CN114594672A

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

Info

Publication number: CN114594672A
Application number: CN202210224341.1A
Authority: CN
Inventors: 申伟刚; 康宇涛; 李丽强
Original assignee: Gree Electric Appliances Inc of Zhuhai
Current assignee: Gree Electric Appliances Inc of Zhuhai
Priority date: 2022-03-07
Filing date: 2022-03-07
Publication date: 2022-06-07

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, control method thereof, and computer-readable storage medium

Technical Field

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

Background

In a building control system, it is an inevitable problem that equipment, communications and software fail during long-term operation, at which time the system is in a down state. In the related art, a dual-controller scheme is used, and a master controller and a slave controller are generally connected in parallel to a bus, so that system process data are synchronized through a special data synchronization interface. When the data synchronization line is abnormal by adopting the system redundancy, the control system can simultaneously exist two hosts. When two hosts simultaneously request the device bus, the communication between the controller and the device is abnormal, and system data is abnormal.

Disclosure of Invention

The technical problem that this disclosure solved is: a control system is provided to prevent the occurrence of system data abnormality as much as possible.

According to an aspect of the present disclosure, there is provided a control system including: 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.

In some embodiments, the master controller is further configured to send a redundant heartbeat request signal to the slave controller every interval of a first time period; and the master controller is also used for returning a redundant heartbeat response signal to the master controller within the first time period after receiving the redundant heartbeat request signal so as to establish a heartbeat link with the master controller.

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

In some embodiments, the plurality of expansion modules include a first expansion module, the first expansion module is configured to broadcast an address broadcast frame including its own address to the expansion bus after a random time elapses, and determine that the first expansion module itself is a main expansion module 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; and if the redundant host response frame is received within the preset time, determining that the first expansion module is a standby expansion module, wherein the preset time is greater than the random time.

In some embodiments, the host controller is to publish data from the field protocol device to a proxy server module in the host controller; the controller is used for receiving a subscription message sent by the proxy server module to obtain the data of the field protocol device, wherein the subscription message contains the data of the field protocol device.

In some embodiments, the master controller is configured to send a data read request to the field protocol device; the field protocol device is used for outputting response data in the form of differential voltage to the expansion bus after receiving the data reading request; and the main controller and the slave controller detect the change of the voltage of the expansion bus to obtain the response data.

In some embodiments, the master controller is configured to send an extended heartbeat request signal to the plurality of extension modules; and at least one of the plurality of expansion modules is used for returning 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 heartbeat link with the main controller.

In some embodiments, the control system further comprises: and the monitoring server is in communication connection with the main controller and the slave controller respectively and is used for acquiring the fault information of the main controller, the slave controller or the main expansion module.

In some embodiments, the controller is configured to determine that the main controller fails if the redundant heartbeat request signal and the extended heartbeat request signal from the main controller are not received within the first time period, autonomously switch to a main controller mode, remove communication restriction, initiate read-write control to a field protocol device, and report information of switching to the main controller mode to the monitoring server.

In some embodiments, the master controller is further configured to determine that the slave controller fails if the redundant heartbeat response signal and the extended heartbeat response signal of the slave controller are not received within the first time period, and report information that the slave controller fails to the monitoring server.

In some embodiments, the main controller is configured to send an extended heartbeat request signal to the plurality of extension modules, determine that the main extension module fails if an extended heartbeat response signal of the main extension module is not received within a second time period, and report information that the main extension module fails to the monitoring server; the standby expansion module with the same address as the main expansion module is further configured to determine that the main expansion module fails and autonomously switch to the main expansion module if the extended heartbeat response signal of the main expansion module is not received within the second time period.

In some embodiments, the master controller is further configured to send a local file of the master controller to the slave controller after power-on; the controller is further used for comparing the local file of the controller with the local file of the main controller, and synchronizing the local file of the main controller into the controller under the condition that the local file of the controller is inconsistent with the local file of the main controller.

In some embodiments, the main controller and the controller are respectively provided with a first indicator light panel including: a first operating mode indicator light for indicating that the controller is currently in a redundant operating mode; the first data transmission indicator light is used for indicating that the current controller transmits data through a device bus, wherein the main controller and the controller are connected to a switch through the device bus, and the switch is connected to the field protocol device in a communication mode; the first data receiving indicator light is used for indicating that the current controller receives data through the equipment bus; the second data transmission indicator light is used for indicating that the current controller transmits data through the expansion bus; the second data receiving indicator light is used for indicating that the current controller receives data through the expansion bus; and a first heartbeat link indicator light for indicating that the current controller implements heartbeat links.

In some embodiments, each expansion module is provided with a second indicator light panel comprising: the second operation mode indicator light is used for indicating that the current expansion module is in a redundant operation mode; the third data sending indicator light is used for indicating that the current expansion module sends data; a third data receiving indicator light for indicating that the current expansion module receives data; and a second heartbeat link indicator light for indicating that the current expansion module implements heartbeat linking.

According to another aspect of the present disclosure, there is provided a control method for a control system, including: the main controller sends a redundant heartbeat request signal to the controller at intervals of a first time period; and after receiving the redundant heartbeat request signal, the controller returns a redundant heartbeat response signal 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 includes a first expansion module; the control method further comprises the following steps: the first expansion module broadcasts an address broadcast frame containing a self address to the expansion bus after a random time; if a redundant host response frame from the expansion module with the same address is not received within a preset time or an address broadcast frame from the expansion module with the same address is received within the preset time, determining that the first expansion module is a main expansion module; and if the redundant host response frame is received within the preset time, determining that the first expansion module is a standby expansion module, wherein the preset time is greater than the random time.

In some embodiments, the control method further comprises: the master controller publishing data from the field protocol device to a proxy server module in the master controller; and the controller receives a subscription message sent by the proxy server module to obtain 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 comprises: the main controller sends a data reading request to the field protocol equipment; the field protocol device outputs response data in the form of differential voltage to the expansion bus after receiving the data reading request; and the main controller and the slave controller detect the change of the voltage of the expansion bus to obtain the response data.

In some embodiments, the control method further comprises: the main controller sends an extended heartbeat request signal to the plurality of extension modules; and at least one of the plurality of expansion modules returns 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 heartbeat link with the main controller.

In some embodiments, the control method further comprises: and if the controller does not receive the redundant heartbeat request signal and the expanded heartbeat request signal from the main controller in the first time period, determining that the main controller fails, autonomously switching to a main controller mode, removing communication limitation, initiating read-write control to field protocol equipment, and reporting information of switching to the main controller mode to a monitoring server.

In some embodiments, the control method further comprises: and if the main controller does not receive the redundant heartbeat response signal and the extended heartbeat response signal of the backup controller in the first time period, determining that the backup controller fails, and reporting the information that the backup controller fails to a monitoring server.

In some embodiments, the control method further comprises: the main controller sends an extended heartbeat request signal to the plurality of extension modules, if an extended heartbeat response signal of the main extension module is not received in a second time period, the main extension module is determined to have a fault, and information that the main extension module has the fault is reported 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 in the second time period, determining that the main expansion module has a fault, and autonomously switching to the main expansion module.

In some embodiments, the control method further comprises: after the main controller is powered on, sending a local file of the main controller to the controller; and the controller compares the local file of the controller with the local file of the main controller, and synchronizes the local file of the main controller to the controller under the condition that the local file of the controller is inconsistent with the local file of the main controller.

According to another aspect of the present disclosure, there is provided a control system including: a memory; and a processor coupled to the memory, the processor configured to perform the method as previously described based on instructions stored in the memory.

According to another aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the method as previously described.

In the control system, when the main expansion module breaks down, the standby expansion module can be in an online working state, so that the problem of system data abnormity is prevented as much as possible.

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

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

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

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

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

FIG. 3 is a schematic diagram schematically illustrating a second indicator light panel of an expansion module, according to further embodiments of the present disclosure;

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 that schematically illustrates a bus dispatching mechanism of a control system, in accordance with some embodiments of the present disclosure;

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

FIG. 7 is a flow chart illustrating a control method for controlling a system according to some embodiments of the present disclosure;

FIG. 8 is a flow chart illustrating a control method for a control system according to further embodiments of the present disclosure;

FIG. 9 is a block diagram that schematically illustrates a control system, in accordance with further embodiments of the present disclosure;

FIG. 10 is a block diagram that schematically illustrates a control system, in accordance with further embodiments of the present disclosure.

Detailed Description

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 parts and steps, 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 the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.

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.

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

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required 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 controller 120, and a plurality of expansion modules. The plurality of expansion modules include at least one main expansion module (e.g., n main expansion modules, n being a positive integer) and at least one corresponding backup expansion module (e.g., n backup expansion modules). The plurality of expansion modules are connected with the main controller 110 and the 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 (e.g., field protocol device 1, field protocol device 2 … …) by a device connection line 103. For example, the master controller 110 may be connected to the slave controllers 120 via redundant communication lines 102.

The main controller 110 is used for performing data read-write operation 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 a corresponding field protocol device to implement data write operation of the main controller 110; or, the field protocol device sends the device data to the main expansion module, and the main expansion module transmits the device data to the main controller 110 through the expansion bus, so that the main controller 110 realizes data reading operation. For example, the main controller 110 is a soft redundancy type programmable controller.

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

The main expansion module is used for receiving data from the expansion bus and sending data to the expansion bus. That is, the main expansion module can implement the reception and transmission of data.

The standby expansion module is used for receiving data from the expansion bus and not sending data to the expansion bus. That is, the standby extension module can receive data, but cannot transmit data.

Thus, a control system according to some embodiments of the present disclosure is provided. 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 the 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 expansion module is used for receiving data from the expansion bus and not sending data to the expansion bus. In the control system, the equipment extension module is arranged, so that when the main extension module breaks down, the equipment extension module can be in an online working state, and the problem of system data abnormity is prevented as much as possible. Moreover, the control system can solve the problems of simplification of unit redundancy modules and insufficient switching stability in the control system as much as possible.

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

In some embodiments, the primary expansion module and the corresponding backup expansion module have the same address. The main extension module and the standby extension module 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 consistent. When the main expansion module fails, the address of the standby expansion module is not required to be modified, the standby expansion module can automatically go online to enter a working state, the system can continue to operate normally, and only the expansion module with the failure needs to be subsequently maintained, so that the control system can operate flexibly and efficiently.

In some embodiments, the main controller 110 and the controller 120 are each provided with a first indicator light panel. The first indicator panel 200 is described herein in connection with fig. 2. Fig. 2 is a schematic diagram schematically illustrating a first indicator light 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 operation mode indicator lamp STAT _1, a first data transmission indicator lamp TX _1, a first data reception indicator lamp RX _1, a second data transmission indicator lamp TX _2, a second data reception indicator lamp RX _2, and a first heartbeat link indicator lamp BEAT _ 1.

The first operating mode indicator STAT _1 is used to indicate that the controller is currently in the redundant operating mode.

The first data transmission indicator light TX _1 is used to indicate that the current controller is transmitting data through the device bus. Here, the master and slave controllers are connected via a device bus to a switch that is communicatively coupled to a field protocol device (described below in connection with fig. 4).

The first data reception indicator RX _1 is used to indicate that the current controller (main controller or slave) receives data through the device bus.

The second data transmission indicator lamp TX _2 is used to indicate that the controller is currently transmitting data through the expansion bus.

The second data receiving indicator RX _2 is used to indicate that the controller currently receives data via the expansion bus.

The first heartbeat link indicator light BEAT _1 is used to indicate that the controller is currently implementing heartbeat links.

In some embodiments, each expansion module is provided with a second indicator light panel. The second indicator panel 300 is described herein in connection with fig. 3. Fig. 3 is a schematic diagram schematically illustrating a second indicator light panel of an expansion module according to further embodiments of the present disclosure.

As shown in fig. 3, the second indicator panel 300 includes: a second operation mode indicator lamp STAT _2, a third data transmission indicator lamp TX _3, a third data reception indicator lamp RX _3, and a second heartbeat link indicator lamp BEAT _ 2.

The second operation mode indicator lamp STAT _2 is used for indicating that the current expansion module (a certain main expansion module or a certain standby expansion module) is in a redundant operation mode.

The third data transmission indicator lamp TX _3 is used to indicate that the current spreading module transmits data.

The third data reception indicator RX _3 is used to indicate that the current expansion module receives data.

The second heartbeat link indicator light BEAT _2 is used to indicate that the current expansion module implements heartbeat links.

In an embodiment of the present disclosure, the indicator lamp may be an LED (Light Emitting Diode) lamp.

In the above embodiments, the indicator light panel of the controller and the extension module may indicate the current operation state thereof, and of course, those skilled in the art can understand that the indicator light panel may also be replaced by an embedded display screen, a mobile phone APP (application program), a web page, and other components with display functions, and therefore, the scope of the disclosure is not limited thereto.

In some embodiments, the master controller 110 may also be configured to send a redundant heartbeat request signal to the master controller 120 every first time period T1. The controller 120 may also be configured to return a redundant heartbeat response signal to the primary controller 110 within a first time period (i.e., at a time wherein the elapsed time to reach the time is less than the first time period) after receiving the redundant heartbeat request signal to establish a heartbeat link with the primary controller 110. For example, the first time period T1 may range from 0< T1 ≦ 2 seconds. Of course, the scope of the present disclosure is not limited thereto.

For example, when the control system for a building is operating properly, the master controller 110 is connected to the slave controllers 120 via redundant communication lines to maintain redundant heartbeat and data synchronization. The main controller 110 sends a redundant heartbeat request signal to the controller 120 every a first time period T1, and the controller 120 needs to reply a response to the main controller 110 before the first time period arrives, at which time the first heartbeat links of both parties indicate that the light BEAT _1 normally flashes. The main controller 110 maintains communication with the field devices through the device bus and the expansion bus, performs read/write control normally, and two sets of TX and RX lamps (i.e., the first data transmission indicator lamp TX _1, the first data reception indicator lamp RX _1, the second data transmission indicator lamp TX _2, and the second data reception indicator lamp RX _2) blink normally. And the controller 120 limits the function of transmitting the control data but can transmit a response signal in response to the heartbeat request of the expansion bus while retaining the function of receiving data, the lamps TX _1 and RX _1 of which are in an off state, and the lamps TX _2 and RX _2 blink normally, at which time, the TX _2 blinking normally can indicate that the controller can transmit a redundant heartbeat response signal.

In some embodiments, the plurality of expansion modules include a first expansion module, the first expansion module is configured to broadcast an address broadcast frame including its own address to the expansion bus after a random time elapses, and determine that the first expansion module itself is a main expansion module if a redundant host response frame from an expansion module of the same address is not received within a predetermined time or an address broadcast frame from an expansion module of the same address is received within the predetermined time; and if the redundant host response frame is received within the preset time, determining that the first expansion module is the standby expansion module, wherein the preset time is greater than the random time. Here, the first expansion module is any one of the plurality of expansion modules.

It should be noted that the random time may be understood as a random time within a predetermined range, for example, not more than 1 second, so as to prevent the primary and secondary expansion modules from sending data at the same time in the system initialization stage, and have a sequence, which is convenient for logic determination. The predetermined time can be set according to actual needs. The redundant host is in the position of the main expansion module in the redundancy mode of a certain expansion module, so that the expansion module which sends out the response frame of the redundant host is the main expansion module.

In the above embodiment, in order to make the control system operate flexibly and efficiently, the addresses of the two sets of expansion modules are kept consistent, and the active-standby relationship thereof needs autonomous competition confirmation between the two modules with the same address in the manner of address broadcast frames.

For example, after the system is powered on, the indicator light in the lamp panel of the extension module is turned off, and after the heartbeat link is established with the main controller, the beacon _2 light of the second heartbeat link of the extension module is turned on normally. In some embodiments, the master controller is configured to send an extended heartbeat request signal to the plurality of extension modules; and at least one of the plurality of expansion modules is used for returning 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 heartbeat link with the main controller. In this way, the expansion module establishes a heartbeat link with the host controller.

After delaying the random time T0, an extension module (i.e., a first extension module) broadcasts a data frame (i.e., an address broadcast frame) containing its own address to the extension bus, and if a redundant host response frame (indicating that other extension modules with the same address are not currently used as the main extension module) with the same address is not received within a predetermined time (or called timeout time), or an address broadcast frame (indicating that the other extension modules with the same address send address broadcast frames later than the time when the extension module sends address broadcast frames) with the same address is received within a predetermined time (the predetermined time is longer than the random time), the first extension module confirms itself as the main extension module, turns on the second operation mode indicator lamp STAT _2, and broadcasts the redundant host response frame to the extension bus. And other expansion modules receiving the same address of the redundant host response frame are confirmed as standby expansion modules, and the second operation mode indicator lamp STAT _2 of the other expansion modules is kept normally off.

The main expansion module can normally read and write field protocol equipment and respond to a heartbeat request of the main controller, the lamp panel states of the main expansion module are that a second operation mode indicator lamp STAT _2 and a second heartbeat link indicator lamp BEAT _2 are normally on, and a third data sending indicator lamp TX _3 and a third data receiving indicator lamp RX _3 flicker; the standby extension module does not need to respond to the heartbeat request, can not send data to the field protocol device, only retains the function of receiving data, and the lamp panel states of the standby extension module are that the second operation mode indicator lamp STAT _2 and the third data sending indicator lamp TX _3 are kept normally off, the third data receiving indicator lamp RX _3 flickers, and the second heartbeat link indicator lamp BEAT _2 is normally on.

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

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

In the embodiment described above, the master controller performs data synchronization at all times when the system is operating normally. In order to reduce the communication pressure of data synchronization of the controller, two different modes can be adopted for matching synchronization: device data based on a request-response communication mechanism: for such data, the master controller implements data synchronization by using a communication mechanism based on subscription/release, the master controller may release a data change value from such a device (e.g., a BACnet device or a TCP/IP (Transmission Control Protocol/Internet Protocol, Transmission Control Protocol/Internet Protocol) device, etc.) to the proxy server module in real time, and the slave controller links with the proxy server module and receives a corresponding subscription message, thereby acquiring data from such a device in real time. And secondly, detecting the device data of the logic based on the differential signal, namely after the main controller sends a data reading request to the device (such as RS485 device or I/O (input/output) device), the device outputs response data in a differential voltage form to the expansion bus, and the main controller and the sub controller can simultaneously detect the change of the bus voltage, so that the sub controller can automatically interpret the data, the synchronization from the main controller is not needed, and the data synchronization pressure is reduced.

The controller of the embodiment of the disclosure can adopt a dual-channel synchronous redundant data mechanism, reduce the data transmission pressure of the main controller and accelerate the speed of the synchronous data of the main controller and the controller. The problems of large resource consumption and low redundancy switching speed during the synchronization of the redundant data in the control system can be solved as much as possible.

In some embodiments, the master controller 110 may also be used to send the master controller's local files to the controller 120 after power up. The controller 120 may also be configured to compare the local file of the controller with the local file of the main controller, and synchronize the local file of the main controller to the controller if the local file of the controller is inconsistent with the local file of the main controller. For example, the local file includes a local program version, configuration data, configuration logic, and the like. Thus, the verification and synchronization of the local files are realized.

In order to ensure that the redundancy switching of the master controller is rapid and normal, software information synchronization and real-time data synchronization are required between the master controller and the slave controller. In the above embodiment, when the building control system is powered on to operate, the host controller actively checks the files such as the local program version, the configuration data, the configuration logic, and the like. And when the verification is inconsistent, the controller synchronizes the file corresponding to the main controller to the local.

FIG. 4 is a block diagram that schematically illustrates a control system, in accordance with further embodiments of the present disclosure.

Fig. 5 is a schematic diagram that schematically illustrates a bus scheduling mechanism of a control system, in accordance with some embodiments of the present disclosure. FIG. 6 is a redundancy detection logic diagram schematically illustrating a primary controller and a secondary controller of a control system according to some embodiments of the present disclosure. Control systems according to further embodiments of the present disclosure are described in detail below in conjunction with fig. 4-6.

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

In some embodiments, as shown in FIG. 4, the master controller 110 and the slave controller 120 are connected to a switch 440 via a device bus 404, the switch 440 communicatively coupled to the field protocol device. For example, the control system also includes the switch 440.

In some embodiments, the field protocol device may include a BACnet device, an RS485 device, an I/O device, a TCP/IP device, or the like. Here, a part of a plurality of field protocol devices (e.g., BACnet devices or TCP/IP devices) may be connected to the main controller 110 and the controller 120 through the device bus 404, and another part of the plurality of field protocol devices (e.g., RS485 devices or I/O devices) may be connected to the main controller 110 and the controller 120 through the extension bus 101.

For example, as shown in fig. 5, the main controller 110 may implement data reading and writing to the field protocol device through the device bus 404 and the expansion bus 101; the controller 120 implements data reception from the field protocol devices via the device bus 404 and the expansion bus 101, but does not send data to the device bus 404 and the expansion bus 101. Redundant switching between the master controller 110 and the slave controller 120 may be implemented. For example, when the main controller 110 malfunctions, the controller 120 switches to the function of the main controller (i.e., the main controller mode).

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

When the system fails, two situations can be distinguished: controller failure and expansion module failure. For controller failures, both primary and secondary controller failures may be included. The following description will be made separately.

In some embodiments, the controller 120 may be configured to determine that the main controller fails if the redundant heartbeat request signal and the extended heartbeat request signal from the main controller are not received within the first time period, autonomously switch to the main controller mode, remove the communication restriction, initiate read-write control to the field protocol device, and report information of switching to the main controller mode to the monitoring server 430.

The embodiment realizes the detection of the main controller failure. As shown in fig. 6, a dual redundancy check is performed between the master controller and the slave controller through a redundancy communication line and an expansion bus (e.g., an expansion communication line), thereby preventing a dual master mode from occurring. The controller detects the redundant heartbeat request signal and the extended heartbeat request signal at the same time, if the redundant heartbeat request signal and the extended heartbeat request signal from the main controller are not received in a first time period T1, the main controller is judged to have a fault, the controller autonomously switches a host mode (namely, the host mode is changed into a main controller mode), communication limitation of an extended bus and a device bus is removed, read-write control is initiated to the field protocol device, and master-slave switching information is reported to the monitoring server.

In an embodiment of the present disclosure, a redundant heartbeat signal is sent between the master controller and the slave controller for confirming that redundant communication between the master controller and the slave controller is normal. The expanded heartbeat signal is sent to an expanded bus, and the functions of the expanded heartbeat signal are as follows: maintaining the communication connection of the expansion module; and confirming that the redundant communication between the main controller and the controller is normal. The redundant heartbeat signal and the extended heartbeat signal are based on different communication protocols and adopt different data frame formats. The main controller can respectively send the redundant heartbeat signal and the extended heartbeat signal through multiple threads.

In some embodiments, the main controller 110 may be further configured to determine that the slave controller 120 fails if the redundant heartbeat response signal and the extended heartbeat response signal of the slave controller are not received within the first time period, and report information that the slave controller fails to the monitoring server.

The embodiment realizes the detection of the fault of the controller. In this embodiment, if the master controller does not receive the redundant heartbeat response signal of the slave controller nor the extended heartbeat response signal of the slave controller within the first time period, the master controller determines that the slave controller has a fault and reports the fault information to the monitoring server.

In some embodiments, the main controller 110 may be configured to send an extended heartbeat request signal to the plurality of extension modules, determine that the main extension module fails if an extended heartbeat response signal of the main extension module is not received within the second time period T2, and report information of the failure of the main extension module to the monitoring server 430. The standby expansion module with the same address as the main expansion module can be further used for determining that the main expansion module fails and autonomously switching to the main expansion module if the extended heartbeat response signal of the main expansion module is not received in the second time period. Here, the second time period may be set according to actual needs.

The embodiment realizes the detection of the fault of the main expansion module. The main controller sends an extended heartbeat request signal to the extension module at regular time. The main expansion module and the standby expansion module can detect the expanded heartbeat request signal at the same time, the standby expansion module does not need to reply the expanded heartbeat request signal, the main expansion module needs to send an expanded heartbeat response signal in a second time period T2 (which can be called as a heartbeat period), otherwise, both the main controller and the standby expansion module judge that the main expansion module has failed. And at the moment, the standby expansion module is autonomously switched into the main expansion module. When the expansion module is subjected to redundancy switching, the standby expansion module sends information to the main controller to inform the main controller that the expansion module of the address is subjected to redundancy switching. And the main controller synchronously reports the fault information of the expansion module to the monitoring server. This can solve the problem that any module in the control system needs to be shut down for maintenance when the module is out of order.

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

To this end, control systems according to further embodiments of the present disclosure are provided. The control system may act as a building control system. The control system can be divided into a three-layer architecture of a service layer, a data processing layer and a data acquisition layer, and comprises a monitoring server, a controller, an expansion module, a field protocol device and the like. In the control system, at least two controllers and two sets of expansion modules can be arranged to achieve the purpose of one use and one standby. The main controller and the slave controller are linked through a high-speed redundant communication line. The main controller and the main and standby expansion modules are both connected to the same expansion bus. The main controller and the standby controller are linked with the same field protocol device, and the expansion modules with the same address are linked with the same field protocol device.

The control system realizes the automatic switching of the building controller when a fault occurs, so that the building control system can run continuously, the operation and maintenance cost is reduced, and the technical threshold is lowered; and a software redundancy mode of the main controller and the controller is adopted, so that the simplification of the system is avoided, and the system stability, reliability and safety of the building control system are improved. Moreover, the controller adopts a dual-channel synchronous redundant data mechanism, so that the data transmission pressure of the main controller is reduced, and the speed of synchronizing data of the main controller and the controller is increased.

Besides redundant communication lines, the main controller and the auxiliary controller are connected into an expansion bus in a parallel mode. After the main controller and the controller normally operate, when the two parties keep redundant heartbeat link through the redundant communication line, heartbeat link indicator lamps of the two parties can normally flash. The main controller uses the redundant communication line and the expansion bus to carry out bidirectional high-reliability redundancy detection, thereby preventing the occurrence of a double-main mode or a no-main mode.

In some embodiments, the master and slave controllers synchronize the detection of heartbeat links on the expansion bus. For example, the detection includes: and removing all the extension modules on the extension bus, wherein the data of the extension modules are not available on the bus, only the heartbeat of the master controller is checked, and the second data sending indicator lamp TX _2 and the second data receiving indicator lamp RX _2 of the master controller still normally flash.

Fig. 7 is a flow chart illustrating a control method for controlling a 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 master controller sends a redundant heartbeat request signal to the slave controller every a first time period.

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

To this end, a control method for a control system according to some embodiments of the present disclosure is provided. The method realizes the heartbeat link between the main controller and the slave controller.

In some embodiments, the plurality of expansion modules includes a first expansion module. The method may further comprise: the first expansion module broadcasts an address broadcast frame containing a self 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 the preset time or the address broadcast frame from the expansion module with the same address is received within the preset time, determining that the first expansion module is a main expansion module; and if the redundant host response frame is received within a preset time, determining that the first expansion module is the standby expansion module, wherein the preset time is greater than the random time. The embodiment realizes the determination of the self mode (the main expansion module mode or the standby expansion module mode) by the expansion module.

FIG. 8 is a flow chart illustrating a control method for a control system according to further embodiments of the present disclosure. The determination process of the self mode (the main expansion module mode or the standby expansion module mode) by the expansion module is described in detail below 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 containing its own address to the expansion bus after a delay of random time.

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 which 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 itself to be the main expansion module;

in step S810, the expansion module determines itself to be a standby expansion module.

In step S812, the expansion module transmits a redundant host frame.

Thus, the determination process of the self mode by the extension module is provided. And realizing the rapid confirmation of the main and standby states of the expansion module based on the redundant main and standby competition mechanism of the communication address and the online time of the expansion module.

In some embodiments, the control method may further include: the main controller issues data from the field protocol equipment to a proxy server module in the main controller; and the controller receives a subscription message sent by the proxy server module to obtain 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 may further include: the main controller sends a data reading request to the field protocol equipment; the field protocol equipment outputs response data in a differential voltage form to the expansion bus after receiving the data reading request; and the main controller and the slave controller detect the change of the voltage of the expansion bus to obtain response data.

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

In some embodiments, the control method may further include: if the backup controller does not receive the redundant heartbeat request signal and the expanded heartbeat request signal from the main controller in the first time period, the backup controller determines that the main controller fails, autonomously switches to a main controller mode, removes communication limitation, initiates read-write control to the field protocol equipment, and reports information of switching to the main controller mode to the monitoring server.

In some embodiments, the control method may further include: if the main controller does not receive the redundant heartbeat response signal and the extended heartbeat response signal of the backup controller in the first time period, the main controller determines that the backup controller fails, and reports the information of the failure of the backup controller to the monitoring server.

In some embodiments, the control method may further include: the main controller sends an extended heartbeat request signal to the plurality of extension modules, if an extended heartbeat response signal of the main extension module is not received in a second time period, the main extension module is determined to have a fault, and information that the main extension module has the fault is reported 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 in the second time period, determining that the main expansion module has a fault, and autonomously switching to the main expansion module.

In some embodiments, the control method may further include: after the main controller is powered on, sending a local file of the main controller to the controller; and the controller compares the local file of the controller with the local file of the main controller, and synchronizes the local file of the main controller to the controller under the condition that the local file of the controller is inconsistent with the local file of the main controller.

The control system and the control method can realize the non-interference hot switching of the controller when the building control system is in failure, the dual check of redundant communication interface data and expansion bus data is adopted for judging the abnormal condition of the host, the problem that the system has double hosts due to the abnormal condition of a single data synchronization line is avoided, the major accidents such as system downtime and the like are avoided, and the dual data synchronization mechanism of the redundant communication interface and the expansion bus is adopted, so that the communication bandwidth pressure of the data synchronization interface can be greatly reduced, and the reliability of the control system is improved.

FIG. 9 is a block diagram that schematically illustrates a control system, in accordance with further embodiments of the present disclosure. The control system includes a memory 910 and a processor 920. Wherein:

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

Coupled to memory 910, processor 920 may be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 920 is configured to execute instructions stored in a memory, thereby preventing the occurrence of system data exception as much as possible.

It should be noted that the control system may include a plurality of memories 910 and a plurality of processors 920, and the plurality of memories 910 and the plurality of processors 920 may be cooperatively located in different controllers or different expansion modules.

In some embodiments, as also shown in fig. 10, the control system 1000 includes a memory 1010 and a processor 1020. Processor 1020 is coupled to memory 1010 by a BUS 1030. The control system 1000 may also be coupled to an external storage device 1050 via a storage interface 1040 for accessing external data, and may also be coupled to a network or another computer system (not shown) via a network interface 1060, which will not be described in detail herein.

In the embodiment, the data instruction is stored by the memory and then processed by the processor, so that the problem of system data exception is prevented as much as possible.

It is noted that the control system may include a plurality of memories 1010, a plurality of processors 1020, a plurality of BUS buses 1030, a plurality of storage interfaces 1040, a plurality of external storage devices 1050, and a plurality of network interfaces 1060. The plurality of memories 1010, the plurality of processors 1020, the plurality of BUS buses 1030, the plurality of storage interfaces 1040, the plurality of external storage devices 1050, and the plurality of network interfaces 1060 may be cooperatively located in different controllers or different expansion modules.

In another embodiment, the present disclosure also provides a computer-readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the steps of the method of the embodiment corresponding to fig. 7 and/or fig. 8, or the steps corresponding to the 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 embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) 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 of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing 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 which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

Thus far, the present disclosure has been described in detail. Some details that are well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.

Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the foregoing examples are for purposes of illustration only and are not intended to limit the scope of the present disclosure. It will be appreciated by those skilled in the art 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

1. A control system, comprising:

a main controller, a controller and a plurality of expansion modules,

the plurality of expansion modules comprise at least one main expansion module and at least one corresponding standby expansion module, the plurality of expansion modules are connected with the main controller and the standby controller through expansion buses, and each expansion module is connected to a field protocol device through a device connecting line;

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.

2. The control system of claim 1,

the main controller is also used for sending a redundant heartbeat request signal to the slave controller every a first time period;

and the master controller is also used for returning a redundant heartbeat response signal to the master controller within the first time period after receiving the redundant heartbeat request signal so as to establish a heartbeat link with the master controller.

3. The control system of claim 1,

the main expansion module and the corresponding standby expansion module have the same address,

the main expansion module and the standby expansion module with the same address are linked to the same field protocol device.

4. The control system of claim 3,

the plurality of expansion modules comprise a first expansion module, the first expansion module is used for broadcasting an address broadcast frame containing a self address to the expansion bus after a random time, and if a redundant host response frame from an expansion module with the same address is not received within a preset time or an address broadcast frame from an expansion module with the same address is received within the preset time, the first expansion module is determined to be a main expansion module; and if the redundant host response frame is received within the preset time, determining that the first expansion module is a standby expansion module, wherein the preset time is greater than the random time.

5. The control system of claim 1,

the main controller is used for issuing data from the field protocol equipment to a proxy server module in the main controller;

the controller is used for receiving a subscription message sent by the proxy server module to obtain the data of the field protocol device, wherein the subscription message contains the data of the field protocol device.

6. The control system of claim 1,

the main controller is used for sending a data reading request to the field protocol equipment;

the field protocol device is used for outputting response data in the form of differential voltage to the expansion bus after receiving the data reading request;

and the main controller and the slave controller detect the change of the voltage of the expansion bus to obtain the response data.

7. The control system of claim 2,

the main controller is used for sending an extended heartbeat request signal to the plurality of extension modules;

and at least one of the plurality of expansion modules is used for returning 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 heartbeat link with the main controller.

8. The control system of claim 7, further comprising:

and the monitoring server is in communication connection with the main controller and the slave controller respectively and is used for acquiring the fault information of the main controller, the slave controller or the main expansion module.

9. The control system of claim 8,

and the controller is used for determining that the main controller fails if the redundant heartbeat request signal and the expanded heartbeat request signal from the main controller are not received in the first time period, autonomously switching to a main controller mode, removing communication limitation, initiating read-write control to field protocol equipment, and reporting information of switching to the main controller mode to the monitoring server.

10. The control system of claim 8,

and the main controller is also used for determining that the backup controller fails and reporting the information that the backup controller fails to the monitoring server if the redundant heartbeat response signal and the extended heartbeat response signal of the backup controller are not received in the first time period.

11. The control system of claim 8,

the main controller is used for sending an extended heartbeat request signal to the plurality of extension modules, determining that the main extension module fails if an extended heartbeat response signal of the main extension module is not received in a second time period, and reporting information of the failure of the main extension module to the monitoring server;

the standby expansion module with the same address as the main expansion module is further configured to determine that the main expansion module fails and autonomously switch to the main expansion module if the extended heartbeat response signal of the main expansion module is not received within the second time period.

12. The control system of claim 1,

the main controller is also used for sending the local file of the main controller to the controller after being electrified;

the controller is further used for comparing the local file of the controller with the local file of the main controller, and synchronizing the local file of the main controller into the controller under the condition that the local file of the controller is inconsistent with the local file of the main controller.

13. The control system according to claim 1, wherein the main controller and the controller are respectively provided with a first indicator light panel including:

a first operating mode indicator light for indicating that the controller is currently in a redundant operating mode;

the first data transmission indicator light is used for indicating that the current controller transmits data through a device bus, wherein the main controller and the controller are connected to a switch through the device bus, and the switch is connected to the field protocol device in a communication mode;

the first data receiving indicator light is used for indicating that the current controller receives data through the equipment bus;

the second data transmission indicator light is used for indicating that the current controller transmits data through the expansion bus;

the second data receiving indicator light is used for indicating that the current controller receives data through the expansion bus; and

a first heartbeat link indicator light for indicating that the current controller implements heartbeat links.

14. The control system of claim 1, wherein each expansion module is provided with a second indicator light panel comprising:

the second operation mode indicator light is used for indicating that the current expansion module is in a redundant operation mode;

a third data transmission indicator light for indicating that the current expansion module transmits data;

a third data receiving indicator light for indicating that the current expansion module receives data; and

and the second heartbeat link indicator light is used for indicating that the current expansion module implements heartbeat link.

15. A control method for a control system according to any one of claims 1 to 14, comprising:

the main controller sends a redundant heartbeat request signal to the controller at intervals of a first time period; and

and after receiving the redundant heartbeat request signal, the controller returns a redundant heartbeat response signal to the main controller within the first time period so as to establish a heartbeat link with the main controller.

16. The control method of claim 15, wherein the plurality of expansion modules includes a first expansion module;

the control method further comprises the following steps:

the first expansion module broadcasts an address broadcast frame containing a self 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 preset time, or an address broadcast frame from the expansion module with the same address is received within the preset time, determining that the first expansion module is a main expansion module; and

and if the redundant host response frame is received within the preset time, determining that the first expansion module is a standby expansion module, wherein the preset time is greater than the random time.

17. The control method according to claim 15, further comprising:

the master controller publishing data from the field protocol device to a proxy server module in the master controller; and

and the controller receives a subscription message sent by the proxy server module to obtain the data of the field protocol device, wherein the subscription message contains the data of the field protocol device.

18. The control method according to claim 15, further comprising:

the main controller sends a data reading request to the field protocol equipment;

the field protocol device outputs response data in the form of differential voltage to the expansion bus after receiving the data reading request; and

and the main controller and the auxiliary controller detect the change of the voltage of the expansion bus to obtain the response data.

19. The control method according to claim 15, further comprising:

the main controller sends an extended heartbeat request signal to the plurality of extension modules; and

and at least one of the plurality of expansion modules returns 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 heartbeat link with the main controller.

20. The control method according to claim 15, further comprising:

and if the backup controller does not receive the redundant heartbeat request signal and the expanded heartbeat request signal from the main controller in the first time period, determining that the main controller fails, autonomously switching to a main controller mode, removing communication limitation, initiating read-write control to field protocol equipment, and reporting information of switching to the main controller mode to a monitoring server.

21. The control method according to claim 15, further comprising:

and if the main controller does not receive the redundant heartbeat response signal and the extended heartbeat response signal of the backup controller in the first time period, determining that the backup controller fails, and reporting the information that the backup controller fails to a monitoring server.

22. The control method according to claim 15, further comprising:

the main controller sends an extended heartbeat request signal to the plurality of extension modules, if an extended heartbeat response signal of the main extension module is not received in a second time period, the main extension module is determined to have a fault, and information that the main extension module has the fault is reported to the monitoring server; and

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 in the second time period, determining that the main expansion module has a fault, and autonomously switching to the main expansion module.

23. The control method according to claim 15, further comprising:

after the main controller is powered on, sending a local file of the main controller to the controller; and

the controller compares the local file of the controller with the local file of the main controller, and synchronizes the local file of the main controller to the controller under the condition that the local file of the controller is inconsistent with the local file of the main controller.

24. A control system, comprising:

a memory; and

a processor coupled to the memory, the processor configured to perform the method of any of claims 15-23 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.