CN101751020B - High-availability function block redundancy method - Google Patents
High-availability function block redundancy method Download PDFInfo
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Abstract
The invention relates to a high-availability function block redundancy method, which comprises the following steps that: field devices are subjected to addition processing; redundancy relationships are configured and set to enable the field devices after the addition processing to form a field circuit, and corresponding main function blocks and back-up function blocks are configured and set; real-time data synchronization are carried out on the main function blocks and back-up function blocks; when the main function blocks in the same redundancy relationship fail, the field devices which find the failure firstly call a redundancy handover request service to send a redundancy handover message; and the device in which the back-up function blocks are positioned (namely redundancy units) receive and process the redundancy handover request message, and call a redundancy handover command service to issue a global redundancy handover command message for notifying all related devices to carry out redundancy handover. The method ensures the continuity of the control process, and maximally ensures the consistency of the redundant links and the main links, and has the advantages of low development cost, quick redundancy handover speed and wide application range.
Description
Technical field
The present invention relates to automation field and field bus technique, specifically a kind of high-availability function block redundancy method that is applied to field bus control system cheaply.
Background technology
(Fieldbus Control Syste, application FCS) is more and more widely all adopted field bus control system to field bus control system gradually more and more from pharmacy to industrial trades such as oil refining.The traditional distributed of replacement control system (Distributed Control System, trend DCS) are arranged gradually.The release that IEC61158 is the 4th edition has more effectively promoted the development of field bus technique.Fieldbus has plurality of advantages with respect to DCS.All standard for Fieldbus all are open, and the same type fieldbus product of different manufacturers possesses interoperability, and the great dirigibility of constructing system is provided to the user.The wiring cost of fieldbus is lower, because the scene is transferred in control, making it has higher reliability than the control mode of traditional DCS.The configuration mode of field bus control system is flexible, and is simple in structure, is easy to characteristics such as maintenance and makes fieldbus be used widely at industrial control field.Important feature of fieldbus is exactly that the functional block of execution control function is transferred among the field apparatus.The benefit that the functional block of execution control function is transferred among the field apparatus is conspicuous: make field apparatus to obtain field data nearby, reduced the AD/DA conversion, make that " information island " phenomenon improves in the DCS system; Hardware device such as isolator, terminal cabinet etc. have been reduced; Feasible wiring becomes simpler, only needs a cable or twisted-pair feeder to get final product.But, because on-the-spot electromagnetic interference (EMI) and environmental factors such as dust, vibrations are obviously more abominable than the DCS rack, so it is also just more important and urgent to guarantee reliability to carry out redundancy.
Redundancy comprises processor redundancy, communication redundancy, I/O redundancy and power supply redundancy.Can be divided into by redundant implementation: hard redundancy, soft redundancy.Hard redundant (hard.redundancy) promptly adopts the program of solidifying among special hardware module or the PLC to realize that PLC is synchronous, the redundant fashion of failover; Soft redundancy (soft.redundancy) promptly adopts the mode of programming to realize that PLC is synchronous, the redundant fashion of failover.Can be divided into by redundant switching mode: 1. hot redundant (heat is equipped with hot.back), promptly hard redundant fashion when master-failure, seamlessly automatically switches on the stand-by equipment by specific hardware differentiation, backup mode, and the maintenance system normally moves; 2. warm redundant (warm being equipped with or the warm walqT1.back of being equipped with), promptly soft redundant fashion is mainly realized redundancy by programming mode.Factor restricts because the realization of soft redundancy is subjected in many ways, and the time that system is switched, hard redundancy was long slightly, thus the soft redundancy of part may make main equipment when switching gapped need artificially simply intervene or preset just be able to perfect; 3. cold redundancy (cold standby cold.back), promptly equipment (as: CPU) no power of a cover or partial redundance, do not work, (people is for preseting) stands ready.When master-failure, need the operation of manual reversion system.According to present strict difinition, this mode is not redundant, only makes spare part and understands.This redundancy is applied to generally that real-time is strong, the less demanding occasion of technology continuity.
But no matter which kind of redundant fashion all needs extra redundant hardware to realize, this feasible cost increase that makes up field bus control system.
Summary of the invention
At above shortcomings part in the prior art, improve the reliability of field bus device, under the prerequisite that does not increase hardware cost and complicacy, the technical problem to be solved in the present invention provides a kind of high-availability function block redundancy method cheaply.
To improving one's methods of conventional on-site bus apparatus, realize function block redundancy.
For solving the problems of the technologies described above, the technical solution used in the present invention is as follows:
A kind of high-availability function block redundancy method of the present invention may further comprise the steps:
Field apparatus is carried out addition processing: utilize and finish the necessary field apparatus of control function in the control loop, set up the backup functionality piece that is used for redundancy as hardware platform; Incremental redundancy link objects on original field bus protocol stack basis; Be field apparatus incremental redundancy information object, redundant handoff request service, redundant switching command service, Redundancy Management entity and redundant watchdog timer; Configuration also is provided with redundancy relationship: the field apparatus after the above-mentioned addition processing is formed on-the-spot loop, and configuration also is provided with corresponding main functional blocks and the back-up functional block; It is synchronous that main functional blocks and backup functionality piece are carried out real time data, and promptly main functional blocks is used identical input with the backup functionality piece, calculate simultaneously, and main functional blocks output result, the backup functionality piece calculates but does not export the result; When the main functional blocks in the same redundancy relationship lost efficacy, the field apparatus of Fa Xianing called redundant handoff request service and sends the redundant message that switches at first; The equipment at backup functionality piece place is the redundance unit reception and handles redundant handoff request message, calls redundant switching command service, and the redundant switching command message of the issue overall situation is notified all relevant devices to carry out redundancy and switched.
The inventive method also comprises operator intervention formula link-recovery mechanism, promptly finishes when switching in redundancy, and when system entered new duty, if the main functional blocks restore funcitons, the hand-operated forced switching of operator was returned main functional blocks and controlled.
Described backup functionality piece is based on the functional block rank of software engineering, and the functional block that the functional block that adopts the field apparatus in the same control loop to set up is come redundant master controller does not need the extra new hardware that is exclusively used in redundancy feature that increases.
Described redundant link to as if be used for a kind of program structure of communicating by letter between the redundancy feature piece, be a kind of object of describing the redundant link relation; The process of the process of the source device address of redundant link object factory issue field data, the source device data issue of issue field data, the destination device address of subscribing to field data, subscription field data.
Described redundant information object is used for the organization and administration redundant information, comprising: can be for redundant functional block number, normal message time-out time and force revert primary link whether.
Described redundant handoff request service is not for there being the connectionless network service of affirmation, when the equipment monitor that participates in redundant link communication as the subscriber to the overtime stipulated number that reaches of significant message, a kind of overall broadcast service of calling; The redundant handoff request message of this service issue.
Described redundant switching command service is not for there being the connectionless network service of affirmation, redundance unit is received after the redundant handoff request message of any equipment issue that redundancy relationship arranged with it, this service of calling requires the subscriber who all participates in redundant link communication to carry out the link change action.
Described Redundancy Management entity is to be used to monitor, send, handle redundant handed over service and the redundant program of switching message.
Described redundant watchdog timer is software or hardware timer; This timer monitors that each has the end points of primary link, redundant link simultaneously; The unified configuration of the time-out time of all timers; Timer lost efficacy or the incident that switches up to respective link for recycling; The condition that timer is reset is that the field data of the primary link transmission of the end points that monitors arrives or timer expiry at the appointed time; The timer expiry incident recurs and if do not reach stipulated number, the timer and write down overtime incident of then resetting; Then stop timer, the trigger link handover event if reach stipulated number.
Described redundancy relationship be meant an equipment that contains the backup functionality piece and all by backup functionality piece in this equipment the set of redundant field apparatus.
The described redundant message that switches of redundant handoff request service transmission that calls may further comprise the steps:
In configuration and after redundancy relationship is set, restart redundant watchdog timer;
Judge and receive whether significant message is overtime;
If overtime, then the time-out count device increases progressively 1;
If expired times arrive specified number or amount, then send redundant handoff request message and enter the next round circulation;
If do not reach the number of times of regulation, then enter the next round circulation;
If receive that significant message is not overtime, the corresponding redundant watchdog timer is stopped, using active link institute load Data Update field data, enter the next round circulation.
Described redundance unit receives and handles redundant handoff request message and may further comprise the steps:
When redundance unit is received redundant handoff request message, extract the message node information;
Judge whether it is to receive for the first time redundant handoff request message, if extract the link redundancy information of this redundancy relationship;
Call the redundant switching command message of redundant switching command service construction, broadcast redundant switching command message, the issue redundant link switches reports to the police, and this processing procedure finishes;
If not receiving redundant handoff request message for the first time, ignore this redundant handoff request, this processing procedure finishes.
Described redundance unit is notified all relevant devices to carry out the redundancy switching and be may further comprise the steps:
After equipment is received redundant switching command message, extract the link redundancy information of redundancy relationship, judge whether to be in same redundancy relationship, in this way, then search the redundant link object, the duty that redundant link is set is 1, and it is 0 that the primary link duty is set, the expression redundant link is started working, and primary link lost efficacy; If not being in same redundancy relationship, then ignore this redundant switching command, this processing procedure finishes.
The invention solves the problem that cost that redundancy brings rises, make full use of original software and hardware resources, controller function piece redundant ability is provided under the prerequisite that does not increase hardware cost, and the present invention can be applicable among all kinds of field bus control systems, and the present invention has the following advantages in addition:
1. guarantee the continuity of control procedure.The inventive method has adopted redundant link and primary link data sync mode, guaranteed the consistance of data between redundant link and the primary link to greatest extent, make that the redundant continuity of switching field data when taking place is guaranteed, make that further the continuity of control procedure is guaranteed;
2. low-cost.The inventive method has realized not increasing the hardware input and has obtained extra redundant ability, and cost of development is low;
3. redundant fast switch speed.The present invention uses and shows that switching can make redundant switch speed reach more satisfactory speed, switches reliable;
4. wide applications.The function block redundancy technology that the present invention proposes is finished at all kinds of functions of use pieces on the fieldbus of control function all can realize having wide application easily;
5. dirigibility.Adopt the technology of the present invention to make up control system and possess very high dirigibility, can select to use or functions of use piece redundancy feature not; Can mix redundant and the common constructing system mode used;
6. compatible.Technical scheme of the present invention possesses favorable compatibility, and the equipment of support function piece redundancy can mix configuration well with the existing equipment of support function piece redundancy not.
Description of drawings
Fig. 1 carries out on-the-spot loop synoptic diagram after the addition processing for the inventive method to field apparatus;
Link model when Fig. 2 carries out configuration for the inventive method;
Fig. 3 is the protocol hierarchy model of the inventive method;
Fig. 4 is a redundant handoff request message encapsulation format in the inventive method;
Fig. 5 is a redundant switching command message encapsulation format in the inventive method;
Fig. 6 is the processing flow chart of significant message under the normal operation in the inventive method;
Fig. 7 handles redundant handoff request message process flow diagram for redundance unit in the inventive method;
Fig. 8 receives redundant switching command message processing flow chart for equipment in the inventive method;
Fig. 9 is the redundant occurrence diagram that switches whole process in the inventive method.
Embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail, the backup functionality piece is an example with PID in the present embodiment, includes but not limited to pid function block.
The present invention uses backup functionality piece that the field instrument that participates in configuration such as thermometer, tensimeter, fieldbus set up in to reometer, electric current to instrument such as the fieldbus tables redundancy as main functional blocks, do not use other instrument that participate in beyond the configuration or equipment as redundancy, when main functional blocks can not execution control function, take over control by corresponding backup functionality piece, improve availability by this, and do not increase cost; The present invention is a kind of other redundancy scheme of functional block level based on software engineering, and method may further comprise the steps:
Field apparatus is carried out addition processing: utilize and finish the necessary field apparatus of control function in the control loop, set up the backup functionality piece that is used for redundancy, be used to back up main functional blocks as hardware platform; Incremental redundancy link objects on original field bus protocol stack basis is used to provide the link redundancy ability and transmits redundant field data; For field apparatus incremental redundancy information object, be used for the organization and administration redundant information; The service of incremental redundancy handoff request is used to send redundant handoff request message, and notice redundance unit handover event takes place; The service of incremental redundancy switching command is used to issue overall redundant switching command message, notifies all relevant devices to carry out redundancy and switches; The incremental redundancy management entity is used for monitoring and handling redundant handed over service and message; The incremental redundancy watchdog timer, whether be used for the Monitor Flag message overtime; Equipment with redundancy backup functional block is redundance unit, is used for redundant handoff request message.
Configuration also is provided with redundancy relationship: the field apparatus after the above-mentioned addition processing is formed on-the-spot loop, and corresponding main functional blocks and back-up functional block are set;
It is synchronous that main functional blocks and backup functionality piece are carried out real time data, and promptly main functional blocks is used identical input with the backup functionality piece, calculate simultaneously, and main functional blocks output result, the backup functionality piece calculates but does not export the result;
When the main functional blocks in the same redundancy relationship lost efficacy, the field apparatus of Fa Xianing called the service of redundant handoff request and sends redundant switching message with the mode of broadcasting or clean culture at first;
The equipment at backup functionality piece place is the redundance unit reception and handles redundant handoff request message, calls redundant switching command service, and the redundant switching command message of the issue overall situation is notified all relevant devices to carry out redundancy and switched.
To field apparatus carry out after the addition processing on-the-spot loop synoptic diagram as shown in Figure 1, in a Fieldbus Control network, typically have a plurality of instrument and controller, logically the function of these instrument and controller comprises AI, AO, PID or the like, corresponding function piece AI, AO, PID.Generally, comprise modules such as AI, AO in the field instrument usually,, also may comprise pid function block if processing power is enough.Usually comprise pid function block etc. in the controller, finish control function.In Fig. 1, comprise two master controllers 1,2, three field instrument A, B, C, the PID module of each controller plays the master control effect, respectively called after master PID1, main PID2 and main PID3.Field instrument comprises instrument A, instrument B, instrument C, and they also have pid function block except the functional block of finishing instrument function.With the main PID1 in the next redundant master controller of the pid function block among the instrument A, called after backup PID1; With the main PID2 in the next redundant master controller 2 of the PID among the instrument B, called after backup PID2; With the main PID3 in the next redundant master controller 2 of the PID among the instrument C, called after backup PID3; Here, instrument A, instrument B, instrument C and master controller 1, that master controller 2 is all finished control function is necessary, is not redundant other equipment of setting up; As seen this is other redundancy of a kind of functional block level; The characteristics of this scheme and traditional scheme maximum are exactly to add special-purpose redundance unit.
Described backup functionality piece is the functional block that the functional block that adopts the field apparatus in the same control loop to set up is come redundant master controller, does not need the extra new hardware that is exclusively used in redundancy feature that increases; Redundant link to as if be used for a kind of program structure of communicating by letter between the redundancy feature piece, be a kind of object of describing the redundant link relation; The process of the process of the source device address of redundant link object factory issue field data, the source device data issue of issue field data, the destination device address of subscribing to field data, subscription field data; The redundant information object is used for the organization and administration redundant information, comprising: can be for redundant functional block number, normal message time-out time and force revert primary link whether; Redundant handoff request service is not for there being the connectionless network service of affirmation, when the equipment monitor that participates in redundant link communication as the subscriber to the overtime stipulated number that reaches of significant message, a kind of overall broadcast service of calling; The redundant handoff request message of this service issue; Redundant switching command service is not for there being the connectionless network service of affirmation, redundance unit is received after the redundant handoff request message of any equipment issue that redundancy relationship arranged with it, this service of calling requires the subscriber who all participates in redundant link communication to carry out the link change action; The Redundancy Management entity is to be used to monitor, send, handle redundant handed over service and the redundant program of switching message; Redundant watchdog timer is software or hardware timer; This timer monitors that each has the end points of primary link, redundant link simultaneously; The unified configuration of the time-out time of all timers; Timer lost efficacy or the incident that switches up to respective link for recycling; The condition that timer is reset is that the field data of the primary link transmission of the end points that monitors arrives or timer expiry at the appointed time; The timer expiry incident recurs and if do not reach stipulated number, the timer and write down overtime incident of then resetting; Then stop timer, the trigger link handover event if reach stipulated number; Described redundancy relationship be meant an equipment that contains the backup functionality piece and all by backup functionality piece in this equipment the set of redundant field apparatus.
The inventive method is further comprising the steps of: operator intervention formula link-recovery mechanism, promptly finish when switching in redundancy, and when system entered new duty, if the main functional blocks restore funcitons, the hand-operated forced switching of operator was returned main functional blocks and is controlled.
During configuration, redundant link and common link are in par, unified treating; Adopt redundant link to upgrade, possess the data sync mode of identical input and output with the primary link real time data synchronization, adopt input end and output terminal multi-to-multi is the link organizational form of input end and output terminal M:N for this reason; Adopt primary link failure to trigger the redundant switching mode of handover event; Adopt display changeover method; Realize switching alert service; Realize operator intervention formula link-recovery mechanism; The scheduling mode of realizing expansion is to support redundant link and redundancy feature piece.
Above-mentioned redundant link is meant the secondary link that is used to transmit significant message; Normal on the link constantly do not have data transfer, with corresponding primary link identical source endpoint and purpose end points arranged; The effect of redundant link is when primary link or main functional blocks break down, and redundant link substitutes primary link with prestissimo and communicates; This speciality of redundant link makes the scene of breaking down not stop becomes possibility;
Described common link is meant the link of the operate as normal of not adding redundant measure;
Described primary link is meant and adds after the redundant measure, the link that can finish field data and significant message transmission work and be received the end approval and handle; Primary link can have the respective redundant link also can not have redundant link corresponding with it; Primary link is an active link generally, and field data and significant message transmit at primary link.
Described output terminal is meant a certain port that produces field data and participate in the functional block of configuration; Output terminal can be issued field data or significant message; Usually, redundant link can be connected to the output terminal identical with corresponding primary link, to guarantee the real-time of redundant link data; An output terminal can link a plurality of links.
Described input end is a certain port that receives field data and participate in the functional block of configuration; Input end receives field data and the significant message that transmits on the link; Input end can have a plurality of links to be attached thereto; Have only one to play control action in a plurality of links of input end;
Described configuration is meant that the operator makes up steering logic function and redundancy backup relation and it is downloaded to the process of field apparatus; Any input and output can be linked to one or more than one other inputs, output during configuration, also are that input and output are relations of M:N; During configuration, redundant link and primary link will be linked to input and output simultaneously, redundant link and primary link transmit field data simultaneously, pass to input simultaneously, reject redundant data by input end place functional block during operate as normal, redundant link is accepted and the same field data of primary link simultaneously, is linked to identical output terminal, grasps the latest data identical with primary link constantly to guarantee redundant link; If primary link breaks down, reach the fault verification condition that presets, then give redundant link with control, make redundant link have an effect.
Described redundant handoff request service is not for there being the connectionless network service of affirmation, when the equipment monitor that participates in redundant link communication as the subscriber to the overtime stipulated number that reaches of significant message, a kind of overall broadcast service of calling; The redundant handoff request message of this service issue.Relevant redundancy equipment receives this message, and issues redundant switching command message in view of the above; The distinct device that is in same redundancy relationship can successively send and repeatedly call redundant handoff request service, issues redundant handoff request message, and redundance unit will be handled the message that arrives at first, and remaining will be left in the basket.
Described redundant switching command service is not for there being the connectionless network service of affirmation, redundance unit is received after the redundant handoff request message of any equipment issue that redundancy relationship arranged with it, this service of calling requires the subscriber who all participates in redundant link communication to carry out the link change action.Equipment in same redundancy relationship may be found the overtime stipulated number incident that reaches of significant message successively: if finding that this incident fashion does not receive the redundant switching command message that redundance unit sends, and then sends redundant handoff request message at once; Switch message if before this incident of discovery, receive the redundancy that redundance unit sends, then stop the Monitor Flag timeout packet, carry out redundant link and switch; If receive redundant handoff request message greater than 1 time with redundance unit, then from for the second time, all redundant handoff request messages are left in the basket;
Above-mentioned significant message can be by specific implementation institute permissive provision; Significant message must be on the primary link and on the redundant link by the message that transmitted; Significant message may carry real time data or field data; As the information of carrying field data is issued message.
Described Redundancy Management entity is meant: be used to monitor, send, handle redundant handed over service and redundant one section program switching message.
Described data sync is to keep the redundancy feature piece result of calculation moment and corresponding to certain method for synchronous of corresponding main functional blocks result of calculation; The data sync mode can have multiple, and what adopt in the present invention is that redundant link has identical Data Source with corresponding primary link, identical data transfer purpose end points; This mode can be safeguarding the redundant real-time that connects the data on the road than low-cost, so that can in time carry out redundancy switching when needing; Switch the field data that redundant link transmitted after taking place and remain effective and up-to-date;
Described handover event is meant such incident: the significant message that can cause the primary link transmission is overtime; And the significant message expired times of primary link transmission reach pre-configured number; Handover event can trigger redundant change action after taking place;
Described redundant the switching is meant, when handover event takes place, corresponding local primary link transferred to redundant link to the control that input end works; Promptly only there is the field data of transmitting on the redundant link to be adopted;
Described demonstration switching is meant, when redundant change action takes place to trigger handover event, at first carries out redundancy at this node and switches; Call redundant handoff request service then, issue redundant handoff request message, notice is in the redundance unit of same redundancy relationship; This redundance unit will be issued redundant switching command message, and other all nodes switch respective link on the informing network;
Described switching alert service is meant after change action is finished, and uses certain communication mode notice upper computer software; So that the user in time understands the link working condition;
Described operator intervention formula link-recovery mechanism is meant that after the operator confirmed that substituted primary link restores one's working ability, mandatum alterius respective redundant link entered Status of Backups once more; Primary link begins to rework, acquire the right of control, and the field data of its input end that passes to is adopted again;
Promptly to back up PID1 be the functional block that the functional block that adopts the instrument A in the same loop to set up is come redundant master controller 1 to the backup functionality piece among Fig. 2, do not need the extra new hardware that increases.Three equipment: instrument A, master controller 1, instrument B are arranged in Fig. 2.The link relation of the representative control of drawing with heavy line is a correspondence.The AI functional block of instrument A is linked at output terminal OUT on the input end IN of master controller 1 main PID1; The main PID1 of master controller 1 exports to instrument B through after the computing with operation result; The OUT output terminal of main PID1 is linked on the input end CAS_IN of AO of instrument B; The output terminal OUT of the AO functional block of instrument B is linked on the BKCAL_IN input end of main PID1 of master controller 1, and promptly instrument B feeds back to the result the main PID1 of master controller 1; Above on-link mode (OLM) has been finished a typical control loop.
Link that fine line is painted is represented redundant correspondence.In Fig. 2, select the PID module of instrument A to come redundant main PID1, be referred to as to back up PID1; When passing to main PID1 to output data, instrument A also passes to backup PID1; The feedback information of instrument B also feeds back to backup PID1 when feeding back to main PID1; Backup PID1 just can carry out identical computing synchronously with main PID1 like this.And the output of backup PID1 also can pass to the input of the AO functional block of instrument B, this is to give instrument B data transfer as main PID1 and link occurs fault thereof time backup PID1 in the very first time in order to guarantee, reach the purpose that does not interrupt control procedure and carry out redundant switching, when main PID1 is working properly, backup PID1 just calculates, not output data.
During master controller 1 operate as normal, main PID1 works, and backup PID1 finishes the computing identical with main PID1 by obtaining two inputs identical with main PID1, and the result of calculation of backup PID1 should be identical with the result of calculation of main PID1.Instrument B receives the output of main PID1, and uses this data.
When main PID1 breaks down and can not give instrument B data transfer the time, instrument B issues redundant handoff request message; Instrument A is as backup PID place equipment, receives redundantly will organize and issue redundant switching command message after switching message, and order is in whole switching the in this redundancy relationship, and begins distributing data on redundant link.Like this, the main PID1 of master controller 1 is just by built on stilts, and the backup PID1 in the instrument A will start to control making usefulness, thinks that up to the operator main PID1 fault recovers, and forces to switch back the main PID1 of master controller.
When dispatching, take into account the time slot of backup pid data transmission.
As Fig. 3, provide the protocol hierarchy model, generally can be divided into Physical layer, data link layer, field bus communication protocol stack, the several levels of client layer, wherein the field bus communication protocol stack is responsible for realizing that field apparatus is the communication function between the node, finishes whole or some level and all or part of function thereof in network layer in the osi model, transport layer, session layer and the presentation layer.The global property that comprises whole local scene equipment in the field bus communication protocol stack, these attributes can be configurable, also can be not configurable.
The present invention has set up the redundant information object in the bus communication protocol stack at the scene, this object be used to store the link redundant ability, can be for redundant functional block number, normal message time-out time, explicit/implicit changing method, content such as force revert primary link whether; This object can be supported the read-write service; Can the configuring redundancy working method by using the read-write service to read and write the redundant information object.The redundant information object does not have one group of default value during configuration as yet, this group default value is comparatively conservative, can not use even if the user is not configured still.If the user has the special demand can this object of flexible configuration, select more suitably redundant configuration.
At the scene the redundant link of setting up in the bus communication protocol stack to as if be used to describe the issue field data source device address, issue field data the issue of source device data process, subscribe to the destination device address of field data and the process of subscribing to field data; Redundant link obtains the input identical with primary link; Redundant link passes to target device to field data; Redundant link object support read-write service; Above-mentioned field data is meant the data of information such as the relevant field control that need transmit constantly in regulation and warning.
When carrying out the configuration configuration, carry out redundant configuration simultaneously, the link illustraton of model after the configuration is as shown in Figure 2.
The inventive method increases the Redundancy Management application process at client layer, and the effect of this application process is to safeguard and redundant relevant information that according to redundant role's difference of place equipment, the function of execution is different.Comprise the Redundancy Management entity on the redundancy application process logic.The effect of Redundancy Management entity is to be used to monitor, send, handle redundant handed over service and redundant one section program switching message; In instrument A shown in Figure 2, the function of Redundancy Management entity is to handle redundant handoff request message, and the node information of this message and link information etc. are extracted, and determines it is the redundant handoff request which equipment is sent in the redundancy relationship, and verifies its correctness; And be responsible for organizing redundant switching command, order is in the interior armamentarium of the leading redundancy relationship of this redundance unit and carries out the redundancy switching.
As shown in Figure 4, redundant handoff request message comprises Length field 2 bytes, and the Length field is used to illustrate the length of valid data; Which primary link failure Linkage Fault Info field 16 bytes, this field are used to illustrate, and possible link failure reason; NodeTAG field 32 bytes, this field are used to illustrate the node TAG of the equipment of issuing redundant handoff request message; Backup Linkage No. field, reserve link is numbered 4 bytes, and this field is pointed out corresponding redundant link numbering; The Reserved field keeps position 4 bytes, waits until in the future standby; This message is by redundant handoff request service organization and send.
As shown in Figure 5, redundant switching command message comprises Length field 2 bytes, and the Length field is used to illustrate the length of valid data; Backup Linkages series field 64 bytes, this field are used to point out the redundant link information that all need switch; NodeTAG field 32 bytes, this field are pointed out the node TAG of redundancy feature piece place equipment; Respond the type field 4 bytes, this field are pointed out the mode that responds to be defaulted as 0, and expression does not have response; ShiftDelay field 4 bytes are pointed out the maximum-delay that switches; The Reserved field keeps position 4 bytes, waits until in the future standby; This message is by redundant switching command service organization and send;
Shown in Fig. 6～8, elaborated the whole redundant process of switching.Fig. 6 has provided the flow process of being handled significant message and overtime incident thereof under the normal condition by redundance unit.In configuration and after redundancy relationship is set, each link is started working, main functional blocks has identical input with its corresponding redundant functional block, and system is that each bar is started a redundant watchdog timer by the primary link of redundancy, is used for monitoring the overtime incident of significant message on this link; Receive at first whether the judgement symbol message is overtime after the data; If overtime, then the time-out count device increases progressively 1, if expired times arrive specified number or amount, then sends redundant handoff request message and enters the next round circulation; If not overtime, the corresponding redundant watchdog timer is stopped, using active link institute load Data Update field data, enter the next round circulation.
Usually, in link relation as shown in Figure 2, if master controller 1 goes wrong, then each primary link corresponding redundant watchdog timer will be overtime successively, and each relevant device adopts identical strategy when this class of processing is overtime; After standby PID1 place instrument A receives redundant handoff request message (one or more than, having one can trigger), issue redundant switching command message, all equipment that comprise redundant link begin to force to switch in the order redundancy relationship;
Fig. 7 has illustrated the treatment scheme the when redundance unit at backup functionality piece place is received redundant handoff request message.When redundance unit is received redundant handoff request message, extract the message node information, judge whether it is to receive redundant handoff request message for the first time, if, extract the link redundancy information of this redundancy relationship, call the redundant switching command message of redundant switching command service construction, broadcast redundant switching command message, the issue redundant link switches reports to the police, and this processing procedure finishes; If not receiving redundant handoff request message for the first time, illustrate and carried out switching command, ignore this redundant handoff request, do not need to carry out once more, this processing procedure finishes.
As shown in Figure 8, after equipment is received redundant switching command message, extract the link redundancy information of redundancy relationship, judge whether to be in same redundancy relationship, in this way, then search the redundant link object, the duty that redundant link is set is 1, it is 0 that the primary link duty is set, and the expression redundant link is started working, and primary link lost efficacy; If not being in same redundancy relationship, then ignore this redundant switching command, this processing procedure finishes.
As shown in Figure 9, be the redundant handoff procedure in the inventive method.At first, instrument B examines that to be linked to the primary link of IN input end of instrument B from the OUT of master controller 1 overtime, and reach stipulated number (present embodiment is 3 times), instrument B then thinks the incident of switching, and carries out redundancy in this locality and switches, and the redundant handoff request message of broadcast distribution, master controller 1 is not a redundance unit, ignores this message, and instrument A receives and handle this message as redundance unit, issue redundant switching command, the armamentarium that order is in this redundancy relationship carries out the redundancy switching; Also no longer trigger redundant switching command if also have other equipment to issue redundant handoff request in the same redundancy relationship.
Claims (12)
1. high-availability function block redundancy method is characterized in that may further comprise the steps:
Field apparatus is carried out addition processing: utilize and finish the necessary field apparatus of control function in the control loop, set up the backup functionality piece that is used for redundancy as hardware platform; Incremental redundancy link objects on original field bus protocol stack basis; Be field apparatus incremental redundancy information object, redundant handoff request service, redundant switching command service, Redundancy Management entity and redundant watchdog timer;
Configuration also is provided with redundancy relationship: the field apparatus after the above-mentioned addition processing is formed on-the-spot loop, and configuration also is provided with corresponding main functional blocks and the back-up functional block;
Described redundancy relationship be meant an equipment that contains the backup functionality piece and all by backup functionality piece in this equipment the set of redundant field apparatus;
It is synchronous that main functional blocks and backup functionality piece are carried out real time data, and promptly main functional blocks is used identical input with the backup functionality piece, calculate simultaneously, and main functional blocks output result, the backup functionality piece calculates but does not export the result;
When the main functional blocks in the same redundancy relationship lost efficacy, the field apparatus of Fa Xianing called redundant handoff request service and sends the redundant message that switches at first;
The equipment at backup functionality piece place is the redundance unit reception and handles redundant handoff request message, calls redundant switching command service, and the redundant switching command message of the issue overall situation is notified all relevant devices to carry out redundancy and switched.
2. by the described high-availability function block redundancy method of claim 1, it is characterized in that also comprising operator intervention formula link-recovery mechanism, promptly finish when switching in redundancy, when system enters new duty, if the main functional blocks restore funcitons, the hand-operated forced switching of operator is returned main functional blocks and is controlled.
3. by the described high-availability function block redundancy method of claim 1, it is characterized in that:
Described backup functionality piece is based on the functional block rank of software engineering, and the functional block that the functional block that adopts the field apparatus in the same control loop to set up is come redundant master controller does not need the extra new hardware that is exclusively used in redundancy feature that increases.
4. by the described high-availability function block redundancy method of claim 1, it is characterized in that:
Described redundant link to as if be used for a kind of program structure of communicating by letter between the redundancy feature piece, be a kind of object of describing the redundant link relation; The process of the process of the source device address of redundant link object factory issue field data, the source device data issue of issue field data, the destination device address of subscribing to field data, subscription field data.
5. by the described high-availability function block redundancy method of claim 1, it is characterized in that:
Described redundant information object is used for the organization and administration redundant information, comprising: can be for redundant functional block number, normal message time-out time and force revert primary link whether.
6. by the described high-availability function block redundancy method of claim 1, it is characterized in that:
Described redundant handoff request service is not for there being the connectionless network service of affirmation, when the equipment monitor that participates in redundant link communication as the subscriber to the overtime stipulated number that reaches of significant message, a kind of overall broadcast service of calling; The redundant handoff request message of this service issue.
7. by the described high-availability function block redundancy method of claim 1, it is characterized in that:
Described redundant switching command service is not for there being the connectionless network service of affirmation, redundance unit is received after the redundant handoff request message of any equipment issue that redundancy relationship arranged with it, this service of calling requires the subscriber who all participates in redundant link communication to carry out the link change action.
8. by the described high-availability function block redundancy method of claim 1, it is characterized in that:
Described Redundancy Management entity is to be used to monitor, send, handle redundant handed over service and the redundant program of switching message.
9. by the described high-availability function block redundancy method of claim 1, it is characterized in that:
Described redundant watchdog timer is software or hardware timer; This timer monitors that each has the end points of primary link, redundant link simultaneously; The unified configuration of the time-out time of all timers; Timer lost efficacy or the incident that switches up to respective link for recycling; The condition that timer is reset is that the field data of the primary link transmission of the end points that monitors arrives or timer expiry at the appointed time; The timer expiry incident recurs and if do not reach stipulated number, the timer and write down overtime incident of then resetting; Then stop timer, the trigger link handover event if reach stipulated number.
10. by the described high-availability function block redundancy method of claim 1, it is characterized in that:
The described redundant message that switches of redundant handoff request service transmission that calls may further comprise the steps:
In configuration and after redundancy relationship is set, restart redundant watchdog timer;
Judge and receive whether significant message is overtime;
If overtime, then the time-out count device increases progressively 1;
If expired times arrive specified number or amount, then send redundant handoff request message and enter the next round circulation;
If do not reach the number of times of regulation, then enter the next round circulation;
If receive that significant message is not overtime, the corresponding redundant watchdog timer is stopped, using active link institute load Data Update field data, enter the next round circulation.
11., it is characterized in that by the described high-availability function block redundancy method of claim 1:
Described redundance unit receives and handles redundant handoff request message and may further comprise the steps:
When redundance unit is received redundant handoff request message, extract the message node information;
Judge whether it is to receive for the first time redundant handoff request message, if extract the link redundancy information of this redundancy relationship;
Call the redundant switching command message of redundant switching command service construction, broadcast redundant switching command message, the issue redundant link switches reports to the police, and this processing procedure finishes;
If not receiving redundant handoff request message for the first time, ignore this redundant handoff request, this processing procedure finishes.
12. by the described high-availability function block redundancy method of claim 1, it is characterized in that: described redundance unit is notified all relevant devices to carry out the redundancy switching and be may further comprise the steps:
After equipment is received redundant switching command message, extract the link redundancy information of redundancy relationship, judge whether to be in same redundancy relationship, in this way, then search the redundant link object, the duty that redundant link is set is 1, and it is 0 that the primary link duty is set, the expression redundant link is started working, and primary link lost efficacy; If not being in same redundancy relationship, then ignore this redundant switching command, this processing procedure finishes.
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| CN109743242B (en) * | 2018-12-28 | 2021-06-08 | 联创汽车电子有限公司 | CAN bus message control system and control method thereof |
| CN111159089B (en) * | 2019-12-30 | 2022-03-29 | 北京和利时系统集成有限公司 | Equipment communication method and system under redundant host link collision mode |
| CN111522223A (en) * | 2020-05-13 | 2020-08-11 | 上海东方泵业(集团)有限公司 | Secondary water supply double-control system |
| CN114257498B (en) * | 2020-09-22 | 2024-04-19 | 中车株洲电力机车研究所有限公司 | Communication system, method and device for detecting redundancy failure of communication system |
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