CN118348888A - Controller redundancy switching method, device, control system and storage medium - Google Patents
Controller redundancy switching method, device, control system and storage medium Download PDFInfo
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Abstract
The application discloses a controller redundancy switching method, a device, a control system and a storage medium, and relates to the technical field of computers, wherein the method is applied to two redundant controllers, a first network message is mutually transmitted between the controllers through a switch, each controller sends a second network message to target equipment and receives a third network message sent by the target equipment, and the target equipment organizes the third network message according to the second network message; if the local end controller receives the first network message sent by the opposite end controller and the third network message sent by the target equipment, the main-standby machine switching is carried out according to the first network message and/or the third network message; if the local end controller does not receive the first network message sent by the opposite end controller and receives the third network message sent by the target equipment, the master-slave machine switching is performed according to the third network message. The method can improve the reliability of redundant switching of the controller.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to a method and apparatus for switching redundancy of a controller, a control system, and a storage medium.
Background
In conventional control systems, redundant switching between controllers is typically accomplished based on communication between the two controllers. In some control systems, two controllers are installed on the same base, the two controllers mutually transmit information through a hardware channel on the base, and whether the other party exists or not and whether the other party works normally or not is detected through the hardware channel on the base, so that whether redundancy switching is needed or not is determined. In the virtualized control system, two controllers transmit information through the Ethernet, and whether the opposite party exists or not and whether the opposite party works normally or not is detected through information transmitted through the Ethernet, so that whether redundancy switching is needed or not is determined. However, in the case of network cable drop, network cable damage, network card failure, switch failure, etc., the network message cannot be received and transmitted, if the opposite end controller exists and may still work, if it is determined that the opposite end controller does not exist, the local end controller may be lifted from the standby machine to the host machine, and a phenomenon of dual hosts occurs. Under the conditions of network cable drop, network cable damage, network card fault, switch fault and the like, network messages cannot be received and transmitted, if the opposite end controller does not exist, or the opposite end controller cannot work after complete fault. If the opposite end controller cannot be judged to be absent in time, the local end controller can not be lifted from the standby machine to the host machine, and the phenomenon that the host machine does not exist in the control system can be caused.
In view of this, how to improve the reliability of redundant switching of controllers has become a technical problem to be solved by those skilled in the art.
Disclosure of Invention
The application aims to provide a controller redundancy switching method, a device, a control system and a storage medium, which can improve the reliability of controller redundancy switching.
In order to solve the above technical problem, the present application provides a controller redundancy switching method applied to two redundant controllers, wherein a first network message is transmitted between the controllers through a switch, each controller sends a second network message to a target device and receives a third network message sent by the target device, and the target device organizes the third network message according to the second network message, including:
Monitoring the network message receiving condition of the local end controller;
If the local end controller receives a first network message sent by the opposite end controller and a third network message sent by the target equipment, performing primary-standby machine switching according to the first network message and/or the third network message;
and if the local end controller does not receive the first network message sent by the opposite end controller and receives the third network message sent by the target equipment, performing the primary-standby machine switching according to the third network message.
In some embodiments, the second network message sent by the controller to the target device carries the active-standby state of the controller; the third network message sent by the target device carries the master and slave states of each controller; if the controller is abnormal and the controller is a host, the controller reduces the controller to a standby machine, and the main standby state of the controller carried by a second network message sent to the target equipment is the standby machine; if the target device does not receive the second network message sent by the controller, the master-slave state of the corresponding controller in the third network message sent by the target device is the slave.
In some embodiments, the second network message sent by the controller to the target device carries an operational state of the controller; the third network message sent by the target equipment carries the running state of each controller; if the target device does not receive the second network message sent by the controller, the running state of the corresponding controller in the third network message sent by the target device is abnormal.
In some embodiments, when the home end controller cannot receive the first network message sent by the peer end controller, the home end controller initiates a mechanism for sending the second network message to the target device and receiving the third network message sent by the target device.
In some embodiments, the home controller periodically sends a first network message through the switch, and periodically sends a second network message to the target device, and receives a third network message sent by the target device.
In some embodiments, the target device is a communication gateway; and each controller sends a second network message to the communication gateway and receives a third network message sent by the communication gateway, and the communication gateway organizes and obtains the third network message according to the second network message.
In some embodiments, the first network message carries a primary and/or a backup status and/or an operational status of the controller.
In order to solve the above technical problem, the present application further provides a controller redundancy switching device, which is applied to two redundant controllers, wherein a first network message is transmitted between the controllers through a switch, each controller sends a second network message to a target device and receives a third network message sent by the target device, and the target device organizes the third network message according to the second network message, and the controller further includes:
The monitoring module is used for monitoring the network message receiving condition of the local end controller;
The first switching module is used for switching the host and the standby according to the first network message and/or the third network message if the local end controller receives the first network message sent by the opposite end controller and the third network message sent by the target equipment;
And the second switching module is used for switching the main machine and the standby machine according to the third network message if the local end controller does not receive the first network message sent by the opposite end controller but receives the third network message sent by the target equipment.
In order to solve the technical problem, the present application further provides a control system, including: the redundant controllers mutually transmit first network messages through a switch, each controller transmits second network messages to target equipment and receives third network messages transmitted by the target equipment, and the target equipment organizes the third network messages according to the second network messages; the controller is used for: monitoring the network message receiving condition of the local end controller; if the local end controller receives a first network message sent by the opposite end controller and a third network message sent by the target equipment, performing primary-standby machine switching according to the first network message and/or the third network message; and if the local end controller does not receive the first network message sent by the opposite end controller and receives the third network message sent by the target equipment, performing the primary-standby machine switching according to the third network message.
To solve the above technical problem, the present application also provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the controller redundancy switching method as described above.
The application provides a controller redundancy switching method, which is applied to two redundant controllers, wherein the controllers mutually transmit a first network message through a switch, each controller transmits a second network message to target equipment and receives a third network message transmitted by the target equipment, and the target equipment organizes the third network message according to the second network message and comprises the following steps: monitoring the network message receiving condition of the local end controller; if the local end controller receives a first network message sent by the opposite end controller and a third network message sent by the target equipment, performing primary-standby machine switching according to the first network message and/or the third network message; and if the local end controller does not receive the first network message sent by the opposite end controller and receives the third network message sent by the target equipment, performing the primary-standby machine switching according to the third network message.
Therefore, the controller redundancy switching method provided by the application adds the second network message interaction channel based on the third device, namely the target device, on the basis of the network message interaction channel of the network message interaction between the controllers through the switch, and when the network message interaction between the controllers cannot be performed normally through the switch, the situation of the opposite-end controllers can be detected according to the network message interacted on the second network message interaction channel, so that the host-standby machine switching can be performed, and the reliability of the controller redundancy switching can be improved.
The controller redundancy switching device, the control system and the storage medium provided by the application have the technical effects.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required in the prior art and the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a controller redundancy switching method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of network communication between controllers according to an embodiment of the present application;
fig. 3 is a schematic diagram of a redundant switching device for a controller according to an embodiment of the present application.
Detailed Description
The application provides a controller redundancy switching method, a device, a control system and a storage medium, which can improve the reliability of controller redundancy switching.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 1, fig. 1 is a flow chart of a controller redundancy switching method provided by an embodiment of the present application, referring to fig. 1, the method is applied to two redundant controllers, wherein a first network message is transmitted between the controllers through a switch, each controller sends a second network message to a target device and receives a third network message sent by the target device, and the target device organizes the third network message according to the second network message, and includes:
S101: monitoring the network message receiving condition of the local end controller;
S102: if the local end controller receives a first network message sent by the opposite end controller and a third network message sent by the target equipment, performing primary-standby machine switching according to the first network message and/or the third network message;
S103: and if the local end controller does not receive the first network message sent by the opposite end controller and receives the third network message sent by the target equipment, performing the primary-standby machine switching according to the third network message.
Referring to fig. 2, in this embodiment, two redundant controllers each transmit network messages with a target device in addition to each other through a switch. From the view point of one of the controllers (referred to as the home end controller), the controller is taken as an execution main body to describe the controller redundancy switching flow, and it is obvious that both controllers execute the controller redundancy switching flow.
The local end controller and the opposite end controller are located in different servers. The local end controller and the opposite end controller mutually transmit network information through the switch. The network message transmitted between the home terminal controller and the opposite terminal controller through the switch is called a first network message. In addition, the local end controller and the opposite end controller both communicate network messages with the target device. The network messages sent by the home terminal controller and the opposite terminal controller to the target are called second network messages, and the network messages sent by the target equipment to the home terminal controller and the opposite terminal controller are called third network messages.
When the network between the local end controller and the opposite end controller is normal, the local end controller and the opposite end controller can normally transmit network information, the local end controller can receive the first network information sent by the opposite end controller, at the moment, the local end device can judge whether the main and standby states of the local end device need to be switched according to the received first network information, and can judge whether the main and standby states of the local end device need to be switched according to the received third network information sent by the target device. If the local end controller judges that the opposite end controller is abnormal and/or the opposite end controller is lowered to be standby according to the network message, and the local end controller is standby, the local end controller lifts the local end controller to be a host.
When the network between the local end controller and the opposite end controller is disconnected, the local end controller and the opposite end controller cannot normally transmit network messages, the local end controller cannot receive the first network message sent by the opposite end controller, and at the moment, the local end device judges whether the main and standby states of the local end device need to be switched according to the third network message sent by the received target device.
In some embodiments, the first network message carries a primary and/or a backup status and/or an operational status of the controller.
Therefore, when the network between the local end controller and the opposite end controller is normal, the local end controller can switch the main machine and the standby machine according to the main and standby states and/or the running states of the opposite end controller carried in the first network message.
In some embodiments, the second network message sent by the controller to the target device carries the active-standby state of the controller; the third network message sent by the target device carries the master and slave states of each controller; if the controller is abnormal and the controller is a host, the controller reduces the controller to a standby machine, and the main standby state of the controller carried by a second network message sent to the target equipment is the standby machine; if the target device does not receive the second network message sent by the controller, the master-slave state of the corresponding controller in the third network message sent by the target device is the slave.
If the opposite end controller is abnormal (but can send the second network message) and the current main and standby states of the opposite end controller are the host computers, the opposite end controller reduces the main and standby states of the opposite end controller to the standby computers, and the main and standby states carried by the second network message sent to the target equipment are the standby computers. After receiving the third network message, the local end controller recognizes that the opposite end controller is a standby machine, and at the moment, the local end controller switches itself into a host machine. The home terminal controller can send a second network message to the target device, and the active/standby state of the home terminal controller carried in the second network message is the host. And the target device sends a third network message carrying the active/standby state of the local end controller as the host to the opposite end controller, so that even if the subsequent opposite end controller recovers, the target device can not actively switch and then switch to the host. If the opposite end controller is abnormal (but can send the second network message) and the current main and standby states of the opposite end controller are standby machines, the main and standby states carried by the second network message sent by the opposite end controller to the target equipment are standby machines.
If the opposite end controller is normal, the main and standby state carried by the second network message sent by the opposite end controller to the target device is the current main and standby state of the opposite end controller, namely if the current main and standby state of the opposite end controller is the host, the main and standby state carried by the second network message sent by the opposite end controller to the target device is the host; if the current main and standby states of the opposite terminal controller are standby machines, the main and standby states carried by the second network message sent to the target equipment by the opposite terminal controller are standby machines.
If the opposite terminal controller is abnormal and can not send the second network message, the target equipment can not receive the second network message sent by the opposite terminal controller, and the main and standby states of the opposite terminal controller carried in the third network message sent by the target equipment to the local terminal controller are standby machines.
For example, the message format of the second network message sent by the home end controller and the peer end controller to the target device may be as shown in table 1:
TABLE 1
The message format of the third network message sent by the target device to the home terminal controller and the peer terminal controller may be as shown in table 2:
TABLE 2
In some embodiments, the second network message sent by the controller to the target device carries an operational state of the controller; the third network message sent by the target equipment carries the running state of each controller; if the target device does not receive the second network message sent by the controller, the running state of the corresponding controller in the third network message sent by the target device is abnormal.
If the opposite end controller is abnormal (but can normally send the second network message), the operation state carried by the second network message sent by the opposite end controller to the target device is abnormal. The operation state of the opposite end controller carried in the third network message sent by the target device to the local end controller is abnormal.
If the opposite end controller is normal (but can normally send the second network message), the operation state carried by the second network message sent by the opposite end controller to the target device is normal. And the operation state of the opposite end controller carried in the third network message sent by the target equipment to the local end controller is normal.
If the opposite terminal controller is abnormal and cannot send the second network message, the target device cannot receive the second network message sent by the opposite terminal controller, and at the moment, the operation state of the opposite terminal controller carried in the third network message sent by the target device to the local terminal controller is normal.
For example, the message format of the second network message sent by the home end controller and the peer end controller to the target device may be as shown in table 3:
TABLE 3 Table 3
The message format of the third network message sent by the target device to the home terminal controller and the peer terminal controller may be as shown in table 4:
TABLE 4 Table 4
Or in some embodiments, the second network message sent by the controller to the target device carries the running state and the active/standby state of the controller; and the third network message sent by the target equipment carries the running state and the master-slave state of each controller. For the embodiment that the second network message sent by the controller to the target device carries the running state and the active/standby state of the controller, and the third network message sent by the target device carries the running state and the active/standby state of each controller, the embodiment that the second network message sent by the controller to the target device carries the running state of the controller may be combined, and the embodiment that the second network message sent by the controller to the target device carries the active/standby state of the controller is not described herein.
In some embodiments, when the home end controller cannot receive the first network message sent by the peer end controller, the home end controller initiates a mechanism for sending the second network message to the target device and receiving the third network message sent by the target device.
In this embodiment, a mechanism for transferring network messages between controllers through a target device is started when network messages cannot be interacted between controllers through a switch. When the local end controller cannot receive the first network message sent by the opposite end controller, the local end controller sends a second network message to the target equipment and receives a third network message sent by the target equipment. Under the condition that the first network message can be normally interacted between the local end controller and the opposite end controller, the local end controller and the opposite end controller do not send the second network message to the target equipment and also do not receive the third network message from the target equipment. Thus, the reliability of redundant switching of the controller can be improved, and the communication overhead is reduced.
In some embodiments, the home controller periodically sends a first network message through the switch, and periodically sends a second network message to the target device, and receives a third network message sent by the target device.
In this embodiment, the network message passing between the controllers through the target device and the network message interaction between the controllers through the switch are all periodically performed. The local end controller periodically sends the first network message through the switch, periodically sends the second network message to the target equipment, and receives the third network message sent by the target equipment. Therefore, under the condition that network messages can not be interacted between controllers through the switch, the host-standby machine switching can be performed more timely according to the network messages transmitted by the target equipment, and the reliability and timeliness of the redundant switching of the controllers are ensured.
In some embodiments, the target device is a communication gateway; and each controller sends a second network message to the communication gateway and receives a third network message sent by the communication gateway, and the communication gateway organizes and obtains the third network message according to the second network message.
For the controller redundancy switching procedure when the communication gateway is used as the target device, reference may be made to the above description, and the description is omitted here.
One specific controller redundancy switching procedure is described below in conjunction with fig. 2:
When the network between the controller a and the controller B is disconnected, the controller a and the controller B cannot interact with the first network message, and since the controller a and the controller B have communication networks with the communication gateway respectively, the communication gateway can notify the controller a and the controller B of whether the controller a and the controller B exist or not and whether the standby state is notified to the controller a and the controller B through the third network message, and the controller A, B determines whether the standby-to-host switching operation is required.
If the controller a is a host and the controller B is a standby, and the two are operating normally, if the network message between the controllers A, B is interrupted. The communication gateway notifies the controller a and the controller B that the controller a is a host and the controller B is a standby through the third network message, and the controller a and the controller B both work normally, so that the controller a and the controller B keep the current situation and do not perform switching actions.
If the controller a is a host and the controller B is a standby, and the controller a fails (power failure, dead halt, etc.), the network messages between the controller a and the controller B are interrupted. The network messages between the communication gateway and the controller a are also interrupted. At this time, the communication gateway notifies the controller B that the controller a cannot communicate (fails) and that the controller B is a standby machine through the third network message, so that the controller B performs a switching operation, and the controller B is lifted from the standby machine to the host machine, thereby ensuring the normal operation of the virtualized control system.
In summary, according to the controller redundancy switching method provided by the application, on the basis of the network message interaction channel of the network message interaction between the controllers through the switch, the second network message interaction channel based on the third device, namely the target device, is added, when the network message cannot be normally interacted between the controllers through the switch, the situation of the opposite-end controllers can be detected according to the network message interacted on the second network message interaction channel, and accordingly, the host-standby machine switching is performed, so that the reliability of the controller redundancy switching can be improved.
The application also provides a controller redundancy switching device, which can be referred to in the following in correspondence with the method described above. Referring to fig. 3, fig. 3 is a schematic diagram of a controller redundancy switching apparatus provided in an embodiment of the present application, and in conjunction with fig. 3, the apparatus is applied to two redundant controllers, where a first network message is transmitted between the controllers through a switch, each of the controllers sends a second network message to a target device and receives a third network message sent by the target device, and the target device organizes the third network message according to the second network message, and includes:
the monitoring module 10 is used for monitoring the network message receiving condition of the local end controller;
The first switching module 20 is configured to perform a host-to-standby machine switching according to the first network message and/or the third network message if the home terminal controller receives the first network message sent by the peer terminal controller and the third network message sent by the target device;
and the second switching module 30 is configured to perform a host-to-standby switching according to the third network message if the home terminal controller does not receive the first network message sent by the peer terminal controller but receives the third network message sent by the target device.
On the basis of the above embodiment, as a specific implementation manner, the second network message sent by the controller to the target device carries the active/standby state of the controller; the third network message sent by the target device carries the master and slave states of each controller; if the controller is abnormal and the controller is a host, the controller reduces the controller to a standby machine, and the main standby state of the controller carried by a second network message sent to the target equipment is the standby machine; if the target device does not receive the second network message sent by the controller, the master-slave state of the corresponding controller in the third network message sent by the target device is the slave.
On the basis of the above embodiment, as a specific implementation manner, the second network message sent by the controller to the target device carries the running state of the controller; the third network message sent by the target equipment carries the running state of each controller; if the target device does not receive the second network message sent by the controller, the running state of the corresponding controller in the third network message sent by the target device is abnormal.
On the basis of the foregoing embodiment, as a specific implementation manner, when the home terminal controller cannot receive the first network message sent by the peer terminal controller, the home terminal controller initiates a mechanism for sending the second network message to the target device and receiving the third network message sent by the target device.
On the basis of the foregoing embodiment, as a specific implementation manner, the home terminal controller periodically sends a first network message through the switch, periodically sends a second network message to the target device, and receives a third network message sent by the target device.
On the basis of the foregoing embodiment, as a specific implementation manner, the target device is a communication gateway; and each controller sends a second network message to the communication gateway and receives a third network message sent by the communication gateway, and the communication gateway organizes and obtains the third network message according to the second network message.
On the basis of the foregoing embodiment, as a specific implementation manner, the first network message carries a master-slave state and/or an operating state of the controller.
The application also provides a control system, comprising: the redundant controllers mutually transmit first network messages through a switch, each controller transmits second network messages to target equipment and receives third network messages transmitted by the target equipment, and the target equipment organizes the third network messages according to the second network messages; the controller is used for: monitoring the network message receiving condition of the local end controller; if the local end controller receives a first network message sent by the opposite end controller and a third network message sent by the target equipment, performing primary-standby machine switching according to the first network message and/or the third network message; and if the local end controller does not receive the first network message sent by the opposite end controller and receives the third network message sent by the target equipment, performing the primary-standby machine switching according to the third network message.
For the description of the system provided by the present application, please refer to the above method embodiment, and the description of the present application is omitted here.
The present application also provides a storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:
Monitoring the network message receiving condition of the local end controller; if the local end controller receives a first network message sent by the opposite end controller and a third network message sent by the target equipment, performing primary-standby machine switching according to the first network message and/or the third network message; and if the local end controller does not receive the first network message sent by the opposite end controller and receives the third network message sent by the target equipment, performing the primary-standby machine switching according to the third network message. The redundant controllers mutually transmit first network information through a switch, each controller transmits second network information to target equipment and receives third network information transmitted by the target equipment, and the target equipment organizes the third network information according to the second network information.
The storage medium may include: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
For the description of the storage medium provided by the present application, refer to the above method embodiments, and the description of the present application is omitted herein.
In the description, each embodiment is described in a progressive manner, and each embodiment is mainly described by the differences from other embodiments, so that the same similar parts among the embodiments are mutually referred. The apparatus, device and storage medium disclosed in the embodiments are relatively simple to describe, and the relevant points refer to the description of the method section since they correspond to the methods disclosed in the embodiments.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The controller redundancy switching method, the controller redundancy switching device, the controller redundancy switching control system and the storage medium provided by the application are described in detail above. The principles and embodiments of the present application have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present application and its core ideas. It should be noted that it will be apparent to those skilled in the art that various changes and modifications can be made herein without departing from the principles of the application, which are also intended to fall within the scope of the appended claims.
Claims (10)
1. The utility model provides a controller redundancy switching method, which is characterized in that the method is applied to two redundant controllers, the controllers transmit a first network message to each other through a switch, each controller sends a second network message to a target device and receives a third network message sent by the target device, the target device organizes the third network message according to the second network message, and the method comprises the following steps:
Monitoring the network message receiving condition of the local end controller;
If the local end controller receives a first network message sent by the opposite end controller and a third network message sent by the target equipment, performing primary-standby machine switching according to the first network message and/or the third network message;
and if the local end controller does not receive the first network message sent by the opposite end controller and receives the third network message sent by the target equipment, performing the primary-standby machine switching according to the third network message.
2. The controller redundancy switching method according to claim 1, wherein the second network message sent by the controller to the target device carries a master-slave state of the controller; the third network message sent by the target device carries the master and slave states of each controller; if the controller is abnormal and the controller is a host, the controller reduces the controller to a standby machine, and the main standby state of the controller carried by a second network message sent to the target equipment is the standby machine; if the target device does not receive the second network message sent by the controller, the master-slave state of the corresponding controller in the third network message sent by the target device is the slave.
3. The controller redundancy switching method according to claim 1, wherein the second network message sent by the controller to the target device carries an operation state of the controller; the third network message sent by the target equipment carries the running state of each controller; if the target device does not receive the second network message sent by the controller, the running state of the corresponding controller in the third network message sent by the target device is abnormal.
4. The method for switching over a controller redundancy according to claim 1, wherein when the home terminal controller cannot receive the first network message sent by the peer terminal controller, the home terminal controller activates a mechanism for sending the second network message to the target device and receiving the third network message sent by the target device.
5. The controller redundancy switching method of claim 1, wherein a home controller periodically sends a first network message through the switch, periodically sends a second network message to the target device, and receives a third network message sent by the target device.
6. The controller redundancy switching method according to claim 1, wherein the target device is a communication gateway; and each controller sends a second network message to the communication gateway and receives a third network message sent by the communication gateway, and the communication gateway organizes and obtains the third network message according to the second network message.
7. The controller redundancy switching method according to claim 1, wherein the first network message carries a master-slave state and/or an operational state of the controller.
8. The utility model provides a controller redundancy auto-change over device, is characterized in that is applied to two controllers of redundancy, pass through the switch and transmit first network message each other between the controller, and each the controller sends second network message to target equipment and receives the third network message that target equipment sent, target equipment is organized according to the second network message and is obtained the third network message, includes:
The monitoring module is used for monitoring the network message receiving condition of the local end controller;
The first switching module is used for switching the host and the standby according to the first network message and/or the third network message if the local end controller receives the first network message sent by the opposite end controller and the third network message sent by the target equipment;
And the second switching module is used for switching the main machine and the standby machine according to the third network message if the local end controller does not receive the first network message sent by the opposite end controller but receives the third network message sent by the target equipment.
9. A control system, comprising: the redundant controllers mutually transmit first network messages through a switch, each controller transmits second network messages to target equipment and receives third network messages transmitted by the target equipment, and the target equipment organizes the third network messages according to the second network messages; the controller is used for: monitoring the network message receiving condition of the local end controller; if the local end controller receives a first network message sent by the opposite end controller and a third network message sent by the target equipment, performing primary-standby machine switching according to the first network message and/or the third network message; and if the local end controller does not receive the first network message sent by the opposite end controller and receives the third network message sent by the target equipment, performing the primary-standby machine switching according to the third network message.
10. A storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the controller redundancy switching method of any one of claims 1 to 7.
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