CN114355760A - Main control station and hot standby redundancy control method thereof - Google Patents
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Abstract
The application provides a master control station and a hot standby redundancy control method thereof. The two controllers are connected through a redundant communication link, and the redundant communication link is used for realizing the interaction of synchronous data between the two controllers; the controllers are also connected through redundant state signal lines, and the state signal lines are used for realizing the interaction of state data among the controllers; the controller comprises a redundant data synchronization module, a processor module and a redundant arbitration logic module; the redundant data synchronization module is used for realizing the interaction of synchronous data, the processor module is used for realizing the master-slave arbitration between the two controllers based on a software mode, and the redundant arbitration logic module is used for realizing the master-slave arbitration between the two controllers based on state data. Through the mutual cooperation between the processor module and the redundancy arbitration logic module and the realization of fast switching based on fault level, the main control station can meet the requirement of high-reliability application places on fast switching speed.
Description
Technical Field
The application relates to the technical field of automation, in particular to a master control station and a hot standby redundancy control method thereof.
Background
The nuclear power digital instrument control system is used as key equipment of a nuclear power station and is used for guaranteeing safe and stable operation of the nuclear power station. The main control station is a central core of the nuclear power digital instrument control system, high reliability is required, in order to improve reliability and meet a single fault principle, a controller of the main control station needs to adopt a hot standby redundancy design, and switching between redundant main and slave controllers is required to avoid disturbance to output equipment.
However, most of the existing controller hot standby redundancy schemes in the industrial control industry are implemented in a software manner, the redundancy scheme has low requirements on hardware, can be implemented only by arranging a physical communication link (such as an ethernet) between a master machine and a slave machine, and the master-slave arbitration diagnosis is implemented through software. And the slower switching speed cannot meet the requirements of high-reliability application places.
Disclosure of Invention
In view of this, the present application provides a master control station and a hot standby redundancy control method thereof, which are used to meet the requirement of a high-reliability application place on a faster switching speed.
In order to achieve the above object, the following solutions are proposed:
a master control station comprising at least two controllers, wherein:
the two controllers are connected through a redundant communication link, and the redundant communication link is used for realizing the interaction of synchronous data between the two controllers;
the two controllers are also connected through a redundant state signal line, and the state signal line is used for realizing the interaction of state data between the controllers;
the controller comprises a redundant data synchronization module, a processor module and a redundant arbitration logic module;
the redundant data synchronization module is used for realizing the interaction of the synchronous data, the processor module is used for realizing the master-slave arbitration between the two controllers based on a software mode and executing the redundancy switching based on the fault level, and the redundant arbitration logic module is used for realizing the master-slave arbitration between the two controllers based on the state data.
Optionally, the two controllers are disposed on the same bottom plate.
Optionally, the redundant communication link includes at least two communication links.
Optionally, the state signal lines include a group of first state signal lines and a group of second state signal lines, where:
the first state signal line is used for transmitting a plurality of state data from one controller to another controller;
the second status signal line is used for transmitting a plurality of status data from the other controller to the one controller.
Optionally, mutual diagnosis is implemented between the processor module and the redundancy arbitration logic module.
Optionally, each of the controllers is provided with an instruction receiving port, wherein:
the instruction receiving port is used for receiving a master-slave switching instruction sent by an upper computer, and the master-slave switching instruction is used for controlling the controller to execute master-slave switching operation.
A hot standby redundancy control method is applied to the main control station, and is characterized by comprising the following steps:
responding to a starting request of a user, and executing initialization operation on the controller;
after the controller completes initialization operations, synchronization of redundant data is performed, and redundancy switching is performed based on a failure level.
Optionally, the initialization operation includes a redundant arbitration initialization operation and a software initialization operation.
According to the technical scheme, the application discloses a master control station and a hot standby redundancy control method thereof, wherein the master control station comprises at least two controllers. The two controllers are connected through a redundant communication link, and the redundant communication link is used for realizing the interaction of synchronous data between the two controllers; the two controllers are also connected through a redundant state signal line, and the state signal line is used for realizing the interaction of state data between the controllers; the controller comprises a redundant data synchronization module, a processor module and a redundant arbitration logic module; the redundant data synchronization module is used for realizing the interaction of synchronous data, the processor module is used for realizing the master-slave arbitration between the two controllers based on a software mode, and the redundant arbitration logic module is used for realizing the master-slave arbitration between the two controllers based on state data. Through the mutual cooperation between the processor module and the redundancy arbitration logic module and the realization of fast switching based on fault level, the main control station can meet the requirement of high-reliability application places on fast switching speed.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram of a master control station according to an embodiment of the present application;
fig. 2 is a flowchart of a hot standby redundancy control method according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Example one
Fig. 1 is a block diagram of a master control station according to an embodiment of the present application.
As shown in fig. 1, the main control station provided in this embodiment includes two controllers, an a controller and a B controller, which are distinguished by AB only for convenience of description, and the two controllers are not substantially distinguished and are disposed on the same backplane.
Each controller comprises a corresponding redundant state data synchronization module, a processor module and a redundant arbitration logic module, wherein the processor module realizes software arbitration by running corresponding software; the redundancy arbitration logic module can be realized by an FPGA (field programmable gate array), and the redundancy logic arbitration is realized by processing the electric signal logic.
The controller A is connected with the controller B through a redundant communication link, and the redundant communication link is used for realizing the interaction of synchronous data between the two controllers; in order to improve the reliability of the link for transmitting the synchronous data, the redundant communication link is designed to be redundant and comprises a redundant communication link 1 and a redundant communication link 2.
In addition, the controller A and the controller B are also connected through a redundant state signal line, and the state signal line is used for realizing the interaction of state data between the controllers; the state signal lines include a set of first state signal lines and a set of second state signal lines. The first state signal line is used for transmitting the plurality of state data from the controller A to the controller B, and the second state signal line is used for transmitting the plurality of state data from the controller B to the controller A. And at least two status signal lines for transmitting any status data.
The redundant arbitration logic module of any controller is used for realizing the master-slave arbitration between the two controllers based on the state data. And mutual diagnosis can be realized between the processor module and the redundancy arbitration logic module, and redundancy switching can be realized based on the fault level.
As can be seen from the above technical solutions, the present embodiment provides a master control station, which includes at least two controllers. The two controllers are connected through a redundant communication link, and the redundant communication link is used for realizing the interaction of synchronous data between the two controllers; the two controllers are also connected through a redundant state signal line, and the state signal line is used for realizing the interaction of state data between the controllers; the controller comprises a redundant data synchronization module, a processor module and a redundant arbitration logic module; the redundant data synchronization module is used for realizing the interaction of synchronous data, the processor module is used for realizing the master-slave arbitration between the two controllers based on a software mode, and the redundant arbitration logic module is used for realizing the master-slave arbitration between the two controllers based on state data. Through the mutual cooperation between the processor module and the redundancy arbitration logic module and the realization of fast switching based on fault level, the main control station can meet the requirement of high-reliability application places on fast switching speed.
In addition, in a specific embodiment of the present application, each controller of the master control station is provided with an instruction receiving port, and the instruction receiving port is configured to receive a master-slave switching instruction of the upper computer, so that switching according to an instruction is realized in addition to arbitration switching, and more application scenarios can be satisfied.
Example two
Fig. 2 is a flowchart of a hot standby redundancy control method according to an embodiment of the present application.
As shown in fig. 2, the hot standby redundancy control method provided in this embodiment is applied to the master control station in the previous embodiment, and includes the following steps:
and S1, performing initialization operation on the controller according to the starting request of the user.
That is, in the case where the user starts the main control station by a start request, an initialization operation is performed on the controller, where the initialization includes a redundant arbitration initialization operation and a software initialization operation.
The specific content of the redundant arbitration initialization operation is as follows:
step 1, the redundancy arbitration logic defaults to failure, after the software is initialized normally, the body failure level is set according to the self running condition, and the redundancy arbitration logic is initialized, if the redundancy arbitration logic is not initialized, the redundancy arbitration logic cannot start the redundancy arbitration function.
Step 2, after the redundancy arbitration logic is initialized, the redundancy arbitration logic immediately starts the diagnosis of the body software, and whether the body software works normally is judged by checking whether the values of the relevant register interfaces change according to the set rule;
and 3, after the redundancy arbitration logic is initialized, acquiring various levels of faults set by the body software in real time, and acquiring master-slave states, fault level states and the like of the other side through a redundancy state signal line between the master and the slave (the master-slave states can be set to 2 or more levels according to fault classification of practical application, and 3 fault levels are taken as examples for description herein), wherein all the redundancy state signal lines are designed for physical redundancy, if a certain state signal line is broken or abnormal, master-slave redundancy arbitration is not influenced, the redundancy arbitration logic can identify the abnormality, and the software identifies the fault and feeds the fault back to an operation maintainer through fault alarm, so that maintainability is improved.
Step 4, after the redundancy arbitration logic is initialized, if the body software fault is not diagnosed or any fault input by the body software is not obtained, and the signal output by the opposite-end redundancy logic has no abnormality, the left side (marked as side A) of the default bottom plate is taken as a master, and the right side (marked as side B) of the default bottom plate is taken as a slave; if the fault of the body software is diagnosed or the fault input by the body software is obtained, if the fault is a serious fault of the body, unconditionally setting the fault as a slave machine, if the fault is lower than the serious fault level of the body, comparing the fault with a redundant state signal obtained from an opposite terminal, if the opposite terminal is the serious fault, the body is raised to a master, if the fault is at the same level as the opposite terminal, determining the master and the slave according to the rule of the default A master and the B slave, and if the fault level of the opposite terminal is lower than that of the body, setting the local machine as the slave machine.
The specific contents of the software initialization operation are as follows:
step 1, software initializes hardware and performs initialization self-checking (such as memory initialization, task initialization and the like). If a serious fault (such as an initialization hardware fault, a memory initialization and the like) occurs in the initialization stage, the body does not have the capability of executing normal functions, the redundancy arbitration logic is not initialized, so that any redundancy state signal is not output to the opposite terminal, and the body does not exist from the opposite terminal, so that the opposite terminal is not influenced to execute any function.
And 2, if the body does not have serious faults in the initialization stage and the recoverable faults of the body are detected, setting the fault level as a common fault level, and initializing the redundancy arbitration logic after waiting for 5 seconds.
And 3, if the initialization stage is completely normal, no fault exists at any level, if the machine is A, the redundancy arbitration logic is initialized immediately, and if the machine is B, the redundancy arbitration logic is initialized after waiting for 3 seconds.
And 4, after initializing the redundancy arbitration logic, immediately starting diagnosis of the body redundancy arbitration logic, and writing data into a predefined register interface according to a preset rule.
And S2, performing redundant data synchronization and performing redundant switching based on the fault level.
After the initialization operation is completed, the master control station enters a normal operating state, at which time, redundancy data synchronization is performed, and redundancy switching is performed based on the failure level.
The specific content of the redundant data synchronization is as follows:
step 1, the address of the master and the slave are designed as a fixed address according to the position (A or B) of the master and the slave, namely both sides can determine the communication access address of the opposite terminal.
Step 2, the host periodically sends synchronous data to the opposite terminal
And 3, the host sends the same data through the redundant communication link A and the redundant communication link B, the opposite end receives synchronous data from the host from the redundant communication links A and B, the data of the redundant communication link A is used by default for the first time, if the redundant communication link A is abnormal, the data of the redundant communication link B is used, even if the redundant communication link A is recovered, the data of the redundant communication link B is still used until the data of the other link is used after the redundant communication link B is abnormal.
The specific contents of performing redundancy switching based on the failure level are as follows:
the faults are classified into three levels of serious faults, secondary serious faults and general faults (2 or more than 3 levels can be designed according to actual needs), and the influence degree on the functions of the main controller is as follows: critical failure > secondary critical failure > general failure. The serious fault is a fault which affects the operation of the module, such as a hardware fault or an initialization fault, the secondary serious fault is a fault between the serious fault and a common fault and a fault which affects the main functions, but the fault can be recovered through certain operations, and a research and development worker can customize the fault according to an actual application scene; in general, a failure is a failure that affects a part of a non-primary function, and is also a failure that may be recovered by some operation.
The switching principle is as follows:
1) if the other party does not exist, if the local machine is a slave machine, the master is unconditionally raised
2) If the other party has serious fault, if the local machine is a slave machine and has no serious fault, the local machine is raised to the master
3) If the machine is a slave, no serious fault or no general fault occurs, and the machine is a master
4) If the other side has secondary serious fault and has no general fault, if the local machine is a slave machine and has no serious fault and secondary serious fault, the local machine is raised to the master
5) If the other side has general fault, the machine has no fault, if the machine is slave, the machine is master
6) The local machine is a main machine, has no fault, and has no fault on the other side, and when the local machine receives the switching command, the local machine can be actively dropped from the main machine to make master-slave switching
7) The local machine is a main machine, secondary serious faults occur, the other side also has secondary serious faults, and the local machine receives a switching command, and then the local machine actively drops the slave to carry out master-slave switching
8) The local machine is a main machine, general faults occur, the other side also occurs general faults, and when the local machine receives a switching command, the local machine actively drops the slave to perform master-slave switching
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal 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 terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The technical solutions provided by the present invention are described in detail above, and the principle and the implementation of the present invention are explained in this document by applying specific examples, and the descriptions of the above examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (8)
1. A master control station comprising at least two controllers, wherein:
the two controllers are connected through a redundant communication link, and the redundant communication link is used for realizing the interaction of synchronous data between the two controllers;
the two controllers are also connected through a redundant state signal line, and the state signal line is used for realizing the interaction of state data between the controllers;
the controller comprises a redundant data synchronization module, a processor module and a redundant arbitration logic module;
the redundant data synchronization module is used for realizing the interaction of the synchronous data, the processor module is used for realizing the master-slave arbitration between the two controllers based on a software mode and executing the redundancy switching based on the fault level, and the redundant arbitration logic module is used for realizing the master-slave arbitration between the two controllers based on the state data.
2. The master control station of claim 1, wherein the two controllers are disposed on the same backplane.
3. The master control station of claim 1, wherein the redundant communication links comprise at least two communication links.
4. The master control station of claim 1, wherein the status signal lines comprise a set of first status signal lines and a set of second status signal lines, wherein:
the first state signal line is used for transmitting a plurality of state data from one controller to another controller;
the second status signal line is used for transmitting a plurality of status data from the other controller to the one controller.
5. The master control station of claim 1, wherein the processor module and the redundancy arbitration logic module implement mutual diagnostics therebetween.
6. The master control station of claim 1, wherein each of the controllers is provided with an instruction receiving port, wherein:
the instruction receiving port is used for receiving a master-slave switching instruction sent by an upper computer, and the master-slave switching instruction is used for controlling the controller to execute master-slave switching operation.
7. A hot standby redundancy control method applied to the main control station according to any one of claims 1 to 6, wherein the hot standby redundancy control method comprises the following steps:
responding to a starting request of a user, and executing initialization operation on the controller;
after the controller completes initialization operations, synchronization of redundant data is performed, and redundancy switching is performed based on a failure level.
8. The redundancy control method of claim 7, wherein the initialization operation comprises a redundancy arbitration initialization operation and a software initialization operation.
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