CN114594672A - Control system and control method thereof, and computer-readable storage medium - Google Patents

Abstract

The present disclosure provides a control system, a control method thereof, and a computer-readable storage medium. The control system includes: the system comprises a main controller, a controller and a plurality of expansion modules, wherein the plurality of expansion modules comprise at least one main expansion module and at least one corresponding standby expansion module; the main controller is used for performing data read-write operation on the field protocol equipment through the expansion bus and the main expansion module; the controller is used for receiving data from the expansion bus and not sending control data to the expansion bus; the main expansion module is used for receiving data from the expansion bus and sending data to the expansion bus; the standby expansion module is used for receiving data from the expansion bus and not sending data to the expansion bus.

Description

Control system and control method thereof, and computer-readable storage medium

technical field

The present disclosure relates to the technical field of building control, and in particular, to a control system, a control method thereof, and a computer-readable storage medium.

Background technique

In building control systems, it is inevitable that equipment, communications and software will fail during long-term operation, when the system is in a state of downtime. In the related art, a dual-controller solution is used, and the active and standby controllers are generally connected to the bus in parallel, and the system process data is synchronized through a dedicated data synchronization interface. With this system redundancy, once the data synchronization line is abnormal, there will be two hosts in the control system at the same time. When two hosts request the device bus at the same time, the communication between the controller and the device will be abnormal, resulting in abnormal system data.

SUMMARY OF THE INVENTION

A technical problem solved by the present disclosure is to provide a control system to prevent the problem of abnormal system data as much as possible.

According to one aspect of the present disclosure, a control system is provided, including: a main controller, a standby controller, and a plurality of expansion modules, the plurality of expansion modules including at least one main expansion module and at least one corresponding standby expansion module, The plurality of expansion modules are connected to the main controller and the standby controller through an expansion bus, and each expansion module is connected to a field protocol device through a device connection line; The main expansion module performs data read and write operations on the field protocol device; the standby controller is used to receive data from the expansion bus and not send control data to the expansion bus; the main expansion module is used to receive data from the expansion bus. The bus receives data and sends data to the expansion bus; the standby expansion module is used for receiving data from the expansion bus and not sending data to the expansion bus.

In some embodiments, the primary controller is further configured to send a redundant heartbeat request signal to the standby controller every first time period; the standby controller is further configured to receive the redundant heartbeat request After the signal is received, a redundant heartbeat response signal is returned to the main controller within the first time period, so as to establish a heartbeat link with the main controller.

In some embodiments, the main expansion module and the corresponding standby expansion module have the same address, and the main expansion module and the standby expansion module with the same address are linked to the same field protocol device.

In some embodiments, the plurality of expansion modules include a first expansion module configured to broadcast an address broadcast frame containing its own address to the expansion bus after a random time, if within a predetermined time If the redundant host response frame from the expansion module with the same address is not received, or the address broadcast frame from the expansion module with the same address is received within the predetermined time, it is determined that the first expansion module itself is the primary expansion module. module; if the redundant host response frame is received within the predetermined time, determine that the first expansion module itself is a standby expansion module, wherein the predetermined time is greater than the random time.

In some embodiments, the primary controller is configured to publish data from the field protocol device to a proxy server module in the primary controller; the standby controller is configured to receive data from the proxy server module A subscription message is subscribed to obtain the field protocol device data, wherein the subscription message contains the field protocol device data.

In some embodiments, the main controller is configured to send a data read request to the field protocol device; the field protocol device is configured to output a differential voltage form to the expansion bus after receiving the data read request The response data; wherein, the main controller and the standby controller detect and obtain the change of the expansion bus voltage to obtain the response data.

In some embodiments, the main controller is configured to send an expansion heartbeat request signal to the plurality of expansion modules; at least one expansion module of the plurality of expansion modules is configured to receive the expansion from the expansion bus After the heartbeat request signal is received, an extended heartbeat response signal is returned to the main controller to establish a heartbeat link with the main controller.

In some embodiments, the control system further includes: a monitoring server, connected in communication with the main controller and the standby controller, respectively, for acquiring fault information of the main controller, the standby controller or the main expansion module.

In some embodiments, the standby controller is configured to determine that the primary controller does not receive a redundant heartbeat request signal and an extended heartbeat request signal from the primary controller within the first time period. When a fault occurs, it switches to the main controller mode autonomously, releases the communication restriction, initiates read and write control to the field protocol device, and reports the information that it switches to the main controller mode to the monitoring server.

In some embodiments, the primary controller is further configured to determine that the standby controller does not receive a redundant heartbeat response signal and an extended heartbeat response signal from the standby controller within the first time period. A failure occurs, and the information about the failure of the standby controller is reported to the monitoring server.

In some embodiments, the main controller is configured to send an extension heartbeat request signal to the plurality of extension modules, and if no extension heartbeat response signal of the main extension module is received within a second time period, determine that the main extension The module fails, and reports the failure information of the main expansion module to the monitoring server; the standby expansion module with the same address as the main expansion module is also used if the information is not received within the second time period The expansion heartbeat response signal of the main expansion module determines that the main expansion module is faulty, and autonomously switches to the main expansion module.

In some embodiments, the primary controller is further configured to send the local file of the primary controller to the backup controller after power-on; the backup controller is further configured to send the backup controller to the backup controller The local file of the main controller is compared with the local file of the main controller, and in the case that the local file of the standby controller is inconsistent with the local file of the main controller, the local file of the main controller is synchronized to in the standby controller.

In some embodiments, the main controller and the standby controller are respectively provided with a first indicator panel, and the first indicator panel includes: a first operation mode indicator, which is used to indicate that the current controller is in a redundant state the remaining operation mode; the first data sending indicator light is used to indicate that the current controller sends data through the device bus, wherein the main controller and the standby controller are connected to the switch through the device bus, and the switch Communication is connected to the field protocol device; the first data receiving indicator light is used to indicate that the current controller receives data through the device bus; the second data transmission indicator light is used to indicate that the current controller passes through the expansion bus sending data; a second data receiving indicator light, used to indicate that the current controller receives data through the expansion bus; and a first heartbeat link indicator light, used to indicate that the current controller implements a heartbeat link.

In some embodiments, each expansion module is provided with a second indicator panel, and the second indicator panel includes: a second operation mode indicator, used to indicate that the current expansion module is in a redundant operation mode; a third data transmission The indicator light is used to indicate that the current extension module sends data; the third data reception indicator light is used to indicate that the current extension module receives data; and the second heartbeat link indicator light is used to indicate that the current extension module implements the heartbeat Link.

According to another aspect of the present disclosure, there is provided a control method for a control system, comprising: a primary controller sending a redundant heartbeat request signal to a backup controller every first time period; After the redundant heartbeat request signal is received, a redundant heartbeat response signal is returned to the main controller within the first time period, so as to establish a heartbeat link with the main controller.

In some embodiments, the plurality of expansion modules include a first expansion module; the control method further includes: the first expansion module broadcasts an address broadcast frame including its own address to the expansion bus after a random time elapses; If a redundant host response frame from an expansion module with the same address is not received within a predetermined time, or an address broadcast frame from an expansion module with the same address is received within the predetermined time, determining the first extension The module itself is a primary expansion module; and if the redundant host response frame is received within the predetermined time, determining that the first expansion module itself is a standby expansion module, wherein the predetermined time is greater than the random time .

In some embodiments, the control method further comprises: the primary controller publishing data from the field protocol device to a proxy server module in the primary controller; and the secondary controller receiving the data The subscription message sent by the proxy server module obtains the data of the field protocol device, wherein the subscription message contains the data of the field protocol device.

In some embodiments, the control method further includes: the main controller sends a data read request to the field protocol device; the field protocol device sends a data read request to the expansion bus after receiving the data read request outputting response data in the form of a differential voltage; and the main controller and the standby controller detect and obtain a change in the voltage of the expansion bus to obtain the response data.

In some embodiments, the control method further includes: the main controller sends an expansion heartbeat request signal to the plurality of expansion modules; and at least one expansion module of the plurality of expansion modules is running from the expansion bus After receiving the extended heartbeat request signal, an extended heartbeat response signal is returned to the main controller to establish a heartbeat link with the main controller.

In some embodiments, the control method further includes: if the standby controller does not receive a redundant heartbeat request signal and an extended heartbeat request signal from the master controller within the first time period, then: It is determined that the main controller is faulty, and the main controller mode is automatically switched to the main controller mode, the communication restriction is lifted, the read-write control is initiated to the field protocol device, and the information that the main controller is switched to the main controller mode is reported to the monitoring server.

In some embodiments, the control method further includes: if the primary controller does not receive the redundant heartbeat response signal and the extended heartbeat response signal from the standby controller within the first time period, determining that the The standby controller is faulty, and the fault information of the standby controller is reported to the monitoring server.

In some embodiments, the control method further includes: the main controller sends an extended heartbeat request signal to the plurality of expansion modules, and if no extended heartbeat response signal from the main expansion module is received within the second time period, Then it is determined that the main expansion module is faulty, and the information that the main expansion module is faulty is reported to the monitoring server; if the standby expansion module with the same address as the main expansion module does not have a fault within the second time period After receiving the extension heartbeat response signal of the main extension module, it is determined that the main extension module is faulty, and the main extension module is automatically switched to the main extension module.

In some embodiments, the control method further includes: after the main controller is powered on, sending the local file of the main controller to the standby controller; and the standby controller sending the standby controller to the standby controller. The local file of the controller is compared with the local file of the main controller, and if the local file of the standby controller is inconsistent with the local file of the main controller, the local file of the main controller is compared. Synchronized to the standby controller.

According to another aspect of the present disclosure, there is provided a control system comprising: a memory; and a processor coupled to the memory, the processor configured to execute the foregoing based on instructions stored in the memory Methods.

According to another aspect of the present disclosure, there is provided a computer-readable storage medium having computer program instructions stored thereon, the computer program instructions implementing the aforementioned method when executed by a processor.

In the above control system, when the main expansion module fails, the standby expansion module can go online and enter the working state, so as to prevent the problem of abnormal system data as much as possible.

Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings.

Description of drawings

The accompanying drawings, which form a part of the specification, illustrate embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure.

The present disclosure may be more clearly understood from the following detailed description with reference to the accompanying drawings, wherein:

1 is a block diagram schematically illustrating a control system according to some embodiments of the present disclosure;

2 is a schematic diagram schematically illustrating a first indicator panel of a controller according to some embodiments of the present disclosure;

3 is a schematic diagram schematically illustrating a second indicator panel of an expansion module according to other embodiments of the present disclosure;

4 is a block diagram schematically illustrating a control system according to other embodiments of the present disclosure;

FIG. 5 is a schematic diagram schematically illustrating a bus provisioning mechanism of a control system according to some embodiments of the present disclosure;

6 is a logic diagram schematically illustrating redundancy detection of a primary controller and a backup controller of a control system according to some embodiments of the present disclosure;

7 is a flowchart illustrating a control method for a control system according to some embodiments of the present disclosure;

8 is a flowchart illustrating a control method for a control system according to other embodiments of the present disclosure;

FIG. 9 is a block diagram schematically illustrating a control system according to other embodiments of the present disclosure;

FIG. 10 is a block diagram schematically illustrating a control system according to further embodiments of the present disclosure.

Detailed ways

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

Meanwhile, it should be understood that, for the convenience of description, the dimensions of various parts shown in the accompanying drawings are not drawn in an actual proportional relationship.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application or uses in any way.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods, and apparatus should be considered part of the specification.

In all examples shown and discussed herein, any specific value should be construed as illustrative only and not as limiting. Accordingly, other examples of exemplary embodiments may have different values.

It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it need not be discussed further in subsequent figures.

FIG. 1 is a block diagram schematically illustrating a control system according to some embodiments of the present disclosure.

As shown in FIG. 1 , the control system includes: a main controller 110 , a backup controller 120 and a plurality of expansion modules. The plurality of extension modules include at least one main extension module (eg, n main extension modules, where n is a positive integer) and at least one corresponding backup extension module (eg, n backup extension modules). The multiple expansion modules are connected to the main controller 110 and the standby controller 120 through the expansion bus 101 . Here, the expansion bus 101 includes a communication line of the expansion bus (may be referred to as an expansion communication line). Each expansion module is connected to a field protocol device (eg, field protocol device 1, field protocol device 2 . . . ) through a device connection line 103. For example, the primary controller 110 may be connected to the backup controller 120 through the redundant communication line 102 .

The main controller 110 is used to perform data read and write operations on the field protocol device through the expansion bus 101 and the main expansion module. For example, the main controller 110 sends control data to the expansion bus 101, and the main expansion module transmits the control data to the corresponding field protocol device to realize the data write operation of the main controller 110; or, the field protocol device sends the device data to the main The expansion module, the main expansion module transmits the device data to the main controller 110 through the expansion bus, so that the main controller 110 realizes the data read operation. For example, the main controller 110 is a soft redundant programmable controller.

The standby controller 120 is used to receive data from the expansion bus and not send control data to the expansion bus. For example, the standby controller 120 limits the function of transmitting control data, but may transmit a response signal in response to the heartbeat request of the expansion bus, and retain the function of receiving data. For example, the backup controller 120 is a soft redundant programmable controller.

The main expansion module is used to receive data from and send data to the expansion bus. That is, the main expansion module can realize the reception and transmission of data.

Standby expansion modules are used to receive data from the expansion bus and not send data to the expansion bus. That is, the standby expansion module can receive data, but cannot send data.

So far, control systems according to some embodiments of the present disclosure have been provided. The control system includes: a main controller, a standby controller, and a plurality of expansion modules, the plurality of expansion modules include at least one main expansion module and at least one corresponding standby expansion module, and the plurality of expansion modules communicate with the The main controller is connected to the standby controller, and each expansion module is connected to the field protocol device through a device connection line; the main controller is used to perform data read and write operations on the field protocol device through the expansion bus and the main expansion module; the standby controller is used for Receive data from the expansion bus without sending data to the expansion bus; the main expansion module is used to receive data from the expansion bus and send data to the expansion bus; the standby expansion module is used to receive data from the expansion bus without sending data to the expansion bus. In this control system, by setting the standby expansion module, when the main expansion module fails, the standby expansion module can go online and enter the working state, thereby preventing the problem of abnormal system data as much as possible. Moreover, the above control system can solve the problems of single redundant modules and insufficient switching stability in the control system as much as possible.

Optionally, the control system may further include the field protocol device. Of course, the scope of the present disclosure is not limited to this, for example, the control system may also not include the field protocol device.

In some embodiments, the primary expansion module and the corresponding standby expansion module have the same address. Primary and secondary expansion modules with the same address are linked to the same field protocol device. Here, the addresses of the main expansion module and the standby expansion module are kept the same. When the main expansion module fails, there is no need to modify the address of the standby expansion module. The standby expansion module can automatically go online and enter the working state, and the system can continue to operate normally. Only the faulty expansion module needs to be repaired later, so that the control system can be flexible and efficient. to operate.

In some embodiments, the primary controller 110 and the secondary controller 120 are respectively provided with first indicator panels. The first indicator panel 200 is described herein with reference to FIG. 2 . FIG. 2 is a schematic diagram schematically illustrating a first indicator panel of a controller according to some embodiments of the present disclosure.

As shown in FIG. 2 , the first indicator panel 200 includes: a first operating mode indicator STAT_1, a first data transmission indicator TX_1, a first data reception indicator RX_1, a second data transmission indicator TX_2, and a second data reception indicator Indicator RX_2 and first heartbeat link indicator BEAT_1.

The first operation mode indicator STAT_1 is used to indicate that the current controller is in the redundant operation mode.

The first data sending indicator TX_1 is used to indicate that the current controller sends data through the device bus. Here, the main controller and the standby controller are connected to the switch through the device bus, and the switch is communicatively connected to the field protocol device (which will be described later in conjunction with FIG. 4 ).

The first data receiving indicator RX_1 is used to indicate that the current controller (main controller or standby controller) receives data through the device bus.

The second data sending indicator TX_2 is used to indicate that the current controller sends data through the expansion bus.

The second data receiving indicator RX_2 is used to indicate that the current controller receives data through the expansion bus.

The first heartbeat link indicator BEAT_1 is used to indicate that the current controller implements the heartbeat link.

In some embodiments, each expansion module is provided with a second indicator panel. The second indicator panel 300 is described here in conjunction with FIG. 3 . FIG. 3 is a schematic diagram schematically illustrating a second indicator panel of an expansion module according to other embodiments of the present disclosure.

As shown in FIG. 3 , the second indicator panel 300 includes: a second operation mode indicator STAT_2 , a third data transmission indicator TX_3 , a third data reception indicator RX_3 and a second heartbeat link indicator BEAT_2 .

The second operation mode indicator STAT_2 is used to indicate that the current expansion module (a main expansion module or a standby expansion module) is in a redundant operation mode.

The third data sending indicator TX_3 is used to indicate that the current expansion module sends data.

The third data receiving indicator RX_3 is used to indicate that the current expansion module receives data.

The second heartbeat link indicator BEAT_2 is used to indicate that the current expansion module implements the heartbeat link.

In the embodiment of the present disclosure, the indicator light may be an LED (Light Emitting Diode, light-emitting diode) light.

In the above embodiment, the indicator panels of the controller and the expansion module can represent their current operating states. Of course, those skilled in the art can understand that the above indicator panels can also use embedded display screens, mobile phone APPs (application programs), Components with a display function, such as web pages, are replaced, and therefore, the scope of the present disclosure is not limited to this.

In some embodiments, the master controller 110 may also be configured to send a redundant heartbeat request signal to the backup controller 120 every first time period T1. The standby controller 120 can also be configured to send a message to the master controller within a first time period (ie, at a certain time, wherein the time elapsed to reach the time is less than the first time period) after receiving the redundant heartbeat request signal. The controller 110 returns a redundant heartbeat response signal to establish a heartbeat link with the main controller 110 . For example, the range of the first time period T1 may be 0<T1≤2 seconds. Of course, the scope of the present disclosure is not limited thereto.

For example, when the control system for the building operates normally, the main controller 110 maintains a redundant heartbeat and data synchronization connection with the standby controller 120 through redundant communication lines. The primary controller 110 sends a redundant heartbeat request signal to the backup controller 120 every first time period T1, and the backup controller 120 needs to reply to the primary controller 110 before the first time period arrives. The heartbeat link indicator BEAT_1 blinks normally. The main controller 110 maintains communication with the field devices through the device bus and the expansion bus, and performs read and write control normally. The data sending indicator TX_2 and the second data receiving indicator RX_2) flash normally. On the other hand, the backup controller 120 has limited the function of sending control data, but can send a response signal in response to the heartbeat request of the expansion bus, while retaining the function of receiving data, the TX_1 and RX_1 lights are in the off state, and the TX_2 and RX_2 are flashing normally. , at this time, the normal flashing of TX_2 indicates that the standby controller can send a redundant heartbeat response signal.

In some embodiments, the plurality of expansion modules include a first expansion module configured to broadcast an address broadcast frame containing its own address to the expansion bus after a random time, if not received within a predetermined time The redundant host response frame from the expansion module with the same address, or the address broadcast frame from the expansion module with the same address is received within the predetermined time, then it is determined that the first expansion module itself is the main expansion module; If the redundant host response frame is received within the time, it is determined that the first expansion module itself is the standby expansion module, wherein the predetermined time is greater than the random time. Here, the first extension module is any one of the plurality of extension modules.

It should be noted that the above random time can be understood as a random time within a predetermined range, for example, no more than 1 second. The purpose is to prevent the active and standby expansion modules from sending data at the same time during the system initialization phase. There is a sequence, which is convenient for logic. judge. The above predetermined time can be set according to actual needs. The above-mentioned redundant host refers to that a certain expansion module is in the position of the main expansion module in the redundant mode, therefore, the expansion module that sends out the redundant host response frame is the main expansion module.

In the above embodiment, in order to make the control system run flexibly and efficiently, the addresses of the two sets of expansion modules are kept the same, and the master/slave relationship requires two modules with the same address to compete and confirm autonomously through address broadcast frames.

For example, after the system is powered on, the indicators on the light board of the expansion module are all off, and after the heartbeat link is established with the main controller, the second heartbeat link indicator BEAT_2 of the expansion module turns steady on. In some embodiments, the main controller is configured to send an extension heartbeat request signal to the plurality of extension modules; at least one extension module of the plurality of extension modules is configured to receive an extension heartbeat request signal from the extension bus after receiving the extension heartbeat request signal from the extension bus. , returns an extended heartbeat response signal to the main controller to establish a heartbeat link with the main controller. In this way, the expansion module establishes a heartbeat link with the main controller.

An expansion module (ie, the first expansion module) broadcasts a data frame containing its own address (ie, an address broadcast frame) to the expansion bus after a delay of a random time T0. The redundant host response frame with the same address is received (indicating that other expansion modules with the same address are not currently used as the main expansion module), or the address broadcast frame of the module with the same address is received within a predetermined time (the predetermined time is greater than the random time) (indicating the same The time of sending the address broadcast frame by other expansion modules of the address is later than the time when the expansion module sends the address broadcast frame), then the first expansion module confirms that it is the main expansion module, and turns the second operation mode indicator STAT_2 to be always on, And broadcast the redundant master reply frame to the expansion bus. Other expansion modules that receive the same address of the redundant host response frame are confirmed as standby expansion modules, and the second operation mode indicator STAT_2 thereof remains off.

The main expansion module can read and write field protocol devices normally, and respond to the heartbeat request of the main controller. The third data receiving indicator RX_3 flashes; the standby expansion module does not need to respond to the heartbeat request, and cannot send data to the field protocol device, but only retains the function of receiving data. The indicator TX_3 remains off, the third data receiving indicator RX_3 flashes, and the second heartbeat link indicator BEAT_2 is always on.

In some embodiments, the main controller 110 is used to publish data from field protocol devices to a proxy server module in the main controller. The standby controller 120 is configured to receive the subscription message sent by the proxy server module to obtain the data of the field protocol device, wherein the subscription message includes the data of the field protocol device. This embodiment realizes that the controller obtains the device data based on the request-response communication mechanism.

In other embodiments, the master controller 110 is configured to send a data read request to a field protocol device (eg, field protocol device 1). The field protocol device is used to output response data in the form of differential voltages to the expansion bus 101 after receiving the data read request. The main controller 110 and the standby controller 120 detect the change of the expansion bus voltage to obtain the response data. This embodiment enables the controller to obtain device data based on the differential signal detection logic.

In the above-described embodiment, when the system is running normally, the active and standby controllers perform data synchronization all the time. In order to reduce the communication pressure of controller data synchronization, two different methods can be used for synchronization: ① Device data based on the request-response communication mechanism: For this type of data, the active and standby controllers use a subscription/publish-based communication mechanism to achieve Data synchronization, the main controller will release the data change values from such devices (for example, BACnet devices or TCP/IP (Transmission Control Protocol/Internet Protocol) devices, etc.) to the proxy server module in real time, and the backup The controller links the proxy server modules and receives corresponding subscription messages to obtain data from such devices in real time. ②Device data based on differential signal detection logic: After the host controller sends a data read request to such devices (for example, RS485 devices or I/O (input/output) devices, etc.), the device outputs differential voltage to the expansion bus. In response to the data, the active and standby controllers can detect changes in the bus voltage at the same time. Therefore, for such data, the standby controller can interpret it by itself, without synchronizing from the main controller, reducing the pressure of data synchronization.

The standby controller in the embodiment of the present disclosure can adopt a mechanism for synchronizing redundant data in two channels, so as to reduce the data transmission pressure of the main controller and speed up the speed of data synchronization between the active and standby controllers. This can solve the problems of large resource consumption and slow redundancy switching speed when the redundant data is synchronized in the control system as much as possible.

In some embodiments, the primary controller 110 may also be configured to send the local file of the primary controller to the backup controller 120 after power-on. The standby controller 120 can also be used to compare the local file of the standby controller with the local file of the main controller, and in the case that the local file of the standby controller is inconsistent with the local file of the main controller, compare the local file of the main controller with the local file of the main controller. Local files are synchronized to the standby controller. For example, local files include files such as local program versions, configuration data, configuration logic, and the like. This achieves checksum synchronization of local files.

To ensure fast and normal redundancy switching between the active and standby controllers, software information synchronization and real-time data synchronization are required between the active and standby controllers. In the above embodiment, when the building control system is powered on and running, the active and standby controllers actively verify files such as local program versions, configuration data, and configuration logic. When the verification is inconsistent, the standby controller synchronizes the files corresponding to the primary controller to the local.

FIG. 4 is a block diagram schematically illustrating a control system according to further embodiments of the present disclosure.

FIG. 5 is a schematic diagram schematically illustrating a bus provisioning mechanism of a control system according to some embodiments of the present disclosure. 6 is a logic diagram schematically illustrating redundancy detection of a primary controller and a secondary controller of a control system according to some embodiments of the present disclosure. Control systems according to other embodiments of the present disclosure will be described in detail below with reference to FIGS. 4 to 6 .

As shown in FIG. 4 , the control system includes a main controller 110 , a backup controller 120 and the plurality of expansion modules.

In some embodiments, as shown in FIG. 4 , the primary controller 110 and the secondary controller 120 are connected through the device bus 404 to a switch 440 , which is communicatively connected to field protocol devices. For example, the control system also includes the switch 440 .

In some embodiments, field protocol devices may include BACnet devices, RS485 devices, I/O devices, or TCP/IP devices, among others. Here, a portion of the plurality of field protocol devices (eg, BACnet devices or TCP/IP devices) may be connected to the primary controller 110 and the standby controller 120 through the device bus 404, and another portion of the plurality of field protocol devices (eg, RS485 device or I/O device) can be connected to the main controller 110 and the standby controller 120 through the expansion bus 101 .

For example, as shown in FIG. 5 , the main controller 110 can read and write data to the field protocol device through the device bus 404 and the expansion bus 101; , but does not send data to the device bus 404 and expansion bus 101. Redundant switching can be implemented between the primary controller 110 and the backup controller 120 . For example, when the primary controller 110 fails, the backup controller 120 switches to the function of the primary controller (ie, the primary controller mode).

In some embodiments, as shown in FIG. 4 , the control system may further include a monitoring server 430 . The monitoring server 430 is connected in communication with the main controller 110 and the standby controller 120 respectively. For example, the monitoring server 430 is connected to the main controller 110 and the standby controller 120 through a standard network cable 403 . The monitoring server 430 is used to acquire fault information of the main controller, the standby controller or the main expansion module. Of course, the monitoring server 430 may also be used to obtain other information, for example, the information that the standby controller switches to the master controller mode, and the like.

When the system fails, it can be divided into two situations: controller failure and expansion module failure. For the controller failure, it can include the failure of the primary controller and the failure of the backup controller. Each of them will be described below.

In some embodiments, the standby controller 120 may be configured to determine that the primary controller is faulty and switch autonomously if the redundant heartbeat request signal and the extended heartbeat request signal are not received from the primary controller within the first time period. In the master controller mode, the communication restriction is lifted, the read and write control is initiated to the field protocol device, and the information of switching itself to the master controller mode is reported to the monitoring server 430 .

The above-mentioned embodiment realizes the detection of the failure of the main controller. As shown in FIG. 6 , a double redundancy check is performed between the main controller and the standby controller through a redundant communication line and an expansion bus (such as an expansion communication line) to prevent the occurrence of a dual-master mode. The standby controller detects the redundant heartbeat request signal and the extended heartbeat request signal at the same time, and if it does not receive the redundant heartbeat request signal and the extended heartbeat request signal from the main controller within the first time period T1, it is determined that the main controller has failed, The standby controller switches the host mode autonomously (that is, it becomes the master controller mode), releases the communication restriction between the expansion bus and the device bus, initiates read and write control to the field protocol device, and reports the master-slave switching information to the monitoring server.

In the embodiment of the present disclosure, a redundant heartbeat signal is sent between the main controller and the standby controller, and is used to confirm that the redundant communication between the main controller and the standby controller is normal. The expansion heartbeat signal is sent to the expansion bus, and its functions are: maintaining the communication connection of the expansion module; and confirming that the redundant communication between the main controller and the standby controller is normal. The redundant heartbeat signal and the extended heartbeat signal are based on different communication protocols and use different data frame formats. The main controller can send redundant heartbeat signals and extended heartbeat signals separately through multiple threads.

In some embodiments, the main controller 110 may also be configured to determine that the standby controller 120 is faulty if the redundant heartbeat response signal and the extended heartbeat response signal from the standby controller are not received within the first time period, and The fault information of the standby controller is reported to the monitoring server.

The above embodiment realizes the detection of the failure of the standby controller. In this embodiment, if the main controller neither receives the redundant heartbeat response signal of the standby controller nor the extended heartbeat response signal of the standby controller within the first time period, the main controller determines that the standby controller If the device fails, report the failure information to the monitoring server.

In some embodiments, the main controller 110 may be configured to send an extension heartbeat request signal to the plurality of expansion modules, and if no extension heartbeat response signal of the main expansion module is received within the second time period T2, determine that the main extension The module is faulty, and the information that the main expansion module is faulty is reported to the monitoring server 430 . The standby expansion module with the same address as the main expansion module can also be used to determine that the main expansion module is faulty and autonomously switch to the main expansion module if the expansion heartbeat response signal of the main expansion module is not received within the second time period. . Here, the second time period may be set according to actual needs.

This embodiment realizes the detection of the failure of the main expansion module. The main controller periodically sends an extension heartbeat request signal to the extension module. The active and standby expansion modules can detect the extended heartbeat request signal at the same time, and the standby expansion module does not need to reply to the extended heartbeat request signal. Both the main controller and the standby expansion module judge that the main expansion module is faulty. At this time, the standby expansion module automatically switches to the main expansion module. When the expansion module is redundantly switched, the standby expansion module will send information to the main controller to inform the main controller that the expansion module at this address has undergone redundancy switchover. The main controller synchronously reports the fault information of the expansion module to the monitoring server. This can solve the problem as much as possible that when any module in the control system fails, it needs to be shut down for maintenance.

In some embodiments, as shown in FIG. 4 , the control system may further include a first power source 451 and a second power source 452 . The first power supply 451 and the second power supply 452 are connected to the main controller 110 , the standby controller 120 , the main expansion modules 1 to n and the standby expansion modules 1 to n through the power supply line 405 . The first power supply 451 and the second power supply 452 supply power independently. Here, the power supply line 405 may be a separate power supply line, or may be a part of an extended bus (which may be referred to as an extended power supply line), and the scope of the present disclosure is not limited thereto. When the power supply line 405 is also part of the expansion bus, the expansion bus may include the expansion communication line and the expansion power supply line.

So far, control systems according to further embodiments of the present disclosure have been provided. The control system can be used as a building control system. The control system can be divided into a three-layer structure of "business layer - data processing layer - data acquisition layer", including monitoring server, controller, expansion module, field protocol equipment and so on. In the control system, at least two controllers and two sets of expansion modules can be set to achieve the purpose of one for use and one for backup. The main controller and the standby controller are linked through a high-speed redundant communication line. Both the active and standby controllers and the active and standby expansion modules are connected to the same expansion bus. The main and standby controllers are linked to the same field protocol device, and the expansion modules with the same address are linked to the same field protocol device.

The above control system realizes the autonomous switching of the building controller when a fault occurs, which enables the building control system to run uninterruptedly, reduces the operation and maintenance cost, and lowers the technical threshold; the software redundancy method of the main and standby controllers is adopted to avoid system simplification, Improve the system stability, reliability and safety of building control systems. Moreover, the standby controller adopts the mechanism of dual-channel synchronizing redundant data, which reduces the data transmission pressure of the main controller and speeds up the data synchronization speed of the active and standby controllers.

In addition to deploying redundant communication lines, the main controller and the standby controller are also connected to the expansion bus in parallel. After the main controller and the standby controller are running normally, when both sides maintain the redundant heartbeat link through the redundant communication line, the heartbeat link indicator lights of both sides will flash normally. The main and standby controllers use redundant communication lines and expansion buses to perform bidirectional high-reliability redundancy detection to prevent dual-master or no-master modes from appearing.

In some embodiments, the primary controller and the secondary controller perform heartbeat link detection on the expansion bus synchronously. For example, the detection includes: removing all expansion modules on the expansion bus, at this time there is no data of expansion modules on the bus, only the heartbeat check of the active and standby controllers, the second data transmission indicator TX_2 of the active and standby controllers and the second data transmission indicator TX_2 of the active and standby controllers. 2. The data receiving indicator RX_2 is still flashing normally.

FIG. 7 is a flowchart illustrating a control method for a control system according to some embodiments of the present disclosure. As shown in FIG. 7 , the control method includes steps S702 to S704.

In step S702, the primary controller sends a redundant heartbeat request signal to the backup controller every first time period.

In step S704, after receiving the redundant heartbeat request signal, the standby controller returns a redundant heartbeat response signal to the master controller within a first time period, so as to establish a heartbeat link with the master controller.

So far, a control method for a control system according to some embodiments of the present disclosure has been provided. This method realizes the heartbeat link between the primary controller and the standby controller.

In some embodiments, the plurality of expansion modules include a first expansion module. The method may also include: the first expansion module broadcasts an address broadcast frame containing its own address to the expansion bus after a random time; if the redundant host response frame from the expansion module with the same address is not received within a predetermined time, Or receive the address broadcast frame from the expansion module of the same address within the predetermined time, then determine that the first expansion module itself is the main expansion module; and if the redundant host response frame is received within the predetermined time, then determine the first expansion module The module itself is a standby expansion module, wherein the predetermined time is greater than the random time. This embodiment realizes the expansion module's determination of its own mode (main expansion module mode or standby expansion module mode).

FIG. 8 is a flowchart illustrating a control method for a control system according to other embodiments of the present disclosure. The following describes the process of determining the expansion module's own mode (main expansion module mode or standby expansion module mode) in detail with reference to FIG. 8 . As shown in FIG. 8 , the method includes steps S802 to S812.

In step S802, the expansion module broadcasts an address broadcast frame including its own address to the expansion bus after a random delay time has elapsed.

In step S804, the expansion module determines whether a response frame is received within a predetermined time. If so, the process proceeds to step S806, otherwise the process proceeds to step S808.

In step S806, the extension module determines what kind of extension module the extension module is according to the frame type. If it is a broadcast address frame, the process proceeds to step S808; if it is a redundant host frame, the process proceeds to step S810.

In step S808, the expansion module determines that it is the main expansion module;

In step S810, the expansion module determines itself as a standby expansion module.

In step S812, the expansion module transmits redundant host frames.

So far, the process of determining the own mode of the expansion module is provided. Based on the redundant active/standby competition mechanism based on the communication address and online time of the expansion module, the active/standby status of the expansion module can be quickly confirmed.

In some embodiments, the control method may further include: the main controller publishes data from the field protocol device to the proxy server module in the main controller; and the standby controller receives the subscription message sent by the proxy server module to obtain the field The data of the protocol device, where the subscription message contains the data of the field protocol device.

In some embodiments, the control method may further include: the main controller sends a data read request to the field protocol device; the field protocol device outputs response data in the form of differential voltage to the expansion bus after receiving the data read request; and the main control The controller and the standby controller detect the change of the expansion bus voltage to obtain the response data.

In some embodiments, the control method may further include: the main controller sends an expansion heartbeat request signal to a plurality of expansion modules; and after at least one expansion module of the plurality of expansion modules receives the expansion heartbeat request signal from the expansion bus , returns an extended heartbeat response signal to the main controller to establish a heartbeat link with the main controller.

In some embodiments, the control method may further include: if the standby controller does not receive the redundant heartbeat request signal and the extended heartbeat request signal from the primary controller within the first time period, determining that the primary controller is faulty, It switches to the main controller mode autonomously, lifts the communication restrictions, initiates read and write control to the field protocol device, and reports the information that it switches to the main controller mode to the monitoring server.

In some embodiments, the control method may further include: if the primary controller does not receive the redundant heartbeat response signal and the extended heartbeat response signal of the standby controller within the first time period, determining that the standby controller is faulty, and putting the The fault information of the standby controller is reported to the monitoring server.

In some embodiments, the control method may further include: the main controller sends an extended heartbeat request signal to a plurality of expansion modules, and if no extended heartbeat response signal of the main expansion module is received within the second time period, determining that the main expansion module If there is a fault, and report the failure information of the main expansion module to the monitoring server; if the standby expansion module with the same address as the main expansion module does not receive the expansion heartbeat response signal of the main expansion module within the second time period, it is determined that The main expansion module fails and switches to the main expansion module autonomously.

In some embodiments, the control method may further include: after the main controller is powered on, sending the local file of the main controller to the standby controller; and the standby controller sending the local file of the standby controller with the local file of the main controller The files are compared, and if the local file of the standby controller is inconsistent with the local file of the main controller, the local file of the main controller is synchronized to the standby controller.

The control system and method of the embodiments of the present disclosure can realize the non-interference hot switching of the controller when the building control system fails, and the host abnormality judgment adopts the redundant communication interface data and the expansion bus data to double check, so as to avoid the abnormality caused by the single data synchronization line. The problem of dual hosts in the system causes major accidents such as system downtime, and the redundant communication interface and expansion bus dual data synchronization mechanism can greatly reduce the communication bandwidth pressure of the data synchronization interface and improve the reliability of the control system.

FIG. 9 is a block diagram schematically illustrating a control system according to further embodiments of the present disclosure. The control system includes a memory 910 and a processor 920 . in:

The memory 910 may be a magnetic disk, flash memory, or any other non-volatile storage medium. The memory is used to store the instructions in the embodiments corresponding to FIG. 7 and/or FIG. 8 , or the instructions corresponding to other method embodiments.

The processor 920 is coupled to the memory 910 and may be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 920 is used to execute the instructions stored in the memory, so as to prevent the problem of abnormal system data as much as possible.

It should be noted that the control system may include multiple memories 910 and multiple processors 920, and the multiple memories 910 and the multiple processors 920 may be matched in different controllers or different expansion modules.

In some embodiments, as shown in FIG. 10 , the control system 1000 includes a memory 1010 and a processor 1020 . Processor 1020 is coupled to memory 1010 through BUS 1030 . The control system 1000 can also be connected to the external storage device 1050 through the storage interface 1040 to call external data, and can also be connected to the network or another computer system (not shown) through the network interface 1060, which will not be described in detail here.

In this embodiment, the data instructions are stored by the memory, and then the above-mentioned instructions are processed by the processor, so as to prevent the problem of abnormal system data as much as possible.

It should be noted that the control system may include multiple memories 1010 , multiple processors 1020 , multiple BUS buses 1030 , multiple storage interfaces 1040 , multiple external storage devices 1050 and multiple network interfaces 1060 . The multiple memories 1010, multiple processors 1020, multiple BUS buses 1030, multiple storage interfaces 1040, multiple external storage devices 1050 and multiple network interfaces 1060 may be matched in different controllers or different expansion modules.

In another embodiment, the present disclosure further provides a computer-readable storage medium on which computer program instructions are stored, and when the instructions are executed by a processor, implement the method in the embodiment corresponding to FIG. 7 and/or FIG. 8 steps, or steps corresponding to other method embodiments. As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, apparatus, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein .

The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block in the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.

These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory result in an article of manufacture comprising instruction means, the instructions The apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.

These computer program instructions can also be loaded on a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.

So far, the present disclosure has been described in detail. Some details that are well known in the art are not described in order to avoid obscuring the concept of the present disclosure. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

While some specific embodiments of the present disclosure have been described in detail by way of examples, those skilled in the art will appreciate that the above examples are provided for illustration only, and are not intended to limit the scope of the present disclosure. Those skilled in the art will appreciate that modifications may be made to the above embodiments without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims (25)

1. A control system comprising: Main controller, standby controller and multiple expansion modules, The multiple expansion modules include at least one main expansion module and at least one corresponding standby expansion module, the multiple expansion modules are connected to the main controller and the standby controller through an expansion bus, and each expansion module passes through the device. The connecting line is connected to the field protocol device; The main controller is used to perform data read and write operations on the field protocol device through the expansion bus and the main expansion module; the standby controller is configured to receive data from the expansion bus and not send control data to the expansion bus; The main expansion module is used for receiving data from the expansion bus and sending data to the expansion bus; The standby expansion module is used for receiving data from the expansion bus and not sending data to the expansion bus. 2. The control system of claim 1, wherein, The main controller is further configured to send a redundant heartbeat request signal to the standby controller every first time period; The standby controller is further configured to return a redundant heartbeat response signal to the primary controller within the first time period after receiving the redundant heartbeat request signal, so as to establish a heartbeat link with the primary controller . 3. The control system of claim 1, wherein, The main expansion module and the corresponding standby expansion module have the same address, Primary and secondary expansion modules with the same address are linked to the same field protocol device. 4. The control system of claim 3, wherein, The plurality of expansion modules include a first expansion module, and the first expansion module is configured to broadcast an address broadcast frame including its own address to the expansion bus after a random time. The redundant host response frame of the expansion module with the address, or the address broadcast frame from the expansion module with the same address is received within the predetermined time, it is determined that the first expansion module itself is the main expansion module; If the redundant host response frame is received within a predetermined time, it is determined that the first expansion module itself is a standby expansion module, wherein the predetermined time is greater than the random time. 5. The control system of claim 1, wherein, The main controller is configured to issue data from the field protocol device to a proxy server module in the main controller; The standby controller is configured to receive a subscription message sent by the proxy server module to obtain data of the field protocol device, wherein the subscription message includes the data of the field protocol device. 6. The control system of claim 1, wherein, The main controller is configured to send a data read request to the field protocol device; The field protocol device is configured to output response data in the form of differential voltage to the expansion bus after receiving the data read request; Wherein, the main controller and the standby controller detect the change of the expansion bus voltage to obtain the response data. 7. The control system of claim 2, wherein, The main controller is configured to send an extended heartbeat request signal to the multiple expansion modules; At least one expansion module in the plurality of expansion modules is configured to return an expansion heartbeat response signal to the main controller after receiving the expansion heartbeat request signal from the expansion bus, so as to establish a relationship with the main controller. Heartbeat link. 8. The control system of claim 7, further comprising: The monitoring server is respectively connected to the main controller and the standby controller in communication, and is used for acquiring fault information of the main controller, the standby controller or the main expansion module. 9. The control system of claim 8, wherein, The standby controller is configured to determine that the main controller is faulty and autonomously switch to In the main controller mode, the communication restriction is lifted, the read-write control is initiated to the field protocol device, and the information of switching itself to the main controller mode is reported to the monitoring server. 10. The control system of claim 8, wherein, The master controller is further configured to determine that the backup controller is faulty if the redundant heartbeat response signal and the extended heartbeat response signal of the backup controller are not received within the first time period, and The information about the failure of the standby controller is reported to the monitoring server. 11. The control system of claim 8, wherein, The main controller is configured to send an extension heartbeat request signal to the plurality of extension modules, and if the extension heartbeat response signal of the main extension module is not received within the second time period, it is determined that the main extension module is faulty, and reporting the failure information of the main expansion module to the monitoring server; The standby expansion module with the same address as the main expansion module is also used to determine that the main expansion module is faulty and switch autonomously if the expansion heartbeat response signal of the main expansion module is not received within the second time period. Main extension module. 12. The control system of claim 1, wherein, The main controller is further configured to send the local file of the main controller to the standby controller after being powered on; The standby controller is also configured to compare the local file of the standby controller with the local file of the main controller, and if the local file of the standby controller is inconsistent with the local file of the main controller In this case, the local files of the primary controller are synchronized to the secondary controller. 13. The control system according to claim 1, wherein the main controller and the standby controller are respectively provided with a first indicator panel, and the first indicator panel comprises: The first operation mode indicator light, used to indicate that the current controller is in the redundant operation mode; The first data sending indicator light is used to indicate that the current controller sends data through the device bus, wherein the main controller and the standby controller are connected to the switch through the device bus, and the switch is communicatively connected to the device bus. on-site protocol equipment; a first data receiving indicator light, used to indicate that the current controller receives data through the device bus; a second data sending indicator light, used to indicate that the current controller sends data through the expansion bus; a second data receiving indicator light, used to indicate that the current controller receives data through the expansion bus; and The first heartbeat link indicator light is used to indicate that the current controller implements the heartbeat link. 14. The control system according to claim 1, wherein each expansion module is provided with a second indicator panel, the second indicator panel comprising: The second operation mode indicator is used to indicate that the current expansion module is in the redundant operation mode; a third data sending indicator light, used to indicate that the current expansion module sends data; a third data receiving indicator light, used to indicate that the current expansion module receives data; and The second heartbeat link indicator is used to indicate that the current expansion module implements the heartbeat link. 15. A control method for a control system as claimed in any one of claims 1 to 14, comprising: The primary controller sends a redundant heartbeat request signal to the standby controller every first time period; and After receiving the redundant heartbeat request signal, the standby controller returns a redundant heartbeat response signal to the master controller within the first time period, so as to establish a heartbeat link with the master controller. 16. The control method according to claim 15, wherein the plurality of expansion modules comprise a first expansion module; The control method also includes: The first expansion module broadcasts an address broadcast frame including its own address to the expansion bus after a random time; If a redundant host response frame from an expansion module with the same address is not received within a predetermined time, or an address broadcast frame from an expansion module with the same address is received within the predetermined time, determining the first extension The module itself is the primary expansion module; and If the redundant host response frame is received within the predetermined time, it is determined that the first expansion module itself is a standby expansion module, wherein the predetermined time is greater than the random time. 17. The control method according to claim 15, further comprising: the master controller publishes data from the field protocol device to a proxy server module in the master controller; and The standby controller receives the subscription message sent by the proxy server module to obtain the data of the field protocol device, wherein the subscription message includes the data of the field protocol device. 18. The control method according to claim 15, further comprising: The main controller sends a data read request to the field protocol device; the field protocol device outputs response data in the form of differential voltages to the expansion bus after receiving the data read request; and The main controller and the standby controller detect the change of the expansion bus voltage to obtain the response data. 19. The control method according to claim 15, further comprising: The main controller sends an expansion heartbeat request signal to the plurality of expansion modules; and After receiving the extended heartbeat request signal from the expansion bus, at least one of the expansion modules returns an extended heartbeat response signal to the main controller, so as to establish a heartbeat link with the main controller . 20. The control method according to claim 15, further comprising: If the standby controller does not receive the redundant heartbeat request signal and the extended heartbeat request signal from the main controller within the first time period, it is determined that the main controller is faulty and switches to the main controller autonomously. In controller mode, the communication restriction is lifted, and the read-write control is initiated to the field protocol device, and the information of switching itself to the main controller mode is reported to the monitoring server. 21. The control method according to claim 15, further comprising: If the main controller does not receive the redundant heartbeat response signal and the extended heartbeat response signal of the standby controller within the first time period, it is determined that the standby controller is faulty, and the standby controller is controlled. The information about the failure of the server is reported to the monitoring server. 22. The control method according to claim 15, further comprising: The main controller sends an extension heartbeat request signal to the plurality of extension modules, and if the extension heartbeat response signal of the main extension module is not received within the second time period, it is determined that the main extension module is faulty, and all extension modules are faulty. report the failure information of the main expansion module to the monitoring server; and If the standby expansion module with the same address as the main expansion module does not receive the expansion heartbeat response signal of the main expansion module within the second time period, it is determined that the main expansion module is faulty, and autonomously switches to the main expansion module. module. 23. The control method according to claim 15, further comprising: After the main controller is powered on, it sends the local file of the main controller to the standby controller; and The standby controller compares the local file of the standby controller with the local file of the main controller, and in the case that the local file of the standby controller is inconsistent with the local file of the main controller, Synchronize the local files of the primary controller to the standby controller. 24. A control system comprising: memory; and A processor coupled to the memory, the processor configured to perform the method of any one of claims 15 to 23 based on instructions stored in the memory. 25. A computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the method of any one of claims 15 to 23.

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