CN102724083A - Degradable triple-modular redundancy computer system based on software synchronization - Google Patents
Degradable triple-modular redundancy computer system based on software synchronization Download PDFInfo
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Abstract
The invention discloses a degradable triple-modular redundancy computer system based on software synchronization, relates to a triple-modular redundancy computer control system, and solves the problem that the conventional triple-modular redundancy system is complicated due to addition of an arbitration module. The degradable triple-modular redundancy computer system consists of three same control computers, communication buses, high-speed communication buses and a power management module, wherein the synchronization information transfer and data exchange of the control computers are finished through the communication buses which are connected two by two; the control computers vote for sensor data and control operation results by using a 2-out-of-3 voting algorithm; high-frequency heartbeat monitoring signals of the computers are transferred by interconnecting the high-speed communication buses two by two, and real-time state mutual monitoring of the control computers is realized; the three control computers operate degradation programs, so the degradation operation of a redundancy system is realized; and the three control computers operate reconstruction programs, so the reconstruction operation of the redundancy system is realized. The arbitration module is not required to be added.
Description
Technical field
The present invention relates to the triplication redundancy computer control system.
Background technology
Computer Control Technology has been widely used in various fields such as space flight, aviation and ocean engineering, because the extensive use of computer, its reliability becomes very distinct issues, and the reliability that improves computer has two kinds of relatively effective methods.A kind of is fault avoidance, and this just needs strict screening calculation machine components and parts, and well designed improves manufacturing process, and tighten quality control etc.Even but such computer system because the operational environment at its place has various environmental stresses, like humidity, temperature, electromagnetic interference, strong motion etc., is therefore always kept away unavoidably and is broken down.This will require computer to have fault-tolerant ability; So-called fault-tolerant being meant under the fault or wrong situation that occur aspect one or several hardware or the software; Computer system can detect out of order existence and take measures to tolerate fault; Do not influence system's operate as normal, perhaps degraded running under the situation of the task of can accomplish regulation.The most basic fault-tolerant method is a redundant technique, and so-called redundant technique is meant through increase multiple resource (hardware and software repeated configuration) for system, realizes multiple reasonable resources management, thereby improves the method for designing of product and system reliability.The triplication redundancy system is the very high a kind of Redundancy Design technology of reliability, and three modules are carried out identical operations simultaneously, with the correct output of the identical output of majority as k-out-of-n system, is commonly referred to three and gets two votings.As long as do not occur two identical mistakes simultaneously, just can mask off the mistake of malfunctioning module, the output that the assurance system is correct in three modules.Because three modules are mutually independently, it is minimum probability events that mistake appears in two modules simultaneously, so can improve the reliability of system greatly.
Existing triplication redundancy system should accomplish three get two votings work, the work that recovers with the handling failure computer synchronously that keeps three computers again often need increase hardware setting, needs extra arbitration modules, the systematic comparison complicacy.
Summary of the invention
The purpose of this invention is to provide a kind of demoted triplication redundancy computer system based on software synchronization; With solve existing triplication redundancy system should accomplish three get two votings work; The work that keeps the synchronous of three computers and the recovery of handling failure computer again; Often need increase hardware setting, the systematic comparison complicated problems.It is made up of three identical control computers 1, communication bus 2, high-speed communication bus 3 and power management modules 4; Three control computers 1 are interconnected in twos through communication bus 2, accomplish synchronizing information transmission and exchanges data between the control computer 1; Every control computer 1 employing three is got two voting algorithms the sensing data of three control computers 1 is put to the vote with the control operation result; Through the transmission of the interconnected in twos completion high frequency of high-speed communication bus 3 heartbeat inspecting signal, realize the state monitoring each other in real time between the control computer 1 between three control computers 1; Three control computers 1 are realized the reconstructed operation of redundant system through moving the degraded running that the degradation program realizes redundant system through the operation reconfiguration program.
System of the present invention is the basis with the software synchronization, and adopting high frequency monitor signal and voting algorithm is the fault detect means, can Single Point of Faliure be masked, and the system reconfiguration when degradation can accomplish the redundant system fault automatically time the and fault recovery.Advantage of the present invention:
(1) adopts the mode of software handshake, under the situation that does not increase system complexity, realized three computer synchronous acquisition sensing datas, Synchronization Control computing, exported the result synchronously.
(2) before controlling calculating, every computer carries out quality of data detection, data voting to the sensing data of gathering, and has got rid of the Single Point of Faliure of transducer.When exporting as a result, adopt voting algorithm to detect to result of calculation, get rid of the Single Point of Faliure of control result of calculation.
(3) utilize the high-speed communication bus to transmit high frequency heartbeat inspecting signal, realized computer mode monitoring each other in real time.When generation single computer or two computers break down in system, can detect rapidly.
(4) system can judge whether computer breaks down according to heartbeat inspecting result, voting result, synchronized result, if the computer that breaks down, it is restarted or cut off the power supply then to control electric power source pair of module, and the completion system demotes.
When (5) the calculation of fault machine recovers, under the situation of not influence system operation, can it be joined in the system, realize system reconfiguration.
Description of drawings
Fig. 1 is the structural representation of system of the present invention, and Fig. 2 is a system works flow process sketch map of the present invention, and Fig. 3 is a triplication redundancy system pattern conversion sketch map.
Embodiment
Embodiment one: specify this execution mode below in conjunction with Fig. 1.This execution mode is by being made up of three identical control computers 1, communication bus 2, high-speed communication bus 3 and power management modules 4; Three control computers 1 are interconnected in twos through communication bus 2, accomplish synchronizing information transmission and exchanges data between the control computer 1; Every control computer 1 employing three is got two voting algorithms the sensing data of three control computers 1 is put to the vote with the control operation result; Through the transmission of the interconnected in twos completion high frequency of high-speed communication bus 3 heartbeat inspecting signal, realize the state monitoring each other in real time between the control computer 1 between three control computers 1; Three control computers 1 are realized the reconstructed operation of redundant system through moving the degraded running that the degradation program realizes redundant system through the operation reconfiguration program.
Three control computers 1 utilize the transmission of synchronizing information to realize software synchronization; Its process is: several synchronous points are set in the program of every control computer 1; When controlling computer 1 program running to synchronous points; Send synchronization messages through communication bus 2, and wait for the synchronization message of other control computers 1 in limited time, receive synchronization message of other control computer 1 after program continue operation.Three computers 1 through wait each other in synchronous points between the computer to be achieved synchronously.
Sensing data with the process of controlling operation result exchange and voting is: every control computer 1 sends this computer through communication bus 2 to other two control computers 1 after accomplishing sensor data acquisition and controlling computing data; After every control computer 1 is accomplished exchanges data; The operation voting procedure; Data are monitored voting, mask the fault of transducer, control computing, and carry out the corresponding failure record.
The process that state between the control computer 1 is monitored in real time each other is: every control computer 1 comprises CPU state information, network interface state information, com-state information, memory state information through the state information of high-speed communication bus 3 to other two control computers, 1 this computer of transmission.Speed serial communication bus adopts the RS422 serial communication, and transmission speed is 921.6kbps.The transmission cycle of heartbeat inspecting signal is much smaller than control cycle; In case the heartbeat signal of certain control computer transmission is unusual, be about to this control computer and from redundant system, excise, system is downgraded to the redundant mode of low remaining.
Operation degradation program realizes that the process of redundant system degraded running is: when being operated in the triplication redundancy state; Three control computers 1 are set to three priority levels; If the heartbeat signal of certain control computer 1 is unusual or sensing data and the continuous mistake of control result of calculation; Other two control computer 1 operational systems degradation program; Power management module is controlled, let the calculation of fault machine restart, the normal computer that has higher priority simultaneously in two other computer becomes main frame; If this calculation of fault machine still has fault after restarting several times, then it to be cut off the power supply, system is downgraded to the duplication redundancy operating state; System works is when the duplication redundancy state; Through heartbeat signal master computer is carried out status monitoring from computer,, then power management module is controlled from computer if the heartbeat signal of master computer is unusual; The control master computer is restarted, and is master computer from upgrading computer; If computer still has fault after restarting several times, then master computer control power management module cuts off the power supply to it, and system is downgraded to irredundant operating state.
The reconstructed operation process that realizes redundant system is: system works after the calculation of fault machine is fixed a breakdown through repairing, joins system again under irredundant state, send start synchronization message and heartbeat inspecting signals through communication bus 2 and high-speed communication bus 3.Whenever a control cycle finishes; In a single day in running order control computer 1 detects the computer booting synchronization message and correct heartbeat inspecting signal after the recovery; To recover to control normally computer 1 from malfunction and join the redundant system, and make system upgrade to two redundant states by irredundant state; System works is sent start synchronization message and heartbeat inspecting signal through communication bus 2 and high-speed communication bus 3 after the calculation of fault machine recovers under two redundant states; Whenever a control cycle finishes; In case detect computer booting synchronization message and correct heartbeat inspecting signal after the recovery; Two normal computer run system reconfiguration programs join it in redundant system, make system upgrade to the triplication redundancy state by two redundant states.
Every control computer is expanded corresponding peripheral hardware according to system requirements, such as serial ports, network interface, A/D card, D/A card; The energising of computer, reboot operation can be accomplished through power management module; Interconnect through two cover communication buss between three control computers 1; Every computer comprises data acquisition module and output variable module, is used for pick-up transducers data and control executing mechanism.
Workflow such as Fig. 2 of whole redundant system are said:
(1) after computer powers on, at first carries out initialize routine, system is carried out initialization, the load driver program.
(2) behind system's normal boot-strap; Every computer at first sends the start synchronization message through communication bus to other two computers; Computer is after receiving the start synchronization message; Inquiring about in the current system according to message content has off, if off then according to priority preset, select priority the highest be main frame.Confirm after the main frame; Main frame sends syn ack message to other computer, after slave receives response message, sends the affirmation response message to main frame; Three computers adopt three-way handshake mechanism to accomplish and power on start for the first time synchronously, guarantee that three computers start working simultaneously.
(3) through after the start synchronously, system gets into periodic synchronous, and this process comprises that mainly image data is synchronous, control is calculated synchronously, the control operation result is exported synchronously.Periodic synchronous is initiated by master computer, and master computer requires to be provided with the timing of timer according to the control of controlled device.Timing one arrives, and operating system is called the timer signal handling procedure automatically, and this program is sent the data acquisition synchronization message through communication bus to three computers, and each computer is waited for the data acquisition synchronization message of other computer in limited time after the transmission synchronization message.Then do not withdraw from wait immediately if receive the synchronization message of certain computer at the appointed time, and carry out the step-out record.
(4) through after gathering synchronously; Three computers are the pick-up transducers data simultaneously; Three computers carry out the detection and the data voting of sensing data quality through the mutual switching sensors data of communication bus after accomplishing data acquisition, and the Single Point of Faliure of transducer is masked.
(5) after transducer was accomplished and gathered, decides by vote, program got into control computing synchronizing process, and three computers are sent out synchronization message mutually through communication bus, and wait for synchronization message in limited time.After receiving synchronization message; The computer run control program is controlled computing, and result of calculation is separately issued other computer, and every computer carries out the voting of result of calculation; Realize output result's monitoring, decide by vote monitored results simultaneously and can be used as the mutual inspection information between the computer.
(6) after the control computing was accomplished, the control computer got into the result and exports synchronizing process, and every computer sends synchronization message mutually through communication bus, and waits for the synchronization message of other computer in limited time.After receiving synchronization message, computer carries out result's output.
(7) every computer is set up a heartbeat inspecting task; This task is used for computer is carried out the periodicity self check; And testing result sent to other computer with high frequency heartbeat inspecting signal form; And receiving monitor signal in limited time from other computer, the transmission cycle of heartbeat signal is much smaller than the cycle of periodic synchronous.In case the transmission of certain computer or reception monitor signal are unusual, then can judge this computer rapidly and break down.
(8) certain computer heartbeat signal takes place when unusual, and other computer run system degradation program in the system is according to the monitoring result of heartbeat task; Judging has or not computer to break down; If computer breaks down and then controls power management module computer is carried out reboot operation,, then this computer circuit breaking is excised away from system if computer still breaks down after restarting several times continuously; High priority become master computer from computer; It will open timer, be used for initiating periodic synchronous, realization system degradation.
(9) when control cycle finishes; Computer run degradation program is judged according to transducer voting result, control computer 2-out-of-3 voting result, synchronized result to have or not computer to break down, if computer breaks down and then controls power management module computer is carried out reboot operation; High priority become master computer from computer; It will open timer, be used for initiating periodic synchronous, realization system degradation.If computer still breaks down after restarting several times continuously, then this computer circuit breaking is excised away from system.
(10) when control cycle finishes; Computer run reconfiguration program monitoring has or not and receives the start synchronization message, receives the start synchronization message, and after confirming that the heartbeat inspecting signal of computer is normal; Main frame sends start syn ack message to this computer; All computer update routine operational factors simultaneously upgrade to the redundant system of high remaining, accomplish the reconstruct of system.
It is platform that operating system is selected real time operating system for use, adopts the multi-process method to design program, and sets up synchronized process and heartbeat process, adopts local socket approach to communicate between two processes.
The every 1ms operation of heartbeat process is once sent, is received heartbeat signal according to above-mentioned monitoring logic, and carry out the logic determines of computer monitoring state, and the realization computer mode is monitored in real time.
Synchronized process is exported synchronous function, system's degradation function, system reconfiguration function and principal function by start synchronous function, data acquisition synchronous function, control computing synchronous function, result and is formed; Principal function is called each synchronous function respectively according to above-mentioned synchronous logic; Each synchronous function sends the respective nodes synchronization message, and waits for the synchronization message that other computer sends in limited time.System's degradation function obtains the heartbeat inspecting result of other computer at first with the heartbeat process communication, utilizes the voted data of sensing data and control result of calculation simultaneously, carries out computer mode and judges, and carry out the computer degradation according to judged result and handle.The system reconfiguration function detects the start synchronization message, if receive certain opening computer synchronization message, and after confirming that heartbeat signal is normal, all computer update routine operational factors are carried out system reconfiguration in the reporting system, are upgraded to high remaining redundant system.
A coincidence counter variable is set in the program; Whenever do this variable of once time synchronization and add 1; And this variable joined in the synchronization message, whether successful computer can obtain the synchronization times of other computer from synchronization message, compare to carry out synchronously judgement.
Claims (6)
1. based on the demoted triplication redundancy computer system of software synchronization, it is characterized in that it is made up of three identical control computers (1), communication bus (2), high-speed communication bus (3) and power management modules (4); Three control computers (1) are interconnected in twos through communication bus (2), accomplish synchronizing information transmission and exchanges data between the control computer (1); Every control computer (1) employing three is got two voting algorithms the sensing data of three control computers (1) is put to the vote with the control operation result; Through the transmission of the interconnected in twos completion high frequency of high-speed communication bus (3) heartbeat inspecting signal, realize the state monitoring each other in real time between the control computer (1) between three control computers (1); Three control computers (1) are realized the reconstructed operation of redundant system through the degraded running of operation degradation program realization redundant system through the operation reconfiguration program.
2. the demoted triplication redundancy computer system based on software synchronization according to claim 1; It is characterized in that three control computers (1) utilize the transmission of synchronizing information to realize software synchronization; Its process is: in the program of every control computer (1), several synchronous points are set; When controlling computer (1) program running to synchronous points; Send synchronization message through communication bus (2), and wait for the synchronization message of other control computers (1) in limited time, receive synchronization message of other control computer (1) after program continue operation; Three computers (1) through wait each other in synchronous points between the computer to be achieved synchronously.
3. the demoted triplication redundancy computer system based on software synchronization according to claim 1; It is characterized in that sensing data and the process of controlling operation result exchange and voting are: every control computer (1) sends this computer through communication bus (2) to other two control computers (1) after accomplishing sensor data acquisition and controlling computing data; After every control computer (1) is accomplished exchanges data; The operation voting procedure; Data are monitored voting, mask the fault of transducer, control computing, and carry out the corresponding failure record.
4. the demoted triplication redundancy computer system based on software synchronization according to claim 1; The mutual in real time process of monitoring of state that it is characterized in that controlling between the computer (1) is: every control computer (1) to the state information that other two control computers (1) send this computer, comprises CPU state information, network interface state information, com-state information, memory state information through high-speed communication bus (3); The transmission cycle of this heartbeat inspecting signal is much smaller than control cycle; In case the heartbeat signal of certain control computer transmission is unusual, be about to this control computer and from redundant system, excise, system is downgraded to the redundant mode of low remaining.
5. the demoted triplication redundancy computer system based on software synchronization according to claim 1; It is characterized in that the process of moving degradation program realization redundant system degraded running is: when being operated in the triplication redundancy state; Three control computers (1) are set to three priority levels; If the heartbeat signal of certain control computer (1) is unusual or sensing data and the continuous mistake of control result of calculation, other two control computers (1) operational system degradation program is controlled power management module; Let the calculation of fault machine restart, the normal computer that has higher priority simultaneously in two other computer becomes main frame; If this calculation of fault machine still has fault after restarting several times, then it to be cut off the power supply, system is downgraded to two redundancy of effort states; System works is when the duplication redundancy state; Through heartbeat signal master computer is carried out status monitoring from computer,, then power management module is controlled from computer if the heartbeat signal of master computer is unusual; The control master computer is restarted, and is master computer from upgrading computer; If computer still has fault after restarting several times, then to its outage, system is downgraded to irredundant operating state.
6. based on described the demoted triplication redundancy computer system of claim 1 based on software synchronization; It is characterized in that the reconstructed operation process that realizes redundant system is: system works is sent start synchronization message and heartbeat inspecting signal through communication bus (2) and high-speed communication bus (3) after the calculation of fault machine recovers under irredundant state; Whenever a control cycle finishes; In running order control computer (1) is in case computer booting synchronization message after detecting recovery and correct heartbeat inspecting signal; To recover to control normally computer (1) from malfunction and join the redundant system, and make system upgrade to two redundant states by irredundant state; System works is sent start synchronization message and heartbeat inspecting signal through communication bus (2) and high-speed communication bus (3) after the calculation of fault machine recovers under two redundant states; Whenever a control cycle finishes; In case detect computer booting synchronization message and correct heartbeat inspecting signal after the recovery; Two normal computer run system reconfiguration programs join it in redundant system, make system upgrade to the triplication redundancy state by two redundant states.
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Address after: 150001 Nantong street, Nangang District, Heilongjiang, No. 145, No. Applicant after: Harbin Engineering Univ. Address before: 150001 No. 145, Nantong Avenue, Nangang District, Heilongjiang, Harbin province (Sports Department of Harbin Engineering University) Applicant before: Harbin Engineering Univ. |
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