CN107255918A - A kind of remote control computer hot backup redundancy control method for automatically switching - Google Patents
A kind of remote control computer hot backup redundancy control method for automatically switching Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
A kind of remote control computer hot backup redundancy control method for automatically switching, is surveyed in hair flow control journey applied to carrier rocket ground, realizes and the hot backup redundancy of remote control computer is switched during Distance Test.First, two the hardware equipment double netcards of remote control computer for being mutually redundant, and being bundled by INTEL Team technologies, are externally used only an IP address, pass through the Ethernet switch network consisting of dual-computer redundancy；Secondly, two remote control computers can realize mutual monitoring function, and enter row data communication by Ethernet and programmable logic controller (PLC) PLC by Ethernet delivery network variable；When a remote control computer breaks down, another fault-free remote control computer is by monitoring the state of fault remote control computer, then the current state of a control of faulty computer is synchronized to another fault-free computer by automatic realize, realizes auto-changeover control.
Description
Technical field
The invention belongs to carrier rocket ground installation testing and control field, a kind of remote control computer hot backup redundancy is designed
Control method for automatically switching.
Background technology
In carrier rocket surface testing flow, it is arranged on using by control computer in survey hair control room, remotely to delivery
Rocket is tested and controlled, therefore remote control computer and the programmable logic controller (PLC) of booster site front end
PLC control interaction is particularly significant.
Required for system reliability etc., remote control computer is generally two-node cluster hot backup redundant fashion, due to existing
Technology does not have a kind of general fault detect redundancy switching method for PC；Therefore, remote control computer hot backup redundancy
Redundancy switching in method, is generally divided into three kinds of modes, one be manual switching, one be automatically switch, one is complete two-node cluster hot backup,
I.e. two remote control computer states are identical, can be controlled and monitor.
For the method for manual switching, when breaking down, it is necessary to which manipulator is first passed through after the phenomenon confirmation of failure, in behaviour
Make man-machine interface and carry out manual switching, it is necessary to specify criterion in advance and need whether decision-making switches over time, people
Under work judging efficiency is relatively low；
For the method for complete two-node cluster hot backup, two-shipper is provided simultaneously with that function is monitored and controlled, when such a method does not switch
Between, two-shipper can seamless switching, but be due to that two-shipper is provided simultaneously with control function, the risk of maloperation, maloperation may be introduced
The possibility of generation and the hidden danger brought are even more serious, therefore there is also certain risk for the method for complete two-node cluster hot backup.
The content of the invention
The technology of the present invention solves problem：The deficiencies in the prior art are overcome to be cut there is provided a kind of automatic fault detection, automatically
The remote control computer hot backup redundancy control method for automatically switching changed, method of the invention only has a remote control computer
Possesses control function, the risk of maloperation when eliminating two-node cluster hot backup；The present invention is automatically switches simultaneously, and efficiency is compared with manual switching
It is high.
The present invention technical solution be：A kind of remote control computer hot backup redundancy control method for automatically switching, step
It is rapid as follows：
(1) in the flat pad of carrier rocket, i.e. front end sets programmable logic controller (PLC) PLC, is surveyed in carrier rocket
Control room, i.e. remote port are sent out, remote control computer is set and is used for manipulator's monitoring equipped with man-machine interface and operates, be may be programmed
Logic controller PLC and remote control computer are that dual-computer redundancy is set, and it is a main frame, a standby host that dual-computer redundancy, which is set,；
(2) every remote control computer configures double netcard, and the network interface card management driving progress provided using Intel is double
Double netcard is used as a Team after network card binding, binding, i.e., an externally only IP, as long as two pieces of network interface cards have one or one
Network interface card normal work more than individual, you can realize the normal data transfer function of network；
(3) Dual-Ethernet interchanger is respectively provided with remote port and front end, and remote port and the Ethernet switch of front end are logical
The connection of light net conversion equipment crossing redundancy is crossed, the redundancy of network topology structure is realized；
(4) remote control computer, carries out the automatic IP address for obtaining remote control computer after initialization operation, and
Judge this remote control computer for main frame or standby host；
(5) main frame issues the pulse rate and the machine state of control power, control of the machine with standby host by Ethernet Transmission Control Protocol
Possesses control and monitoring function for genuine remote control computer, control is that false remote control computer only possesses monitoring work(
Energy；It is true that main frame only has a control with standby host in synchronization；
(6) control is genuine remote control computer periodic monitoring the machine and programmable logic controller (PLC) PLC connection
State, such as connection status are normal, then pulse rate+1；Such as connection status exception, then pulse rate holding is constant；
(7) control is that false remote control computer periodically reads the heartbeat that control is genuine remote control computer
Value, if it exceeds after the given threshold time control be genuine remote control computer pulse rate it is constant, then judge control as
Genuine remote control computer breaks down, and control is that the control of the machine is set to very, together by false remote control computer
When the remote control computer start detection and programmable logic controller (PLC) PLC connection status, such as state is normal, then by the machine
Pulse rate+1, such as abnormal state, then the holding of the machine pulse rate is constant；
(8) control is that false remote control computer has carried out control and is set to when really operating, and performs synchronous regime
State in operation, the man-machine interface for the remote control computer that will be broken down is synchronized to the machine by Ethernet, it is ensured that
The human-computer interface control state of remote control computer is not interfered with when being controlled power switching；
The present invention has the following advantages that compared with prior art：
(1), there is once failure in system, that is, is in the method for the invention full link crossing redundancy design on signal link
In system a little break down when, can without any processing situation continued carry out flow operations, without influence system work(
The realization of energy and performance.
(2) the inventive method can realize that automatic detection IP judges main frame or standby host, performs initialization operation automatically, enter automatically
Row fault detect and control switching, improve switching efficiency, and the switching of operating personnel's artificial judgment is timely during than manual switching
Property it is high.
(3) only one remote control computer can realize control function to method of the invention simultaneously, to PLC technology
Device PLC control can only be completed by possessing the remote control computer of control function, and another remote control computer does not have
Standby control function, is only capable of realizing monitoring function, thus reduces by two remote control computers and controls simultaneously and introduce and grasp by mistake
The risk of work,
(4) original can be possessed the remote of control by remote control computer of the invention automatically when occurring control switching
The state synchronized of process control man-computer interface, it is to avoid in failover, the control shapes of two remote control computers
Risk caused by state is inconsistent.
(5) it is related to hardware topology in medium-long range control computer hot backup redundancy control method for automatically switching of the present invention
Simply, development difficulty is relatively low, and control method Project Realization is simple, and the purpose that quick exploitation is realized can be achieved.
Brief description of the drawings
Fig. 1 is data flow figure of the invention；
Fig. 2 is hardware connection figure of the invention.
Embodiment
A kind of remote control computer hot backup redundancy control method for automatically switching suitable for various faults pattern of the invention,
Surveyed applied to carrier rocket ground in hair flow control journey, realize and the hot backup redundancy of remote control computer is cut during Distance Test
Change.First, two the hardware equipment double netcards of remote control computer for being mutually redundant, and can be by INTEL Team
Technology is bundled, and an IP address is externally used only, passes through the Ethernet switch network consisting of dual-computer redundancy；Secondly, two
Platform remote control computer can realize mutual monitoring function by Ethernet delivery network variable, and by Ethernet with
Programmable logic controller (PLC) PLC enters row data communication；Again, in two remote control computers one possess that monitoring is programmable to patrol
The function of controller PLC states is collected, another both possesses the function of monitoring programmable logic controller (PLC) PLC states, also possesses control
The function that programmable logic controller (PLC) PLC processed is exported；When a remote control computer breaks down, another without reason
Barrier remote control computer by monitoring the state of fault remote control computer, then it is automatic realize faulty computer is current
State of a control be synchronized to another fault-free computer, and fault-free remote control computer acquires the right of control limit, realize from
Dynamic switching control.
The present invention basic ideas be：A kind of remote control computer hot backup redundancy control method for automatically switching, its feature
It is that step is as follows：
(1) in the flat pad of carrier rocket, i.e. front end sets programmable logic controller (PLC) PLC, is surveyed in carrier rocket
Control room, i.e. remote port are sent out, remote control computer is set and is used for manipulator's monitoring equipped with man-machine interface and operates, be may be programmed
Logic controller PLC and remote control computer are that dual-computer redundancy is set, and it is a main frame, a standby host that dual-computer redundancy, which is set,；
(2) every remote control computer configures double netcard, and the network interface card management driving progress provided using Intel is double
Double netcard is used as a Team after network card binding, binding, i.e., an externally only IP, as long as two pieces of network interface cards have one or one
Network interface card normal work more than individual, you can realize the normal data transfer function of network；
(3) Dual-Ethernet interchanger is respectively provided with remote port and front end, and remote port and the Ethernet switch of front end are logical
The connection of light net conversion equipment crossing redundancy is crossed, the redundancy of network topology structure is realized；
(4) remote control computer, carries out the automatic IP address for obtaining remote control computer after initialization operation, and
Judge this remote control computer for main frame or standby host；
(5) main frame issues the pulse rate and the machine state of control power, control of the machine with standby host by Ethernet Transmission Control Protocol
Possesses control and monitoring function for genuine remote control computer, control is that false remote control computer only possesses monitoring work(
Energy；It is true that main frame only has a control with standby host in synchronization；
(6) control is genuine remote control computer periodic monitoring the machine and programmable logic controller (PLC) PLC connection
State, such as connection status are normal, then pulse rate+1；Such as connection status exception, then pulse rate holding is constant；
(7) control is that false remote control computer periodically reads the heartbeat that control is genuine remote control computer
Value, if it exceeds after the given threshold time control be genuine remote control computer pulse rate it is constant, then judge control as
Genuine remote control computer breaks down, and control is that the control of the machine is set to very, together by false remote control computer
When the remote control computer start detection and programmable logic controller (PLC) PLC connection status, such as state is normal, then by the machine
Pulse rate+1, such as abnormal state, then the holding of the machine pulse rate is constant；
(8) control is that false remote control computer has carried out control and is set to when really operating, and performs synchronous regime
State in operation, the man-machine interface for the remote control computer that will be broken down is synchronized to the machine by Ethernet, it is ensured that
The human-computer interface control state of remote control computer is not interfered with when being controlled power switching；
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
In carrier rocket filling emission process, carrier rocket is stood on flat pad, because carrier rocket propellant has
The features such as poison, low temperature, it is therefore desirable to which flat pad operating personnel withdraw in advance before filling starts, therefore carrier rocket filling hair
Operation during penetrating is completed in the survey hair control room in the safe range away from flat pad, i.e., by remotely controlling
Flat pad processed completes the work in filling transmitting flow.
In the inside of carrier rocket flat pad, i.e. front end, provided with programmable logic controller (PLC) PLC, FPGA control
Device PLC processed runs flat pad control program, and the folding of the swing rod for controlling flat pad, the perpendicularity of rocket rocket body is adjusted
It is whole, turned under the cover plate of the pod apertures on rocket launch platform, the tail when pod apertures on flat pad are taken off for rocket firing
There is a cover plate in the water conservancy diversion of flame, pod apertures, turned under the front shroud of rocket firing and expose pod apertures, remaining time cover plate is covered
Pod apertures, prevent operating personnel fall from ensuring personal security in guiding gutter；Control room, i.e. remote port are sent out surveying, provided with long-range
Control computer, remote control computer is provided with man-machine interface, for the monitoring and control of flat pad state, every long-range control
Computer processed is equipped with double netcard, it is possible to carry out double netcard binding by Intel TEAM technologies, after binding, double netcard is common
Same IP address is used, externally data communication can be carried out by an IP address, can also be normal even if a network interface card breaks down
Enter row data communication, the double netcard pattern after binding is set to exchange by the double netcard mode of operation provided according to TEAM technologies
Device fault-tolerant mode, and double netcard is set to a major network card, one from network interface card.
Man-machine interface is provided with indicator lamp and parameter display instrument, for the monitoring of flat pad state, i.e. remote control meter
The monitoring function of calculation machine；And provided with switch and knob etc., the realization for controlling flat pad various functions, i.e. remote control
The control function of computer；Remote control computer be possessed of control power the control of limit, i.e. remote control computer be true when,
The control function of man-machine interface can be just realized, the control of remote control computer is fictitious time, only possesses the prison of man-machine interface
Brake；Remote control computer can issue oneself state of control power and pulse rate by Ethernet, and pulse rate is 64
Integer data, the initial value of pulse rate is 0.
Remote control computer is dual-computer redundancy, respectively main frame and standby host, and the two passes through the different IP of predetermined set
Address judges it is main frame or standby host.Programmable logic controller (PLC) PLC is dual-computer redundancy, is main PLC and standby PLC respectively, often
Individual PLC is equipped with double netcard, for carrying out data communication by Ethernet.
As shown in Fig. 2 being hardware connection figure of the present invention.The double netcard of every remote control computer is respectively connecting to remotely
Hold Ethernet switch (master) and remote port Ethernet switch (standby)；Remote port Ethernet switch (master) and remote port ether
Network switch (standby) cross-connects to front end Ethernet switch (master) and front end Ethernet switch by light net conversion equipment
(standby), light net conversion equipment is that Ethernet is converted into optical fiber to carry out data communication, to lift data communication speed；Main PLC and
Standby PLC double netcard is respectively connecting to front end Ethernet switch (master) and front end Ethernet switch (standby).
So, in the case that any one connection is broken down in fig. 2, remote port and front end data communication can be completed
Function is realized.
Remote control computer and programmable logic controller (PLC) PLC data communication hardware are connected as Ethernet, communication association
View selects OPC agreements, and OPC agreements are the wide variety of communication protocol of Industry Control circle, it is possible to achieve PLC and remote control are calculated
The authentic data communication of machine.
The man-machine interface of remote control computer carries out initialization operation after starting：First, the automatic IP for obtaining the machine
Address, and automatic decision the machine is the main frame or standby host of remote control computer；Secondly, a remote control computer is first read
The state of control power of another remote control computer issue is taken, if true, then the machine control is set to vacation, if vacation,
Then the machine control is set to very.
As shown in figure 1, initialization operation completion, main frame and standby host issue the pulse rate of the machine by Ethernet Transmission Control Protocol
It is that genuine remote control computer possesses control and monitoring function to obtain control with the machine state of control power, and control is false
Remote control computer only possesses monitoring function；It is true that main frame only has a control with standby host in synchronization.
Control is genuine remote control computer periodic monitoring the machine and programmable logic controller (PLC) PLC connection shape
State, such as connection status are normal, then pulse rate+1；Such as connection status exception, then pulse rate holding is constant.During practical application, pass through
Monitor the error condition position of OPC agreements connection, this error condition position is a Boolean variable, when OPC agreements are run itself from
Whether dynamic detection connection is normal, such as connects normal, error condition position is 0, such as connects abnormal, error condition position is 1.
Control is that false remote control computer periodically reads the pulse rate that control is genuine remote control computer,
If it exceeds given threshold time t1Control is that genuine remote control computer pulse rate is constant afterwards, then judges control to be true
Remote control computer break down, control is that the control of the machine is set to very, simultaneously by false remote control computer
The remote control computer starts detection and programmable logic controller (PLC) PLC connection status, and such as state is normal, then by this movement
Jump value+1, such as abnormal state, then the holding of the machine pulse rate is constant.
Control is that false remote control computer has carried out control and is set to when really operating, it is necessary to perform synchronous regime
The state of controlling switch and knob in operation, the man-machine interface for the remote control computer that will be broken down passes through Ethernet
It is synchronized to the machine, it is ensured that the human-computer interface control state of remote control computer is not interfered with when being controlled power switching.It is synchronous
In state operation, the on off state of man-machine interface is adjusted as Boolean quantity array, the N bit manipulation knobs of man-machine interface revolve
Button is discontinuous, but has several positions, adjusts as shaping amount array, the continuous operation knob of man-machine interface is adjusted as single essence
Floating number array is spent, control is that genuine remote control computer is periodically false remote control to control by Transmission Control Protocol
Computer sends Boolean quantity array, three arrays of shaping amount array and single precision floating datum array, and control is false long-range control
Computer processed preserves the state of three arrays, and refreshes the value of conservation zone after new array is received, and switches when occurring control
When, the numerical value of three arrays of conservation zone is parsed, the Boolean quantity, shaping amount and floating-point quantity of the machine is obtained, this is assigned to
Machine man-machine interface；This process is taken as t2。
When Practical Project is realized, when occur control handover operation before, it is necessary to after detection more than the given threshold time control
Weigh for genuine remote control computer pulse rate it is constant, this threshold time according to index request action time delay t0Set
Put.In control handoff procedure, during the delay taken as control switching of above-mentioned threshold time and synchronous regime operation
Between t, then have t=t1+t2＜ t0。
The method of the present invention is because in the process of running, control is that false remote control computer is being monitored and switched
Cheng Zhong, the connection status and control that need to be monitored simultaneously with programmable logic controller (PLC) PLC is genuine remote control computer
Pulse rate, can be avoided because control is that false remote control computer network failure in itself or deadlock etc. are caused
Erroneous judgement, more compared to the fault mode that existing monitoring mechanism is suitable for, the reliability of method in itself is higher.
Claims (3)
1. a kind of remote control computer hot backup redundancy control method for automatically switching, it is characterised in that step is as follows：
(1) in the flat pad of carrier rocket, i.e. front end sets programmable logic controller (PLC) PLC, and hair control is surveyed in carrier rocket
Between system, i.e. remote port sets remote control computer to be simultaneously used for manipulator equipped with man-machine interface and monitors and operate, FPGA
Controller PLC and remote control computer are that dual-computer redundancy is set, and it is a main frame, a standby host that dual-computer redundancy, which is set,；
(2) every remote control computer configures double netcard, and the network interface card management driving provided using Intel carries out double netcard
Binding, double netcard is used as a Team after binding, i.e., externally only have an IP, as long as two pieces of network interface cards have one or one with
On network interface card normal work, you can realize the normal data transfer function of network；
(3) Dual-Ethernet interchanger is respectively provided with remote port and front end, and remote port and the Ethernet switch of front end pass through light
Net conversion equipment crossing redundancy is connected, and realizes the redundancy of network topology structure；
(4) remote control computer, carries out the IP address of automatic acquisition remote control computer after initialization operation, and judges
This remote control computer is main frame or standby host；
(5) main frame issues the pulse rate and the machine state of control power of the machine with standby host by Ethernet Transmission Control Protocol, and control is true
Remote control computer possess control and monitoring function, control is that false remote control computer only possesses monitoring function；
It is true that main frame only has a control with standby host in synchronization；
(6) control is genuine remote control computer periodic monitoring the machine and programmable logic controller (PLC) PLC connection status,
Such as connection status is normal, then pulse rate+1；Such as connection status exception, then pulse rate holding is constant；
(7) control is that false remote control computer periodically reads the pulse rate that control is genuine remote control computer,
If it exceeds control is that genuine remote control computer pulse rate is constant after the given threshold time, then judge control to be genuine
Remote control computer breaks down, and control is that the control of the machine is set to very by false remote control computer, simultaneously should
Remote control computer starts detection and programmable logic controller (PLC) PLC connection status, and such as state is normal, then by the machine heartbeat
Value+1, such as abnormal state, then the holding of the machine pulse rate is constant；
(8) control is that false remote control computer has carried out control and is set to when really operating, and performs synchronous regime operation,
State in the man-machine interface for the remote control computer that will be broken down is synchronized to the machine by Ethernet, it is ensured that controlled
The human-computer interface control state of remote control computer is not interfered with during system power switching.
2. a kind of remote control computer hot backup redundancy control method for automatically switching according to claim 1, its feature
It is：Initial operation method in described step (4) is：When program brings into operation, a remote control computer elder generation
The state of control power of another remote control computer issue is read, if true, then the machine control is set to vacation, and performs same
Step state is operated, and the state in the man-machine interface of another remote control computer is synchronized into the machine by Ethernet；If
It is false, then the machine control is set to very, the man-machine interface of the machine keeps the mode of operation of acquiescence.
3. a kind of remote control computer hot backup redundancy control method for automatically switching according to claim 1, its feature
It is：Synchronous regime in described step (8), which is operated, is：The mode of operation of man-machine interface is divided into Boolean quantity array, shaping
Array and single precision floating datum array are measured, and assignment operation is carried out by regulation order, control is genuine remote control computer
It is periodically that false remote control computer sends Boolean quantity array, shaping amount array and single precision to control by Transmission Control Protocol
Three arrays of floating number array, control is that the remote control computer of vacation preserves the state of three arrays, and new receiving
Refresh the value of conservation zone after array, when occurring control switching, the numerical value of three arrays of conservation zone is parsed, obtained
The Boolean quantity, shaping amount and floating-point quantity of the machine, are assigned to the machine man-machine interface.
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