CN113850033B - Redundancy system, redundancy management method and readable storage medium - Google Patents
Redundancy system, redundancy management method and readable storage medium Download PDFInfo
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Abstract
The application provides a redundancy system, a redundancy management method and a readable storage medium, wherein the redundancy system comprises a first redundancy device and at least one second redundancy device. The first redundancy device comprises a first controller and a first programmable module; the first controller is connected with the first programmable module through a communication interface; the first programmable module performs data transmission with the at least one second redundancy device and the downlink execution unit through at least one redundancy bus; and at least two kinds of data are respectively transmitted between the first programmable module and the at least one second redundancy device and between the first programmable module and the downlink execution unit in different time periods through the same redundancy bus. According to the data processing method and device, the programmable module is used as a function expansion peripheral of the controller, the speed of data processing and the flexibility of the system can be improved, in addition, at least two kinds of data are respectively transmitted in different time periods through the same redundancy bus, the bus utilization rate can be improved, and the wiring complexity is simplified.
Description
Technical Field
The present disclosure relates to the field of data transmission technologies, and in particular, to a redundancy system, a redundancy management method, and a readable storage medium.
Background
Redundancy technology is one of the design methods by which a system or device achieves high reliability, high safety, and high viability. Particularly, when the quality and reliability level of components or parts are low, and the reliability requirement of equipment cannot be met by adopting general design, the redundancy technology has important application value.
In general, most controllers in the traditional redundancy system are designed in an integrated manner, except for the implementation of signal acquisition, data processing and control algorithms related to actuation control, the redundancy management algorithm is implemented on the controllers, the requirements on the operation capability of the controllers are high, in addition, the integrated design has poor transplanting capability, the code transplanting in the subsequent replacement scheme (such as the replacement of MCU chip type) is difficult, and the flexibility of the system is poor. In addition, the existing redundancy system often adopts a point-to-point connection mode or a special bus mode, the connection is complex, and the bus utilization rate is not high.
Disclosure of Invention
The utility model provides a redundancy system, a redundancy management method and a readable storage medium, which can improve the speed of data processing and the flexibility of the system, improve the bus utilization rate and simplify the wiring complexity.
The application provides a redundancy system, which comprises a first redundancy device and at least one second redundancy device; the first redundancy device comprises a first controller and a first programmable module; the first controller is connected with the first programmable module through a communication interface; the first programmable module performs data transmission with the at least one second redundancy device and the downlink execution unit through at least one redundancy bus; and at least two kinds of data are respectively transmitted between the first programmable module and the at least one second redundancy device and between the first programmable module and the downlink execution unit in different time periods through the same redundancy bus.
Preferably, the structure of the second redundancy device is the same as the structure of the first redundancy device; and/or the bus types of at least two redundancy buses in the redundancy system are the same.
Preferably, the first programmable module is configured to schedule and cache cross-channel data, and perform redundancy management.
Preferably, the at least two data includes a cross-channel data frame, and a redundancy voting output signal frame.
Preferably, the first programmable module outputs the first cross channel data through a first redundancy bus, and receives the second cross channel sub data from the at least one second redundancy device through the first redundancy bus.
Preferably, the first programmable module outputs the redundancy voting output signal frame to the downstream execution unit through the first redundancy bus.
Preferably, the first programmable module outputs a synchronization signal frame to the at least one second redundancy device through the first redundancy bus.
Preferably, the plurality of interface pins in the first programmable module are respectively connected to the corresponding bus interfaces through the corresponding PHY chips.
Preferably, the plurality of interface control units in the first programmable module respectively control the corresponding bus interfaces.
The application also provides a redundancy management method applied to the first programmable module of the redundancy system, the redundancy management method comprising: at least one of synchronous control, fault detection, median signal voting.
Preferably, the synchronization control includes the steps of: in response to receiving a second synchronization signal frame and a third synchronization signal frame sent by a plurality of second redundancy devices through the redundancy bus, acquiring a first current timing value through a local timer, wherein the second synchronization signal frame comprises a second current timing value, and the third synchronization signal frame comprises a third current timing value; acquiring a difference value of each two values of the first current timing value, the second current timing value and the third current timing value; and compensating the timing value of the local timer according to the median value of the difference values.
Preferably, the fault detection comprises the steps of: broadcasting a transmission state detection frame through the redundancy bus; judging whether a state detection response frame of any second redundancy device is received in a first preset time period; if the state detection response frame of any second redundancy device is not received within the first preset time period, judging that the first redundancy device fails; if the state detection response frame of any second redundancy device is received in the first preset time period, judging whether the state detection response frames of all the second redundancy devices are received in the second preset time period; if the state detection response frames of all the second redundancy devices are not received within a second preset time period, judging that the second redundancy devices which do not send the state detection response frames fail; and if the state detection response frames of all the second redundancy devices are received within the second preset time period, performing fault diagnosis according to the state detection response frames.
Preferably, the median signal voting comprises the steps of: if the voting input data of all the redundancy devices are normal, outputting the intermediate value of the voting input data of all the redundancy devices; if the voting input data of one redundancy device is abnormal, outputting the average value of the voting input data of the remaining redundancy device; if the voting input data of two or more redundancy devices are abnormal, outputting a fault safety value.
The present application also provides a readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the redundancy management method described above. According to the redundancy system, the redundancy management method and the readable storage medium, the programmable module is used as a function extension peripheral of the controller, so that the speed of data processing and the flexibility of the system can be improved, in addition, at least two kinds of data are respectively transmitted in different time periods through the same redundancy bus, the bus utilization rate can be improved, and the wiring complexity can be simplified.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic diagram of a redundancy system according to a first embodiment of the present application;
FIG. 2 is a schematic diagram of a redundancy system according to a second embodiment of the present application;
FIG. 3 is a schematic diagram of a redundancy system according to a third embodiment of the present application;
FIG. 4 is a schematic flow chart of synchronous control of the redundancy system according to the fourth embodiment of the present application;
FIG. 5 is a schematic flow chart of fault detection of the redundancy system according to the fifth embodiment of the present application;
FIG. 6 is a flow chart of median signal voting by the redundancy system according to the sixth embodiment of the present application.
The realization, functional characteristics and advantages of the present application will be further described with reference to the embodiments, referring to the attached drawings. Specific embodiments thereof have been shown by way of example in the drawings and will herein be described in more detail. These drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the element defined by the phrase "comprising one … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element, and furthermore, elements having the same name in different embodiments of the present application may have the same meaning or may have different meanings, a particular meaning of which is to be determined by its interpretation in this particular embodiment or by further combining the context of this particular embodiment.
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The application provides a redundancy system comprising a first redundancy device and at least one second redundancy device. The first redundancy device comprises a first controller and a first programmable module. The first controller is connected with the first programmable module through an interface. The first programmable module performs data transmission with at least one second redundancy device and the downlink execution unit through at least one redundancy bus. And at least two kinds of data are respectively transmitted between the first programmable module and at least one second redundancy device and between the first programmable module and the downlink execution unit in different time periods through the same redundancy bus.
First embodiment
Fig. 1 is a schematic structural diagram of a redundancy system according to a first embodiment of the present application. The redundancy system as shown in fig. 1 comprises a first redundancy device 10, 2 second redundancy devices 11a, 11b. In other embodiments, the number of second redundancy devices 11 in the redundancy system may be other positive integers, such as 1, 3, 4, and more, etc.
As shown in fig. 1, the first redundancy apparatus 10 includes a first controller 101, and a first programmable module 102. In an embodiment, the first controller 101 and the first programmable module 102 in the first redundancy apparatus 10 are respectively disposed on different circuit boards and connected through a flexible circuit board. In other embodiments, the first programmable module 102 may also be disposed on a main control circuit board where the first controller 101 is located.
Wherein the first controller 101 is connected to the first programmable module 102 through a communication interface. In this embodiment, the first controller 101 is connected to the first programmable module 102 through a parallel peripheral interface, such as an external memory interface (External Memory Interface, EMIF) or a serial peripheral interface (Serial Peripheral Interface, SPI), and the first programmable module 102 is a field programmable gate array (Field Programmable Gate Array, FPGA). In other embodiments, the first programmable module 102 may be another programmable module such as a complex programmable logic device (Complex Programmable logic device, CPLD).
Wherein the first redundancy bus 20a and the second redundancy bus 20b have the same function. In the present embodiment, the type of the second redundancy bus 20a is also the same as the type of the second redundancy bus 20b, and is, for example, a CANFD bus. In this embodiment, two interface pins in the first programmable module 102 are connected to the first CANFD bus interface and the second CANFD bus interface through corresponding first PHY chip and second PHY chip, respectively, so as to be connected to the first redundancy bus 20a and the second redundancy bus 20b, respectively. In other embodiments, at least one of the first redundancy bus type 20a and the second redundancy bus 20b may also be other types of buses, such as an ARINC629 bus, an RS422 bus, and the like.
In an embodiment, the first controller 101 is configured to perform functions of data collection and processing, motion control algorithm implementation, status monitoring, and internal redundancy management of an internal redundancy device such as a speed sensor, an atmospheric data sensor, a displacement sensor, etc., and send communication data such as first cross channel data that needs to be cross-transmitted to the first programmable module 102 through a serial or parallel interface, and receive a feedback signal output by the first programmable module 102. In another embodiment, the first controller 101 may send an internal redundancy device signal of an internal redundancy device, such as a speed sensor, to the first programmable module 102, so that the first programmable module 102 performs internal redundancy management, and so on.
In this embodiment, the first programmable module 102 performs data interaction with the second redundancy device 11a, the second redundancy device 11b, and the downstream execution unit 30 through 2 redundancy buses (e.g., the first redundancy bus 20a and the second redundancy bus 20b shown in fig. 1). The first and second redundancy devices 10 and 11a are connected to the first and second programmable modules 102, 112a and 112b of the second redundancy device 11b through the first and second redundancy buses 20a and 20b, and thus, data transferred from the first and second programmable modules 102, 112a and 112b to the first and second redundancy buses 20a and 20b may be shared with each other.
In this embodiment, first programmable module 102 includes an EMIF interface control unit, a redundancy management unit, a scheduling and buffering unit, a first CANFD interface control unit, and a second CANFD interface control unit. In other embodiments, at least one of the redundancy management unit, the scheduling and buffering unit, the first CANFD interface control unit, and the second CANFD interface control unit may also be provided within the first controller 101.
The first programmable module 102 controls the first CANFD bus interface and the second CANFD bus interface through the first CANFD interface control unit and the second CANFD interface control unit, so that the design of redundancy of software and hardware can ensure fault and error isolation.
In an embodiment, the scheduling and buffering unit of the first programmable module 102 is configured to schedule and buffer the cross-channel data, and the redundancy management unit of the first programmable module 102 is configured to implement redundancy management. The redundancy management performed by the first programmable module 102 may include, but is not limited to: synchronous control, input signal voting, output signal voting, signal monitoring, signal equalization, fault detection and processing, system reconstruction and recovery and the like are performed.
The first programmable module 102 transmits at least two kinds of data respectively in different time periods through the first redundancy bus 20a and the second redundancy bus 20b between the second redundancy device 11a, the second redundancy device 11b and the downstream execution unit 30, for example, transmits cross channel data frames and redundancy voting output signal frames respectively in different time periods. In another embodiment, more than two types of data are respectively transmitted between the first programmable module 102 and the second redundancy device 11a, the second redundancy device 11b, and the downstream execution unit 30 in different time periods through the same redundancy bus 20. Specifically, for example, the first programmable module 102 outputs the first cross channel data through the redundancy bus 20, receives the second cross channel sub data transmitted by the second redundancy device 11a and the third cross channel sub data transmitted by the second redundancy device 11b through the redundancy bus 20, and the first programmable module 102 outputs the synchronization signal frame through the redundancy bus 20 during other periods, receives the synchronization signal frames output by the second redundancy device 20a and the second redundancy device 20b, and outputs the voting output signal frame to the downstream execution unit 30 through the redundancy bus 20 during other periods.
In one embodiment, the data of the first programmable module 102, the second programmable module 112a, and the second programmable module 112b are transmitted between the first controller 111, the second controller 111a, the second controller 111b, and the downstream execution unit 30 in the form of priorities.
Specifically, for example: when the first controller 111, the second controller 111a, and the second controller 111b send one control signal to the downstream execution unit, if the communications of the first controller 111, the second controller 111a, and the second controller 111b to the downstream execution unit 30 are all normal, the redundancy voting output signal frame output by the first programmable module 102 with the highest priority is preferably transmitted downward through the first redundancy bus 20a with the highest priority, and the redundancy voting output signal frame corresponding to the second programmable module 112a and the second programmable module 112b is not output. Wherein the priority level of the programmable module may be by default by the system. If a certain redundancy device, for example, the first redundancy device 10 has a communication failure, the data of the first redundancy device 10 is discarded, the data of the corresponding programmable module is selected according to the priority mode for output, and the corresponding redundancy bus is selected according to the priority mode for transmission.
In one embodiment, if there is a plurality of redundancy data in the programmable module internal data, the redundancy data is subjected to redundancy voting. The plurality of redundancy data may be generated by different control results and control data calculated by the first controller 111, the second controller 111a, and the second controller 111 b. Each programmable module performs redundancy voting on the received data output by other programmable modules, and transmits the redundancy voting result to the downlink execution unit 30 in a priority control mode after inserting the redundancy voting result into a redundancy voting output signal frame data field. In one embodiment, to ensure that each redundancy device uses the same period of data, so as to ensure accuracy and real-time of data cross transmission and accurately realize signal monitoring and voting, the first programmable module 102 performs redundancy management including: and (5) synchronous control is performed.
In an embodiment, the redundancy management unit performs redundancy management further including performing system reconfiguration and fault recovery. The system reconstruction refers to fault occurrence or fault recovery, the redundancy of the system is reduced or increased, and the system enters a new working structure. The fault recovery strategy can comprise at least one of waiting for the fault to automatically disappear, forcing the fault to reset if the fault cannot be recovered by itself for a certain time, and re-entering the control sequence after the fault is recovered.
In one embodiment, to improve reliability of the redundancy system, the redundancy management unit in the first programmable module 102 performs redundancy management including: and performing fault detection. In an embodiment, a fault detection strategy based on request/reply handshaking is employed between the first and second redundancy devices 10, 11a, 11b. Specifically, the master redundancy device, for example, the first redundancy device 10 broadcasts a status detection frame to the second redundancy devices 11a, 11b through the redundancy buses 20a, 20b according to a certain detection period, the second redundancy devices 11a, 11b immediately return a status detection response frame after receiving the status detection frame to report the current working status, and then the first programmable module 101 of the first redundancy device 10 performs fault diagnosis according to the return condition of the status detection response frame.
In one embodiment, before signal voting, it is determined whether signal voting needs to be performed according to whether each channel fails. Specifically, if the first redundancy device 10, the second redundancy device 11a, and the second redundancy device 11b all fail, the empirically set fail-safe value is output. If two channels in the first redundancy device 10, the second redundancy device 11a and the second redundancy device 11b are faulty, voting is not performed, and the output value of the fault-free channel is adopted. If one of the first redundancy device 10, the second redundancy device 11a, and the second redundancy device 11b fails, no voting is performed, and an average of the output values of the two non-failure channels is adopted. If the first redundancy device 10, the second redundancy device 11a and the second redundancy device 11b have no faults, comparing the difference value of the three channels with a threshold value, and then carrying out median signal voting output.
In one embodiment, the redundancy management further comprises performing median signal voting. The strategy of median signal voting comprises the following steps: if all the redundancy devices, such as the three-channel voting input data of the embodiment, are normal, outputting the intermediate value of the voting input data of all the redundancy devices; if the voting input data of one redundancy device is abnormal, outputting the average value of the voting input data of the remaining two channels; if the voting input data of two or more redundancy devices are abnormal, outputting a fault safety value.
In one embodiment, the second redundancy 11a is identical in structure to the second redundancy 11b and identical in structure to the first redundancy 10. The connection and/or data transmission principle between the second controllers 111a, 111b and the second programmable modules 112a, 112b and the first and second redundancy buses 20a, 20b may be, but is not limited to, the same as the connection and/or data transmission principle between the first controller 101 and the first programmable module 102, the first and second redundancy buses 20a, 20 b.
Second embodiment
Fig. 2 is a schematic structural diagram of a redundancy system according to a second embodiment of the present application. As shown in fig. 2, in the present embodiment, the redundancy system includes a first redundancy device 10, 1 second redundancy device 11.
Wherein the first redundancy apparatus 10 includes a first controller 101, and a first programmable module 102. The first controller 101 is connected to the first programmable module 102 through a communication interface such as EMIF.
In an embodiment, the first controller 101 is configured to perform functions of data collection and processing, motion control algorithm implementation, status monitoring, and internal redundancy management of an internal redundancy device such as a speed sensor, an atmospheric data sensor, a displacement sensor, etc., and send communication data such as first cross channel data that needs to be cross-transmitted to the first programmable module 102 through a serial or parallel interface, and receive a feedback signal output by the first programmable module 102. In other embodiments, the first controller 101 may send an internal redundancy device signal of an internal redundancy device, such as a speed sensor, to the first programmable module 102, so that the first programmable module 102 performs internal redundancy management, and so on.
In this embodiment, the first programmable module 102 is further configured to implement control of a communication interface, such as EMIF interface control.
In this embodiment, an interface pin in first programmable module 102 is connected through a PHY chip to a bus interface, such as a CANFD bus interface, for connection through the bus interface to CANFD type redundancy bus 20. In other embodiments, the redundancy bus 20 may also be other types of buses, such as an ARINC629 bus, an RS422 bus, and so forth.
In the present embodiment, the first programmable module 102 performs data transmission with 1 redundancy bus 20, 1 second redundancy device 11, and the downstream execution unit 30. First programmable module 102 is also used to implement control of a bus interface, such as control of a CANFD interface.
In one embodiment, the first programmable module 102 is further configured to schedule and cache cross-channel data, and to perform redundancy management. The redundancy management performed by the first programmable module 102 may include, but is not limited to: synchronous control, input signal voting, output signal voting, signal monitoring, signal equalization, fault detection and processing, system reconstruction and recovery and the like are performed.
In one embodiment, the first programmable module 102 and the 1 second redundancy device 11 and the downstream execution unit 30 respectively transmit two types of data in different time periods, such as respectively transmitting cross channel data frames and redundancy voting output signal frames in different time periods, through the same redundancy bus 20. In other embodiments, more than two types of data are respectively transmitted between the first programmable module 102 and the 1 second redundancy device 11 and the downstream execution unit 30 in different time periods through the same redundancy bus 20. Specifically, for example, the first programmable module 102 outputs the first cross channel data through the redundancy bus 20, receives the second redundancy device 11 through the redundancy bus 20, and transmits the second cross channel sub data, and in other periods, the first programmable module outputs a synchronization signal frame through the redundancy bus 20, and/or receives the synchronization signal frame output by the second redundancy device 20, and in other periods, outputs a voting output signal frame to the downstream execution unit 30 through the redundancy bus 20.
In the present embodiment, in order to further improve the speed of data processing and the flexibility of the system, the structure of the second redundancy device 11 is the same as that of the first redundancy device 10. As shown in fig. 2, each of the second redundancy apparatuses 11 includes a second controller 111, a second programmable module 112. The second controller 111 is connected to the second programmable module 112 through an interface. In other embodiments, the structure of the second redundancy 11 and the structure of the first redundancy 10 may not be exactly the same.
In an embodiment, the second controller 111 and the second programmable module 112 in the second redundancy device 11 are respectively disposed on different circuit boards and connected through a flexible circuit board. In other embodiments, the second programmable module 112 may also be disposed on a main control circuit board where the second controller 111 is located. The connection and/or data transmission principle between the second controller 111 and the second programmable module 112, and the redundancy bus 20 may be, but not limited to, the same as the connection and/or data transmission principle between the first controller 101 and the first programmable module 102, and the redundancy bus 20, and will not be described herein.
Third embodiment
Fig. 3 is a schematic structural diagram of a redundancy system according to a third embodiment of the present application. The redundancy system as shown in fig. 3 comprises a first redundancy device 10', 2 second redundancy devices 11a ', 11b '. The first redundancy apparatus 10' shown in fig. 3 is basically the same as the first redundancy apparatus 10 shown in fig. 1 in terms of structure and operation, except that: the first redundancy device 10' performs data interaction with the second redundancy devices 11a ', 11b ' via a redundancy bus 20' of the ARINC629 type, and the first controller 101' in the first redundancy device 10' performs data interaction with the first programmable module 102' via the SPI. The second redundancy 11a ', 11b' shown in fig. 3 is basically the same as the second redundancy 11a shown in fig. 1 in terms of structure and operation, except that: the redundancy management unit is provided in the second controllers 111a ', 111 b'.
Fourth embodiment
In this embodiment, in order to ensure that each redundancy device uses data in the same period, so as to ensure accuracy and real-time of data cross transmission, and accurately realize signal monitoring and voting, performing redundancy management includes: and (5) synchronous control is performed. The embodiment provides a schematic flow chart for synchronous control of a redundancy system. The synchronization control method shown in fig. 4 may be applied to, but is not limited to, the first programmable module 102 shown in fig. 1. Specifically, please refer to fig. 1 and fig. 4 simultaneously, the redundancy management unit performs synchronization control, which includes the following steps:
step S11: starting to record a local timer value at the starting moment of each task period through a local timer;
step S12: broadcasting a first synchronization signal frame to the second redundancy device 11a, 11b over the redundancy bus 20a, 20b, wherein the first synchronization signal frame comprises a local current timing value;
step S13: in response to receiving a second synchronization signal frame and a third synchronization signal frame sent by the second redundancy device 11a, 11b through the redundancy bus 20a, 20b, acquiring a first current timing value through the local timer, wherein the second synchronization signal frame comprises a second current timing value, and the third synchronization signal frame comprises a third current timing value;
step S14: acquiring the difference value of each two values in the first current timing value, the second current timing value and the third current timing value;
step S15: and compensating the timing value of the local timer according to the median value of the difference values.
Specifically, for example, the first current timing value, the second current timing value, and the third current timing value are 110s, 100s, and 90s, respectively, and the median value of the differences is 10s, and the first current timing value is subtracted by 10s to compensate to be the same as the second current timing value, i.e. all are 100s.
Fifth embodiment
The embodiment provides a flow diagram of fault detection of a redundancy system. The fault detection method shown in fig. 5 may be applied to, but is not limited to, the first programmable module 102 shown in fig. 1.
In this embodiment, please refer to fig. 1 and fig. 5 at the same time, the redundancy management unit performs fault detection, and may include the following steps:
step S21: broadcasting a transmission status detection frame through the redundancy buses 20a, 20 b;
step S22: judging whether a state detection response frame of any second redundancy device is received in a first preset time period;
if no status detection response frame of any second redundancy device is received within the first preset time period, step S23 is entered: determining that the first redundancy apparatus 10 is malfunctioning;
if the status detection response frame of any second redundancy device is received within the first preset time period, step S24 is entered: judging whether state detection response frames of all second redundancy devices are received in a second preset time period or not;
if all the status detection response frames of the second redundancy devices are not received within the second preset time period, step S25 is entered: judging that the second redundancy equipment which does not send the state detection response frame fails;
if all the status detection response frames of the second redundancy devices are received within the second preset period, step S26 is entered: and performing fault diagnosis according to the state detection response frame.
Sixth embodiment
The embodiment provides a flow diagram of median signal voting by a redundancy system. The median signal voting as shown in fig. 6 may be applied, but is not limited to, to the redundancy management unit in the first programmable module 102 as shown in fig. 1.
In one embodiment, as shown in FIG. 6, the median signal voting may include the steps of:
step S31: sorting the sizes of a, b and c;
where a, b, c are voting input data corresponding to the first and second redundancy devices 10, 11a, 11b.
Step S32: if a > b > c, judging whether the value of a-c is less than or equal to X;
if the value of a-c is less than or equal to X, go to step S33: judging that a, b and c are normal, and voting to output b;
if the value of a-c is not less than or equal to X, go to step S34: judging that one of a and c is abnormal, and judging whether the value of a-b is less than or equal to X;
if the value of a-b is less than or equal to X, go to step S35: determining that c is abnormal, and voting out (a+b)/2;
if the value of a-b is not less than or equal to X, go to step S36: judging that an abnormality is necessary in a and b, and judging whether the value of b-c is less than or equal to X;
if b-c is less than or equal to X, go to step S37: judging that b and c are normal, a is abnormal, and voting out (b+c)/2;
if b-c is not less than or equal to X, go to step S38: and judging that a, b and c have two or more anomalies, and outputting Y.
Wherein X, Y is a deviation threshold value and a fail-safe value set according to a certain rule or experience, respectively.
The present application also provides a computer-readable storage medium having stored thereon a processing program which, when executed by a processor, implements the steps of the processing method in any of the above embodiments.
According to the redundancy system, the redundancy management method and the readable storage medium, the programmable module is used as a function extension peripheral of the controller, so that the speed of data processing and the flexibility of the system can be improved, at least two kinds of data are respectively transmitted in different time periods through the same redundancy bus, the bus utilization rate can be improved, and the wiring complexity is simplified.
In this application, the descriptions of the embodiments are focused on, and the details or descriptions of one embodiment may be found in the related descriptions of other embodiments.
The technical features of the technical solutions of the present application may be arbitrarily combined, and for brevity of description, all possible combinations of the technical features in the above embodiments are not described, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the present application.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as above, including several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, a controlled terminal, or a network device, etc.) to perform the method of each embodiment of the present application.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions in accordance with embodiments of the present application are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line), or wireless (e.g., infrared, wireless, microwave, etc.). Computer readable storage media can be any available media that can be accessed by a computer or data storage devices, such as servers, data centers, etc., that contain an integration of one or more available media. Usable media may be magnetic media (e.g., floppy disks, storage disks, magnetic tape), optical media (e.g., DVD), or semiconductor media (e.g., solid State Disk (SSD)), among others. The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the claims, and all equivalent structures or equivalent processes using the descriptions and drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the claims of the present application.
Claims (11)
1. A redundancy system comprising a first redundancy device, at least one second redundancy device;
the first redundancy device comprises a first controller and a first programmable module;
the first controller is connected with the first programmable module through a communication interface, and receives a feedback signal output by the first programmable module;
the first programmable module performs data transmission with the at least one second redundancy device and the downlink execution unit through a plurality of redundancy buses;
the first programmable module, the at least one second redundancy device and the downlink execution unit are connected through the same redundancy bus, and at least two kinds of data are respectively transmitted in different time periods;
the plurality of interface control units in the first programmable module respectively control corresponding bus interfaces, and at least two redundancy buses in the redundancy system have the same bus type;
the interface pins in the first programmable module are respectively connected to the corresponding bus interfaces through the corresponding PHY chips;
the first programmable module is used for scheduling and caching the cross channel data;
two interface pins in the first programmable module are respectively connected to the first CANFD bus interface and the second CANFD bus interface through a corresponding first PHY chip and a corresponding second PHY chip so as to be respectively connected with a first redundancy bus and a second redundancy bus correspondingly;
the redundancy management method corresponding to the redundancy system comprises the following steps: a median signal vote, the median signal vote comprising the steps of:
if the voting input data of all the redundancy devices are normal, outputting the intermediate value of the voting input data of all the redundancy devices;
if the voting input data of one redundancy device is abnormal, outputting the average value of the voting input data of the remaining redundancy device;
if the voting input data of two or more redundancy devices are abnormal, outputting a fault safety value.
2. The redundancy system of claim 1, wherein the second redundancy device is identical in structure to the first redundancy device.
3. The redundancy system of claim 1, wherein the first programmable module is configured to perform redundancy management on cross-channel data.
4. A redundancy system according to claim 1 or 3, wherein said at least two data comprises cross-channel data frames, and redundancy voting output signal frames.
5. The redundancy system of claim 4, wherein the first programmable module outputs first cross-channel data over a first redundancy bus and receives second cross-channel sub-data sent by the at least one second redundancy device over the first redundancy bus.
6. The redundancy system of claim 5, wherein the first programmable module outputs the redundancy vote output signal frame to the downstream execution unit via the first redundancy bus.
7. The redundancy system of claim 5, wherein the first programmable module outputs a synchronization signal frame to the at least one second redundancy device via the first redundancy bus.
8. A redundancy management method applied to the first programmable module in the redundancy system according to any one of claims 1 to 7, characterized in that the redundancy management method comprises: at least one of synchronous control and fault detection.
9. The redundancy management method according to claim 8, wherein the synchronization control includes the steps of:
obtaining a first current timing value through a local timer in response to receiving a second synchronization signal frame and a third synchronization signal frame sent by a plurality of second redundancy devices through the at least one redundancy bus, wherein the second synchronization signal frame comprises a second current timing value and the third synchronization signal frame comprises a third current timing value;
acquiring a difference value of each two values of the first current timing value, the second current timing value and the third current timing value;
and compensating the timing value of the local timer according to the median value of the difference values.
10. The redundancy management method of claim 8, wherein the fault detection comprises the steps of:
broadcasting a transmission status detection frame through the at least one redundancy bus;
judging whether a state detection response frame of any second redundancy device is received in a first preset time period;
if the state detection response frame of any second redundancy equipment is not received within a first preset time period, judging that the first redundancy equipment fails;
if the state detection response frame of any second redundancy device is received in the first preset time period, judging whether the state detection response frames of all the second redundancy devices are received in the second preset time period;
if the state detection response frames of all the second redundancy devices are not received within a second preset time period, judging that the second redundancy devices which do not send the state detection response frames fail;
and if the state detection response frames of all the second redundancy devices are received within the second preset time period, performing fault diagnosis according to the state detection response frames.
11. A readable storage medium, characterized in that the readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the redundancy management method according to any one of claims 8 to 10.
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| PCT/CN2021/136124 WO2023045093A1 (en) | 2021-09-27 | 2021-12-07 | Redundancy system, redundancy management method, and readable storage medium |
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| US10229016B2 (en) * | 2017-06-01 | 2019-03-12 | The University Of Akron | Redundant computer system utilizing comparison diagnostics and voting techniques |
| CN111352338B (en) * | 2018-12-20 | 2023-08-15 | 海鹰航空通用装备有限责任公司 | Dual-redundancy flight control computer and redundancy management method |
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| CN112600696B (en) * | 2020-12-04 | 2022-08-23 | 中国航空工业集团公司成都飞机设计研究所 | Redundant military 1394 bus network topology analysis method based on cross communication link |
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