CN102932132B - A kind of based on many group redundant manipulators pair time system - Google Patents
A kind of based on many group redundant manipulators pair time system Download PDFInfo
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- CN102932132B CN102932132B CN201210430147.5A CN201210430147A CN102932132B CN 102932132 B CN102932132 B CN 102932132B CN 201210430147 A CN201210430147 A CN 201210430147A CN 102932132 B CN102932132 B CN 102932132B
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Abstract
The invention discloses a kind of based on many group redundant manipulators pair time system, when adopting the local pair of band time complexity curve function, when system and to organize pair, master controller adopts the mode combined during regular pair of global positioning system (GPS) more, by system during local pair and pair time master controller by the GPS regular update time, the shortcoming slow when compensate for network pair, precision is inadequate, and circuit when not needing special pair; During by organize pair, master controller achieves redundancy feature more, ensures the stability of system, provides the accuracy of time adjustment function, the normal operation of system when to ensure that pair.
Description
Technical field
The present invention relates to a kind of based on many group redundant manipulators pair time system, belong to power domain.
Background technology
Scattered control system (DCS) requires that the clock of each controller in system carries out synchronously with the resolution of Millisecond, can obtain like this and the change information of tracer signal state, for accident analysis provides effective clue and evidence.
Redundant manipulator refers to concurrent working, for subsequent use each other and pair of control device that is that mutually detect, and exactly when controller work is not normal, when going offline, spare controller is by adapter control work.
Time deviation between each controller causes primarily of controller reference clock error and clock synchronous error.The clock synchronous of usual controller has two kinds of modes: one sends out through Ethernet the clock that synchronizing signal carrys out synchronous all controllers by an operator station (computer), and this mode synchronization accuracy is generally in level second; Another kind is the clock being sent the synchronous all controllers of pulse synchronous signal by special time standard device, and the synchronization accuracy of this mode can more than Microsecond grade.The first method of synchronization pair time slow, do not meet the requirement of application; The special circuit during need pair of the second method of synchronization, cost are high.
Summary of the invention
Object: in order to overcome the deficiencies in the prior art, the invention provides one and can realize fully-automated synthesis, reduce drug anaphylaxis testing cost a kind of based on many group redundant manipulators pair time system.
Technical scheme: for solving the problems of the technologies described above, the technical solution used in the present invention is:
Based on many group redundant manipulators pair time a system, it is characterized in that:
Comprise and organize redundant manipulator more, often organize redundant manipulator and include the identical master controller of configuration and preparation controller; Wherein one group of redundant manipulator master controller as pair time server time, other master controller and preparation controller as pair time client;
One end of described all master controllers and preparation controller is interconnected by Ethernet, for be configured to transmit pair time message LAN;
The other end of described all master controllers and preparation controller is interconnected by hardwired, for using as pair time server master controller produce level signal line receive other master controller and the interrupt pin of preparation controller, make time tag by hard-wired level signal, as pair time message correction foundation.
When as pair time server master controller occur
time adjustment functionduring fault cisco unity malfunction, according to order, the server when master controller in next group redundant manipulator switches to new pair, other master controller and preparation controller as pair time client.
When as pair time server master controller occur
beyond time adjustment functionduring fault, mutually exchange with preparation controller and this master controller functional mode in group redundant manipulator, server when switching to new pair with the preparation controller in group redundant manipulator, other all master controllers and preparation controller as pair time client.
Also comprise centralized control system, n-back test logical block is provided with in described many group redundant manipulators, module when being provided with GPS couple in described centralized control system, during the GPS pair of described n-back test logical block by Ethernet and centralized control system, module obtains gps time message alternately, the time of server and the time of other master controller synchronous and preparation controller during for upgrade pair.
Beneficial effect: provided by the invention a kind of based on many group redundant manipulators pair time system, when adopting the local pair of band time complexity curve function, when system and to organize pair, master controller adopts the mode combined during regular pair of global positioning system (GPS) more, by system during local pair and pair time master controller by the GPS regular update time, the shortcoming slow when compensate for network pair, precision is inadequate, and circuit when not needing special pair; During by organize pair, master controller achieves redundancy feature more, ensures the stability of system, provides the accuracy of time adjustment function, the normal operation of system when to ensure that pair.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further described.
As shown in Figure 1, for a kind of based on many group redundant manipulators pair time system, comprise and organize redundant manipulator more, often organize redundant manipulator and include and configure identical master controller and preparation controller; Wherein one group of redundant manipulator master controller as pair time server time, other master controller and preparation controller as pair time client; One end of described all master controllers and preparation controller is interconnected by Ethernet, for be configured to transmit pair time message LAN; The other end of described all master controllers and preparation controller is interconnected by hardwired, for using as pair time server master controller produce level signal line receive other master controller and the interrupt pin of preparation controller, make time tag by hard-wired level signal, as pair time message correction foundation.The other end of described all master controllers and preparation controller is interconnected by hardwired, for using as pair time server master controller produce level signal line receive other master controller and the interrupt pin of preparation controller, make time tag by hard-wired level signal, as pair time message correction foundation.
When as pair time server master controller there is time adjustment function fault cisco unity malfunction time, according to order, the server when master controller in next group redundant manipulator switches to new pair, other master controller and preparation controller as pair time client.When as pair time server master controller there is the fault beyond time adjustment function time, mutually exchange with the preparation controller in group redundant manipulator and this master controller functional mode, server when switching to new pair with the preparation controller in group redundant manipulator, other all master controllers and preparation controller as pair time client.Also comprise centralized control system, n-back test logical block is provided with in described many group redundant manipulators, module when being provided with GPS couple in described centralized control system, during the GPS pair of described n-back test logical block by Ethernet and centralized control system, module obtains gps time message alternately, the time of server and the time of other master controller synchronous and preparation controller during for upgrade pair.
When adopting the local pair of band time complexity curve function, when system and to organize pair, master controller adopts the mode combined during regular pair of global positioning system (GPS) more:
1. system when being with the local pair of time complexity curve function
During local pair, system is based on Ethernet, pair time server will pair time message be broadcast in Ethernet, pair time client when to receive pair after message, server time when local zone time to be synchronized to pair.But, pair time message transmission and receive the defect existing and postpone, when pair time after server sends, need through certain hour, just understand by pair time client receive.Time now pair, the time of server end upgrades, and pair time message in time be still the old time.If pair time client with the time in this Geju City go upgrade local zone time, will cause asynchronous.
For this defect, during local pair in the present invention, system adopts hardwired and Ethernet to realize.All controllers are connected by Ethernet, form LAN, be used for transmission pair time message.All controllers are connected by hardwired simultaneously, and this holding wire is received the interrupt pin of controller.By hard-wired level signal, make time tag, as pair time message correction foundation.
Working method is as follows:
Server or client when first controller to be configured to pair.
As pair time server, in the cycle whenever through one pair, a level signal will be sent by hardwired, broadcast packet when then to be sent pair by Ethernet.Server time ' T (server time) ' is now comprised in the message of broadcast packet.
As pair time client, when receiving hard-wired level signal, will triggered interrupts.In interrupt handling routine, record the level signal time of advent ' T (hardwired) '.' value of T (hardwired) ', according to different operating system slightly difference, and this time is Microsecond grade, therefore negligible when calculating to getting to send level signal from server.Time afterwards pair client wait for Ethernet pair time message, when to receive pair during message, record the message time of advent ' T (message) '.Now, the new Time Calculation formula of revised client is:
T (client time)=T (server time)+T (message)-T (hardwired);
2. when time pair, the master controller standard time is regularly GPS couple
By system during local pair, all controllers can be kept the synchronous of Millisecond.And the fiducial time of standard, then need to be provided by module during GPS couple by centralized control system (data acquisition and supervisor control).
The working method obtaining gps time is as follows:
Pair time master controller obtain gps time by n-back test logical block, this logical block and centralized control system carry out alternately, getting gps time message by Ethernet, thus time of master controller when to upgrade pair, and then the time of synchronous other controller.
Thus, by system during local pair and pair time master controller by the GPS regular update time, slow when compensate for network pair, the shortcoming that precision is inadequate.
3. the redundancy feature of master controller during many groups pair
When local pair in system, when pair time master controller can not work time, can cause other controller pair time can not work.At this, the present invention proposes to realize redundancy feature with master controller during many groups pair.
Working method and troubleshooting:
Server when configuration many groups redundant manipulator is main pair, often organizes redundant manipulator and includes the identical master controller of configuration and preparation controller; Wherein one group of redundant manipulator master controller as pair time server time, other master controller and preparation controller as pair time client; When as pair time server master controller to occur pair time fault cisco unity malfunction time, according to order, the server when master controller in next redundant manipulator switches to new pair, other master controller and preparation controller as pair time client.
When redundancy pair, master server is out of order, after wait time out period, below pair time master server will open time adjustment function, circulate with this and analogize.For example, if server when having 3 pairs of redundant manipulators to be configured to main pair: main 1, main 2, main 3.When master 1 normally works, other is all client.When main 1 fault, after waiting for a time out period, lead 2 servers when to become pair.After main 2 faults, main 3 servers when to become pair.After main 3 faults, main 1 will become server.
It should be noted that: the situation that master controller breaks down has multiple, when only having its time adjustment function to break down, be just switched to next master controller; And other fault is when occurring (such as function for monitoring fault, logic executable unit functional fault etc.), spare controller in same group of redundant manipulator can switch to master controller, it by adapter pair time, supervision, the various functions such as logic execution, time now pair, server can not be switched to next group redundant manipulator.
By above three groups of functions, constitute based on many group redundant manipulators pair time system, and ensure that validity and the stability of system.
The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (1)
1. based on many group redundant manipulators pair time a system, it is characterized in that:
Comprise and organize redundant manipulator more, often organize redundant manipulator and include the identical master controller of configuration and preparation controller; Wherein one group of redundant manipulator master controller as pair time server time, other master controller and preparation controller as pair time client;
One end of all master controllers and preparation controller is interconnected by Ethernet, for be configured to transmit pair time message LAN;
The other end of all master controllers and preparation controller is interconnected by hardwired, for using as pair time server master controller produce level signal line receive other master controller and the interrupt pin of preparation controller, make time tag by hard-wired level signal, as pair time message correction foundation;
Also comprise centralized control system, n-back test logical block is provided with in described many group redundant manipulators, module when being provided with GPS couple in described centralized control system, during the GPS pair of described n-back test logical block by Ethernet and centralized control system, module obtains gps time message alternately, the time of server and the time of other master controller synchronous and preparation controller during for upgrade pair;
When as pair time server master controller there is time adjustment function fault cisco unity malfunction time, according to order, the server when master controller in next group redundant manipulator switches to new pair, other master controller and preparation controller as pair time client;
When as pair time server master controller there is the fault beyond time adjustment function time, mutually exchange with the preparation controller in group redundant manipulator and this master controller functional mode, server when switching to new pair with the preparation controller in group redundant manipulator, other all master controllers and preparation controller as pair time client.
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| CN107390509A (en) * | 2017-09-25 | 2017-11-24 | 安徽响水涧抽水蓄能有限公司 | The redundancy timing device and its setting means of Turbine Governor System |
| CN110492963B (en) * | 2019-08-30 | 2021-01-08 | 湘电风能有限公司 | Wind power plant time synchronization system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101145896A (en) * | 2007-09-17 | 2008-03-19 | 浙江中控技术有限公司 | Control system and method for clock synchronization between control stations |
| CN101578806A (en) * | 2007-03-28 | 2009-11-11 | 株式会社安川电机 | Communication device, synchronized communication system, and synchronized communication method in |
| CN101795020A (en) * | 2010-02-08 | 2010-08-04 | 四方华能电网控制系统有限公司 | Automatic time-tick synchronization system of intelligent electronic equipment of transformer substation |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101578806A (en) * | 2007-03-28 | 2009-11-11 | 株式会社安川电机 | Communication device, synchronized communication system, and synchronized communication method in |
| CN101145896A (en) * | 2007-09-17 | 2008-03-19 | 浙江中控技术有限公司 | Control system and method for clock synchronization between control stations |
| CN101795020A (en) * | 2010-02-08 | 2010-08-04 | 四方华能电网控制系统有限公司 | Automatic time-tick synchronization system of intelligent electronic equipment of transformer substation |
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Address after: 210032 Jiangsu province Nanjing city Pukou high tech Zone Huidalu No. 9 Patentee after: Nanjing Guodian Nanzi 710086 Automation Co. Ltd. Address before: Nanjing City, Jiangsu province 210032 Spark Road, Pukou hi tech Development Zone No. 8 Patentee before: Nanjing Guodian Nanzi Meizhuo Control System Co.,Ltd. |