CN113325689B - Full-time domain hot standby method of control system based on data synchronization - Google Patents
Full-time domain hot standby method of control system based on data synchronization Download PDFInfo
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Abstract
The technical scheme adopted by the invention is as follows: a full-time domain hot standby method of a control system based on data synchronization comprises the following steps: the control system comprises a control device A and a control device B which are communicated with each other, wherein the control device A and the control device B are respectively connected with the interface device in the same way and carry out interactive communication, and the communication contents are the same; the interface device comprises a plurality of; the system also comprises health monitoring equipment, wherein the health monitoring equipment is used for receiving the running state information sent by the control equipment A, the control equipment B and the interface equipment, and setting the master-slave states of the control equipment A and the control equipment B according to the running state information, wherein one control equipment is in a master state, and the other control equipment is in a slave state; the interface device only processes the data packet sent by the control device in the host state. The invention effectively improves the industrial reliability.
Description
Technical Field
The invention belongs to the technical field of control, and particularly relates to a full-time domain hot standby method of a control system based on data synchronization.
Background
The coupling of information flow and energy flow in a complex industrial system is increasingly tight, and once a control system fails, a task fails, and equipment damage or even casualties are caused. Therefore, it is necessary to improve the control reliability. The controller redundancy is a method with low cost, excellent comprehensive performance and wide application at present, and the redundancy of a control system is realized through the configuration of a master machine and a slave machine. The method can be divided into two types according to different master-slave switching modes:
(1) master-slave switching by 'heartbeat' signal
The main idea is as follows: and sending a heartbeat signal between the master and the slave according to a certain time interval, and once the signal is interrupted, considering that a fault occurs and finishing master-slave switching.
There are problems: the switching criterion is incomplete, and the failure of the heartbeat signal between the master and the slave is not equivalent to the failure of the function of the equipment.
(2) Master-slave handover by modifying IP address
The main idea is as follows: the main IP address is fixed, and when a fault occurs, the main IP and the slave IP are exchanged to realize the main-slave switching.
There are problems: the technical design is complex, the realization difficulty is high, the switching time is long, and hot standby cannot be realized. .
Disclosure of Invention
The invention aims to solve the defects in the background technology, provides a full-time domain hot standby method of a control system based on data synchronization, adopts the technical scheme of 'hardware configuration of double machines and software switching of master and slave', aims at solving the problem of control system breakdown caused by control equipment failure, and improves the reliability of an industrial system.
The technical scheme adopted by the invention is as follows: a full-time domain hot standby method of a control system based on data synchronization is disclosed, wherein the control system comprises a control device A and a control device B which are communicated with each other, the control device A and the control device B are respectively connected with an interface device in the same way and carry out interactive communication, and the communication contents are the same; the interface device comprises a plurality of; the interface equipment sets the master-slave state of the control equipment A and the control equipment B through an arbitration or voting master-slave switching mechanism, wherein one control equipment is in a master state, and the other control equipment is in a slave state; the interface device only processes the data packet sent by the control device in the host state.
The control device a and the control device B may be in the form of control devices, components or boards. The connection comprises physical connection and information connection, and the types and the number of the interface devices connected with the control device A and the control device B, and the corresponding physical connection and information connection modes are completely consistent;
further, the physical connection includes a connection form and a connection medium, the connection form may be a ring, a star, a bus, a tree, etc., and the connection medium may be an optical fiber, a network cable, a twisted pair, a coaxial cable, etc.;
further, the information transfer may be based on various protocols including LWIP, TCP/IP, UDP, EIP, serial port, etc.
In the technical scheme, communication protocols are defined between the control equipment A and the interface equipment and between the control equipment B and the interface equipment; the same interface device has the same communication protocol as the control device a and the control device B. The communication protocol is an appointed rule for exchanging data between the A and B interface devices, and for the same interface device, the communication protocol is the same as the communication protocol of the A and B interface devices, and the communication protocol comprises the same data content, the same transmission cycle, the same communication triggering mode and the like. And defining an operation state identifier of the control device in the data content of a communication packet sent to the interface device by the control device A and the control device B based on the communication rule, wherein the identifier has a master state and a slave state, the master state is identified as a master, and the slave state is identified as a slave.
In the above technical solution, the control device a and the control device B are in periodic communication with the same interface device, and if the periodic communication is not periodic, a "heartbeat" signal is used instead. When the same interface equipment is in communication, the same communication packet is synchronously and respectively sent to the control equipment A and the control equipment B, so that the synchronization of data received by the control equipment A and the control equipment B is ensured.
In the above technical solution, the "arbitration" master-slave switching mechanism specifically includes arbitrating the control device by using a scoring rule according to communication state information between the control device and the interface device, and switching the master-slave state of the control device according to an arbitration result. And setting health monitoring equipment as arbitration equipment, wherein the health monitoring equipment and all information equipment in the system are provided with communication interfaces, and receiving running state information sent by each equipment, including inter-equipment communication state information. The health monitoring equipment sets running state identification values of the control equipment A and the control equipment B according to the communication state between the control equipment A and the interface equipment, and sends the set running state identification values to the control equipment A and the control equipment B; and after receiving the control equipment running state identification state sent by the health monitoring equipment, the control equipment assigns the control equipment running state identification state to the data content of the communication packet sent to the interface equipment. When the system is started, the control pen A is set as a host and the control equipment B is a slave by default by identifying the IP address. After receiving the communication packets sent by the control device a and the control device B, the interface device firstly obtains the control device operation state identifier in the data content according to the communication protocol analysis, and the identification information is sent by the host or the slave, and only processes the information sent by the host.
When a certain control device continuously receives data sent by the same interface device, the communication state of the control device and the interface device is normal; when a certain control device does not receive data sent by the same interface after overtime, the communication state of the control device and the interface device is abnormal, and the control device sends the communication state of the control device and the interface device to the health monitoring device;
when certain interface equipment continuously receives data sent by certain control equipment, the communication state of the interface equipment and the control equipment is normal; when a certain interface device does not receive data sent by a certain control device after overtime, the communication state of the interface device and the control device is abnormal, and the interface device sends the communication state of the interface device and the control device to a health monitoring device; and if and only if the health monitoring equipment receives that the communication state with certain interface equipment sent by certain control equipment is normal and the communication state with the control equipment sent by the interface equipment is normal, judging that the communication state between the control equipment and the interface equipment is normal, otherwise, judging that the communication state between the control equipment and the interface equipment is abnormal.
In the above technical solution, the health monitoring device arbitrates the control device according to the communication state information by using a scoring rule, and switches the master state and the slave state of the control device according to an arbitration result, which specifically includes the following steps:
setting health monitoring equipment as arbitration equipment, setting running state identification of the control equipment according to the communication state between the control equipment A, the control equipment B and the interface equipment, and sending the set running state identification value to the control equipment, wherein the identification is a master computer and the identification is a slave computer;
when the control system is started, default setting of a control device A as a host and a control device B as a slave; the health monitoring equipment sets the initial evaluation scores of the two control equipment to be 100 full scores;
when a certain control device continuously receives data sent by the same interface device and the interface device can also continuously receive the data of the control device, the health monitoring device judges that the communication state between the interface device and the control device is normal, otherwise, the communication state is abnormal;
scoring according to the number of the devices with abnormal communication states, and when a certain control device and a certain interface device have abnormal communication states, deducting 2 points for the evaluation score of the control device, and normally not deducting the score;
scoring according to the type of the equipment with abnormal communication state, and deducting 100 points when the communication state of certain control equipment and certain interface equipment is all abnormal; if one interface device in certain class is in normal communication state with the control device, the item is not deducted;
and comparing the scoring conditions of the control device A and the control device B, firstly setting the control device running state identification of the device with low scoring as a slave state, and then setting the control device running state identification of the device with high scoring as a master state.
The master-slave switching refers to a process that the health monitoring equipment sends the arbitrated running state identifier of the control equipment to the control equipment A and the control equipment B, and the control equipment A and the control equipment B assign the identifier to the data content of the communication packet sent to the interface equipment.
The 'voting' master-slave switching mechanism is specifically that when a certain interface device is abnormal in communication with the master control device, voting information is automatically sent to the slave control device, when the number of votes reaches a set threshold value, the slave control device is automatically switched to the master device, and the master control device is automatically switched to the slave device, and specifically comprises the following steps:
when the control system is started, default setting of a control device A as a host and a control device B as a slave; when the running state identifier of the control equipment B is in a slave state, the running state identifier of the control equipment A is a master or a slave, the control equipment A is a master, and the control equipment B is a slave; when the running state identifier of the control equipment B is in a master state, the running state identifier of the control equipment A is a slave, and the control equipment B is a master;
when certain interface equipment can not continuously receive data sent by the control equipment A, judging that the communication state between the interface equipment and the control equipment A is abnormal, and sending voting information to the control equipment B;
when the control device B judges that the ticket number information reaches the set threshold value, the host machine is automatically switched to, and meanwhile, the control device A is automatically switched to the slave machine.
When the system starts, the IP address is identified, A is set as a host computer in default, B is set as a slave computer, namely, the running state identifier of the control equipment is set as a master state by the A, and the running state identifier of the control equipment is set as a slave state by the B. After receiving the communication packets sent by the control device a and the control device B, the interface device firstly obtains the running state identifier of the control device B according to the communication protocol analysis, and judges the master-slave states of the control device a and the control device B according to the identifier states.
When certain interface equipment continuously receives data sent by the control equipment in the host state, judging that the communication state of the interface equipment and the control equipment in the host state is normal; when a certain interface device does not receive data sent by the control device in the master state after a certain period, the communication state of the interface device and the control device in the master state is judged to be abnormal, and the interface device sends voting information to the control device in the slave state.
In the above technical solution, the ticket number information calculation method is as follows:
the number of votes voted is
；
Wherein, wrAnd VrAs an interface device NrTwo attributes of (2); w is arIs the coefficient of the degree of importance of the equipment, wherein 0 is more than or equal to wrThe value is less than or equal to 1, the influence degree of the damaged interface equipment on the control system is positively correlated, the closer to 1, the larger the influence of the damaged interface equipment on the control system, and the closer to 0, the smaller the influence of the damaged interface equipment on the control system; vrUsed for showing whether the interface equipment judges that the communication state with the host computer is abnormal or not and voting to the slave computer, and V is used during votingr=1, otherwise Vr= 0; r represents the number of interface devices;
when Σ > ω, the control device in the slave state is switched to the master, and the control device in the master state is switched to the slave, where ω is a set threshold.
The arbitration mechanism and the voting mechanism provided by the invention can realize hot standby redundancy of the control system, and can be selected according to the following principles:
(1) if the system is internally provided with health monitoring equipment (arbitration equipment) and the communication connection mode between the control equipment and the interface equipment is the same as the communication connection mode between the health equipment and each equipment, adopting an arbitration mechanism;
(2) if no health monitoring device (arbitration device) exists in the system, or the communication connection mode between the control device and the interface device is different from the communication connection mode between the health device and each device, a voting mechanism is adopted.
The invention has the beneficial effects that:
1) the control equipment synchronously receives the data information sent by the interface equipment, and the control flow jumps are synchronous. At any moment, the host computer is in fault, the slave computer can rapidly continue to control, and full-time domain hot standby of the control system is realized;
2) the method is mainly realized by software, does not need to increase or modify hardware, and is simple to realize and reliable to operate;
3) the master-slave switching time can be changed by changing the software communication period, the requirements of different switching precision are met, the use is flexible, and the maintenance is convenient;
4) the communication state of the control equipment and the plurality of interface equipment is used as a master-slave switching basis, and the switching rule is quantized, so that the method is more scientific and reasonable compared with a mechanism for switching only by the heartbeat signals of a master-slave machine.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention.
FIG. 2 is a block diagram of an arbitration scheme.
Fig. 3 is a schematic diagram of a voting mechanism framework.
Detailed Description
The invention will be further described in detail with reference to the following drawings and specific examples, which are not intended to limit the invention, but are for clear understanding.
The invention provides a full-time domain redundancy hot standby method of a control system based on data synchronization, which adopts the technical scheme of 'hardware configuration dual-computer and software switching master-slave' and comprises two master-slave switching mechanisms of arbitration and voting.
As shown in FIG. 1, a redundant control system constructed in accordance with the teachings of the present invention is illustrated, employing three levels of control architecture, currently prevalent in industrial systems, top level logic control, middle level real time control, and bottom level executive control. The top-level logic control is mainly realized by a process control device A and a process control device B, and an arbitration mechanism is adopted to realize redundant hot standby; the middle layer real-time control is mainly realized by a real-time control device A and a real-time control device B, and a voting mechanism is adopted to realize redundant hot standby; the bottom layer performs control by the real-time interface device N1-NrAnd completing, realizing redundancy by the number of equipment, and not performing discussion in the specific embodiment.
As shown in fig. 2, the top-level logic control adopts an arbitration scheme, and mainly comprises the following steps:
the method comprises the following steps: expansion control device
The process control equipment in the system is expanded to 2 units, namely A and B, wherein the hardware and the software of the A and the B are the same.
Process control devices A and B and process interface devicesN1-NrThe real-time control equipment A and the like form a ring Ethernet through optical fiber connection, and establish information connection based on a TCP/IP protocol.
The real-time control device A is an interface device of the process control device A and the process control device B, and is also an interface between the top-level logic control and the middle-level real-time control of the industrial system.
Step two: configuring health monitoring devices
The health monitoring device M is connected with the process control device A through an optical fiber, and establishes information connection with other devices in the system through the A. Process control device A, process control device B, and process interface device N1-NrAnd the real-time control equipment A sends the running state information to the health monitoring equipment M, wherein the running state information comprises the communication state information between the equipment and the corresponding interface equipment.
Step three: defining communication protocols
Defining process control devices A and B and process interface devices N1-NrThe communication protocols between the real-time control equipment A and the communication protocols between the same interface equipment and the process control equipment A and the process control equipment B contain communication cycles, data contents and the like which are all completely consistent. The communication cycle in this embodiment is 100 ms.
Sent to the process interface device N at the process control device A and the process control device B1-NrAnd adding a control equipment running state identifier at the beginning of the data content of the communication packet of the real-time control equipment A, wherein the control equipment running state identifier is a pool amount, true represents a main state, and false represents a slave state. And the equipment with the running state mark of true of the control equipment is the master, and the equipment with the running state mark of true of the control equipment is the slave.
Step four: master-slave setup
The health monitoring device M is based on the process control device A, the process control device B and the process interface device N1-NrAnd setting the values of the running state identifiers of the process control equipment A and the process control equipment B according to the communication state between the real-time control equipment A, and sending the set values to the process control equipment A and the process control equipment B. When the system is started, under the default state,the health monitoring device M distinguishes the process control device A and the process control device B through IP addresses, and sets the process control device A as a host and the process control device B as a slave. The health monitoring equipment M is provided with a control equipment running state identification validity detection algorithm, so that the condition that the identifications of the two equipment are main at any moment is ensured to be avoided.
The process control device A and the process control device B assign the received running state identification of the control device to the process interface device N1-NrAnd the data content of the communication packet transmitted by the real-time device a. Process interface device N1-NrAfter receiving the communication packets sent by the process control devices A and B, the real-time control device A firstly analyzes the data content according to an agreed communication rule to obtain a control device running state identifier, and if the control device running state identifier is in a main state, continues analyzing and using the data content in the communication packets; and if the operation state of the control equipment is identified as the slave state, discarding the communication packet.
Step five: obtaining inter-device communication status
Taking process interface device N1 as an example:
process control device A and process interface device N1Process control devices B and N1The communication period is 100ms, wherein N1When data is sent to the process control equipment, the same communication packet is synchronously and respectively sent to the process control equipment A and the process control equipment B, so that the process control equipment A and the process control equipment B are ensured to synchronously receive the data, and the process control equipment A and the process control equipment B are ensured to jump and synchronize by receiving the same data;
when the process control device A continuously receives the process interface device N at intervals of 100ms1Process control device a determines and process interface device N upon data being sent1The communication state of (2) is normal; when the process control device A does not receive the process interface device N for more than 300ms1Process control device a determines and process interface device N upon data being sent1The communication state of (2) is abnormal. The process control device a will interface with the process interface device N1The communication state of the health monitoring device M is sent to the health monitoring device M;
when the process is carried outInterface device N1The process interface device N continues to receive data at 100ms intervals sent by the process control device A1Determining that a communication state with the process control device a is normal; process interface device N1If the process control device A does not receive data for more than 300ms, the process interface device N1It is determined that the communication state with the process control device a is abnormal. Process interface device N1Sending the communication state with the process control device A to the health monitoring device M;
if and only if the health monitoring device M receives the information sent by the process control device A and the process interface device N at the same time1Normal communication state and process interface device N1When the communication state with the process control device A is normal, the process control device A and the process interface device N are judged1The communication state is normal, otherwise, the process control device A and the process interface device N are judged1The communication state is abnormal;
process control device B and process interface device N1And the communication state judgment between other equipment with information interfaces is the same as the process.
Step six: master-slave arbitration and handover
The scoring rule is used as an arbitration basis, and the method specifically comprises the following steps:
(1) setting the full score to be 100:
(2) and (4) scoring according to the number of the devices with abnormal communication states, and when the communication states of the control device and one interface device are abnormal, deducting 2 points, and normally not deducting points. Such as when process interface device N1When the communication with the process control equipment A is abnormal, the process control equipment A is deducted for 2 points, and the rest is 98 points; with the addition of a process interface device N2When the communication with the process control device A is abnormal, the process control device A deducts 2 points, the rest 96 points and the like.
(3) Scoring according to the type of the equipment with abnormal communication state, and deducting 100 points when the communication state of the control equipment and certain interface equipment is completely abnormal; if only one interface device in a certain type is in a normal communication state with the control device, the item is not deducted. Such as a real-time control device A and an interface device N1-NrFor different types of interface devices, if the real-time control device a and the process control device B are abnormal in communication, the point B is 100 points, and 0 point remains.
(4) The health monitoring device M compares the scores of the process control device A and the process control device B, sets the running state identification of the process control device of the device with low score as a slave state, sets the running state identification of the process control device of the device with high score as a master state, and adopts default setting when the scores are the same.
The master-slave switching refers to a process in which the health monitoring device M sends the arbitrated control device operating state identifier to the process control devices a and B, and the process control devices a and B add the process control device operating state identifier to the data content of the communication information sent to the interface device.
As shown in fig. 3, the middle layer real-time control adopts a voting mechanism, and the main steps are as follows:
the method comprises the following steps: expansion control device
The real-time control equipment in the system is expanded to 2 sets, called as real-time control equipment A and real-time control equipment B, and the hardware of the real-time control equipment A is the same as that of the real-time control equipment B.
Real-time control devices A and B and real-time interface device N1-NrAnd forming a star network through the serial ports, and establishing information connection based on a serial port protocol.
Step two: defining communication protocols
Defining real-time control devices A and B and a real-time interface device N1-NrThe communication protocols between the same interface device and the real-time control devices A and B are completely consistent with each other in terms of communication period, data content and the like. The communication cycle in this embodiment is 0.5 ms.
Sent to the real-time interface device N at the real-time control devices A and B1-NrThe start of the data content of the communication packet defines a control device running state identifier, the control device running state identifier is a pool variable, true represents a master state, and false represents a slave state.
Step three: master-slave setup
When the system is started, the real-time control equipment A and B set the running state identification of the self-control equipment through the IP address in a default state. Under the default condition, the control equipment running state identifier of the real-time control equipment A is in a master state, and the control equipment running state identifier of the real-time control equipment B is in a slave state. Setting in the system: when the control equipment running state identifier of the real-time control equipment B is in a slave state, the control equipment running state identifier of the real-time control equipment A is a master or a slave, the real-time control equipment A is a master, and the real-time control equipment B is a slave; when the control equipment running state identifier of the real-time control equipment B is in a master state, the control equipment running state identifier of the real-time control equipment A is in a master or slave state, the real-time control equipment A is a slave, and the real-time control equipment B is a master;
real time interface device N1-NrAfter receiving communication packets sent by the real-time control equipment A and B, firstly analyzing the data content according to an agreed communication rule to obtain a control equipment running state identifier, and if the real-time control equipment B running state identifier is in a main state, continuously analyzing and using the data content in the communication packets; and if the control equipment running state identifier of the real-time control equipment B is in the slave state, analyzing and using the information sent by the real-time control equipment A.
Step four: communication state discrimination and voting
With real-time interface devices N1For example, the following steps are carried out:
real-time control devices A and N1Real-time control equipment B and real-time interface equipment N1The communication period is 0.5ms, wherein the real-time interface device N1When data are sent to the real-time control equipment, the same communication packet is synchronously and respectively sent to the real-time control equipment A and the real-time control equipment B, so that the synchronous data receiving of the real-time control equipment A and the real-time control equipment B is ensured, and the flow skipping synchronization of the real-time control equipment A and the flow skipping synchronization of the real-time control equipment B is ensured by receiving the same data;
as a real-time interface device N1When continuously receiving the data sent by the real-time control equipment A according to the interval of 0.5ms, the real-time interface equipment N1Judging the communication state with the real-time control device A is normal, and the real-time interface device N1No operation is carried out; as a real-time interface device N1Not transmitted by real-time control equipment A for more than 1msData time, real time interface device N1Determining abnormality of communication state with real-time control device A, real-time interface device N1Voted to the real-time control device B.
The method for judging the communication state and voting by other real-time interface equipment is the same as that described above.
Step five: ticket counting and master-slave switching
According to different functions, any one real-time interface device NrBoth have two attributes, the degree of importance wrAnd the number of votes Vr。wrThe degree of importance for characterizing a device, related to the function, number of devices and location in the control system topology, wrW may be 0 or lessrAny value between 1 and less, the closer the value is to 1, the higher the importance degree of the equipment is, and the closer the value is to 0, the lower the importance degree of the equipment is. VrFor indicating whether the apparatus votes, at time Vr=1, otherwise VrAnd = 0. In each period of program operation, B follows the convention rule
Calculating the weighted sum of the vote number and the importance coefficient>When ω is ω (ω is a set threshold), the real-time control device B is switched to the master, and the real-time control device a becomes the slave.
Those not described in detail in this specification are within the skill of the art.
Claims (6)
1. A full-time domain hot standby method of a control system based on data synchronization is characterized in that: the control system comprises a control device A and a control device B which are communicated with each other, wherein the control device A and the control device B are respectively connected with the interface device in the same way and carry out interactive communication, and the communication contents are the same; the interface device comprises a plurality of; the interface equipment sets the master-slave state of the control equipment A and the control equipment B through an arbitration or voting master-slave switching mechanism, wherein one control equipment is in a master state, and the other control equipment is in a slave state; the interface device only processes the data packet sent by the control device in the host state;
the arbitration master-slave switching mechanism specifically comprises the following steps:
setting health monitoring equipment as arbitration equipment, setting running state identifiers of the control equipment A and the control equipment B according to communication states between the control equipment A and the interface equipment and the control equipment B, and sending set running state identifier values to the control equipment A and the control equipment B; the mark as the master is a master, and the mark as the slave is a slave;
when a certain control device continuously receives data sent by the same interface device and the interface device can also continuously receive the data of the control device, the health monitoring device judges that the communication state between the interface device and the control device is normal, otherwise, the communication state is abnormal;
when the control system is started, default setting of a control device A as a host and a control device B as a slave; the health monitoring equipment sets the initial evaluation scores of the two control equipment to be 100 full scores;
scoring according to the number of the devices with abnormal communication states, and when a certain control device and a certain interface device have abnormal communication states, deducting 2 points for the evaluation score of the control device, and normally not deducting the score;
scoring according to the type of the equipment with abnormal communication state, and deducting 100 points when the communication state of certain control equipment and certain interface equipment is all abnormal; if one interface device in certain class is in normal communication state with the control device, the item is not deducted;
and comparing the scoring conditions of the control device A and the control device B, firstly setting the control device running state identification of the device with low scoring as a slave state, and then setting the control device running state identification of the device with high scoring as a master state.
2. The full-time domain hot standby method of the control system based on data synchronization as claimed in claim 1, wherein: communication protocols are defined between the control equipment A and the interface equipment and between the control equipment B and the interface equipment; for the same interface equipment, the communication protocol of the same interface equipment is the same as that of the control equipment A and that of the control equipment B; an operating state identification of the control device is defined in the data content of a communication packet transmitted to the interface device by the control device a and the control device B based on the communication rule, and the identification has two states of a master state and a slave state.
3. The full-time domain hot standby method of the control system based on data synchronization as claimed in claim 2, characterized in that: after receiving the communication packets sent by the control device a and the control device B, the interface device firstly obtains the control device operation state identifier in the data content according to the communication protocol analysis, and the identification information is sent by the host or the slave, and only processes the information sent by the host.
4. The full-time domain hot standby method of the control system based on data synchronization as claimed in claim 3, wherein: the control device A and the control device B are in periodic communication with the same interface device, and the same communication packet is synchronously and respectively sent to the control device A and the control device B when the same interface device is in communication.
5. The full-time domain hot standby method of the control system based on data synchronization as claimed in claim 4, wherein: the voting master-slave switching mechanism specifically comprises the following steps:
when the control system is started, default setting of a control device A as a host and a control device B as a slave; when the running state identifier of the control equipment B is in a slave state, the running state identifier of the control equipment A is a master or a slave, the control equipment A is a master, and the control equipment B is a slave; when the running state identifier of the control equipment B is in a master state, the running state identifier of the control equipment A is a slave, and the control equipment B is a master;
when certain interface equipment can not continuously receive data sent by the control equipment A, judging that the communication state between the interface equipment and the control equipment A is abnormal, and sending voting information to the control equipment B;
when the control device B judges that the ticket number information reaches the set threshold value, the host machine is automatically switched to, and meanwhile, the control device A is automatically switched to the slave machine.
6. The full-time domain hot standby method of the control system based on data synchronization as claimed in claim 5, wherein the ticket number information calculation method is as follows:
the number of votes voted is;
wherein, wrAnd VrTwo attributes for the interface device Nr; w is arIs the coefficient of the degree of importance of the equipment, wherein 0 is more than or equal to wrThe value is less than or equal to 1, the influence degree of the damaged interface equipment on the control system is positively correlated, the closer to 1, the larger the influence of the damaged interface equipment on the control system, and the closer to 0, the smaller the influence of the damaged interface equipment on the control system; vrUsed for showing whether the interface equipment judges that the communication state with the host computer is abnormal or not and voting to the slave computer, and V is used during votingr=1, otherwise Vr= 0; r represents the number of interface devices;
when Σ > ω, the control device in the slave state is switched to the master, and the control device in the master state is switched to the slave, where ω is a set threshold.
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