local data of the controller in the secondary selection module.
4. The method of claim 1, wherein prior to said determining a first preferred module from among at least two modules included in said multiple redundant control system based on said first local fault level information and fault level information of said other controllers, said method further comprises:
after the first local fault level information is acquired, the first local fault level information is judged again according to the first local fault level information and the acquisition result of the fault level information of the other controllers to obtain second local fault level information, and the second local fault level information is used as the first local fault level information.
5. The method of claim 1, wherein said determining a first preferred module from among at least two modules included in said multiple redundant control system based on said first local fault level information and fault level information of said other controllers comprises:
when a second preferred module is determined from at least two modules included in the multiple redundancy control system according to the first local fault level information and the fault level information of other controllers, taking the second preferred module as a first preferred module;
or,
and determining a plurality of second preferred modules from at least two modules included in the multiple redundant control system according to the first local fault level information and the fault level information of other controllers, judging the plurality of second preferred modules according to a preset rule to obtain judged second preferred modules, and taking the judged second preferred modules as the first preferred modules.
6. The method of claim 1 or 4, further comprising:
and sending the updated local data to the other controllers.
7. An apparatus for synchronizing data in a multiple redundancy control system, the multiple redundancy control system including at least two modules, each of the modules including at least two controllers, the apparatus being adapted for use with each of the controllers in the multiple redundancy control system, the apparatus comprising:
the first acquisition module is used for acquiring first local fault level information and fault level information of other controllers;
a first determining module, configured to determine a first preferred module with the best fault condition from at least two modules included in the multiple redundant control system according to the first local fault level information and the fault level information of the other controllers;
the second acquisition module is used for acquiring local data and the local data of the other controllers;
a second determining module for determining local data of the controller in the first preferred module from the local data and local data of the other controllers;
and the first updating module is used for updating the local data of the first updating module by utilizing the local data of the controller in the first preferred module.
8. The apparatus of claim 7, wherein the multiple redundant control system comprises at least two modules, each of the modules comprising at least three controllers therein, the first update module comprising:
the voting unit is used for voting local data of at least three controllers in the first preferred module and determining first synchronization data from the local data of the at least three controllers;
and the updating unit is used for updating the local data of the user according to the first synchronization data.
9. The apparatus of claim 8, further comprising:
a third determining module, configured to determine a secondary selecting module from at least two modules included in the multiple redundant control system according to the first local fault level information and the fault level information of the other controllers;
a fourth determining module, configured to determine, when the local data of the controller in the first preferred module cannot be determined from the local data and the local data of other controllers, the local data of the controller in the secondary selecting module from the local data and the local data of other controllers;
and the second updating module is used for updating the local data of the second updating module by utilizing the local data of the controller in the second selecting module.
10. The apparatus of claim 7, further comprising:
and the judging module is used for judging the first local fault grade information again according to the first local fault grade information and the obtained result of the fault grade information of the other controllers after the first local fault grade information is obtained, so as to obtain second local fault grade information, and the second local fault grade information is used as the first local fault grade information.
11. The apparatus according to claim 7, wherein the first determining module is specifically configured to, when determining a second preferred module from at least two modules included in the multiple redundant control system according to the first local failure level information and the failure level information of the other controllers, take the second preferred module as the first preferred module;
or,
and determining a plurality of second preferred modules from at least two modules included in the multiple redundant control system according to the first local fault level information and the fault level information of other controllers, judging the plurality of second preferred modules according to a preset rule to obtain judged second preferred modules, and taking the judged second preferred modules as the first preferred modules.
12. The apparatus of claim 7 or 10, further comprising:
and the sending module is used for sending the updated local data to the other controllers.
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| CN111427727B (en) * | 2020-03-04 | 2023-04-14 | 上海航天控制技术研究所 | Voting method based on data sensitivity and category for Mars detection three computers |
| CN113433819B (en) * | 2021-06-09 | 2022-05-10 | 浙江中控技术股份有限公司 | System identification method and computer equipment |
| CN113568301B (en) * | 2021-09-26 | 2022-01-14 | 浙江中控技术股份有限公司 | Hot standby redundancy method and control system |
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