CN102540874A - Equipment control system and redundant control method thereof - Google Patents
Equipment control system and redundant control method thereof Download PDFInfo
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Abstract
The invention relates to an equipment control system and a redundant control method thereof. The equipment control system comprises a monitoring unit and at least three control units; the monitoring unit is respectively connected with the control units and is used for managing the states of the control units in a centralized way and monitoring the states of the control units; the control units are used for controlling external equipment connected with the control units; at least one of the control units is a main control unit used for controlling the action of the external equipment and the operation of the entire system; at least one of the control units is an auxiliary control unit used for being in charge of controlling the action of the external equipment and receiving a command of the main control unit; and at least one of the control units is a standby control unit used for temporarily not controlling the action of the external equipment. When a fault occurs in one random control unit in the main control unit and the auxiliary control unit, the role of the standby control unit is converted, and the standby control unit is in charge of the function of the main control unit or the auxiliary control unit.
Description
Technical field
The present invention relates to precision air conditioner control field, relate in particular to the apparatus control system and the redundancy control method of a kind of employing MODBUS agreement (serial communication protocol).
Background technology
Redundant system in the past mainly contains two kinds of implementations, and a kind of is hardware redundancy, and the redundant module that needs to buy particular brand realizes that cost is expensive.A kind of is to realize two-node cluster hot backup through software; Through special bus communication; One as master control programmable logic controller (PLC) (Programmable logic controller; PLC is designated hereinafter simply as the PLC controller) control total system operation, a state that is used for surveillance as subsequent use PLC controller.The controller that can realize hot-backup function in the market generally all is to the professional controller of certain specific industry or medium-and-large-sized controller.But redundant realization of regular software also can only be realized two-node cluster hot backup, and promptly when the main control PLC controller failure was idle, subsequent use PLC controller was shouldered the responsibility of master control; And alert is changed module; Promptly can only realize main---change between being equipped with, realization is main between many opertaing devices---from transposing, the master---is equipped with and changes if industry spot requires; From---be equipped with transposing, can't realize.Comprehensive above two kinds of redundant implementation methods need extra increase particular module, and perhaps based on accomplishing under the particular communication agreement, the function that software redundancy realizes is not strong again.
Summary of the invention
The objective of the invention is to address the above problem; A kind of apparatus control system and redundancy control method thereof are provided; Not only can realize main website---slave station---the standby station Redundant Control of many opertaing devices, and can practice thrift cost, be not limited to the communications protocol of specific label.
For realizing above-mentioned purpose, the present invention adopts following technical proposals:
A kind of apparatus control system is characterized in that, comprises with lower unit:
One monitoring unit and at least three control modules;
Said monitoring unit is connected with said control module respectively, is used to manage concentratedly and monitor the state of control module;
Said control module is used to control the external unit that is connected with said control module;
Having a control module in the wherein said control module at least is that the master uses control module, is used to control the action and the total system operation of said external unit; Have a control module in the said control module at least for from using control module, be used to control the action of said external unit and receive said main order with control module; Having a control module in the said control module at least is subsequent use control module; Be used for temporarily not controlling the action of said external unit; When said main with control module and from control module any control module break down; Said subsequent use control module changing role is responsible for main with control module or from the function with control module.
Further, the said control module in the described apparatus control system comprises one or more programmable logic controller (PLC)s and a manipulater; A said manipulater is connected with programmable logic controller (PLC) through the RS232 communications protocol, is used for said programmable logic controller (PLC) is received, sends instruction; Said programmable logic controller (PLC) is used to control the external unit that is connected with said programmable logic controller (PLC).
Further, said a plurality of programmable logic controller (PLC) is direct-connected successively.
Further, the number of said control module is three to eight; The number of programmable logic controller (PLC) is one to five in each control module.
Further; Said identical with said master with programmable logic controller (PLC) in the control module from interfacing equipment baud rate, communication format with each programmable logic controller (PLC) the control module; Said programmable logic controller (PLC) is supported ASCII and RTU (Remote Terminal Units, remote-terminal unit) pattern.
Further, said have uniqueness from station number and said main station number with each programmable logic controller (PLC) in the control module with each programmable logic controller (PLC) the control module; Said initial by said master with control module link appointment from station number with each programmable logic controller (PLC) the control module.
A kind of method of Redundant Control adopts described apparatus control system, may further comprise the steps:
(a) in apparatus control system, control module independently be set to separately main with control module, from control module and the subsequent use control module any one;
(b) in the time of setting, said control module is carried out poll check;
(c) fault in control module is judged the control module of said fault; If the control module of fault is main use control module, then execution in step (d); If the control module of fault is from using control module, then execution in step (f); If the control module of fault is subsequent use control module, then subsequent use control module maintenance is carried out and is finished;
(d) use control module, subsequent use control module to be set to from be set to the master with control module from using control module;
(e) master of fault fixes the back and is set to subsequent use control module with Awaiting Overhauls such as control modules;
(f) subsequent use control module is set to from using control module, and the master remains unchanged with the control module setting;
(g) fault from Awaiting Overhauls such as control modules, fix the back and be set to subsequent use control module.
Further, in the process by step (c) execution in step (d), (d) further may further comprise the steps before in execution in step:
(c1) control module of said fault is further judged to have one at least from control module also fault if find also to exist, execution in step (c2) then, if do not find from using the control module fault, execution in step (d) then;
(c2) subsequent use control module is set to the main control module of using, and continues execution in step (c3);
(c3) fault is main with control module with from Awaiting Overhauls such as control modules, and will lead with control module with from overhauling good being set to from using control module with any control module the control module is first.
The invention has the advantages that,, not only can realize main with control module-from Redundant Control with control module-subsequent use control module through the redundancy control method of said employing MODBUS agreement; And the communications protocol that can not limit to specific label; In addition, also practiced thrift cost.
Description of drawings
Fig. 1 is the structured flowchart of apparatus control system according to the invention;
Fig. 2 is the implementation step process flow diagram of the embodiment of redundancy control method according to the invention;
Fig. 3 is the schematic flow sheet that poll check is set;
Fig. 4 is the process flow diagram of the practical implementation step of the embodiment of the invention one said redundancy control method;
Fig. 5 is the process flow diagram of the practical implementation step of the embodiment of the invention two said redundancy control methods.
Embodiment
Elaborate below in conjunction with the embodiment of accompanying drawing to present device control system and redundancy control method thereof.
Referring to Fig. 1 is the structured flowchart of apparatus control system according to the invention.A kind of apparatus control system comprises:
One monitoring unit M10 and three control modules (being respectively M20, M21 and M22).Monitoring unit M10 is connected with control module M20, control module M21 and control module M22 respectively through the RS485 communications protocol, is used to manage concentratedly and monitor the state of control module M20, control module M21 and control module M22.Control module M20, control module M21 and control module M22 are used to control the external unit (for example external unit is an air-conditioning) that is connected with control module.Wherein having a control module in the control module at least is that the master uses control module M20, is used to control the action and the total system operation of said external unit.Have a control module in the control module at least for from using control module M21, be used for being responsible for the action of the said external unit of control and receive main order with control module M20.Having a control module in the control module at least is subsequent use control module M22; Be used for temporarily not controlling the action of said external unit; When main with control module M20 and from control module M21 any control module break down; Said subsequent use control module changing role is responsible for main with control module or from the function with control module.In this article, main with control module or claim main website, from control module or claim slave station, subsequent use control module or claim standby station.Said main website, slave station, three roles' of standby station device structure performance is identical, can bear different roles according to on-the-spot actual needs.
Control module M20 comprises one or more programmable logic controller (PLC) M201 and a manipulater M202.Manipulater M202 is connected M201 through the RS232 communications protocol with programmable logic controller (PLC), is used for programmable logic controller (PLC) M201 is received, sends instruction.Programmable logic controller (PLC) M201 is used to control the external unit that is connected with programmable logic controller (PLC) M201.Wherein, a plurality of programmable logic controller (PLC) M201 are direct-connected successively.
The MODBUS communication protocol that the present invention adopts is supported traditional RS-232, RS-422, RS-485 and ethernet device.Many commercial units comprise that PLC, DCS (Distributed Control System, dcs) and intelligence instrument etc. are all using Modbus communication protocol as the communication standard between them.The opertaing device that different vendor produces is linked to be industrial network through adopting MODBUS communication protocol, can carry out Centralized Monitoring.
The number of said control module is three to eight; The number of programmable logic controller (PLC) is one to five in each control module.In embodiments of the present invention, control module is three, is respectively control module M20, control module M21 and control module M22, but the editorial logic controller M201 in every group of control module is five.
Identical with programmable logic controller (PLC) M201 among the control module M20 from interfacing equipment baud rate, communication format with the master with each programmable logic controller (PLC) M201 the control module M21; Programmable logic controller (PLC) M201 supports ASCII and RTU (Remote Terminal Units, remote-terminal unit) pattern.
Do not repeat with main station number from station number with each programmable logic controller (PLC) M201 among the control module M20 with each programmable logic controller (PLC) M201 the control module M21; Specify initial by main with control module M20 link from station number with each programmable logic controller (PLC) M201 the control module M21.For example; The master is set by D1211/D1244 with the station number of the PLC controller among the control module M20; Set (be that D1399 is a fixed address, be used to set the station number of slave station) from station number by main D1399 with the PLC controller among the control module M20 with the PLC controller the control module M21.
The main difficulty of apparatus control system is the role's transposing between master/slave/subsequent use control module; If this equipment is the place that seldom arrives or can not in time arrive some maintainers; So just need said apparatus control system do-it-yourself to judge; That is to say that three control modules can carry out autonomous role assignments under different situations, and want the real time record master with the data before the control module fault.Main with in the centralized supervisory and control equi of data storing in monitoring unit before the control module.
In specific embodiment of the present invention, monitoring parameter is provided with as follows:
| Sequence number | Describe | Time-delay | Device motion |
| 01 | Screen pack blocks (ID7) | 10S | During this fault generating, show that the cabinet screen pack is dirty, only prompting needs to clean (air) screen pack. |
| 02 | Compressor 1 back pressure transducer fault | 60S | Lock 1# compressor generally requires hand-reset, after fault solves, by the hand-reset of " alarm " key. |
| 03 | Compressor 1 back pressure transducer fault | 60S | Lock 2# compressor generally requires hand-reset, after fault solves, by the hand-reset of " alarm " key. |
| 04 | Pyrotechnics warning (ID2) | In case this fault generating, complete machine is lockable immediately; By the hand-reset of " alarm " key. | |
| 05 | User Defined warning (ID14) | In case this fault generating, complete machine is lockable immediately; By the hand-reset of " alarm " key. | |
| 06 | Pressure fan (evaporator) overload/heat protection (ID6) | If be AC blower fan (AC blower fan), report to the police and do not have time-delay; If be EC blower fan (brush DC blower fan), reporting to the police starts time-delay 10 seconds, the operation time-delay 5 seconds of reporting to the police; If recur twice in 30 minutes, automatically reset for the first time, need by the hand-reset of " alarm " key for the second time. | |
| 29 | The indoor humidity sensor fault | 60S | The back time-delay takes place this fault reported to the police in 1 minute, stopped the load relevant with humidity, by the hand-reset of " alarm " key. |
| 30 | The indoor temperature transmitter fault | 60S | The back time-delay takes place this fault reported to the police in 1 minute, stopped the load relevant with humidity, by the hand-reset of " alarm " key. |
| 31 | The wind pushing temperature sensor fault | 60S | The back time-delay takes place this fault reported to the police in 1 minute, stopped the load relevant with humidity, by the hand-reset of " alarm " key. |
| 32 | Floor water leakage alarm (ID8) | 5S | The general time-delay of this fault 5 seconds in case take place, is pinned humidifier earlier, and compressor remains in operation, if in 30 minutes, this fault can not reset, and compressor also will stop; By the hand-reset of " alarm " key. |
| 33 | The chilled water pump overload | Stop refrigeration and dehumidifying, continue to keep after 30 minutes halt system if report to the police.By the hand-reset of " alarm " key. | |
| 34 | The chilled water flow switch is reported to the police | 30S/5S | Presentation Function is only arranged; By the hand-reset of " alarm " key. |
Referring to Fig. 2 is the implementation step process flow diagram of the embodiment of redundancy control method according to the invention, and said redundancy control method is applied to may further comprise the steps in the apparatus control system:
S201: in apparatus control system, control module independently be set to separately main with control module, from control module and the subsequent use control module any one.
Wherein, the master as master control, controls the total system operation with control module.From be used for being responsible for the action and the main order of reception of opertaing device with control module with the control module programmable logic controller (PLC).The temporary transient not action of opertaing device of subsequent use control module, when main with control module and from control module any unit break down said subsequent use control module changing role, responsible leading with control module or from function with control module.
S202: in the time of setting, said control dummy cell is carried out poll check.
Referring to Fig. 3 is the schematic flow sheet that poll check is set.In specific embodiment of the present invention, to the setting operation from carrying out poll check with control module, step is following:
1. set to start and write function simultaneously at a poll time (for example, device M1354).
2. when device M1355=ON, set manually that slave station 1 ~ 16 is whether online (for example, sets flag M1360 ~ M1375);
When device during M1355=OFF, whether online (for example, the monitoring flag M1360 ~ M1375) of Auto-Sensing slave station 1 ~ 16.
3. be set at automatic mode (for example, device M1351), perhaps set startup, set wrap count (for example, D1431) for manual mode (for example, device M1352) (noticing that manual pattern can not be ON simultaneously).
4. set to start main-from-online (for example, device M1350) between subsequent use.
Below provide an example be used to explain main with-from control module on line operation process:
1. will lead the time that is power-up to startup with each PLC controller in the control module all is set at different value (time that station number is more little is just short more; The suggestion time defined according to the broken string time) (suppose 10 seconds; 10 seconds of that station number K1,20 seconds of K2,30 seconds of K3 ... .).
2. being provided with from the position that writes/read with each PLC controller the control module all is the same (supposing to write address is D200).
3. be set at and do not start automatic search from control module function (device M1355=ON).
4. when the minimum PLC controller of station number begins to do the communication connecting moves in leading with control module, can write a numerical value (supposing it is K1234) to from D200 with each PLC controller the control module.
5. said when each PLC controller is checked D200 whether as K1234 at every turn from use control module, if when D200 is K1234, then expression is main with control module with from normal with communication between controlling, and promptly equipment operation is normal.When if D200 is not K1234; Then expression is main with control module with from communication between the control module undesired (lead and break down with control module); Use control module from be set to the master automatically with control module so, subsequent use control module is set to from using control module.
System's control address table of below listing is used for explanation in employed different device of specific embodiment of the present invention and corresponding function introduction thereof.
| ? | System's control address table |
| Device | Function introduction |
| M1350 | Start the PLC-LINK function |
| M1351 | Startup PLC-LINK is an automatic mode |
| M1352 | Startup PLC-LINK is a manual mode |
| M1353 | Start the PLC-LINK32 platform and surpass 16 read-write capabilitys (maximum 10) |
| M1354 | Start the PLC-LINK read-write capability simultaneously a poll time |
| M1355 | During for ON, do not carry out the line detecting, during for OFF, start all lines of detecting |
| M1360 | The state of PLC-LINK slave station 1 |
| M1361 | The state of PLC-LINK slave station 2 |
| M1362 | The state of PLC-LINK slave station 3 |
| M1392 | Slave station 1 Miswire |
| M1393 | Slave station 2 Miswires |
| M1394 | Slave station 3 Miswires |
| M1 | Represent and do main website this moment |
| M3 | Slave station ID1 Miswire |
| M4 | Slave station ID2 Miswire |
| M5 | Do slave station and driving arrangement work during ON |
| D1496 | Main website writes the first address date register of ID1 |
| D100 | Slave station ID1 writes the first address |
| D200 | Slave station ID1 reads the first address |
| D1431 | Set wrap count |
S203: fault in control module, the control module of said fault is judged; If the control module of fault is the main control module of use, has one at least from control module also fault if find also existence, then execution in step S204; If do not find from using the control module fault, execution in step S206 then; If the control module of fault be from use control module, execution in step S207 then, if the control module of fault is subsequent use control module, then subsequent use control module maintenance, execution end.
S204: subsequent use control module is set to the main control module of using.
S205: fault main with control module and fault from Awaiting Overhauls such as control modules, main with control module with from overhaul being set to well with any control module elder generation the control module from using control module.
S206: use control module from be set to the master with control module, subsequent use control module is set to from using control module.
S207: the master of fault fixes the back and is set to subsequent use control module with Awaiting Overhauls such as control modules.
S208: subsequent use control module is set to from using control module, and the master remains unchanged with the control module setting.
S209: fault from Awaiting Overhauls such as control modules, fix the back and be set to subsequent use control module.
Below provide two embodiment (embodiment one and embodiment two), be used to explain the practical implementation step of redundancy control method according to the invention, process flow diagram is respectively referring to Fig. 4 and Fig. 5.
Embodiment one, main using-carry out according to above-mentioned basic step (referring to Fig. 2) from the switching mode of usefulness, and concrete steps are (referring to Fig. 4) as follows:
Step S401: in apparatus control system, to three groups of control modules independently be set to separately main with control module, from control module and the subsequent use control module any one.Wherein the master uses control module to be A, is B from using control module, and subsequent use control module is C.Carrying out communication through RS-485 between control module A, control module B and the control module C connects.
Step S402: in the time of setting, said control dummy cell B is carried out poll check.Control module A understands in the time of setting regularly and whether control module B inquires about online.
Step S403: when control module A fault; Because control module B according to the parameter that pre-sets, is set to main with control module (promptly taking on main role with control module), the operation of control total system automatically; Meanwhile; Control module C also is set in the centralized supervisory and control equi of monitoring unit, obtain the message of control module A fault, Awaiting Overhauls such as control module A prompting from control (promptly taking on from the role with control module) automatically.
Step S404: the control module A of fault maintenance finishes, and recovers operate as normal, and then control module B still is set to the main control module, control module C used and still is set to from using control module, and control module A is set to subsequent use control module automatically.
Step S405: if control module A do not recover operate as normal, still be in alarm condition, and phenomenon of the failure has taken place also control module B, then control module C automaticallyes switch and is set to the main control module of use, is responsible for the control total system and moves.Meanwhile, in the centralized supervisory and control equi of monitoring unit, obtain the message of control module B fault and the prompting of great warning.
Step S406: control module B still is in malfunction; And control module A has been repaired, recovers operate as normal, and then control module C still is set to the main control module of using; Control module A is set to from using control module automatically, and the control module B of fault still points out and needs maintenance.
Step S407: as if control module C catastrophic failure this moment; And the control module B of fault has repaired, and recovers operate as normal, and then control module A is set to the main control module of using; Control module B also is set to from using control module automatically, and the Awaiting Overhauls such as control module C prompting of fault.
Step S408: the control module C of fault recovers normal through maintenance, and then control module A still is set to lead and uses control module, control module B still to be set to from using control module, and control module C is set to subsequent use control module automatically.
Embodiment two, carry out according to above-mentioned basic step (referring to Fig. 2) from usefulness-subsequent use switching mode, and concrete steps are (referring to Fig. 5) as follows:
Step S501: in apparatus control system, to three groups of control modules independently be set to separately main with control module, from control module and the subsequent use control module any one.Wherein the master uses control module to be A, is B from using control module, and subsequent use control module is C.Carrying out communication through RS-485 between control module A, control module B and the control module C connects.
Step S502: in the time of setting, said control dummy cell B is carried out poll check.Control module A understands in the time of setting regularly and whether control module B inquires about online.
Step S503: when control module B fault; Then control module A still is set to the main control module of using; And control module C is set to from using control module automatically, in the centralized supervisory and control equi of monitoring unit, obtains the message of control module B fault, Awaiting Overhauls such as control module B prompting.
Step S504: the control module B of fault recovers normal through maintenance, and then control module A still is set to the main control module, control module C used and is set to from using control module, and control module B is set to subsequent use control module automatically.
Step S505: if control module C catastrophic failure; Then control module A still is set to the main control module of using; Control module B is set to from using control module automatically, and in the centralized supervisory and control equi of monitoring unit, obtains the message of control module C fault, and prompting control module C needs maintenance.
Step S506: the control module C of fault recovers normal through maintenance; And control module A catastrophic failure; Then control module B is set to the main control module of using automatically; C is set in the centralized supervisory and control equi of monitoring unit, obtain the message of control module A fault from using control module automatically, and prompting control module A needs maintenance.
Step S507: the control module A of fault also recovers normal through maintenance, and then control module B still is set to lead and uses control module, control module C still to be set to from using control module, and control module A is set to subsequent use control module automatically.
Step S508: between step S503 and step S504; If control module C catastrophic failure; And the control module B of fault does not recover, and then control module A still is set to the master and uses control module, in the centralized supervisory and control equi of monitoring unit, obtains the message of control module B, C fault; Prompting control module B and control module C need maintenance, and great warning is arranged.
Step S509: after step S508; If the control module B of fault recovers normal through maintenance; Then control module A still is set to the main control module of using; Control module B is set in the centralized supervisory and control equi of monitoring unit, still obtain the message of control module C fault from using control module automatically, and prompting control module C needs maintenance.
Step S510: after step S509, if the control module C of fault recovers normal through maintenance, then control module A still is set to mainly use control module, control module B still to be set to from using control module, and control module C then is set to subsequent use control module automatically.
In above each step, it is main with control module (promptly taking on main role with control module) all to guarantee to have one group of control module to be set to, and the assurance total system is normally moved.
The above only is a preferred implementation of the present invention; Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; Can also make some improvement and retouching, these improvement and retouching also should be regarded as protection scope of the present invention.
Claims (8)
1. an apparatus control system is characterized in that, comprises with lower unit:
One monitoring unit and at least three control modules;
Said monitoring unit is connected with said control module respectively, is used to manage concentratedly and monitor the state of control module;
Said control module is used to control the external unit that is connected with said control module;
Having a control module in the wherein said control module at least is that the master uses control module, is used to control the action and the total system operation of said external unit; Have a control module in the said control module at least for from using control module, be used to control the action of said external unit and receive said main order with control module; Having a control module in the said control module at least is subsequent use control module; Be used for temporarily not controlling the action of said external unit; When said main with control module and from control module any control module break down; Said subsequent use control module changing role is responsible for main with control module or from the function with control module.
2. apparatus control system as claimed in claim 1 is characterized in that,
Said control module comprises one or more programmable logic controller (PLC)s and a manipulater;
A said manipulater is connected with programmable logic controller (PLC) through the RS232 communications protocol, is used for said programmable logic controller (PLC) is received, sends instruction;
Said programmable logic controller (PLC) is used to control the external unit that is connected with said programmable logic controller (PLC).
3. apparatus control system as claimed in claim 2 is characterized in that, said a plurality of programmable logic controller (PLC)s are direct-connected successively.
4. apparatus control system as claimed in claim 2 is characterized in that, the number of said control module is three to eight; The number of programmable logic controller (PLC) is one to five in each control module.
5. apparatus control system as claimed in claim 2; It is characterized in that; Said identical with programmable logic controller (PLC) in the control module with said master from interfacing equipment baud rate, communication format with each programmable logic controller (PLC) the control module, said programmable logic controller (PLC) is supported ASCII and RTU pattern.
6. apparatus control system as claimed in claim 2 is characterized in that,
Said have uniqueness from station number and said main station number with each programmable logic controller (PLC) in the control module with each programmable logic controller (PLC) the control module; Said initial by said master with control module link appointment from station number with each programmable logic controller (PLC) the control module.
7. the method for a Redundant Control adopts the apparatus control system described in the claim 1, it is characterized in that, may further comprise the steps:
(a) in apparatus control system, control module independently be set to separately main with control module, from control module and the subsequent use control module any one;
(b) in the time of setting, said control module is carried out poll check;
(c) fault in control module is judged the control module of said fault; If the control module of fault is main use control module, then execution in step (d); If the control module of fault is from using control module, then execution in step (f); If the control module of fault is subsequent use control module, then subsequent use control module maintenance is carried out and is finished;
(d) use control module, subsequent use control module to be set to from be set to the master with control module from using control module;
(e) master of fault fixes the back and is set to subsequent use control module with Awaiting Overhauls such as control modules;
(f) subsequent use control module is set to from using control module, and the master remains unchanged with the control module setting;
(g) fault from Awaiting Overhauls such as control modules, fix the back and be set to subsequent use control module.
8. the method for Redundant Control as claimed in claim 7 is characterized in that, in the process by step (c) execution in step (d), (d) further may further comprise the steps before in execution in step:
(c1) control module of said fault is further judged to have one at least from control module also fault if find also to exist, execution in step (c2) then, if do not find from using the control module fault, execution in step (d) then;
(c2) subsequent use control module is set to the main control module of using, and continues execution in step (c3);
(c3) fault is main with control module with from Awaiting Overhauls such as control modules, and will lead with control module with from overhauling good being set to from using control module with any control module the control module is first.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100240580A CN102540874A (en) | 2012-02-03 | 2012-02-03 | Equipment control system and redundant control method thereof |
| TW101113264A TWI454870B (en) | 2012-02-03 | 2012-04-13 | System and method for redundancy control |
Applications Claiming Priority (1)
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| CN103850802A (en) * | 2012-12-04 | 2014-06-11 | 中航商用航空发动机有限责任公司 | TTP/C (time-triggered protocol communication) bus-based electronic controller and FADEC (full authority digital engine control) system |
| CN105518547A (en) * | 2013-09-10 | 2016-04-20 | 施耐德电器工业公司 | Automation system |
| CN105715527A (en) * | 2016-02-01 | 2016-06-29 | 深圳市英威腾电气股份有限公司 | Air compressor touch screen joint control system and method |
| CN107708409A (en) * | 2015-05-18 | 2018-02-16 | 吉斯艾集团有限责任公司 | Animal house environmental control system with multilevel redundancy |
| CN109721011A (en) * | 2019-01-15 | 2019-05-07 | 江苏徐工工程机械研究院有限公司 | A kind of high-altitude operation vehicle modularization redundancy control method and system |
| CN109901503A (en) * | 2019-02-18 | 2019-06-18 | 唐山不锈钢有限责任公司 | The monitoring system and method for stand-by equipment supportability |
| CN111965968A (en) * | 2019-05-20 | 2020-11-20 | 华为技术有限公司 | Switching control method, system and device |
| CN112639631A (en) * | 2020-05-19 | 2021-04-09 | 华为技术有限公司 | Control method and device |
| CN113759763A (en) * | 2020-06-04 | 2021-12-07 | 株式会社东海理化电机制作所 | Control device, computer-readable storage medium, and system |
| CN114800492A (en) * | 2022-04-11 | 2022-07-29 | 深圳市大族机器人有限公司 | Method, system, computer device and storage medium for controlling slave station terminal |
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| CN107115575B (en) * | 2017-04-20 | 2020-11-17 | 深圳麦科田生物医疗技术有限公司 | Infusion system |
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| CN107708409A (en) * | 2015-05-18 | 2018-02-16 | 吉斯艾集团有限责任公司 | Animal house environmental control system with multilevel redundancy |
| CN105715527A (en) * | 2016-02-01 | 2016-06-29 | 深圳市英威腾电气股份有限公司 | Air compressor touch screen joint control system and method |
| CN109721011A (en) * | 2019-01-15 | 2019-05-07 | 江苏徐工工程机械研究院有限公司 | A kind of high-altitude operation vehicle modularization redundancy control method and system |
| CN109721011B (en) * | 2019-01-15 | 2020-08-07 | 江苏徐工工程机械研究院有限公司 | Modular redundancy control method and system for aerial work vehicle |
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| CN111965968A (en) * | 2019-05-20 | 2020-11-20 | 华为技术有限公司 | Switching control method, system and device |
| CN112639631A (en) * | 2020-05-19 | 2021-04-09 | 华为技术有限公司 | Control method and device |
| CN112639631B (en) * | 2020-05-19 | 2022-01-11 | 华为技术有限公司 | Control method and device |
| CN113759763A (en) * | 2020-06-04 | 2021-12-07 | 株式会社东海理化电机制作所 | Control device, computer-readable storage medium, and system |
| CN114800492A (en) * | 2022-04-11 | 2022-07-29 | 深圳市大族机器人有限公司 | Method, system, computer device and storage medium for controlling slave station terminal |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201333653A (en) | 2013-08-16 |
| TWI454870B (en) | 2014-10-01 |
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