JP5574627B2 - Redundant system - Google Patents

Description

  The present invention relates to a redundant system.

Conventionally, for example, a redundant system has been proposed in which an arithmetic unit for controlling a plant process has a redundant configuration and control is performed so that a plant function is not lost even if a failure occurs in a part of the arithmetic unit. ing.
In Patent Document 1, in a triple control system in which three arithmetic devices are made redundant, when three arithmetic results do not match, an intermediate value of the arithmetic results output from each arithmetic device is used as a control amount. A method is disclosed in which the control amount is determined by performing high value selection or low value selection when one of the three arithmetic devices stops and switches to a duplex system.

JP 2003-157102 A

However, in the invention of the above-mentioned Patent Document 1, when the calculation results in a plurality of calculation devices are different, the error is larger than when all the calculation results match, and therefore the data reliability is lowered. was there.
Conventionally, not only the abnormality of the arithmetic device, but also when the input / output data is lost or damaged due to a temporary failure of the communication medium that is the path of the input / output data, Since it is assumed that a problem has occurred and the arithmetic device is stopped, there is a problem that the operating rate of the arithmetic device is lowered.

  The present invention has been made to solve the above problem, and an object of the present invention is to provide a redundancy system capable of improving the reliability of output data and reducing the number of stoppages of an arithmetic unit.

  In order to solve the above problems, the present invention employs the following means.

  The present invention includes an input device, a plurality of arithmetic devices that receive input data from the input device, and an output device that receives output data output from the arithmetic device, and each of the arithmetic devices has the same processing. Each of the arithmetic devices has first communication means for acquiring input data from the input device, and the input data acquired by the first communication means is transmitted to the other arithmetic devices. A redundancy system comprising: a second communication unit that transmits and receives the input data acquired by the other arithmetic device from the other arithmetic device.

  According to such a configuration, in each arithmetic device, the input data acquired via the first communication means is transmitted / received to / from each other via the second communication means. Thereby, each arithmetic device can acquire the input data transmitted to the other arithmetic devices. Thereby, for example, even if a communication failure occurs between the input device and the first communication means, and input data from the input device cannot be acquired, it can be obtained by another arithmetic device via the second communication means. The acquired input data can be obtained, and the input data can be reliably acquired.

  The redundancy system includes at least three of the arithmetic devices, and each of the arithmetic devices matches at least one of the input data acquired via the first communication unit and the second communication unit. If not, a data selection unit may be provided that selects a value having the highest appearance frequency among the at least three input data as the changed input data.

  For example, when three arithmetic devices are provided, in one arithmetic device, the input data input from the first communication unit includes an error, and the two input data input from the second communication unit are correct (the error is If not, correct (no error) input data having a high appearance frequency among the three input data is selected as input data after change. As described above, since the input data is changed according to the number of matches of the input data, the reliability of the input data can be maintained as compared with the case where the input data is obtained by selecting an average value or a low value as in the past. it can.

  Each of the arithmetic units of the redundancy system is a control arithmetic unit that calculates output data by performing a predetermined operation based on the input data, and a plurality of data obtained in the process of calculating the output data. Storage means for storing an intermediate value data group, wherein the second communication means transmits the intermediate value data group stored in the storage means to the other arithmetic device and from the other arithmetic device. The transmitted intermediate value data group may be received, and the intermediate value data received from another arithmetic device may be stored in the storage unit in association with the input data.

  According to such a configuration, the intermediate value data group is transmitted and received between the arithmetic devices, and the intermediate value data group generated in each arithmetic device is stored in the storage means of each arithmetic device. This makes it possible to compare the intermediate value data group of itself with the intermediate value data group of another arithmetic unit. For example, when there is a difference in intermediate value data, it is based on the difference of the intermediate value data group. Thus, the difference in output data can be grasped.

  The data selection means of the redundancy system has the highest appearance frequency of the intermediate value data group when at least one of the plurality of intermediate value data groups stored in the storage means does not match. When a value is selected as the intermediate value data group after change, and the selected intermediate value data group is different from the intermediate value data group based on the input data acquired via the first communication means Determines that the output data calculated from the input data acquired via the first communication means is not correct, and sets the intermediate value data group having the highest appearance frequency as the changed intermediate value data group It is good as well.

  Thus, it is determined whether the output data is correct based on the appearance frequency of the intermediate value data group stored in the storage means, and the value with the highest appearance frequency is selected as the changed intermediate value data group. The reliability of the intermediate value data group can be maintained. Furthermore, when the intermediate value data group calculated by itself is different from the intermediate value data group selected as the updated intermediate value data group, the intermediate value data group is rewritten, so in the next processing. When the intermediate value data group is required again, the process can be executed using the correct intermediate value data.

  Each of the arithmetic units of the redundancy system is a control arithmetic unit that calculates output data by performing a predetermined operation based on the input data, and a plurality of data obtained in the process of calculating the output data. Storage means for storing an intermediate value data group; and code generation means for generating one code from the intermediate value data group stored in the storage means, wherein the code generation means includes the same intermediate value data The same code is generated in the case of a group, the storage means stores the code and the input data in association with each other, and the second communication means stores the code stored in the storage means Transmitting to the arithmetic device, acquiring the code from the other arithmetic device, storing the code in association with the input data acquired from the other arithmetic device, and It may be.

In this way, since one code calculated from the intermediate value data group including a plurality of data is transmitted and received between the arithmetic devices, a code corresponding to each intermediate value data group of the arithmetic device is acquired and stored in the storage means. Is done.
Thereby, compared with the case where intermediate value data group is transmitted / received between arithmetic units, the data amount transmitted / received can be reduced and the burden of the data amount concerning a communication channel can be reduced. In addition, when comparing differences in intermediate value data groups between arithmetic devices, it is possible to determine whether or not the intermediate value data groups are different by simply comparing a single code. Compared to the case of comparing intermediate value data groups, the processing load can be reduced.

  If at least one of the codes stored in the storage unit does not match, the data selection unit of the redundancy system determines that the most frequently occurring value of the code is the correct code, When the code determined to be correct is different from its own code, the output data calculated by itself is determined to be incorrect, and in this case, the second communication means determines that the code of the code determined to be correct The intermediate value data group is received from the other arithmetic device that is the transmission source, and the intermediate value data group stored in the storage means is updated to the intermediate value data group received by the second communication means. It is also good to do.

  Thus, by comparing codes calculated based on the intermediate value data group stored in the storage means, it is possible to easily determine whether or not the own intermediate value data group is erroneous. Further, when it is determined that the intermediate value data group is incorrect, the correct intermediate value data group is obtained from another arithmetic unit, and the erroneous intermediate value data group stored in the storage means is determined as the correct intermediate value data. Therefore, when the intermediate value data group is required again in the next process, the process can be executed using the correct intermediate value data.

  Each of the arithmetic units of the redundancy system is a control arithmetic unit that calculates output data by performing a predetermined operation based on the input data, and a plurality of data obtained in the process of calculating the output data. Storage means for storing an intermediate value data group; and code generation means for generating one code from the intermediate value data group stored in the storage means, wherein the code generation means includes the same intermediate value data The same code is generated in the case of a group, the storage means stores the code and the input data in association with each other, and the second communication means stores the code stored in the storage means and the code The intermediate value data group is transmitted to the other arithmetic device, the code and the intermediate value data group are acquired from the other arithmetic device, and the input data acquired from the other arithmetic device is acquired. It may be stored in the storage means in association with.

  Thus, since one code and intermediate value data group calculated from the intermediate value data group including a plurality of data are transmitted and received between the arithmetic devices, each intermediate value data group and code of the arithmetic device are acquired and stored. Stored in the means.

  For example, when transmitting and receiving only a code, when it is determined that the code determined to be correct and the code determined to be correct do not match, the intermediate value data group from another arithmetic device that is the transmission source of the code determined correct The process of acquiring is performed. Therefore, it takes time to acquire the intermediate value data group, and the processing time varies depending on whether the codes match or does not match. On the other hand, when the intermediate value data group and the code are transmitted and received together, the intermediate value data group received together with the code is used as it is even when the own code is inconsistent with the code determined to be correct. Can be used. Therefore, fluctuations in processing time of the arithmetic device can be suppressed.

Also, for example, when transmitting and receiving only the intermediate value data group, when determining whether or not the own intermediate value data group and the intermediate value data group determined to be correct match, in order to compare a plurality of data take time. On the other hand, when the intermediate value data group and the code are transmitted and received together, it is determined whether or not the intermediate value data group matches with one code generated corresponding to the intermediate value data group. Thereby, the time taken for determination can be reduced.
For these reasons, transmission / reception of the intermediate value data group and the code is suitable for an arithmetic device that requires real-time performance.

  If at least one of the codes stored in the storage unit does not match, the data selection unit of the redundancy system determines that the most frequently occurring value of the code is the correct code, When the code determined to be correct is different from its own code, the output data calculated by itself is determined to be incorrect, and in this case, the same source as the source of the code determined to be correct The intermediate value data group may be read from the storage unit, and its own intermediate value data group stored in the storage unit may be updated to the intermediate value data group read from the storage unit. .

  Thus, by comparing codes calculated based on the intermediate value data group stored in the storage means, it is possible to easily determine whether or not the own intermediate value data group is erroneous. Further, when it is determined that the intermediate value data group is incorrect, the correct intermediate value data group obtained from another arithmetic unit and stored in the storage means is read, and the erroneous intermediate value data group is read as the correct intermediate value group. Since the data is updated to the value data group, when the intermediate value data group is required again in the next process, the process can be executed using the correct intermediate value data.

  According to the present invention, it is possible to improve the reliability of output data and reduce the number of times the arithmetic unit is stopped.

1 is a diagram showing a schematic configuration of a redundant system according to a first embodiment of the present invention. It is a functional block diagram of the arithmetic unit of the first embodiment. It is an operation | movement flow of the redundancy system which concerns on 1st Embodiment. It is a continuation of FIG. 3 of the operation | movement flow of the redundancy system which concerns on 1st Embodiment. It is a functional block diagram of the arithmetic unit of 2nd Embodiment. It is an operation | movement flow of the redundancy system which concerns on 2nd Embodiment.

  Hereinafter, an embodiment of a redundancy system according to the present invention will be described with reference to the drawings.

[First Embodiment]
FIG. 1 is a block diagram showing a schematic configuration of a redundancy system 100 according to the present embodiment.
As shown in FIG. 1, the redundancy system 100 includes an input device 3, an output device 4, and four arithmetic devices 5a, 5b, 5c, and 5d. The arithmetic devices 5 a, 5 b, 5 c, and 5 d are connected to the input device 3 and the output device 4 through the first communication unit (first communication means) 6 so that they can communicate with each other. The arithmetic devices 5a, 5b, 5c, and 5d are connected to each other via a second communication unit (second communication means) 7 so as to communicate with each other. Here, although four arithmetic devices are provided, the number of units is not particularly limited, and a plurality of arithmetic devices may be provided. There is no particular upper limit on the number of units.

  In the present embodiment, the input device 3 and the output device 4 are provided as separate devices one by one, but the present invention is not limited to this configuration. For example, as long as the input device 3 and the output device 4 have their respective functions, one device may be used as the input / output device. Alternatively, a plurality of input devices 3 or output devices 4 may be provided, and the input device or output device used depending on the control target may be properly used. In the present embodiment, the control target is described as being the operation end 2 to be operated to perform plant control, but the control target is not limited to this.

The input device 3 includes a data acquisition unit 31 and a third communication unit 32.
The data acquisition unit 31 acquires input data acquired from the sensor 1 provided in the control target. The input data acquired by the data acquisition unit 31 is output to the third communication unit 32. The 3rd communication part 32 transmits input data to each arithmetic unit 5a, 5b, 5c, and 5d.

The output device 4 includes a fourth communication unit 41, an output data storage unit 42, an output data selection unit 43, and a data output unit 44.
The fourth communication unit 41 obtains output data Ya, Yb, Yc, and Yd from the respective arithmetic devices 5a, 5b, 5c, and 5d, and stores these output data Ya, Yb, Yc, and Yd as output data. Stored in the unit 42. As a result, the output data storage unit 42 stores the output data Ya, Yb, Yc, and Yd output from the fourth communication unit 41.

  The output data selection unit 43 reads the output data Ya, Yb, Yc, and Yd stored in the output data storage unit 42, and outputs the correct data by a prescribed method based on the output data Ya, Yb, Yc, and Yd. Data is determined and output to the data output unit 44. The data output unit 44 outputs the acquired correct output data to the operation end 2 that is a control target.

  FIG. 2 is a functional block diagram in which functions provided in the arithmetic device 5a are expanded. Further, in the present embodiment, the other arithmetic devices 5b, 5c, and 5d have the same function, so here, as an example, description will be given focusing on the operation of the arithmetic device 5a.

  As shown in FIG. 2, the arithmetic device 5 a includes a first communication unit 6, a second communication unit 7, a storage unit 8, a data selection unit (data selection unit) 9, and a control calculation unit (control calculation unit) 10. I have.

  The first communication unit 6 receives input data from the input device 3 and stores it in the storage unit 8. Further, the first communication unit 6 transmits the output data extracted from the storage unit 8 to the output device 4. As described above, the first communication unit 6 performs communication processing between the input device 4 and the arithmetic device 5a and between the arithmetic device 5a and the output device 4. Further, for example, the input data input via the first communication unit 6 is Da, the input data similarly input to the arithmetic device 5b is Db, the input data input to the arithmetic device 5c is Dc, and the arithmetic device The input data input to 5d is assumed to be Dd.

  Further, output data of the output data Ya (here, the arithmetic device 5x (x = a, b, c, d)) stored in the storage unit 8 (details will be described later) of the arithmetic device 5a by the processing described later. Is determined to be correct, the first communication unit 6 outputs the output data Ya to the output device 4. Further, when it is determined that the output data Ya stored in the storage unit 8 is not correct, the first communication unit 6 transmits abnormality information for notifying the output device 4 of the abnormality.

  The second communication unit 7 transmits the input data and intermediate value data group (details will be described later) stored in the storage unit 8 to the other arithmetic devices 5b, 5c, and 5d. In addition, input data and intermediate value data groups of other arithmetic devices transmitted from the second communication unit 7 of the other arithmetic devices 5 b, 5 c, and 5 d are received and stored in the storage unit 8. In this way, the second communication unit 7 performs communication processing between the arithmetic device 5a and the other arithmetic devices 5b, 5c, and 5d.

  Specifically, the second communication unit 7 transmits the input data Da to the other arithmetic devices 5b, 5c, and 5d, and the input data Db sent from the other arithmetic devices 5b, 5c, and 5d, respectively. , Dc, and Dd. The second communication unit 7 stores the received input data Db, Dc, and Dd in the storage unit 8.

  The storage unit 8 stores input data Da, Db, Dc, and Dd acquired by the arithmetic device 5a via the first communication unit 6 and the second communication unit 7. The storage unit 8 stores intermediate value data groups Ca, Cb, Cc, and Cd acquired by the arithmetic device 5a via the first communication unit 6 and the second communication unit 7 described later.

  The control calculation unit 10 reads the input data Da and the intermediate value data group Ca stored at the previous calculation from the storage unit 8, and performs a predetermined calculation based on the read input data Da and the intermediate value data group Ca. The output data Ya obtained from the calculation result and the intermediate value data group Ca updated by the current calculation are stored in the storage unit 8.

  In the present embodiment, a result data obtained in the middle of the process of obtaining the output data Ya by a predetermined calculation is used as intermediate value data, and a series of a plurality of intermediate value data until the output data Ya is obtained based on the input data Da. Is an intermediate value data group Ca. The intermediate value data group Ca includes, for example, an integral value that accumulates and uses past data, a moving average value, or the like.

  The data selection unit 9 includes at least one of the input data addressed to itself received via the first communication unit 6 and the input data transmitted from another arithmetic device received via the second communication unit 7. If not, the value with the highest appearance frequency is selected as the input data after the change. Specifically, the data selection unit 9 reads and compares the input data Da, Db, Dc, and Dd stored in the storage unit 8, and selects correct input data according to the appearance frequency of these values.

  For example, when the input data Da, Db, and Dc are the same value and the input data Dd is a different value, the input data Da, Db, and Dc having a high appearance frequency are selected as the correct input data. For example, in the arithmetic unit 5a, when the input data Db, Dc, and Dd input from the second communication unit 7 are equal values, and the input data Da is different from other input data, the input data The data Db, Dc, and Dd are selected as correct input data, and the erroneous value of the input data Da is replaced with the input data Db (which may be Dc or Dd because they are equal values). .

  As described above, among the input data acquired by the first communication unit 6 and the second communication unit 7 of the arithmetic device 5a, data having a high appearance frequency is selected as a correct value. When the input data Da input via the first communication unit 6 is not selected as a correct value, the input data Da is replaced with correct input data. Thereby, for example, even if a failure or the like occurs in the communication path between the input device 3 and the first communication unit 6 and the input data Da acquired from the first communication unit 6 is not correct, the input data Da is Based on the input data Db, Dc, and Dd acquired from the other arithmetic devices 5b, 5c, and 5d, the input data is replaced with correct input data. When the input data Da input via the first communication unit 6 is selected as a correct value, the value as it is is stored in the storage unit 8 as the input data Da.

  The data selection unit 9 selects a value having the highest appearance frequency when at least one of the intermediate value data groups Ca, Cb, Cc, and Cd stored in the storage unit 8 does not match. Set the selected value as the correct intermediate value data group. Further, the data selection unit 9 compares the intermediate value data group determined to be correct with the intermediate value data group Ca based on the input data Da, and if the result of comparison does not match, the data selection unit 9 is calculated based on the input data Da. It is determined that the output data Ya is not correct. This is because if the intermediate value data Ca is incorrect, it can be said that the output data obtained using the intermediate value data is incorrect. In this case, the data selection unit 9 changes the intermediate value data group Ca to the correct intermediate value data group, and causes the storage unit 8 to store the changed intermediate value data group. In this way, when the intermediate value data group Ca is rewritten to the correct intermediate value data group received from another arithmetic device, and the intermediate value data is used in the subsequent processing, the correct intermediate value data is obtained. It is possible to execute processing by using it.

  In the present embodiment, each of the intermediate value data in the intermediate value data group is compared, and if all the corresponding intermediate value data match, it is determined that the “intermediate value data group has matched”. It is said.

Next, the operation of the redundancy system 100 according to the present embodiment will be described with reference to FIGS. Since the functions of the arithmetic devices 5a, 5b, 5c, and 5d are the same as described above, the following description focuses on the operation of the arithmetic device 5a.
A measurement value measured by the sensor 1 attached to each control object is input as input data to the input device 2 (step SA1 in FIG. 3). When the input data is acquired by the data acquisition unit 31 of the input device 2, the input data is output to the third communication unit 32, and the first communication unit of each of the arithmetic devices 5 a, 5 b, 5 c, and 5 d from the third communication unit 32. 6 (step SA2 in FIG. 3).

  The input data transmitted from the input device 3 is received by the first communication unit 6 of the arithmetic device 5a and stored in the storage unit 8 (step SA3 in FIG. 3). At this time, the input data received by the first communication unit 6 of the computing device 5a is Da, and similarly, the input data received by the first communication unit 6 of each of the computing devices 5b, 5c, and 5d is Db, Dc, respectively. , And Dd. The input data Da stored in the storage unit 8 is transmitted to the other arithmetic devices 5b, 5c, and 5d via the communication medium by the second communication unit 7 (step SA4 in FIG. 3).

  Also, the input data Db, Dc, and Dd stored in the storage unit 8 of the other arithmetic devices 5b, 5c, and 5d are transmitted from the respective second communication units 7 to the arithmetic device 5a via the communication medium. And received by the second communication unit 7 of the arithmetic device 5a. Input data Db, Dc, and Dd of each arithmetic device received by the second communication unit 7 are stored in the storage unit 8 of the arithmetic device 5a (step SA5 in FIG. 3). Thereby, the storage unit 8 of the arithmetic device 5a stores the input data Da, Db, Dc, and Dd received by the arithmetic devices 5a, 5b, 5c, and 5d, respectively.

  The input data Da, Db, Dc, and Dd stored in the storage unit 8 are read by the data selection unit 9, and the values of the input data Da, Db, Dc, and Dd are compared. As a result, if any one of the input data Da, Db, Dc, and Dd has a different value, the data selection unit 9 selects a value having a high appearance frequency as correct input data (FIG. 3). Step SA6). For example, when the input data Da, Db, and Dc are the same value and the input data Dd is different from the other three input data Da, Db, Dc, the input data Da, Db, Dc is selected as the correct value. The

  Subsequently, the data selection unit 9 determines whether or not the input data selected as the correct value matches the input data Da acquired via the first communication unit 6 (step SA7 in FIG. 3). As a result of the determination, if they do not match, the input data Da stored in the storage unit 8 is rewritten with correct input data (step SA8 in FIG. 3). Note that when all the input data Da, Db, Dc, and Dd match, the rewriting operation is not performed.

  In this way, when the input data Da is confirmed to be a correct value or rewritten to a correct value, a predetermined calculation is subsequently performed by the control calculation unit 10 using the input data Da. Thus, output data Ya is obtained. Further, a series of values and output data Ya calculated in the course of calculating the output data Ya and the output data Ya are stored in the storage unit 8 as an intermediate value data group Ca (step SA9 in FIG. 3). .

  When the output data Ya is calculated, the intermediate value data group Ca stored in the storage unit 8 is transmitted to the other arithmetic devices 5b, 5c, and 5d via the second communication unit 7 (step of FIG. 4). SA10). In addition, the intermediate value data groups Cb, Cc, and Cd transmitted from the second communication unit 7 of the other arithmetic devices 5b, 5c, and 5d are received by the second communication unit 7 of the arithmetic device 5a, and the storage unit 8 (Step SA11 in FIG. 4).

  Subsequently, the intermediate value data groups Ca, Cb, Cc, and Cd stored in the storage unit 8 are read by the data selection unit 9 and compared with each other, and the intermediate value data group having a high appearance frequency is the correct intermediate value data group. Is selected (step SA12 in FIG. 4). Subsequently, the correct intermediate value data group selected by the data selection unit 9 is compared with the intermediate value data group Ca calculated and stored in the process of obtaining the output data Ya to determine whether or not they match. (Step SA13 in FIG. 4).

  As a result of the determination, if they match, it is determined that the output data Ya previously calculated by the control calculation unit 10 and stored in the storage unit 8 is correct output data, and the first communication unit 6 To the output device 4 (step SA14 in FIG. 4).

  On the other hand, if they do not match, the intermediate value data group Ca stored in the storage unit 8 is rewritten to the correct intermediate value data group (step SA16 in FIG. 4), and the correct output data Ya cannot be obtained. Information indicating that is transmitted to the output device 4 via the first communication unit 6 (step SA15 in FIG. 4).

  In this way, output data Ya, Yb, Yc, and Yd or information indicating that correct output data has not been obtained is output from the first communication unit 6 of each of the arithmetic devices 5a, 5b, 5c, and 5d to the output device 4. In the output device 4, output data to be output to the operation end 2 is selected and output to the operation end 2 in the output device 4.

  As described above, according to the redundant system 100 according to the present invention, the input data acquired via the first communication unit 6 in each of the arithmetic devices 5a, 5b, 5c, and 5d is the second communication. 7 to and from each other. Thereby, each arithmetic unit 5a, 5b, 5c, and 5d can acquire the input data transmitted to the other arithmetic units. Thereby, for example, even if a communication failure occurs between the input device 3 and the first communication unit 6 and the input data from the input device cannot be acquired, other communication is performed via the second communication unit 7. The input data acquired by the arithmetic device can be obtained, and the input data can be reliably acquired.

  In addition, input data having a high appearance frequency is selected as correct (no error) input data transmitted and received, and input data input from the first communication unit 6 (that is, own input data). Is different from correct input data, the input data is rewritten to correct data. In this way, correct input data is determined based on the appearance frequency of the input data, so that the reliability of the input data is maintained as compared to the case where the input data is obtained by selecting an average value or a low value as in the past. Can do.

  Further, in the control calculation unit 10, intermediate value data groups obtained in the process of calculating output data based on input data are transmitted and received between the calculation devices, and the intermediate value data groups obtained in the respective calculation devices are respectively compared. When even one different intermediate value data group exists, the intermediate value data group with the highest appearance frequency is determined as the correct intermediate value data group. When the intermediate value data group does not coincide with the correct intermediate value data group, the intermediate value data group stored in the storage unit 8 is rewritten to the correct intermediate value data group. When the intermediate value data group is used again, the arithmetic processing can be executed using the correct intermediate value data group.

  In the present embodiment, when transmission / reception of input data and intermediate value data groups between arithmetic devices is performed via the second communication unit 7, the present invention is not limited to this. For example, it is good also as transmitting / receiving between arithmetic units by other means, such as a shared memory.

[Second Embodiment]
Next, a redundant system according to the second embodiment of the present invention will be described with reference to FIG.
The redundant system 100 ′ of the present embodiment is different from the first embodiment in that a code generation unit (code generation unit) 11 and a code comparison unit (code comparison unit) 12 are provided. Hereinafter, regarding the redundant system 100 ′ of the present embodiment, description of points that are common to the first embodiment will be omitted, and different points will be mainly described. Also in this embodiment, since the functions of the arithmetic devices 5a, 5b, 5c, and 5d are the same, the description will be made focusing on the operation of the arithmetic device 5a.

The code generation unit 11 generates one code Ra from the intermediate value data group Ca stored in the storage unit 8 ′. The code generation unit 11 has a mechanism for generating the same code when all the intermediate value data constituting the intermediate value data group is the same. Thus, when codes are compared, if the codes match, it can be determined that all the intermediate value data constituting the intermediate value data group match, and if the codes do not match, the intermediate value data group is configured. It can be determined that at least one intermediate value data does not match. The code Ra generated by the code generation unit 11 is stored in the storage unit 8 ′ in association with the corresponding intermediate value data group Ca and input data Da .

  For example, CRC (Cyclic Redundancy Check) is used as the code. Since CRC is a known technique, a detailed description of the CRC calculation method and the like is omitted.

  The second communication unit 7 transmits the code Ra to the second communication units 7 of the other arithmetic devices 5b, 5c, and 5d through the communication medium. The codes transmitted from the other arithmetic devices 5b, 5c, and 5d are received by the second communication unit 7 of the arithmetic device 5a through the communication medium and stored in the storage unit 8 ′.

  The code comparison unit 12 is provided in the data selection unit 9 ′, and the codes Ra, Rb, Rc, and the code acquired from the arithmetic devices 5a, 5b, 5c, and 5d stored in the storage unit 8 ′. Rd is compared, and if at least one does not match, the value having the highest appearance frequency is determined as the correct code.

  The code comparison unit 12 determines that the output data Ya calculated by itself is not correct when the code determined to be correct is different from its own code (code Ra of the arithmetic device 5a). In this case, the second communication unit 7 receives the intermediate value data group from another arithmetic device that is the transmission source of the code determined to be correct, and stores the intermediate value data group stored in the storage unit 8 ′. The value data group is updated to the intermediate value data group received by the second communication unit 7.

Next, the operation of the redundancy system 100 ′ according to the present embodiment will be described with reference to FIG.
Here, a case where four arithmetic devices are provided will be described as an example. Further, in the first embodiment, the operations up to step SA9 in which the intermediate value data group is obtained by the control operation unit 10 and stored in the storage unit 8 ′ are common, so the description thereof is omitted and the first embodiment is omitted. Description will be made by paying attention to portions different from the form.

When the intermediate value data group and the output data are written in the storage unit 8 ′ by completing the calculation by the control calculation unit 10 (step SA9 in FIG. 3), the code value generation unit 11 subsequently performs the intermediate value data group. Ca is read and a code Ra is generated. The code generation unit 11 associates the generated code Ra, the intermediate value data group Ca, and the input data Da with each other and stores them in the storage unit 8 ′ (step SB1). It is transmitted to the arithmetic devices 5b, 5c and 5d (step SB2). Further, the codes Rb, Rc, and Rd transmitted by the second communication unit 7 of the other arithmetic devices 5b, 5c, and 5d are received by the second communication unit 7 of the arithmetic device 5a, and the codes Rb, Rc, And Rd are stored in the storage unit 8 ′ together with information of the transmission source (step SB3).

  The codes Ra, Rb, Rc, and Rd stored in the storage unit 8 ′ are read out by the code comparison unit 12 of the data selection unit 9 ′ and compared, and all the codes Ra, Rb, Rc, and Rd are unified. It is determined whether or not they match, and if they do not match, a code having a high appearance frequency is selected as the correct code (step SB4). Subsequently, it is determined whether or not the selected correct code matches its own code Ra (step SB5).

  If they match as a result of the determination, the output data Ya previously calculated by the control calculation unit 10 and stored in the storage unit 8 ′ is determined to be correct output data, and the first communication unit 6 is output to the output device 4 via step 6 (step SB6), and this process is terminated.

  On the other hand, if they do not match, it is determined that the output data Ya stored in the storage unit 8 ′ is not correct output data by the data selection unit 9, and that correct output data is not obtained. Information is output to the output device 4 via the first communication unit 6 (step SB7). On the other hand, if it is determined that the output data Ya is not correct, the intermediate value data group is received from the arithmetic device that is the transmission source of the code having the high appearance frequency via the second communication unit 7, and the storage unit 8 ' The intermediate value data group Ca is rewritten to the received intermediate value data group (step SB8).

As described above, according to the redundant system 100 ′ according to the present embodiment, the intermediate value data group itself is transmitted and received between the arithmetic devices as in the first embodiment described above, so that the output data Rather than evaluating reliability, the reliability of output data is evaluated using the codes Ra, Rb, Rc, and Rd generated from the intermediate value data group, so that the amount of transmitted / received data can be reduced, and communication It is possible to reduce the burden of data amount on the medium.
In addition, when comparing differences in intermediate value data groups between arithmetic devices, it is possible to determine whether or not intermediate value data groups are different by simply comparing a single code. Compared with the case of comparing intermediate value data groups including the processing load, the processing load can be reduced.
Further, if the code is different from the code determined to be correct, the intermediate value data group itself is received from the arithmetic unit that is the source of the correct code, and the intermediate of the error stored in the storage unit 8 ′ is received. Since the value data group is updated to the correct intermediate value data group, when the intermediate value data group is required again in the next processing, the process can be executed using the correct intermediate value data.

[Modification]
In the present embodiment, when the intermediate value data group between the arithmetic devices is compared, the information transmitted and received by the second communication unit 7 is only the code, but is not limited thereto. For example, the intermediate value data group and the code may be transmitted and received in combination between the arithmetic devices via the second communication unit 7. When only the intermediate value data group or only the code is transmitted / received, the processing time of the arithmetic unit varies depending on whether or not a mismatch occurs, but the variation of the processing time is suppressed by transmitting / receiving the intermediate value data group and the code. Therefore, it is suitable for a computing device that requires real-time performance.

  Further, the intermediate value data group is transmitted / received between the arithmetic devices in advance almost simultaneously with the timing of transmitting / receiving the code. As a result, the intermediate value data group is output to the output device 4 in comparison with the case where the intermediate value data group is received from the arithmetic device that is the source of the correct code each time the own code does not match the correct code. The time taken to do so can be reduced.

3 Input device 4 Output device 5a, 5b, 5c, 5d Arithmetic unit 6 First communication unit 7 Second communication unit 8, 8 'Storage unit 9, 9' Data selection unit 10 Control operation unit 11 Code generation unit 12 Code comparison unit 100 Redundant system

Claims (6)

Redundancy that includes an input device, a plurality of arithmetic devices that receive input data from the input device, and an output device that receives output data output from the arithmetic device, and causes each of the arithmetic devices to perform the same processing System
Comprising at least three arithmetic units,
Each said arithmetic unit is
First communication means for obtaining input data from the input device;
Second communication means for transmitting the input data acquired by the first communication means to the other arithmetic device and receiving the input data acquired by the other arithmetic device from the other arithmetic device; ,
If at least one of the input data acquired via the first communication means and the second communication means does not match, change the value with the highest appearance frequency among at least three of the input data Data selection means for selecting as the input data,
Control calculation means for calculating output data by performing a predetermined calculation based on the input data;
Storage means for storing an intermediate value data group which is a plurality of data obtained in the process of calculating the output data;
Code generation means for generating one code from the intermediate value data group stored in the storage means, and generating the same code when the intermediate value data group is the same,
The storage means stores the code and the input data in association with each other,
The second communication unit transmits the code stored in the storage unit to the other arithmetic device, acquires the code from the other arithmetic device, and the input data acquired from the other arithmetic device. And a redundancy system that stores the code acquired from the other arithmetic device in association with each other . The data selection means is:
If at least one of the codes stored in the storage means does not match, determine the most frequently occurring value of the code as the correct code,
When the code determined to be correct is different from its own code, the output data calculated by itself is determined to be incorrect, and in this case, the second communication means determines that the code of the code determined to be correct The intermediate value data group is received from the other arithmetic device that is the transmission source, and the intermediate value data group stored in the storage means is updated to the intermediate value data group received by the second communication means. The redundant system according to claim 1 .   Redundancy that includes an input device, a plurality of arithmetic devices that receive input data from the input device, and an output device that receives output data output from the arithmetic device, and causes each of the arithmetic devices to perform the same processing System
  Comprising at least three arithmetic units,
  Each said arithmetic unit is
  First communication means for obtaining input data from the input device;
  Second communication means for transmitting the input data acquired by the first communication means to the other arithmetic device and receiving the input data acquired by the other arithmetic device from the other arithmetic device; ,
  If at least one of the input data acquired via the first communication means and the second communication means does not match, change the value with the highest appearance frequency among at least three of the input data Data selection means for selecting as the input data,
  Control calculation means for calculating output data by performing a predetermined calculation based on the input data;
  Storage means for storing an intermediate value data group which is a plurality of data obtained in the process of calculating the output data;
  Code generation means for generating one code from the intermediate value data group stored in the storage means, and generating the same code when the intermediate value data group is the same,
  The storage means stores the code and the input data in association with each other,
  The second communication unit transmits the code and the intermediate value data group stored in the storage unit to the other arithmetic device, and acquires the code and the intermediate value data group from the other arithmetic device. A redundancy system in which the input data acquired from the other arithmetic device and the code and the intermediate value data group acquired from the other arithmetic device are stored in the storage unit in association with each other. The data selection means is:
If at least one of the codes stored in the storage means does not match, determine the most frequently occurring value of the code as the correct code,
When the code determined to be correct is different from its own code, the output data calculated by itself is determined to be incorrect, and in this case, the same source as the source of the code determined to be correct the intermediate value data group is read from said storage means, to claim 3 in which the intermediate value data group itself are stored in the storage means is updated to the intermediate value data group read out from said storage means The described redundancy system.   Redundancy that includes an input device, a plurality of arithmetic devices that receive input data from the input device, and an output device that receives output data output from the arithmetic device, and causes each of the arithmetic devices to perform the same processing System
  Comprising at least three arithmetic units,
  Each said arithmetic unit is
  First communication means for obtaining input data from the input device;
  Second communication means for transmitting the input data acquired by the first communication means to the other arithmetic device and receiving the input data acquired by the other arithmetic device from the other arithmetic device; ,
  If at least one of the input data acquired via the first communication means and the second communication means does not match, change the value with the highest appearance frequency among at least three of the input data Data selection means for selecting as the input data,
  Control calculation means for calculating output data by performing a predetermined calculation based on the input data;
  Storage means for storing an intermediate value data group which is a plurality of data obtained in the process of calculating the output data;
  Code generation for generating one code from the intermediate value data group stored in the storage means, generating the same code when the intermediate value data group is the same, and storing the code in the storage means Means,
  The second communication unit transmits the intermediate value data group stored in the storage unit to the other arithmetic device, receives the intermediate value data group transmitted from the other arithmetic device, and stores the memory The means stores the intermediate value data received from the other arithmetic device in association with the input data,
  A redundancy system for including the code in a payload in a communication frame when transmitting / receiving the code stored in the storage unit to / from another arithmetic device. The data selection means is:
When at least one of the plurality of intermediate value data groups stored in the storage means does not match, a value having the highest appearance frequency of the intermediate value data group is selected as the changed intermediate value data group If the selected intermediate value data group is different from the intermediate value data group based on the input data acquired via the first communication means, the intermediate value data group is acquired via the first communication means. The redundancy system according to claim 5 , wherein the output data calculated from the input data is determined to be incorrect, and the intermediate value data group having the highest appearance frequency is set as the changed intermediate value data group.

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