WO2015035877A1 - 一种多个控制器之间协同工作的优化方法 - Google Patents

一种多个控制器之间协同工作的优化方法 Download PDF

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WO2015035877A1
WO2015035877A1 PCT/CN2014/085914 CN2014085914W WO2015035877A1 WO 2015035877 A1 WO2015035877 A1 WO 2015035877A1 CN 2014085914 W CN2014085914 W CN 2014085914W WO 2015035877 A1 WO2015035877 A1 WO 2015035877A1
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channel
signal
channels
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杨爽
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杨惠芳
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/46—Multiprogramming arrangements
    • G06F9/48—Program initiating; Program switching, e.g. by interrupt
    • G06F9/4806—Task transfer initiation or dispatching
    • G06F9/4843—Task transfer initiation or dispatching by program, e.g. task dispatcher, supervisor, operating system
    • G06F9/4881—Scheduling strategies for dispatcher, e.g. round robin, multi-level priority queues

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  • the invention belongs to an automatic control technology, and particularly relates to an integration technology and a control algorithm technology of a multi-channel automatic control system.
  • Each channel is actually a separate controller that operates at a fixed computational cycle with independent acquisition, output, and computation.
  • the four channels communicate with each other to form a control system. Instant communication between the channels is used to transmit the required control signals to other channels, and the communication takes a short time. In order to facilitate the analysis, the time consumed by the communication is counted in the output phase of the calculation cycle. It can be simply understood that one of the channels is outputted, and the other channels have already received the transmission signal, but it is necessary to wait until the CPU cycle proceeds to the signal acquisition step to start the logic operation. Communication between the four channels, see Figure 1.
  • the solid arrows in Figure 1 represent the communication connections between the channels, and the dashed arrows represent the jumping signals.
  • Each channel will output a skip signal to the external judging device, referred to herein as the jumping device.
  • the action of jumping is finally produced by the jumping device.
  • the condition for the action of the jumping device is that at the same time point, two of the four channels emit a skip signal. Therefore, the condition that the control system actually generates an effective skip signal is that there are two channels that issue a skip signal.
  • multiple controllers of a multi-channel control system work together is that multiple sensors simultaneously detect the same physical quantity (such as temperature), assuming four sensor numbers are a, b, c, and d, assuming these four The sensors detect the same and simultaneously detect changes in temperature.
  • the four sensors correspond to four CPUs, and each CPU becomes a channel called Channel I, Channel II, Channel III, and Channel IV. See Figure 2.
  • the operation mode of each channel for the signal is: first, the threshold value judgment is performed on the collected sensor signals; then, the integrated logic judgment is performed in combination with the received judgment signals of other channels; finally, the threshold judgment result of the channel is output to other channels. At the same time, the jumping signal of this channel is output. See Figure 3.
  • the cycle start points of the CPUs of 4 channels are randomly arranged.
  • the time of each cycle directly affects the channel acquisition time (since the input signals all reflect the same physical quantity, So assume that the signals are hopping at the same point in time). That is, the closer the time at which the cycle starts to the time when the signal occurs, the more the signal can be acquired early and the logic operation is started.
  • the I channel cycle begins after the signal is triggered, while the other II, III, and IV channel cycles are before the I channel output (as shown in Figure 4).
  • This situation is the longest time to collect and process signals. It takes 3 cycles to have at least 2 output jump signals from the final 4 channels.
  • the effect of the signal trigger is 0.25 cycles forward, and the effect is the same. Therefore, from the signal trigger to the final trip signal output, the maximum response time of the entire control system is 2.75 cycles.
  • the number of input signals of the multi-channel control system may be less than the number of channels in some operating conditions. In some cases, the number of possible input signals is three or two. This inevitably has one (three signal case) or two (two signal case) channels that do not capture the signal in this case, so that the position of the first channel that acquires the signal transition may be at the end.
  • the entire control system may acquire the hopping information within one cycle after the signal hopping, which is not conducive to improving the response speed. Moreover, when a channel that collects signals fails (such as a CPU failure or a memory failure), the entire system is directly reduced for signal acquisition.
  • the purpose of the invention patent is to provide an optimization method for cooperative operation among multiple controllers, thereby reducing the response time of the control system composed of multiple controllers and improving the performance of the entire control system.
  • each sensor transmits the detected signal to a corresponding control device; each of the controllers is called a Channels, each channel is independent of each other and communicate with each other; each channel includes an independent signal acquisition component, a signal output component, a central processing unit, and a communication component; the central processing unit, also known as a CPU or MPU, has a fixed computation cycle, each The order of executing functions in the cycle is fixed; the sensor signals received by each channel are judged by the threshold to generate the logic judgment signal of the channel; each channel accepts the logic judgment signal transmitted from other channels; the logic judgment signal of this channel and The logic judgment signals of other channels are judged by the integrated logic to output the jumping signal; the operating cycles of the CPUs of the multiple channels are arranged in an orderly manner, so that a cooperative working mechanism is formed between the channels, and the specific steps are as follows:
  • Control the CPU calculation load by adjusting the length of the CPU cycle, that is, adjust the ratio of the time from the start of acquisition to the completion of the output to the CPU cycle in each cycle of the CPU, so that the cycle is arranged in the following channel, and the trigger signal is generated.
  • the logic signal can be simultaneously acquired by the trigger signal and the first channel receiving the trigger signal;
  • the controller can acquire the sensor hopping signal and the logic judgment signal of other channels earlier, reduce the cycle of the operation, and finally make the output of the calculation result advance, reducing the response time;
  • Figure 1 is a block diagram of a conventional multi-channel control system.
  • the direction of the arrow indicates the direction of network signal transmission between channels.
  • Each channel has a signal sent to the other 3 Channels, also accept signals from the other three channels.
  • the time taken for signal transmission is very short. For the convenience of analysis, the time taken for transmission is counted in the CPU calculation time.
  • the jumping device receives the jumping signal from each channel to generate a jumping action.
  • the jumping device is not part of the described control system and is a separate device.
  • Figure 2 shows the correspondence between the sensor signal and the channel.
  • Figure 3 is a schematic diagram of the operational sequence and decision logic of the present invention. The figure illustrates the flow of logic operations on the signal in each channel.
  • FIG. 4 is a schematic diagram of a cycle of cooperative operation between a plurality of conventional processors.
  • Figure 5 is a schematic diagram of the sequential work cycle ordering of multiple channels in the case of four channels, and the CPU calculates the load relatively large ( ⁇ 75%, >50%).
  • Figure 6 is a schematic diagram of the sequential work cycle ordering of multiple channels in the case of four channels, and the CPU calculates the load relatively small ( ⁇ 50%).
  • Figure 7 is a schematic diagram of three channels, coordinated work cycle ordering.
  • Figure 8 is a schematic diagram of signal distribution when the number of sensors is less than the number of channels.
  • Fig. 9 is a schematic diagram of the operation sequence and the judgment logic in the case of four channels and three sensors.
  • the sensor signal is from the same source and is only used once when making comprehensive logic decisions. Therefore, the sensor signals for channel III and channel IV are from the same source.
  • the judgment result of the channel IV is not used, and when the judgment result is output, it is not output to the channel IV.
  • Fig. 10 is a schematic diagram showing the operation sequence and the judgment logic in the case of four channels and two sensors.
  • the sensor signal is from the same source and is only used once when making comprehensive logic decisions. Therefore, the judgment signals of the channel II and the channel III are performed, and when the judgment result is output, the channel II and the channel I are the same signal source, and are not necessarily output to the channel I.
  • the invention is applicable to a control system composed of a plurality of channels.
  • the operating cycles of the CPUs of the plurality of channels are arranged in an orderly manner, so that an optimized cooperative working mechanism is formed between the channels.
  • the generation of the trigger signal is random. Since the CPU cycles of the respective channels are the same, the number of acquisitions of the same number of channels will be the same in the entire multi-channel control system in one cycle. It is possible for each channel to acquire the trigger signal first. When sorting the channel CPUs, the probability that each channel first acquires the trigger signal is the same. There are several ways to sort, depending on the number of channels and the CPU's calculation load, and there are multiple channels that can acquire the trigger signal at the same time.
  • the same calculation amount is used for the same time.
  • the CPU calculation load also follows the change.
  • the CPU calculates the amount of load by adjusting the length of the CPU cycle.
  • the channel arranged in the following cycle at the beginning of the first cycle after the trigger signal is generated, can simultaneously acquire the trigger signal and the logic decision signal sent by the first channel receiving the trigger signal. Therefore, this channel can output the skip signal of this channel in the first cycle.
  • the algorithm adjusts the way of logic operation, so that the optimized collaborative working mechanism can play a role in various situations.
  • each channel is actually an independent controller.
  • the CPU runs in a fixed calculation cycle and has independent functions of acquisition, output, and operation.
  • the four channels communicate with each other to form a control system.
  • Instant communication between the channels is used to transmit the required control signals to other channels, and the communication takes a short time.
  • the time consumed by the communication is counted in the output phase of the calculation cycle. It can be simply understood that one of the channels is outputted, and the other channels have already received the transmission signal, but it is necessary to wait until the CPU cycle proceeds to the signal acquisition step to start the logic operation. Communication between the four channels, see Figure 1.
  • Each channel will output a skip signal to the external judging device, referred to herein as the jumping device.
  • the action of jumping is finally produced by the jumping device.
  • the condition for the action of the jumping device is that at the same time point, two of the four channels emit a skip signal. Therefore, the condition that the control system actually generates an effective skip signal is that there are two channels that issue a skip signal.
  • Each channel collects and processes the signal from the sensor and the judgment signal from other channels, and outputs the judgment signal and the jumping signal of the channel.
  • the order in which the operations are performed is:
  • the first step is to perform threshold determination of the sensor signal
  • the judgment signal of the channel generated by the threshold judgment and the judgment signal transmitted by other channels are comprehensively determined by logic
  • the channel judgment signal and the jump signal are output.
  • the judgment signal from the same source (sensor) is used only once in the second step of the integrated logic judgment.
  • the judgment logic needs to be adjusted as shown in FIG. Among them, the logical form of channel I and channel II are basically the same, except that channel number I or II is replaced accordingly.
  • the logical form of channel III and channel IV are basically the same, and channel number III or IV is also replaced accordingly.
  • the signal distribution form is as shown in FIG. 8, and the judgment logic is as shown in FIG. Channel IV is similar to the logic of channel III, except that channel number III or IV is replaced accordingly.
  • the judgment signal of the sensor signal from the same source is used only once in the comprehensive logic judgment. Therefore, the judgment signals of channel II and channel III are performed.
  • channel II and channel I are the same signal source, and need not be output to the channel. I.
  • the calculation load of the CPU is also basically determined. According to the size of the calculation load, the starting points of the CPU cycle of the plurality of channels are arranged to form a mechanism for cooperative operation.
  • each channel has an equal probability of first collecting signal transitions in each cycle relative to other channels
  • the trigger signal and the logic decision signal sent by the first channel receiving the trigger signal can be simultaneously acquired.
  • the CPU calculation load can be changed by changing the CPU cycle time, so that the optimal alignment scheme can be conveniently found.
  • the four channels are separated by 1/4 cycle, as shown in Figure 5; or 4 channels, 2 groups, separated by 1/2 cycle, as shown in Figure 6. Show.
  • the two channels shown in Figure 6 can acquire the trigger signal at the same time, and the probability of acquiring the trigger signal firstly is 50%.
  • Figure 5 shows another four channels, with each channel first acquiring a trigger signal with a probability of 25%.
  • the best cooperative working mode between the channels is achieved.
  • the last channel arranged in the first cycle can output the skip signal of this channel, and the response time of the entire system to generate an effective trip signal will also be reduced.
  • Example 1 In the case of 4 channels, the CPU's computational load is 75% at a period of 40 ms, that is, the CPU needs to calculate 30 ms per cycle. If the CPU cycle is changed to 60ms and the CPU calculates the load to be 50%, the arrangement method shown in Figure 6 can be used. In the latter two channels, the logic signals of the first two channels are also collected while the trigger signal is being acquired, so the skip signal can be issued in the first cycle. After the jumping device receives the jumping signal of 2 channels, it causes the jumping device to operate. It can be seen that this embodiment can cause the jump in the first cycle, and the signal is generated in 0.5 cycles before the first cycle, and the effect is the same. If the maximum response time is calculated in the channel operation cycle, the maximum influence time can be considered as 1.5 cycles, that is, 90 ms.
  • Example 2 In the case of 3 channels, the CPU's computational load is 75% at a period of 40 ms, that is, the CPU needs to calculate 30 ms per cycle. The CPU calculates the load too high and affects the final response time. If the cycle is changed to 50ms and the CPU calculates the load to be 60%, the arrangement method shown in Fig. 7 can be used.
  • the invention is mainly applied to the nuclear power DCS industry, and can be extended to be applied to automatic control, aerospace, electric power, electronics, petrochemical, and the like.

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Abstract

本发明公开了一种优化多通道控制系统内部协同工作机制的方法，主要应用于由多个控制器或者通道组成的控制系统。具体方法主要包括：对多个通道的CPU的运行周期进行有序排列，每个通道具有均等的最先采集到信号跳变的概率；通过调整CPU周期的长度来控制CPU计算负荷，使得周期排列在后面的通道，在触发信号产生后的第一个周期开始时，能够同时采集到触发信号和第一个接收到触发信号的通道发出的逻辑判断信号；将输入信号调整分配，使每个通道都能直接采集输入信号；优化综合逻辑判断，避免同源头的信号被重复使用。本发明可以减少多个控制器组成的控制系统，在受到触发信号后各个通道运算的周期数量，减少了响应时间。

Description

一种多个控制器之间协同工作的优化方法 技术领域
本发明属于自动控制技术，具体涉及多通道自动控制系统的集成技术和控制算法技术。
背景技术
传统的多通道控制系统的多个控制器之间协同工作的方式是，多个通道同时采集信号，每个通道都对外输出一个跳车信号，外部会有单独的跳车判断装置，进行逻辑判断。当多个通道输出跳车信号，符合外部跳车判断装置的逻辑后，产生跳车的效果。以4个通道的情况为例：
每个通道实际是一个独立的控制器，以固定运算周期运行，具有独立的采集、输出和运算等功能。4个通道之间相互通讯，组成一个控制系统。各个通道之间采用即时的通讯方式，将所需的控制信号传输给其它通道，通讯消耗的时间很短。为了方便分析，通讯消耗的时间计入运算周期中输出阶段的时间。可以简单的理解为，其中一个通道输出完毕，其它通道就已经接受到了传输信号，但是需要等到CPU周期进行到信号采集环节时才能够开始进行逻辑运算。4个通道之间通讯联系，参见图1所示。图1中实线箭头代表各通道之间通讯连接，虚线箭头代表跳车信号。
每个通道都会输出一个跳车信号给外部判断装置，在此称为跳车装置。由跳车装置最终产生跳车的动作。跳车装置产生动作的条件是在同一个时间点，4个通道中有2个通道发出跳车信号。因此控制系统实际产生有效的跳车信号的条件是有2个通道发出跳车信号。
多通道控制系统的多个控制器之间协同工作的方式是，有多个传感器同时探测同一个物理量(如温度，)，假设有4个传感器编号为a、b、c、d，假设这四个传感器探测到相同的并且同时探测到温度的变化。4个传感器对应4个处理的CPU，每个CPU成为一个通道叫做通道I，通道II，通道III，通道IV。参见图2所示。
每个通道对于信号的运算方式为：首先，对于采集的传感器信号进行阈值判断；然后，结合收到的其它通道的判断信号进行综合逻辑判断；最后，将本通道的阈值判断结果输出给其它通道，同时输出本通道的跳车信号。参见图3所示。
在对多通道进行响应时间分析时，一般都是取在可能范围内，最大的响应时间，简而言之就是取最坏的情况。以4个通道的情况为例，分析目前技术的缺点：
1、4个通道的CPU的周期起始点是随机排列的，在固定周期的工作方式下，每个周期开始的时间，直接影响通道对于信号采集的时间(由于输入信号都是反映同一个物理量，因此假设信号都是在同一时间点发生跳变)。即周期开始的时间距离信号发生的时间越近，越是能够提早采集到信号，并开始逻辑运算。假设I通道周期开始就在信号触发之后，而其它II、III、IV通道的周期，都是在I通道输出之前(如图4中所示)。此种情况为采集、处理信号耗时最长的情况。则距离最终4通道至少有2个输出跳车信号需要3个周期的时间。信号触发的时间如果向前移动0.25个周期，其效果也同样如此。因此，从信号触发到最终的跳车信号输出，整个控制系统的最大响应时间为2.75个周期。
2、多通道控制系统的输入信号的个数在一些工况时有可能少于通道的个数。有的工况，可能输入信号的个数为3个或者2个。这样必然会有1个(3个信号的情况)或2个(2个信号的情况)通道没有采集到这种情况下的信号，使得第一个采集到信号跳变的通道的位置可能在最后，整个控制系统可能在信号发生跳变后1个周期才采集到跳变信息，不利于提高响应的速度。并且，当采集信号的通道发生故障(如CPU故障、内存故障)时，将直接减少整个系统对于信号的采集。
发明内容
本发明专利的目的是提供一种多个控制器之间协同工作的优化方法，从而减小了由多个控制器组成的控制系统的响应时间，提高了整个控制系统的性能。
为了实现上述发明目的，本发明所采用的技术方案如下：
一种多个控制器之间协同工作的优化方法，在多个传感器同时探测同一个物理量时，每个传感器将检测到的信号传给对应的一个控制装置；所述每一个控制器称为一个通道，各个通道相互独立，相互通讯；每个通道包括具有独立的信号采集部件、信号输出部件、中央处理器和通讯部件；中央处理器也称为CPU或MPU，具有固定的运算周期，每个周期中执行功能的顺序是固定的；每个通道接受的传感器信号经过阈值判断后生成本通道的逻辑判断信号；每个通道都接受其他通道传来的逻辑判断信号；本通道的逻辑判断信号与其它通道的逻辑判断信号经过综合逻辑判断，输出跳车信号；对多个通道的CPU的运行周期进行有序排列，使各个通道之间形成一种协同工作机制，具体步骤如下：
1)、对多个通道CPU的运行周期进行有序排列，每个通道相对于其它通道，在每个 周期内具有均等的最先采集到信号跳变的概率；
2)、通过调整CPU周期的长度来控制CPU计算负荷，即调整CPU的每一个周期中，从开始采集到输出完成的时间与CPU周期的比值，使得周期排列在后面的通道，在触发信号产生后的第一个周期开始时，能够同时采集到触发信号和第一个接收到触发信号的通道发出的逻辑判断信号；
3)、当某一工况需要判断的信号数量比通道数量少时，将其中的部分信号转化成多个信号，分给原来没有被分配的通道，保证每个通道都有来自传感器的信号；
4)、每个通道的CPU进行逻辑运算的顺序是：
④对采集到的传感器信号，进行阈值判断；
⑤结合其它通道的判断信号进行综合逻辑判断，产生跳车信号；
⑥向跳车装置输出本通道的跳车信号，向其它通道输出本通道的传感器阈值判断信号；
④在传感器信号与通道数量相同的情况下，进行综合逻辑判断时，采用全部其它通道的判断信号；在信号数量比通道数量少的情况下，采集转化信号的通道进行综合逻辑判断时，传感器信号来自同一源头的判断信号，在进行综合逻辑判断时只采用一次。
本发明具有的优点是：
1、提供了一种多个控制器(或者CPU)协同工作的工作机制和工作方法。具有高可靠性、高冗余性和高效性的协同工作机制。控制器能够更早的采集到传感器跳变信号和其它通道的逻辑判断信号，减少运算的周期，最终使得计算结果的输出提前，减少了响应时间；
2、在工程实际中，提供了一种方法，使得响应时间，CPU负荷和CPU周期三者之间有可能实现性能最佳的组合。
3、优化了在多个控制器(或者CPU)协同工作的情况下，每个控制器内部的逻辑运算顺序和运算规则；
4、通过将采集的信号转化和分配，增加了能够采集到传感器信号的通道个数，提高了整个系统的可靠性。
附图说明
图1是传统的多通道控制系统组成框图。
箭头方向表示了各个通道之间网络信号传输的方向。每个通道都有信号发给其它3 个通道，也接受其它3个通道传来的信号。信号传输所用的时间很短，为了方便分析，将传输所用的时间，计入CPU计算时间。跳车装置接收各个通道发出的跳车信号，产生跳车动作。跳车装置不属于所描述的控制系统，为一个单独装置。
图2表明了传感器信号与通道的对应关系。
图3是本发明的运算顺序和判断逻辑示意图。图中说明了在每个通道内，信号进行逻辑运算的流程。
图4是传统的多个处理器之间协同工作的周期示意图。
图5是4个通道，并且CPU计算负荷比较大(≤75％，＞50％)的情况下，多个通道协同工作周期排序示意图。
图6是4个通道，并且CPU计算负荷相对较小(≤50％)的情况下，多个通道协同工作周期排序示意图。
图7是3个通道，协同工作周期排序示意图。
图8是当传感器数量少于通道数量时，信号分配的示意图。
图9是4个通道、3个传感器的情况下，运算顺序和判断逻辑示意图。传感器信号来自同一源头的判断信号，在进行综合逻辑判断时只采用一次。因此进行通道III和通道IV的传感器信号来自同一源头。在进行逻辑判断时，不采用通道IV的判断结果，输出判断结果时，也不输出给通道IV。
图10是4个通道、2个传感器的情况下，运算顺序和判断逻辑示意图。传感器信号来自同一源头的判断信号，在进行综合逻辑判断时只采用一次。因此进行通道II和通道III的判断信号，在输出判断结果时，通道II与通道I是同一信号源，不必输出给通道I。
具体实施方式
本发明适用于由多个通道组成的控制系统，通过调整每个通道的CPU计算负荷，对多个通道CPU的运行周期进行有序排列，使各个通道之间形成一种优化的协同工作机制。触发信号的产生是随机的，由于各个通道CPU周期相同，因此在1个周期的时间内，在整个多通道控制系统会有和通道数量相同的采集次数。每个通道都有可能最先采集到触发信号的产生，在对通道CPU进行排序时，使得每个通道最先采集到触发信号的概率相同。排序的方式有多种，根据通道数量和CPU计算负荷的不同而变化，并且可以有多个通道同时最先采集到触发信号。
同种型号CPU，相同的计算量使用的时间相同。变化CPU周期的时间长度，CPU计算负荷也跟随变化。通过调整CPU周期的时间长度来控制CPU计算负荷的大小。结合上述第1条，使得周期排列在后面的通道，在触发信号产生后的第一个周期开始时，能够同时采集到触发信号和第一个接收到触发信号的通道发出的逻辑判断信号。因此，这个通道在第一个周期就可以输出本通道的跳车信号。
当出现传感器数量少于通道数时，将其中的部分传感器信号通过电路转化成多个信号，分给原来没有被分配的通道，保证每个通道都有来自传感器的信号。并且在算法上调整逻辑运算的方式，使得优化的协同工作机制在各种情况下都能够发挥作用。
以4个通道的情况为例，其具体的工作原理和实施方式如下：
多通道控制系统中，每个通道实际是一个独立的控制器，CPU以固定运算周期运行，具有独立的采集、输出和运算等功能。4个通道之间相互通讯，组成一个控制系统。各个通道之间采用即时的通讯方式，将所需的控制信号传输给其它通道，通讯消耗的时间很短。为了方便分析，通讯消耗的时间计入运算周期中输出阶段的时间。可以简单的理解为，其中一个通道输出完毕，其它通道就已经接受到了传输信号，但是需要等到CPU周期进行到信号采集环节时才能够开始进行逻辑运算。4个通道之间通讯联系，参见图1所示。
每个通道都会输出一个跳车信号给外部判断装置，在此称为跳车装置。由跳车装置最终产生跳车的动作。跳车装置产生动作的条件是在同一个时间点，4个通道中有2个通道发出跳车信号。因此控制系统实际产生有效的跳车信号的条件是有2个通道发出跳车信号。
在实际工程实施中，一般有多个传感器同时探测同一个物理量(如温度，)，假设有4个传感器编号为a、b、c、d，假设这四个传感器探测到相同的并且同时探测到温度的变化。4个传感器对应4个处理的CPU，每个CPU成为一个通道叫做通道I，通道II，通道III，通道IV。参见图2所示。当这些信号产生某些特定的跳变或者达到某些特定值时，采集这些信号的通道会产生并输出跳车信号。
导致跳车信号产生的信号可能会有多种，检测这些信号的传感器的数量，不一定与通道的数量一致。例如，有4个通道，可能有4个传感器同时测量某一部位的温度信号，可能有3个传感器测量同一个部位的压力，可能有2个传感器测量同一个部位的水位等等。
当某一工况需要判断的传感器信号个数少于通道的个数时，将其中的部分信号通过电路转化成多个信号，分给原来没有被分配的通道，保证每个通道都有来自传感器的信号。由于信号在转化为两个信号时没有通过CPU的运算，因此延误的时间忽略不计。如图8所示。
每个通道采集并且运算处理来自传感器的信号和其他通道传来的判断信号，输出本通道的判断信号和跳车信号。进行运算时的顺序为：
第一步，进行传感器信号的阈值判断；
第二步，根据阈值判断产生的本通道判断信号和其它通道传来的判断信号进行综合逻辑判断；
第三步，输出本通道判断信号和跳车信号。
对于传感器信号个数少于通道个数的情况，来自同一源头(传感器)的判断信号，在第二步进行综合逻辑判断时只采用一次。
当3个传感器的信号分配给4个通道时，假定信号分配形式如图8中所示，则判断逻辑需调整为如图9所示。其中，通道I和通道II的逻辑形式上基本相同，只是通道号I或者II进行相应的替换。通道III和通道IV的逻辑形式上基本相同，也是通道号III或者IV进行相应的替换。
当2个传感器的信号分配给4个通道时，信号分配形式如图8中所示，判断逻辑如图10所示。其中通道IV与通道III的逻辑类似，只是通道号III或者IV进行相应的替换。传感器信号来自同一源头的判断信号，在进行综合逻辑判断时只采用一次，因此进行通道Ⅱ和通道Ⅲ的判断信号，在输出判断结果时，通道Ⅱ与通道Ⅰ是同一信号源，不必输出给通道Ⅰ。
当各个通道的逻辑根据实际工程的要求和上述的信号分配处理原则确定后，其CPU的计算负荷也基本确定。根据其计算负荷的大小，将多个通道CPU运算周期的起点进行排列，从而形成一种协同工作的机制。在对通道CPU运算周期排序时，按照下面2点原则：
①每个通道相对于其它通道，在每个周期内具有均等的最先采集到信号跳变的概率；
②使得周期排列在后面的通道，在触发信号产生后的第一个周期开始时，能够同时采集到触发信号和第一个接收到触发信号的通道发出的逻辑判断信号。
在实际实施过程中排列的顺序可以有多种，可以通过改变CPU周期时间的方法来改变CPU计算负荷，这样可以方便的找到最佳的排列方案。如按照通道的个数均匀排列，4个通道每个之间间隔1/4个周期，如图5所示；或者4个通道，2个一组，间隔1/2个周期，如图6所示。图6所示2个通道能够同时最先采集到触发信号，每个通道最先采集到触发信号的概率为50％。图5显示了另一种4个通道的情况，每个通道最先采集到触发信号的概率为25％。
通过不同的排列方式，结合通道的CPU计算负荷，达到各个通道之间最佳的协同工作方式。排列在最后的通道在第一个周期就可以输出本通道的跳车信号，整个系统产生有效跳车信号的响应时间也会减少。
举例1：4个通道的情况，CPU的计算负荷在周期为40ms时为75％，即CPU每个周期需要计算30ms。若将CPU周期改为60ms，CPU计算负荷为50％，则可以采用图6所示的排列方法。在后面的2个通道，在采集到触发信号的同时也采集到前面2个通道的逻辑判断信号，因此在第一个周期就可以发出跳车信号。跳车装置受到2个通道的跳车信号后，引起跳车装置动作。由此可以看出，此种实施方式，可以在第一个周期就能引起跳车，信号在第一个周期之前的0.5个周期内产生，效果相同。如果以通道运算周期来计算最大响应时间，可以认为最大的影响时间为1.5个周期，即90ms。
举例2:3个通道情况，CPU的计算负荷在周期为40ms时为75％，即CPU每个周期需要计算30ms。CPU计算负荷过高，影响最终响应时间。若将周期改为50ms，CPU计算负荷为60％，则可以采用图7所示的排列方法。
本发明主要应用于核电DCS行业，可以扩展应用于自动控制、航空航天、电力、电子、石油化工等。

Claims (1)

  1. 一种多个控制器之间协同工作的优化方法，在多个传感器同时探测同一个物理量时，每个传感器将检测到的信号传给对应的一个控制装置；所述每一个控制器称为一个通道，各个通道相互独立，相互通讯；每个通道包括具有独立的信号采集部件、信号输出部件、中央处理器和通讯部件；中央处理器也称为CPU或MPU，具有固定的运算周期，每个周期中执行功能的顺序是固定的；每个通道接受的传感器信号经过阈值判断后生成本通道的逻辑判断信号；每个通道都接受其他通道传来的逻辑判断信号；本通道的逻辑判断信号与其它通道的逻辑判断信号经过综合逻辑判断，输出跳车信号；对多个通道的CPU的运行周期进行有序排列，使各个通道之间形成一种协同工作机制，具体步骤如下：
    1)、对多个通道CPU的运行周期进行有序排列，每个通道相对于其它通道，在每个周期内具有均等的最先采集到信号跳变的概率；
    2)、通过调整CPU周期的长度来控制CPU计算负荷，即调整CPU的每一个周期中，从开始采集到输出完成的时间与CPU周期的比值，使得周期排列在后面的通道，在触发信号产生后的第一个周期开始时，能够同时采集到触发信号和第一个接收到触发信号的通道发出的逻辑判断信号；
    3)、当某一工况需要判断的信号数量比通道数量少时，将其中的部分信号转化成多个信号，分给原来没有被分配的通道，保证每个通道都有来自传感器的信号；
    4)、每个通道的CPU进行逻辑运算的顺序是：
    ①对采集到的传感器信号，进行阈值判断；
    ②结合其它通道的判断信号进行综合逻辑判断，产生跳车信号；
    ③向跳车装置输出本通道的跳车信号，向其它通道输出本通道的传感器阈值判断信号；
    ④在传感器信号与通道数量相同的情况下，进行综合逻辑判断时，采用全部其它通道的判断信号；在信号数量比通道数量少的情况下，采集转化信号的通道进行综合逻辑判断时，传感器信号来自同一源头的判断信号，在进行综合逻辑判断时只采用一次。
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