CN114355803A - Reinforcement machine multi-machine system based on task monitoring and redundancy design method - Google Patents
Reinforcement machine multi-machine system based on task monitoring and redundancy design method Download PDFInfo
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Abstract
The invention relates to the technical field of communication control, in particular to a reinforcement machine multi-machine system based on task monitoring and a redundancy design method. The reinforcing machine multi-machine system comprises a control management unit and a plurality of reinforcing machines which are connected, wherein the control management unit comprises a serial server module and an alarm display module which are connected; the alarm display module is connected with each reinforcing machine through two groups of dual-redundancy CAN buses, the state buses are used for informing the running state, the control arbitration buses construct a response mechanism between the devices, each reinforcing machine sends heartbeat information and fault information to the alarm display module of the control management unit through the two groups of dual-redundancy CAN buses, so that the control management unit switches an external interface of the fault reinforcing machine to the reinforcing machine which normally works, multi-machine hot standby is realized through strategies of state reporting, fault routing inspection, control arbitration and the like, the task implementation reliability is high, faults CAN be rapidly cleared, and the detection performance and the maintainability of the system are improved.
Description
Technical Field
The invention relates to the technical field of communication control, in particular to a reinforcement machine multi-machine system based on task monitoring and a redundancy design method.
Background
In the field of communication control, a reinforcing machine is used as a core control device and is responsible for communication with vehicle-mounted equipment, a command control system and a detection vehicle, different signal outputs are controlled according to decomposed instructions, and input signals are detected. The method has high requirement on the reliability of the computer, once the task cannot be executed due to the occurrence of problems, the high-reliability execution of the system task can be ensured based on the redundant design method of the task monitoring reinforcing machine.
However, in the prior art, the communication control of the vehicle-mounted equipment, the command control system and the detection vehicle is realized only by one core reinforcing machine, and the problems of poor reliability, poor detection performance, poor maintainability, poor real-time performance and incapability of rapidly removing faults exist.
Therefore, it is desirable to provide a ruggedizer multi-computer system based on task monitoring and a redundancy design method.
Disclosure of Invention
The invention aims to provide a reinforcement machine multi-machine system based on task monitoring and a redundancy design method, and aims to solve the problems of poor reliability, poor detection performance, poor maintainability, poor real-time performance and incapability of quickly removing faults in the prior art.
The invention provides a reinforcement machine multi-machine system based on task monitoring, which comprises a control management unit and a plurality of reinforcement machines, wherein the control management unit and the plurality of reinforcement machines are connected;
the serial port server module is connected with each reinforcing machine through a serial port line and used for receiving information of external task interaction and performing task allocation on the reinforcing machines;
the alarm display module is connected with each reinforcing machine through two groups of dual-redundancy CAN buses so as to acquire real-time state and control judgment;
each reinforcing machine sends heartbeat information and fault information to an alarm display module of the control management unit through two groups of dual-redundancy CAN buses so that the control management unit switches the control object to the reinforcing machine which normally works;
the two groups of dual-redundancy CAN buses comprise a state bus and a control arbitration bus, wherein the state bus is used for notifying the running state; the control arbitration bus is used for constructing a response mechanism between each reinforcing machine and the control management unit.
The reinforcing machine comprises a power module, a mainboard module and a CAN communication module which are connected with the CPCI bus; the power supply module is used for reinforcing the electric system conversion of the in-machine module; the main board module is used for task main program operation and state message forwarding; the CAN communication module is used for providing a CAN interface so as to be connected with the two groups of dual-redundancy CAN buses.
The reinforcing machine further comprises a serial port communication module connected with the serial port server module through a serial port line, and interaction of external tasks is provided through the serial port communication module.
The reinforcing machine comprises an extended function module, and an extended space is reserved and single machine positioning time service is carried out through the extended function module.
The invention also provides a reinforcement machine redundancy design method based on task monitoring, which comprises the following steps:
distributing and issuing configuration information to a plurality of reinforcing machines according to the pre-task distribution through a control management unit;
receiving the configuration information through each reinforcing machine and continuously feeding back heartbeat information to the control management unit for multiple times;
the working state of each unit is judged by the control management unit,
if the control management unit judges that the reinforcing machine is in a normal working state, the control management unit and the reinforcing machine enter a monitoring state;
if the control management unit judges that the reinforcing machine is abnormal in working state, the control management unit performs fault display and judgment through the alarm display module, and starts other normal reinforcing machines to enter the working state;
and after the control management unit and the reinforcing machines enter a monitoring state, sending a heartbeat message or a fault message to the control management unit through each reinforcing machine.
Wherein, still include the following step:
and in the process that the reinforcing machine carries out heartbeat messages and fault messages to the control management unit, if any reinforcing machine has abnormal information, the control management unit displays the fault information, the control object is switched to the normal reinforcing machine, and the normal reinforcing machine takes over the task to complete the mutual non-interruption of multi-machine hot standby and task exchange.
And after the control management unit and the reinforcing machine enter a monitoring state, performing control judgment according to a monitoring result.
When the control management unit and the reinforcing machine monitor the state, the state detection is realized through module self-detection and heartbeat detection; the module self-checking comprises detection of a CPU state, an I/O state, a memory state, a process, a task state and a communication state.
When controlling the arbitration, voting is carried out on the fault detection and fault processing mechanism through an arbitration program; after receiving the fault, the arbitration program carries out a series of processing on the fault according to a set fault processing flow, wherein the fault processing comprises fault association, identification, positioning and failure judgment, and then voting is carried out according to a judgment result; and when the control is decided, the working state of the reinforcing machine is decided.
And if a fault occurs, the alarm information is sent to the alarm display module of the control management unit, and the alarm display module carries out fault display and fault processing according to the judgment program.
The invention has the following beneficial effects:
in the technical scheme provided by the invention, a control management unit is connected with a reinforcing machine to realize the core control function of the reinforcing machine, a serial server and an alarm display function are arranged in the control management unit, the control management unit carries out unified management switching on external interfaces, controls and decides the reinforcing machine and displays the system state in real time; the alarm display module is connected with each reinforcing machine through two groups of dual-redundancy CAN buses, one group is used as a control arbitration bus, the other group is used as a state bus which is used as an operation state notification, the control arbitration bus constructs a response mechanism between the devices, each reinforcing machine sends heartbeat information and fault information to the alarm display module of the control management unit through the two groups of dual-redundancy CAN buses so that the control management unit switches a control object to the reinforcing machine which normally works, thus the multi-machine system changes the problem that the original single reinforcing machine is low in reliability as a core control device, meanwhile, the state monitoring is carried out on the system through the state bus, the operation state is monitored in real time, the response mechanism is constructed between the devices through the control arbitration bus, the multi-machine hot standby is realized through the strategies of state reporting, fault routing inspection, control arbitration and the like, the task implementation reliability is high, and the fault CAN be rapidly eliminated, the system has improved detection and maintenance.
Drawings
Fig. 1 is a block diagram of the overall hardware design of a ruggedized machine multi-machine system based on task monitoring.
FIG. 2 is a system flowchart of a reinforcement machine redundancy design method based on task monitoring.
FIG. 3 is a arbitration mechanism of a reinforcement machine redundancy design method based on task snooping.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1-3, the reinforcement machine multi-machine system based on task monitoring provided by the invention is characterized by comprising a control management unit and a plurality of reinforcement machines which are connected, wherein the control management unit comprises a serial server module and an alarm display module which are connected;
the serial port server module is connected with each reinforcing machine through a serial port line and used for receiving information of external task interaction and performing task allocation on the reinforcing machines;
the alarm display module is connected with each reinforcing machine through two groups of dual-redundancy CAN buses so as to acquire real-time state and control judgment;
each reinforcing machine sends heartbeat information and fault information to an alarm display module of the control management unit through two groups of dual-redundancy CAN buses so that the control management unit switches the control object to the reinforcing machine which normally works;
the two groups of dual-redundancy CAN buses comprise a state bus and a control arbitration bus, wherein the state bus is used for notifying the running state; the control arbitration bus is used for constructing a response mechanism between each reinforcing machine and the control management unit. And carrying out a task monitoring strategy through two groups of CAN buses to realize redundant backup and expansion of the reinforcing machine.
In the above embodiment, the control management unit is connected with each reinforcing machine to realize the core control function of the reinforcing machine, the control management unit is internally provided with a serial server and an alarm display function, performs unified management switching on external interfaces, performs control arbitration on the reinforcing machine, and displays the system state in real time; the alarm display module is connected with each reinforcing machine through two groups of dual-redundancy CAN buses, one group is used as a control arbitration bus, the other group is used as a state bus which is used as an operation state notification, the control arbitration bus constructs a response mechanism between the devices, each reinforcing machine sends heartbeat information and fault information to the alarm display module of the control management unit through the two groups of dual-redundancy CAN buses so that the control management unit switches an external interface of the fault reinforcing machine to the reinforcing machine which normally works, thus the multi-machine system changes the problem that the reliability of the original single reinforcing machine as a core control device is lower, meanwhile, the state monitoring is carried out on the system through the state bus, the operation state is monitored in real time, the response mechanism is constructed between the devices through the control arbitration bus, the multi-machine hot standby is realized through the strategies of state reporting, fault routing inspection, control arbitration and the like, and the task implementation reliability is high, the fault can be rapidly eliminated, and the detection and maintenance of the system are improved.
Specifically, the reinforcing machine comprises a power module, a mainboard module and a CAN communication module which are connected with the CPCI bus; the power supply module is used for reinforcing the electric system conversion of the module in the machine; the main board module is used for task main program operation and state message forwarding; the CAN communication module is used for providing a CAN interface so as to be connected with the two groups of dual-redundancy CAN buses. The reinforcing machine runs a VxWorks operating system, so that the task response time is ensured, and meanwhile, the real-time display of the state can quickly eliminate faults.
Specifically, the reinforcing machine further comprises a serial port communication module connected with the serial port server module through a serial port line, and interaction of external tasks is provided through the serial port communication module.
Preferably, the reinforcing machine comprises an expansion function module, and expansion space is reserved and single machine positioning time service is carried out through the expansion function module.
The invention also provides a reinforcement machine redundancy design method based on task monitoring, which comprises the following steps:
distributing and issuing configuration information to a plurality of reinforcing machines according to the pre-task distribution through a control management unit;
receiving the configuration information through each reinforcing machine and continuously feeding back heartbeat information to the control management unit for multiple times;
the working state of each unit is judged by the control management unit,
if the control management unit judges that the reinforcing machine is in a normal working state, the control management unit and the reinforcing machine enter a monitoring state;
if the control management unit judges that the reinforcing machine is abnormal in working state, the control management unit performs fault display and judgment through the alarm display module, and starts other normal reinforcing machines to enter the working state;
and after the control management unit and the reinforcing machines enter a monitoring state, sending a heartbeat message or a fault message to the control management unit through each reinforcing machine.
In the above embodiment, the core control functions of the reinforcing machine, including task assignment and state monitoring, are realized by the control management unit and the configuration information transmission and the working state monitoring of each reinforcing machine, the control management unit judges that the working state of each reinforcing machine is abnormal, the control management unit displays and decides faults through the alarm display module, and other normal reinforcing machines are started to enter the working state.
Specifically, the method further comprises the following steps:
and in the process that the reinforcing machine carries out heartbeat messages and fault messages to the control management unit, if any reinforcing machine has abnormal information, the control management unit displays the fault information, the control object is switched to the normal reinforcing machine, and the normal reinforcing machine takes over the task to complete the mutual non-interruption of multi-machine hot standby and task exchange.
And after the control management unit and the reinforcing machine enter a monitoring state, performing control judgment according to a monitoring result.
Further, when the control management unit and the reinforcing machine monitor the state, the state detection is realized through module self-detection and heartbeat detection; module self-checking includes detection of CPU state, I/O state, memory state, process, task state, and communication state.
Specifically, when the control arbitration is carried out, the fault detection and fault processing mechanism is voted through an arbitration program; after receiving the fault, the arbitration program carries out a series of processing on the fault according to a set fault processing flow, wherein the fault processing comprises fault association, identification, positioning and failure judgment, and then voting is carried out according to a judgment result; and when the control is decided, the working state of the reinforcing machine is decided.
When the reinforcing machine monitors the state to send heartbeat messages or actively inspects and sends fault messages, if faults occur, alarm information is sent to the alarm display module of the control management unit, and the alarm display module displays the faults and processes the faults according to the judgment program.
In order to further understand the technical scheme of the invention, the scheme is further described below by combining the accompanying drawings.
The reinforcement machine multi-machine system based on task monitoring is arranged according to the figure 1, the reinforcement machine is three sets (or at least 2 sets are set according to requirements) of the same equipment, the internal module is a standard CPCI board card, the reinforcement machine is based on a CPCI bus, and each module sends heartbeat and fault messages to a mainboard module according to an agreed protocol and carries out data interaction. Each stiffener is basically configured as a power module 1 to provide electrical conversion of the modules within the stiffener; the function of the main board module 1 is task main program operation, status message forwarding and the like; the CAN communication module provides 4 paths of CAN interfaces to form two groups of dual-redundancy CAN buses; a serial port communication module: providing an external task interface; the expansion function module reserves an expansion space and can realize the professional functions of a single machine (such as positioning time service and the like). The control management unit is internally provided with a serial server module and an alarm display module, and the serial server module and the alarm display module are connected through a network to perform information interaction. Two sets of CAN buses of the alarm display module and the reinforcing machine are subjected to state acquisition and control judgment, the running state of the system is displayed through a display screen of the alarm display module, and a serial port data interface is an external task interface (external serial port data and reinforcing machine serial port interface interconnection data) and is subjected to task allocation through a serial port server module built in the control management unit.
The monitoring and arbitration task allocation function implementation flow is as shown in fig. 2, and in consideration of advantages and disadvantages of a conventional master-slave mode and a duplex mode of multi-machine hot standby and practical requirements of system use (task data is relatively stable and reliable), a duplex mode is adopted, and an arbitration mechanism is simplified: the data of the tasks are not judged, only the working state of the reinforcing machines is judged, each reinforcing machine runs a part of special tasks respectively, and meanwhile, the distribution of other tasks is waited for, and the tasks are taken over at any time.
After the whole system is started, the control management unit issues configuration information according to task allocation in advance, each unit continuously replies heartbeat information for 3 times, the control management unit judges the working state of each unit, if the equipment works abnormally, the control management unit sends the information to the alarm module to eliminate faults, after the equipment works normally completely, the system enters a monitoring state, each unit sends a heartbeat message every 5 seconds (with configurable time), the system inspects every 1 hour, a fault inquiry message is sent actively, the reinforcement machine generates abnormal information, the control management unit displays the fault information, an external interface of the fault reinforcement machine is switched to a normal working reinforcement machine, the reinforcement machine takes over a task, multi-machine hot standby is completed, and the tasks are not interrupted. The process information and the configuration state are stored in a log file, so that the fault can be conveniently judged and positioned and the process can be conveniently controlled.
The reinforcing machine redundancy design method is mainly based on the following aspects:
1) and (3) state monitoring:
the state monitoring is the premise of hot standby, and the judgment is completed according to the monitoring result, including state detection and task monitoring, and the state detection is realized through module self-detection and heartbeat detection.
2) And (3) control and arbitration:
in the operation of the system, the state of the control right of the reinforcing machine depends on the decision program to vote on the fault detection and fault processing mechanism. After receiving the fault, the arbitration program performs a series of processing on the fault according to the set fault processing flow, including fault association, identification and positioning, failure judgment, and the like, and votes according to the judgment result, as shown in fig. 3.
In actual operation, the detection information state needs to be set for multiple times, transient errors in a decision period are avoided, the information acquisition is accurate, and granularity refinement is performed on different self-detection state information. And acquiring historical resolution records in real time, and acquiring voting reliability grade through a self-learning algorithm to provide basis for resolution.
3) And task allocation synchronization:
in order to ensure the continuous and stable operation of the system after the task allocation, the state consistency and the task synchronization are ensured through synchronization. The task synchronization mainly comprises static synchronization and real-time synchronization:
the static parameters mainly comprise various configuration files such as configuration of each function of the system, hardware description, task definition and the like, and when data loading, data deletion and other operations are not carried out, the data basically cannot change. And based on the rsync algorithm, obtaining a static parameter synchronization strategy by comparing the file attributes of the same file number in the equipment.
In view of the variability of real-time data, the real-time synchronization adopts a data definition mode based on XML, the reinforcing machines receive external data, perform data processing, package the external data according to a package format in the XML after the data processing is finished, and the management module performs analysis processing according to the XML data format to ensure the real-time synchronization consistency of the reinforcing machines.
The serial server module and the alarm display module are connected through a network to carry out information interaction, the reinforcing machines are networked through network exchange, data synchronization is carried out if necessary, when one reinforcing machine fails, the information of the reinforcing machine is synchronized to the control management unit, then when an external interface of the failed reinforcing machine is switched to a normal reinforcing machine, the normal reinforcing machine synchronously takes over tasks, and multi-machine hot standby and task exchange are not interrupted.
While the present invention has been described with reference to the specific embodiments, the present invention is not limited to the above-described specific embodiments, and various changes or modifications within the scope of the appended claims may be made by those skilled in the art without departing from the spirit of the present invention.
Claims (10)
1. A reinforcement machine multi-machine system based on task monitoring is characterized by comprising a control management unit and a plurality of reinforcement machines which are connected, wherein the control management unit comprises a serial server module and an alarm display module which are connected;
the serial port server module is connected with each reinforcing machine through a serial port line and used for receiving information of external task interaction and performing task allocation on the reinforcing machines;
the alarm display module is connected with each reinforcing machine through two groups of dual-redundancy CAN buses so as to acquire real-time state and control judgment;
each reinforcing machine sends heartbeat information and fault information to an alarm display module of the control management unit through two groups of dual-redundancy CAN buses so that the control management unit switches the control object to the reinforcing machine which normally works;
the two groups of dual-redundancy CAN buses comprise a state bus and a control arbitration bus, wherein the state bus is used for notifying the running state; the control arbitration bus is used for constructing a response mechanism between each reinforcing machine and the control management unit.
2. The ruggedized machine multi-machine system based on task monitoring of claim 1, wherein the ruggedized machine comprises a power module, a motherboard module, and a CAN communication module connected to a CPCI bus; the power supply module is used for reinforcing the electric system conversion of the in-machine module; the main board module is used for task main program operation and state message forwarding; the CAN communication module is used for providing a CAN interface so as to be connected with the two groups of dual-redundancy CAN buses.
3. The reinforcement machine multi-machine system based on task monitoring as claimed in claim 2, wherein the reinforcement machine further comprises a serial communication module connected with the serial server module through a serial line, and interaction of external tasks is provided through the serial communication module.
4. The ruggedized aircraft multi-aircraft system based on task monitoring as claimed in claim 3, wherein the ruggedized aircraft comprises an extended function module, and the extended function module is used for reserving an extended space and performing single-aircraft location time service.
5. A reinforcement machine redundancy design method based on task monitoring is characterized by comprising the following steps:
distributing and issuing configuration information to a plurality of reinforcing machines according to the pre-task distribution through a control management unit;
receiving the configuration information through each reinforcing machine and continuously feeding back heartbeat information to the control management unit for multiple times;
the working state of each unit is judged by the control management unit,
if the control management unit judges that the reinforcing machine is in a normal working state, the control management unit and the reinforcing machine enter a monitoring state;
if the control management unit judges that the reinforcing machine is abnormal in working state, the control management unit performs fault display and judgment through the alarm display module, and starts other normal reinforcing machines to enter the working state;
and after the control management unit and the reinforcing machines enter a monitoring state, sending a heartbeat message or a fault message to the control management unit through each reinforcing machine.
6. The method for designing the reinforcement machine redundancy based on the task listening of claim 5, which is characterized by comprising the following steps:
and in the process that the reinforcing machine carries out heartbeat messages and fault messages to the control management unit, if any reinforcing machine has abnormal information, the control management unit displays the fault information, the control object is switched to the normal reinforcing machine, and the normal reinforcing machine takes over the task to complete the mutual non-interruption of multi-machine hot standby and task exchange.
7. The method for designing ruggedization machine redundancy based on task listening of claim 6, wherein: and after the control management unit and the reinforcing machine enter a monitoring state, performing control judgment according to a monitoring result.
8. The method for designing ruggedization machine redundancy based on task listening of claim 7, wherein: when the control management unit and the reinforcing machine monitor the state, the state detection is realized through module self-detection and heartbeat detection; the module self-checking comprises detection of a CPU state, an I/O state, a memory state, a process, a task state and a communication state.
9. The method for designing ruggedization machine redundancy based on task listening of claim 8, wherein: when the arbitration is controlled, the fault detection and fault processing mechanism is voted through an arbitration program; after receiving the fault, the arbitration program carries out a series of processing on the fault according to a set fault processing flow, wherein the fault processing comprises fault association, identification, positioning and failure judgment, and then voting is carried out according to a judgment result; and when the control is decided, the working state of the reinforcing machine is decided.
10. The method for designing ruggedization machine redundancy based on task listening of claim 9, wherein: when the reinforcing machine monitors the state and sends heartbeat messages or actively inspects and sends fault query messages, if faults occur, alarm information is sent to the alarm display module of the control management unit, and the alarm display module displays the faults and processes the faults according to the judgment program.
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