CN113850033A - Redundancy system, redundancy management method and readable storage medium - Google Patents
Redundancy system, redundancy management method and readable storage medium Download PDFInfo
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Abstract
The application provides a redundancy system, a redundancy management method and a readable storage medium, which comprise a first redundancy device and at least one second redundancy device. The first redundancy device comprises a first controller and a first programmable module; the first controller is connected with the first programmable module through a communication interface; the first programmable module performs data transmission with the at least one second redundancy device and the downlink execution unit through at least one redundancy bus; and at least two kinds of data are respectively transmitted among the first programmable module, the at least one second redundancy device and the downlink execution unit in different time periods through the same redundancy bus. This application can improve data processing's speed and the flexibility ratio of system through the function extension peripheral hardware of programmable module as the controller, in addition, transmits two kind at least data respectively at different time quantums through same redundancy bus, can improve the bus utilization ratio to simplify the wiring complexity.
Description
Technical Field
The present application relates to the field of data transmission technologies, and in particular, to a redundancy system, a redundancy management method, and a readable storage medium.
Background
The redundancy technology is one of design methods for obtaining high reliability, high safety and high viability of a system or equipment. Particularly, when the quality and reliability level of components or parts are low and the reliability requirement of equipment cannot be met by adopting a common design, the redundancy technology has important application value.
Generally, controllers in a traditional redundancy system are mostly designed in an integrated mode, except for signal acquisition, data processing and control algorithm implementation related to actuation control, redundancy management algorithms are all implemented on the controllers, the requirement on the computing capacity of the controllers is high, in addition, the integrated design transplanting capacity is poor, code transplanting is difficult in a subsequent replacement scheme (such as MCU chip type replacement), and the flexibility of the system is poor. In addition, the existing redundancy system usually adopts a point-to-point connection mode or a special bus mode, the connection is complex, and the utilization rate of the bus is not high.
Disclosure of Invention
The application provides a redundancy system, a redundancy management method and a readable storage medium, which can improve the speed of data processing and the flexibility of the system, improve the utilization rate of a bus and simplify the wiring complexity.
The application provides a redundancy system, which comprises a first redundancy device and at least one second redundancy device; the first redundancy device comprises a first controller and a first programmable module; the first controller is connected with the first programmable module through a communication interface; the first programmable module performs data transmission with the at least one second redundancy device and the downlink execution unit through at least one redundancy bus; and at least two kinds of data are respectively transmitted among the first programmable module, the at least one second redundancy device and the downlink execution unit in different time periods through the same redundancy bus.
Preferably, the second redundancy device has the same structure as the first redundancy device; and/or the bus types of at least two redundancy buses in the redundancy system are the same.
Preferably, the first programmable module is configured to schedule and cache cross-channel data and perform redundancy management.
Preferably, the at least two types of data include a cross-channel data frame, and a redundancy voted output signal frame.
Preferably, the first programmable module outputs the first cross channel data through a first redundancy bus, and receives, through the first redundancy bus, the second cross channel sub-data sent by the at least one second redundancy device.
Preferably, the first programmable module outputs the redundancy voting output signal frame to the downstream execution unit through the first redundancy bus.
Preferably, the first programmable module outputs a synchronization signal frame to the at least one second redundancy device through the first redundancy bus.
Preferably, a plurality of interface pins in the first programmable module are respectively connected to corresponding bus interfaces through corresponding PHY chips.
Preferably, a plurality of interface control units in the first programmable module respectively control the corresponding bus interfaces.
The present application further provides a redundancy management method applied to the first programmable module of the redundancy system, where the redundancy management method includes: at least one of synchronization control, fault detection, median signal voting.
Preferably, the synchronization control includes the steps of: acquiring a first current timing value through a local timer in response to receiving a second synchronization signal frame and a third synchronization signal frame sent by a plurality of second redundancy devices through the redundancy bus, wherein the second synchronization signal frame comprises a second current timing value and the third synchronization signal frame comprises a third current timing value; acquiring a difference value of every two values in the first current timing value, the second current timing value and the third current timing value; and compensating the timing value of the local timer according to the median value of the difference values.
Preferably, the fault detection comprises the steps of: broadcasting and sending a state detection frame through the redundancy bus; judging whether a state detection response frame of any second redundancy equipment is received within a first preset time period; if the state detection response frame of any second redundancy equipment is not received within a first preset time period, judging that the first redundancy equipment has a fault; if the state detection response frame of any second redundancy equipment is received in the first preset time period, judging whether the state detection response frames of all the second redundancy equipment are received in the second preset time period; if the state detection response frames of all the second redundancy devices are not received within a second preset time period, judging that the second redundancy devices which do not send the state detection response frames have faults; and if the state detection response frames of all the second redundancy devices are received within a second preset time period, performing fault diagnosis according to the state detection response frames.
Preferably, the median signal voting comprises the following steps: if the voting input data of all the redundancy equipment are normal, outputting the intermediate value of the voting input data of all the redundancy equipment; if the voting input data of one redundancy device is abnormal, outputting the average value of the voting input data of the remaining redundancy devices; and if the voting input data of two or more redundancy devices are abnormal, outputting a failure safety value.
The present application also provides a readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the redundancy management method described above. The redundancy system, the redundancy management method and the readable storage medium provided by the application can improve the speed of data processing and the flexibility of the system by taking the programmable module as a function expansion peripheral of the controller, and in addition, at least two kinds of data are respectively transmitted in different time periods through the same redundancy bus, so that the bus utilization rate can be improved, and the wiring complexity can be simplified.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic diagram of a redundancy system according to a first embodiment of the present application;
FIG. 2 is a schematic diagram of a redundancy system according to a second embodiment of the present application;
FIG. 3 is a schematic diagram of a redundancy system according to a third embodiment of the present application;
FIG. 4 is a flowchart illustrating a synchronization control performed by the redundancy system according to a fourth embodiment of the present application;
fig. 5 is a schematic flow chart illustrating fault detection performed by the redundancy system according to the fifth embodiment of the present application;
fig. 6 is a schematic flow chart of median signal voting performed by the redundancy system according to the sixth embodiment of the present application.
The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings. With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the recitation of an element by the phrase "comprising an … …" does not exclude the presence of additional like elements in the process, method, article, or apparatus that comprises the element, and further, where similarly-named elements, features, or elements in different embodiments of the disclosure may have the same meaning, or may have different meanings, that particular meaning should be determined by their interpretation in the embodiment or further by context with the embodiment.
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The application provides a redundancy system, which comprises a first redundancy device and at least one second redundancy device. The first redundancy device comprises a first controller and a first programmable module. The first controller is connected with the first programmable module through an interface. The first programmable module performs data transmission with at least one second redundancy device and the downlink execution unit through at least one redundancy bus. The first programmable module, at least one second redundancy device and the downlink execution unit respectively transmit at least two kinds of data at different time periods through the same redundancy bus.
First embodiment
Fig. 1 is a schematic structural diagram of a redundancy system according to a first embodiment of the present application. The redundancy system as shown in fig. 1 comprises a first redundancy device 10, 2 second redundancy devices 11a, 11 b. In other embodiments, the number of the second redundancy devices 11 in the redundancy system may also be other positive integers, such as 1, 3, 4, and more, etc.
As shown in fig. 1, the first redundancy apparatus 10 includes a first controller 101, and a first programmable module 102. In an embodiment, the first controller 101 and the first programmable module 102 in the first redundancy device 10 are respectively disposed on different circuit boards and connected through a flexible circuit board. In other embodiments, the first programmable module 102 may also be disposed on a main control circuit board where the first controller 101 is located.
The first controller 101 is connected to the first programmable module 102 through a communication interface. In this embodiment, the first controller 101 is connected to the first Programmable module 102 through a parallel Peripheral Interface, such as an External Memory Interface (EMIF) or a Serial Peripheral Interface (SPI), and the first Programmable module 102 is a Field Programmable Gate Array (FPGA). In other embodiments, the first Programmable module 102 may be another Programmable module such as a Complex Programmable Logic Device (CPLD).
The first redundancy bus 20a and the second redundancy bus 20b have the same function. In the present embodiment, the type of the second redundancy bus 20a is the same as that of the second redundancy bus 20b, and both are CANFD buses, for example. In this embodiment, two interface pins in the first programmable module 102 are respectively connected to the first CANFD bus interface and the second CANFD bus interface through the corresponding first PHY chip and second PHY chip, so as to be respectively connected to the first redundancy bus 20a and the second redundancy bus 20 b. In other embodiments, at least one of the first and second redundancy buses 20a, 20b may also be another type of bus, such as an ARINC629 bus, an RS422 bus, or the like.
In an embodiment, the first controller 101 is configured to complete data acquisition and processing, motion control algorithm implementation, state monitoring, internal redundancy management, and other functions of an internal redundancy device, such as a speed sensor, an atmospheric data sensor, a displacement sensor, and the like, and send communication data, such as first cross channel data and the like, to be cross-transmitted to the first programmable module 102 through a serial or parallel interface, and receive a feedback signal output by the first programmable module 102. In another embodiment, the first controller 101 may also send an internal redundancy device signal of an internal redundancy device, such as a speed sensor, to the first programmable module 102 to enable the first programmable module 102 to perform internal redundancy management, etc.
In this embodiment, the first programmable module 102 performs data interaction with the second redundancy devices 11a, 11b and the downstream execution unit 30 through 2 redundancy buses (e.g., the first redundancy bus 20a and the second redundancy bus 20b shown in fig. 1). The first programmable module 102, the second programmable module 112a, and the second programmable module 112b in the first redundancy device 10, the second redundancy device 11a, and the second redundancy device 11b are connected through the first redundancy bus 20a and the second redundancy bus 20b, so that data transmitted to the first redundancy bus 20a and the second redundancy bus 20b by the first programmable module 102, the second programmable module 112a, and the second programmable module 112b can be shared with each other.
In this embodiment, the first programmable module 102 includes an EMIF interface control unit, a redundancy management unit, a scheduling and caching unit, a first CANFD interface control unit, and a second CANFD interface control unit. In other embodiments, at least one of the redundancy management unit, the scheduling and caching unit, the first CANFD interface control unit, and the second CANFD interface control unit may also be disposed in the first controller 101.
The first programmable module 102 respectively implements control over the first CANFD bus interface and control over the second CANFD bus interface through the first CANFD interface control unit and the second CANFD interface control unit, so that design of software and hardware redundancy can ensure fault and error isolation.
In an embodiment, the scheduling and buffering unit of the first programmable module 102 is configured to schedule and buffer cross-channel data, and the redundancy management unit of the first programmable module 102 is configured to implement redundancy management. The redundancy management performed by the first programmable module 102 may include, but is not limited to: and carrying out synchronous control, input signal voting, output signal voting, signal monitoring, signal equalization, fault detection and processing, system reconstruction and recovery and the like.
Among them, the first programmable module 102, the second redundancy device 11a, the second redundancy device 11b, and the downstream execution unit 30 respectively transmit at least two kinds of data at different time periods through the first redundancy bus 20a and the second redundancy bus 20b, for example, respectively transmit a cross channel data frame and a redundancy voting output signal frame at different time periods. In another embodiment, the first programmable module 102, the second redundancy device 11a, the second redundancy device 11b and the downstream execution unit 30 respectively transmit two or more kinds of data at different time periods through the same redundancy bus 20. Specifically, for example, the first programmable module 102 outputs the first cross channel data through the redundancy bus 20, and receives the second cross channel sub-data sent by the second redundancy device 11a and the third cross channel sub-data sent by the second redundancy device 11b through the redundancy bus 20, and in other time periods, the first programmable module 102 also outputs the synchronization signal frame through the redundancy bus 20, and receives the synchronization signal frames output by the second redundancy device 20a and the second redundancy device 20b, and in another time period, outputs the voting output signal frame to the downstream execution unit 30 through the redundancy bus 20.
In one embodiment, the data of the first programmable module 102, the second programmable module 112a, and the second programmable module 112b are transmitted among the first controller 111, the second controller 111a, the second controller 111b, and the downstream execution unit 30 in a priority format.
Specifically, for example: when the first controller 111, the second controller 111a, and the second controller 111b respectively send a control signal to the downlink execution unit, if the communications of the first controller 111, the second controller 111a, and the second controller 111b to the downlink execution unit 30 are all normal, the redundancy voting output signal frame output by the first programmable module 102 with the highest priority level is preferably transmitted downward through the first redundancy bus 20a with the highest priority level, and the redundancy voting output signal frame corresponding to the second programmable module 112a and the second programmable module 112b is not output. Wherein the priority level of the programmable module may be defaulted by the system. If a communication failure occurs in a certain redundancy device, for example, the first redundancy device 10, the data of the first redundancy device 10 is discarded, the data of the corresponding programmable module is selected according to the priority mode for output, and the corresponding redundancy bus is selected according to the priority mode for transmission.
In one embodiment, if there are multiple redundancy data in the data inside the programmable module, the multiple redundancy data are subjected to redundancy voting. The redundancy data may be generated by the difference between some control results and control data calculated by the first controller 111, the second controller 111a, and the second controller 111 b. Each programmable module carries out redundancy voting on the received data output by other programmable modules, inserts a redundancy voting result into a redundancy voting output signal frame data domain, and transmits the redundancy voting result to the downlink execution unit 30 in a priority control mode. In an embodiment, in order to ensure that each redundancy device uses data of the same period, so as to ensure accuracy and real-time performance of data cross transmission, and accurately implement signal monitoring and voting, the performing, by the first programmable module 102, redundancy management includes: and performing synchronous control.
In an embodiment, the redundancy management unit further performs redundancy management including system reconfiguration and fault recovery. The system reconfiguration means that a fault occurs or is recovered, the number of the system redundancy is reduced or increased, and the system enters a new working structure. The fault recovery strategy may include at least one of waiting for the fault to disappear automatically, forced resetting if the fault cannot be recovered automatically within a certain time, and re-entering the control sequence after the fault is recovered.
In one embodiment, in order to improve reliability of the redundancy system, the performing redundancy management by the redundancy management unit in the first programmable module 102 includes: and carrying out fault detection. In an embodiment, a fault detection strategy based on request/acknowledge handshake is employed between the first redundancy device 10 and the second redundancy devices 11a, 11 b. Specifically, the main redundancy device, for example, the first redundancy device 10 broadcasts a state detection frame to the second redundancy devices 11a and 11b through the redundancy buses 20a and 20b according to a certain detection period, the second redundancy devices 11a and 11b immediately return to the state detection response frame after receiving the state detection frame to report the current working state, and then the first programmable module 101 of the first redundancy device 10 performs fault diagnosis according to the return condition of the state detection response frame.
In one embodiment, before performing the signal voting, it is necessary to determine whether the signal voting needs to be performed according to whether each channel fails. Specifically, if the first, second, and second redundancy devices 10, 11a, and 11b fail, a fail-safe value set empirically is output. If two channels in the first redundancy device 10, the second redundancy device 11a and the second redundancy device 11b fail, voting is not performed, and the output value of the non-failure channel is adopted. If one redundancy device of the first redundancy device 10, the second redundancy device 11a and the second redundancy device 11b fails, voting is not performed, and the average value of the output values of the two channels without failure is adopted. And if the first redundancy equipment 10, the second redundancy equipment 11a and the second redundancy equipment 11b have no faults, comparing the difference value of the three channels with a threshold value, and carrying out median signal voting output.
In an embodiment, the redundancy management further comprises performing median signal voting. The strategy of median signal voting comprises the following steps: if the voting input data of all redundancy equipment, such as the three channels of the embodiment, are normal, outputting the intermediate values of the voting input data of all redundancy equipment; if the voting input data of the redundancy equipment is abnormal, outputting the average value of the voting input data of the remaining two channels; and if the voting input data of two or more redundancy devices are abnormal, outputting a failure safety value.
In one embodiment, the second redundancy device 11a is identical in structure to the second redundancy device 11b and to the first redundancy device 10. The connection and/or data transmission principle between the second controller 111a, 111b and the second programmable module 112a, 112b and the first redundancy bus 20a, 20b may be, but is not limited to, the same as the connection and/or data transmission principle between the first controller 101 and the first programmable module 102, the first redundancy bus 20a, 20 b.
Second embodiment
Fig. 2 is a schematic structural diagram of a redundancy system according to a second embodiment of the present application. As shown in fig. 2, in the present embodiment, the redundancy system includes a first redundancy device 10 and 1 second redundancy device 11.
The first redundancy device 10 includes a first controller 101 and a first programmable module 102. The first controller 101 is connected to the first programmable module 102 via a communication interface, such as EMIF.
In an embodiment, the first controller 101 is configured to complete data acquisition and processing, motion control algorithm implementation, state monitoring, internal redundancy management, and other functions of an internal redundancy device, such as a speed sensor, an atmospheric data sensor, a displacement sensor, and the like, and send communication data, such as first cross channel data and the like, to be cross-transmitted to the first programmable module 102 through a serial or parallel interface, and receive a feedback signal output by the first programmable module 102. In another embodiment, the first controller 101 may send an internal redundancy device signal such as a speed sensor to the first programmable module 102 to allow the first programmable module 102 to perform internal redundancy management and the like.
In this embodiment, the first programmable module 102 is also used to implement control of a communication interface, such as EMIF interface control.
In this embodiment, one interface pin in the first programmable module 102 is connected to a bus interface, such as a CANFD bus interface, through one PHY chip, so as to be connected to a CANFD type redundancy bus 20 through the bus interface. In other embodiments, the redundancy bus 20 may also be other types of buses, such as an ARINC629 bus, an RS422 bus, and so forth.
In the present embodiment, the first programmable module 102 performs data transmission with 1 second redundancy device 11 and the downstream execution unit 30 through 1 redundancy bus 20. The first programmable module 102 is also used to implement control of a bus interface, such as control of a CANFD interface.
In one embodiment, the first programmable module 102 is further configured to schedule and buffer cross-channel data and perform redundancy management. The redundancy management performed by the first programmable module 102 may include, but is not limited to: and carrying out synchronous control, input signal voting, output signal voting, signal monitoring, signal equalization, fault detection and processing, system reconstruction and recovery and the like.
In one embodiment, the first programmable module 102, the 1 second redundancy devices 11 and the downstream execution unit 30 respectively transmit two kinds of data at different time periods through the same redundancy bus 20, such as a cross channel data frame and a redundancy voting output signal frame at different time periods. In another embodiment, two or more types of data are transmitted between the first programmable module 102 and the 1 second redundancy devices 11 and the downstream execution unit 30 via the same redundancy bus 20 at different time periods. Specifically, for example, the first programmable module 102 outputs the first cross channel data through the redundancy bus 20, and receives the second cross channel sub-data sent by the second redundancy device 11 through the redundancy bus 20, and in another time period, the first programmable module further outputs the synchronization signal frame through the redundancy bus 20, and/or receives the synchronization signal frame output by the second redundancy device 20, and further outputs the voting output signal frame to the downstream execution unit 30 through the redundancy bus 20 in another time period.
In the present embodiment, in order to further increase the speed of data processing and the flexibility of the system, the structure of the second redundancy apparatus 11 is the same as that of the first redundancy apparatus 10. As shown in fig. 2, each of the second redundancy devices 11 includes a second controller 111 and a second programmable module 112. The second controller 111 is connected to the second programmable module 112 via an interface. In other embodiments, the structure of the second redundancy device 11 and the structure of the first redundancy device 10 may not be identical.
In an embodiment, the second controller 111 and the second programmable module 112 in the second redundancy device 11 are respectively disposed on different circuit boards and connected through a flexible circuit board. In other embodiments, the second programmable module 112 may also be disposed on a main control circuit board where the second controller 111 is located. The connection and/or data transmission principle between the second controller 111 and the second programmable module 112, and the redundancy bus 20 may be, but is not limited to, the same as the connection and/or data transmission principle between the first controller 101 and the first programmable module 102, and the redundancy bus 20, and will not be described herein again.
Third embodiment
Fig. 3 is a schematic structural diagram of a redundancy system according to a third embodiment of the present application. The redundancy system as shown in fig. 3 comprises a first redundancy device 10 ', 2 second redundancy devices 11a ', 11b '. The first redundancy apparatus 10' shown in fig. 3 is substantially identical in structure and operation to the first redundancy apparatus 10 shown in fig. 1 except that: the first redundancy device 10 ' performs data interaction with the second redundancy devices 11a ', 11b ' via an ARINC629 type redundancy bus 20 ', and the first controller 101 ' in the first redundancy device 10 ' performs data interaction with the first programmable module 102 ' via the SPI. The second redundancy devices 11a ', 11 b' shown in fig. 3 are substantially identical in structure and operation to the second redundancy device 11a shown in fig. 1 except that: the redundancy management units are provided in the second controllers 111a ', 111 b'.
Fourth embodiment
In this embodiment, in order to ensure that each redundancy device uses data in the same period, so as to ensure the accuracy and real-time performance of data cross transmission, and accurately implement signal monitoring and voting, performing redundancy management includes: and performing synchronous control. The present embodiment provides a flow chart of a redundancy system for performing synchronization control. The synchronization control method shown in fig. 4 may be applied, but is not limited to, to the first programmable module 102 shown in fig. 1. Specifically, referring to fig. 1 and fig. 4, the redundancy management unit performs synchronization control, and includes the following steps:
step S11: starting to record a local timing value at the starting time of each task cycle through a local timer;
step S12: broadcasting and sending a first synchronization signal frame to the second redundancy devices 11a, 11b through the redundancy buses 20a, 20b, wherein the first synchronization signal frame includes a local current timing value;
step S13: in response to receiving a second synchronization signal frame and a third synchronization signal frame sent by the second redundancy devices 11a and 11b through the redundancy buses 20a and 20b, acquiring a first current timing value through a local timer, wherein the second synchronization signal frame includes the second current timing value, and the third synchronization signal frame includes the third current timing value;
step S14: acquiring a difference value of every two values in the first current timing value, the second current timing value and the third current timing value;
step S15: and compensating the timing value of the local timer according to the median value of the difference values.
Specifically, for example, if the first current timer value, the second current timer value, and the third current timer value are 110s, 100s, and 90s, respectively, and the median of the differences is 10s, 10s is subtracted from the first current timer value to compensate for the same as the second current timer value, that is, 100 s.
Fifth embodiment
The present embodiment provides a schematic flow chart of performing fault detection in a redundancy system. The fault detection method shown in fig. 5 may be applied, but is not limited to, the first programmable module 102 shown in fig. 1.
In this embodiment, please refer to fig. 1 and fig. 5, the redundancy management unit performs the fault detection, which may include the following steps:
step S21: broadcasting and transmitting a status detection frame through the redundancy buses 20a, 20 b;
step S22: judging whether a state detection response frame of any second redundancy equipment is received within a first preset time period;
if the status detection response frame of any second redundancy device is not received within the first preset time period, step S23 is entered: determining that the first redundancy device 10 is malfunctioning;
if the status detection response frame of any of the second redundancy devices is received within the first preset time period, the process proceeds to step S24: judging whether state detection response frames of all the second redundancy devices are received within a second preset time period;
if the status detection response frames of all the second redundancy devices are not received within the second preset time period, the method proceeds to step S25: judging that a second redundancy device which does not send the state detection response frame has a fault;
if the status detection response frames of all the second redundancy devices are received within the second preset time period, the process proceeds to step S26: and carrying out fault diagnosis according to the state detection response frame.
Sixth embodiment
The embodiment provides a flow diagram of a redundancy system for performing median signal voting. The median signal voting shown in fig. 6 may be applied, but is not limited to, to the redundancy management unit in the first programmable module 102 shown in fig. 1.
In one embodiment, as shown in fig. 6, performing median signal voting may include the following steps:
step S31: sorting a, b and c in size;
wherein, a, b, c are voting input data corresponding to the first redundancy device 10 and the second redundancy devices 11a, 11 b.
Step S32: if a > b > c, judging whether the value of a-c is less than or equal to X;
if the value of a-c is less than or equal to X, go to step S33: judging a, b and c are normal, and voting and outputting b;
if the value of a-c is not less than or equal to X, go to step S34: judging whether one of a and c is abnormal, and judging whether the value of a-b is less than or equal to X;
if the value of a-b is less than or equal to X, go to step S35: c is judged to be abnormal, and (a + b)/2 is voted and output;
if the value of a-b is not less than or equal to X, go to step S36: judging whether one of a and b is abnormal or not, and judging whether the value of b-c is less than or equal to X or not;
if b-c is less than or equal to X, go to step S37: judging b and c are normal, a is abnormal, and voting and outputting (b + c)/2;
if b-c is not less than or equal to X, go to step S38: judging that two or more than two abnormalities exist in a, b and c, and outputting Y.
X, Y are a deviation threshold value and a fail-safe value, respectively, set according to a certain rule or experience.
The present application further provides a computer-readable storage medium, on which a processing program is stored, and when the processing program is executed by a processor, the processing program implements the steps of the processing method in any of the above embodiments.
The redundancy system, the redundancy management method and the readable storage medium can improve the speed of data processing and the flexibility of the system by taking the programmable module as a function expansion peripheral of the controller, and can improve the utilization rate of the bus and simplify the wiring complexity by respectively transmitting at least two kinds of data at different time periods through the same redundancy bus.
In the present application, each embodiment is described with emphasis, and reference may be made to the description of other embodiments for parts that are not described or illustrated in any embodiment.
The technical features of the technical solution of the present application may be arbitrarily combined, and for brevity of description, all possible combinations of the technical features in the embodiments are not described, however, as long as there is no contradiction between the combinations of the technical features, the scope of the present application should be considered as being described in the present application.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, a controlled terminal, or a network device) to execute the method of each embodiment of the present application.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The procedures or functions according to the embodiments of the present application are all or partially generated when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optic, digital subscriber line) or wirelessly (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, memory Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others. The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.
Claims (14)
1. A redundancy system comprising a first redundancy device, at least one second redundancy device;
the first redundancy device comprises a first controller and a first programmable module;
the first controller is connected with the first programmable module through a communication interface;
the first programmable module performs data transmission with the at least one second redundancy device and the downlink execution unit through at least one redundancy bus;
and at least two kinds of data are respectively transmitted among the first programmable module, the at least one second redundancy device and the downlink execution unit in different time periods through the same redundancy bus.
2. A redundancy system in accordance with claim 1, wherein the structure of the second redundancy device is the same as the structure of the first redundancy device; and/or the bus types of at least two redundancy buses in the redundancy system are the same.
3. A redundancy system in accordance with claim 1, wherein the first programmable module is configured to schedule and buffer cross-channel data and perform redundancy management.
4. A redundancy system according to claim 1 or 3, wherein the at least two types of data comprise a cross channel data frame, and a redundancy voted output signal frame.
5. A redundancy system according to claim 4, wherein the first programmable module outputs the first cross channel data over a first redundancy bus and receives the at least one second redundancy device sending second cross channel sub data over the first redundancy bus.
6. The redundancy system of claim 5, wherein the first programmable module outputs the redundancy voted output signal frame to the downstream execution unit via the first redundancy bus.
7. A redundancy system in accordance with claim 5, wherein the first programmable module outputs a synchronization signal frame to the at least one second redundancy device via the first redundancy bus.
8. The redundancy system is characterized in that a plurality of interface pins in the first programmable module are respectively connected to corresponding bus interfaces through corresponding PHY chips.
9. A redundancy system in accordance with claim 1, wherein a plurality of interface control units in the first programmable module each control a corresponding bus interface.
10. A redundancy management method applied to the first programmable module according to any one of claims 1 to 9, wherein the redundancy management method comprises: at least one of synchronization control, fault detection, median signal voting.
11. The redundancy management method of claim 10, wherein the synchronization control comprises the steps of:
acquiring a first current timing value through a local timer in response to receiving a second synchronization signal frame and a third synchronization signal frame sent by a plurality of second redundancy devices through the at least one redundancy bus, wherein the second synchronization signal frame comprises a second current timing value and the third synchronization signal frame comprises a third current timing value;
acquiring a difference value of every two values in the first current timing value, the second current timing value and the third current timing value;
and compensating the timing value of the local timer according to the median value of the difference values.
12. The redundancy management method of claim 10, wherein the fault detection comprises the steps of:
broadcasting and sending a state detection frame through the at least one redundancy bus;
judging whether a state detection response frame of any second redundancy equipment is received within a first preset time period;
if the state detection response frame of any second redundancy equipment is not received within a first preset time period, judging that the first redundancy equipment has a fault;
if the state detection response frame of any second redundancy equipment is received in the first preset time period, judging whether the state detection response frames of all the second redundancy equipment are received in the second preset time period;
if the state detection response frames of all the second redundancy devices are not received within a second preset time period, judging that the second redundancy devices which do not send the state detection response frames have faults;
and if the state detection response frames of all the second redundancy devices are received within a second preset time period, performing fault diagnosis according to the state detection response frames.
13. The redundancy management method of claim 10, wherein the median signal voting comprises the steps of:
if the voting input data of all the redundancy equipment are normal, outputting the intermediate value of the voting input data of all the redundancy equipment;
if the voting input data of one redundancy device is abnormal, outputting the average value of the voting input data of the remaining redundancy devices;
and if the voting input data of two or more redundancy devices are abnormal, outputting a failure safety value.
14. A readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the redundancy management method according to any one of claims 10 to 13.
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| CN202111135463.5A CN113850033B (en) | 2021-09-27 | 2021-09-27 | Redundancy system, redundancy management method and readable storage medium |
| PCT/CN2021/136124 WO2023045093A1 (en) | 2021-09-27 | 2021-12-07 | Redundancy system, redundancy management method, and readable storage medium |
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