WO2020091256A1 - Controller system having redundant board, and master/slave configuration method for redundant board - Google Patents

Controller system having redundant board, and master/slave configuration method for redundant board Download PDF

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Publication number
WO2020091256A1
WO2020091256A1 PCT/KR2019/013237 KR2019013237W WO2020091256A1 WO 2020091256 A1 WO2020091256 A1 WO 2020091256A1 KR 2019013237 W KR2019013237 W KR 2019013237W WO 2020091256 A1 WO2020091256 A1 WO 2020091256A1
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Prior art keywords
board
boards
master
slave
initialization
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PCT/KR2019/013237
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French (fr)
Korean (ko)
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권효철
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효성중공업 주식회사
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Publication of WO2020091256A1 publication Critical patent/WO2020091256A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B9/00—Safety arrangements
    • G05B9/02—Safety arrangements electric
    • G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4144—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by using multiplexing for control system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
    • G05B23/0224—Process history based detection method, e.g. whereby history implies the availability of large amounts of data
    • G05B23/0227—Qualitative history assessment, whereby the type of data acted upon, e.g. waveforms, images or patterns, is not relevant, e.g. rule based assessment; if-then decisions
    • G05B23/0237—Qualitative history assessment, whereby the type of data acted upon, e.g. waveforms, images or patterns, is not relevant, e.g. rule based assessment; if-then decisions based on parallel systems, e.g. comparing signals produced at the same time by same type systems and detect faulty ones by noticing differences among their responses
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
    • G06F11/16—Error detection or correction of the data by redundancy in hardware
    • G06F11/20—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
    • G06F11/16—Error detection or correction of the data by redundancy in hardware
    • G06F11/20—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements
    • G06F11/202—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements where processing functionality is redundant
    • G06F11/2023—Failover techniques
    • G06F11/2033—Failover techniques switching over of hardware resources

Definitions

  • the present invention relates to a controller system having a redundancy board, and more particularly, to a master / slave setting method of a redundancy board and a controller system of the redundancy board for setting as a master and slave board, respectively, during initial booting of the redundancy board.
  • this prior art is a technique for switching the master / slave board during the operation of the redundancy board, and does not suggest a technique for setting the master and slave boards respectively during the initial booting of the redundancy board.
  • the present invention has been proposed to solve the problems of the prior art described above, and the master / slave setting of the redundant board to set the master and slave boards based on the completion time of initialization of each board during initial booting of the board implemented with redundancy. It is an object of the present invention to provide a method and a system having the redundant board.
  • Another object of the present invention is to provide a master / slave setting method of a redundant board capable of setting a master / slave board through simple communication in a redundant board and a system provided with the redundant board.
  • a controller system having a redundancy board includes first and second boards composed of redundancy; And at least one sub-board each communicating with the first and second boards, wherein each of the first and second boards includes a data transmission / reception unit that transmits and receives data to and from the other board, and the first and second boards.
  • the initialization processing unit for performing initialization of the communication unit for transmitting the initialization completion information to the lower board and receiving master / slave setting information from the lower board, and the initialization completion information when the initialization of the first and second boards is completed Based on the master / slave setting information generated and received through the communication unit, the first and second boards are respectively set as master boards or slave boards, and each of the at least one lower board communicates with the communication unit of the first board.
  • the first communication module to receive initialization completion information of the first board and transmit the master / slave setting information, and a communication unit of the second board
  • the second communication module for receiving the initialization completion information of the second board and transmitting the master / slave setting information, and the initialization completion information of the first and second boards received through the first and second communication modules.
  • a control module that generates the master / slave setting information by comparing the reception time points.
  • control module generates setting information for setting a board having a relatively faster start point of initialization completion information of the first and second boards as the master board.
  • control module generates setting information to set a preset board as a master board if the reception time of the initialization completion information of the first and second boards is the same.
  • the controller system having a redundancy board according to another embodiment of the present invention, the first and second boards composed of redundancy; And at least one sub-board each communicating with the first and second boards, wherein each of the first and second boards includes a data transmission / reception unit that transmits and receives data to and from the other board, and the first and second boards.
  • the initialization processing unit performing initialization of the communication unit, the communication unit transmitting initialization completion information to the sub-board and receiving master / slave setting information from the sub-board, and when the initialization of the first and second boards is completed, the initialization is completed.
  • each of the at least one sub-board comprises: A first communication module that communicates with the communication unit of the first board to receive initialization completion information of the first board and to transmit the master / slave setting information. And a second communication module communicating with the communication unit of the second board to receive initialization completion information of the second board and transmitting the master / slave setting information, and the second communication module to be received through the first and second communication modules. It includes a control module that generates the master / slave setting information by comparing each initialization completion time included in the initialization completion information of the 1,2 board.
  • control module generates setting information for setting a board having a relatively faster initialization time of the first and second boards as the master board.
  • the control module when the initialization completion time of the first and second boards is the same, the control module generates setting information to set a preset board as a master board.
  • the method for setting a master / slave board of a redundant board is a method for setting a master / slave board of the redundant board in a controller system including a redundant board and at least one sub-board.
  • the lower board sets the board that is received earlier as the master board and the board that is received later as the slave board by comparing the reception points of the initialization completion information received from the first and second boards, respectively. Generate information.
  • the lower board generates setting information that sets a preset board as a master board and sets the remaining boards as slave boards when the reception times of initialization completion information received from the first and second boards are the same.
  • the method for setting a master / slave board of a redundant board is a method for setting a master / slave board of the redundant board in a controller system including a redundant board and at least one sub-board.
  • the lower board sets the faster board as the master board and the later board as the slave board by comparing the initialization completion time included in the initialization completion information received from the first and second boards, respectively.
  • the lower board when the initialization completion time included in the initialization completion information received from the first and second boards is the same, the lower board sets the preset information to set the preset board as the master board and set the remaining boards as slave boards. To create.
  • the master / slave board is set based on the time point at which each of the redundancy boards in the controller is initialized, simple and quick setting is possible.
  • the same software is mounted on the redundant board and the master / slave board can be set without additional configuration, the productivity of the product is increased and the possibility of malfunction is reduced.
  • FIG. 1 is an exemplary diagram of a redundancy board in a controller system according to an embodiment of the present invention.
  • FIG. 2 is a configuration diagram of a controller system having a redundancy board according to an embodiment of the present invention.
  • FIG. 3 is a flowchart illustrating a master / slave setting method for a redundant board of a controller system according to an embodiment of the present invention.
  • FIG. 4 is a flowchart illustrating a master / slave board setting method of a redundant board according to another embodiment of the present invention.
  • first, second, A, B, (a), and (b) may be used. These terms are only for distinguishing the component from other components, and the nature, order, or order of the component is not limited by the term.
  • FIG. 1 is an exemplary diagram of a redundancy board in a controller system according to an embodiment of the present invention.
  • a device 10 to which a redundancy board 20 according to an embodiment of the present invention is applied includes a first board 21 and a second board 22 made of redundancy. Since the first board 21 and the second board 20 are configured with redundancy, the same configuration (hardware) and the same function (software and program) are mounted on each other.
  • the device 10 may be configured in various forms. For example, it may be a control device that controls equipment or devices.
  • the first board 21 and the second board 22 are boards provided in a general controller, and collectively refer to boards that perform various functions, such as a calculation board and a control board. .
  • these boards 21 and 22 are used as a concept including devices such as a controller or a control module.
  • a board duplicated by two boards 21 and 22 is shown as an example, but the present invention is not limited to this embodiment and may be configured by multiplexing two or more boards. That is, the method of setting the master / slave board according to the present invention can be equally applied to a multiplexed board. Therefore, in the present invention, for convenience of description, a duplicated board will be described.
  • FIG. 2 is a configuration diagram of a controller system having a redundancy board according to an embodiment of the present invention.
  • the controller system 100 includes a first board 21, a second board 22, and at least one lower board 23.
  • the redundant boards 21 and 22 each have the same configuration and function, the configuration and function of the first and second boards 21 and 22 will be described below based on the first board 21. I will do it. Naturally, this description applies equally to the second board 22.
  • the first board 21 includes a data transmission / reception unit 211, an initialization processing unit 212, a communication unit 213, and a control unit 214.
  • the data transmission / reception unit 211 transmits and receives data to / from the counterpart board. That is, the data transmission / reception unit 211 of the first board 21 exchanges data with the data transmission / reception unit 221 of the second board 22. These data are data to be shared between the first and second boards 21 and 22, and, for example, share various status information, control values, information of lower boards, programs required for operation, and the like to implement controller redundancy. .
  • the initialization processing unit 212 initializes the first board 21 when a voltage for initial booting is applied to the first board 21.
  • This voltage is the starting voltage supplied from a separate power supply (for example, SMPS) when the device is booted in a state in which the power of the board 21 is turned off, specifically, the power of the device including the corresponding board 21 is turned off. Can be As such, when power is supplied to boot the device, power is also supplied to the first board 21.
  • SMPS separate power supply
  • the communication unit 213 transmits the initialization completion information to at least one sub-board 23 and receives master / slave setting information transmitted from the sub-board 23.
  • the master / slave setting information includes information on which board of the two boards 21 and 22 is to be set as the master board.
  • the initialization completion information includes information on the initialization timing and status of each board.
  • the communication unit 213 immediately transmits the initialization completion information to the lower board 23 upon completion.
  • the control unit 214 determines whether to set itself as a master board or a slave board using the master / slave setting information received from the lower board 23 through the communication unit 213. That is, if the master / slave setting information received from the lower board 23 includes information set as the master board, the control unit 214 sets itself as the master board, and vice versa. If is included, you are setting yourself up as a slave board.
  • At least one lower board 23 is provided, and includes two communication modules 231 and 232 and a control module 233, respectively.
  • the first communication module 231 communicates with the communication unit 213 of the first board 21 to receive initialization completion information of the first board 21 and transmits master / slave setting information.
  • the second communication module 232 communicates with the communication unit 223 of the second board 22 to receive initialization completion information of the second board 22 and transmits master / slave setting information.
  • each lower board 23 transmits the same master / slave setting information through the first communication module 231 and the second communication module 232, respectively, to the communication unit 213 and the second board of the first board 21. (22) to the communication unit 223.
  • the control module 233 checks initialization completion information of the first board 21 and initialization completion information of the second board 22 received through the first communication module 231 and the second communication module 232, respectively. . At this time, the initialization completion information of the two received boards 21 and 22 is compared to generate setting information for setting the received board as the master board relatively quickly and setting the received board as the slave board relatively later. The generated setting information is transmitted to the first and second boards 21 and 22 through the first and second communication modules 231 and 232, respectively.
  • control module 233 checks the initialization completion information received from the two boards 21 and 22, compares the initialization completion time included therein, and masters the board whose initialization completion time is relatively faster. It is also possible to generate setting information for setting a board, and setting information for setting a relatively slower board as a master board.
  • the first and second boards 21.22 are set to master and slave boards, respectively, based on master / slave setting information received from the lower board 23.
  • the received board is set as the master board relatively faster based on the time when the lower board 23 receives the initialization completion information from the redundant first and second boards 21 and 22.
  • a board having a faster initialization completion time may be set as a master board.
  • the two boards 21 and 22 which are duplicated are substantially the same board. That is, it is the same board that has the same configuration and function and operates substantially the same.
  • the performance of the two boards 21 and 22 may be slightly different when used for a long period of time.
  • a time difference may occur in which initialization completion information is received on the lower board 23 according to the minute difference, and the master and slave boards are set based on the time difference.
  • a time difference may occur at the time of initialization completion according to the minute difference, and the master and slave boards may also be set based on the time difference.
  • the preset board among the two boards is set as the master board and the other board is the slave board. It is possible to generate setting information to set to and transmit to each board (21,22).
  • FIG. 3 is a flowchart illustrating a master / slave setting method for a redundant board of a controller system according to an embodiment of the present invention.
  • each initialization is performed.
  • the processing units 212 and 222 initialize their boards 21 and 22 (S103).
  • the first and second boards 21 and 22 respectively generate initialization completion information as the initialization is completed (S105), and transmit them to the lower board 23 through the communication units 213 and 223 (S107).
  • the lower board 23 compares the reception time of the initialization completion information received from the first and second boards 21 and 22, respectively (S109). As a result of the comparison, while setting the received board as the master board relatively quickly and simultaneously setting the received board as the slave board (S111), the setting information is set to the first and second boards (21). , 22) (S113). For example, when the initialization completion information from the first board 21 is received earlier than the initialization completion information of the second board 22, the lower module 23 sets the first board 21 as the master board and the second The setup information for setting the board 22 as a slave board is generated, and the same is transmitted to the first and second boards 21.22.
  • the first and second boards 21 and 22 set themselves as a master board or a slave board based on the setting information (S115).
  • the first board 21 is set as the master board and the second board 22 is set as the slave board in the setting information
  • the first board 21 sets itself as the master board and the second board.
  • the board 22 is to set itself as a slave board.
  • step S111 If, when generating the master / slave setting information in step S111, if the reception time of the two initialization completion information is the same, set the preset board as the master board and set the other board as the slave board among the two boards. Do it.
  • FIG. 4 is a flowchart illustrating a master / slave setting method for a redundant board of a controller system according to another embodiment of the present invention.
  • the first and second boards 21 and 22 respectively generate initialization completion information as the initialization is completed (S205) and transmit them to the lower board 23 through the communication units 213 and 223 (S207).
  • the initialization completion information includes information on the completion time of initialization of each board 21 and 22.
  • the lower board 23 compares the initialization completion time included in the initialization completion information received from the first and second boards 21 and 22 (S209).
  • the setup information is generated to set a board with a relatively faster board as a master board and a board with a relatively slower board as a slave board when the initialization of the two boards 21.22 is completed (S211). It transmits to the two boards (21,22) (S213).
  • the lower module 23 sets the first board 21 as the master board and the second board ( 22) is to transmit the same to the first and second boards (21.22) by generating setting information to set the slave board.
  • the first and second boards 21 and 22 set themselves as a master board or a slave board based on the setting information (S215).
  • the first board 21 is set as the master board and the second board 22 is set as the slave board in the setting information
  • the first board 21 sets itself as the master board and the second board.
  • the board 22 is to set itself as a slave board.
  • step S21 If, when generating the master / slave setting information in step S21, if the initialization completion time points are the same, set the preset board as the master board and set the other board as the slave board. .
  • the master / slave board when each of its own initialization information is transmitted to the lower board in the redundant board having the same configuration and function, the master / slave board is set according to the reception time of the initialization complete information in the lower board. Also, check the time of each initialization on the lower board and set the master / slave mode according to the time of completion of the initialization. This has the advantage of being able to quickly set up the master board in a simple way.

Abstract

The present invention relates to a method for configuring a master/slave board during initial booting of a redundant board, and a board thereof. A master/slave configuration method for a redundant board, according to an embodiment of the present invention, comprises: initializing redundant first and second boards, respectively, when a boot voltage is applied thereto; allowing the first and second boards to generate initialization completion information, respectively, according to the completion of the initialization so as to transmit same to a lower-rank board, respectively; allowing the lower-rank board to compare reception time points of the initialization completion information respectively received from the first and second boards so as to generate master/slave configuration information; allowing the lower-rank board to transmit the generated master/slave configuration information to the first and second boards, respectively; and allowing the first and second boards to configure same as either a master board or a slave board according to the respectively received master/slave configuration information.

Description

이중화 보드를 구비한 제어기 시스템 및 그 이중화 보드의 마스터/슬레이브 설정방법Controller system with redundancy board and master / slave setting method of the redundancy board
본 발명은 이중화 보드를 구비한 제어기 시스템에 관한 것으로서, 특히 이중화 보드의 초기부팅시 각각 마스터 및 슬레이브 보드로 설정하기 위한 이중화 보드의 마스터/슬레이브 설정방법 및 그 이중화 보드의 제어기 시스템에 관한 것이다.The present invention relates to a controller system having a redundancy board, and more particularly, to a master / slave setting method of a redundancy board and a controller system of the redundancy board for setting as a master and slave board, respectively, during initial booting of the redundancy board.
통상적으로 중요한 설비를 제어하는 제어기의 경우 갑작스런 고장 발생에도 끊김없는 제어가 이루어지도록 이중화로 구현된다. 최근에는 제어기 내에서 연산보드, 제어보드 등 중요한 기능들을 수행하는 보드도 이중화로 구현하는 사례가 증가하고 있다.In general, in the case of a controller that controls an important facility, it is implemented in redundancy so that continuous control occurs even in the event of a sudden failure. Recently, there have been increasing cases of implementing boards that perform important functions such as operation boards and control boards in the controller in a redundant manner.
한국 공개특허공보 제2000-0055954호 및 한국 등록특허공보 제0320149호에는 이중화 보드에서 마스터 보드가 동작중 고장발생 시 슬레이브 보드가 통신을 통해 마스터 보드의 고장을 감지하여 자신이 마스터로 절체되어 마스터 보드로서 운영되도록 하는 기술에 대해 개시하고 있다.In Korean Patent Application Publication No. 2000-0055954 and Korean Registered Patent Publication No. 0320149, when a master board malfunctions in a redundant board, the slave board detects the failure of the master board through communication and transfers itself to the master board. It discloses the technology to be operated as.
하지만, 이러한 선행문헌은 이중화 보드의 동작중에 마스터/슬레이브 보드의 절체에 관한 기술로서 이중화 보드의 초기 부팅시 마스터와 슬레이브 보드를 각각 설정하는 기술에 대해 제시하는 것이 아니다.However, this prior art is a technique for switching the master / slave board during the operation of the redundancy board, and does not suggest a technique for setting the master and slave boards respectively during the initial booting of the redundancy board.
또한, 종래에 이중화 보드의 초기 부팅시 마스터 보드와 슬레이브 보드를 설정하기 위해 이중화 보드 간에 상대보드의 레지스터 값을 읽어들여서 마스터로 동작할지를 판단하거나 외부의 딥스위치(dip switch)의 정보를 읽어서 마스터/슬레이브를 결정하도록 하는 기술이 제시되어 있다.In addition, in order to set the master board and the slave board during the initial booting of the redundant board, it is determined whether to operate as a master by reading the register value of the counter board between the redundant boards, or by reading the information of an external dip switch. A technique has been proposed to determine the slave.
이러한 종래기술에서는 상대보드의 정보를 서로 간에 읽어들여야 하므로 마스터/슬레이브 결정에 일정한 시간이 필요하고, 또한 딥스위치의 동작시 작업자의 설정 오류가 발생할 수 있으며 딥스위치의 정보를 읽는데도 일정시간이 소요된다는 문제점이 있다. 이러한 시간의 소요는 빠른 제어를 필요로 하는 보드에서 동작의 시간지연으로 이어진다는 문제점으로 나타난다.In this prior art, since the information of the counter board must be read from each other, a certain time is required to determine the master / slave, and when the dip switch is operated, an operator setting error may occur, and it takes a certain time to read the dip switch information. There is a problem. This time lapse appears as a problem that leads to a time delay of operation in a board requiring fast control.
또한, 다른 방법으로 이중화 보드의 초기 부팅 시 두 보드 간에 클럭을 기반으로 마스터/슬레이브 보드를 결정하는 방법이 제시되어 있으나, 최근에 많이 사용되고 있는 FGPA(field programmable gate array)와 같은 CPU 보드 간에서는 클럭을 기반으로 결정할 때 어려움이 있을 수 있다.In addition, a method of determining a master / slave board based on a clock between two boards during initial booting of a redundancy board is proposed in another way, but clocks are used between CPU boards such as a field programmable gate array (FGPA), which has been recently used. There may be difficulties when making decisions based on.
본 발명은 상기한 종래기술의 문제점을 해결하기 위해 제안된 것으로서, 이중화로 구현된 보드의 초기부팅시 각 보드의 초기화 완료시점을 기준으로 마스터 및 슬레이브 보드를 설정하도록 하는 이중화 보드의 마스터/슬레이브 설정방법 및 그 이중화 보드를 구비한 시스템을 제공하는데 그 목적이 있다.The present invention has been proposed to solve the problems of the prior art described above, and the master / slave setting of the redundant board to set the master and slave boards based on the completion time of initialization of each board during initial booting of the board implemented with redundancy. It is an object of the present invention to provide a method and a system having the redundant board.
또한, 본 발명은 이중화 보드에서 간단한 통신을 통해 마스터/슬레이브 보드를 설정할 수 있는 이중화 보드의 마스터/슬레이브 설정방법 및 그 이중화 보드를 구비한 시스템을 제공하는데 다른 목적이 있다.Another object of the present invention is to provide a master / slave setting method of a redundant board capable of setting a master / slave board through simple communication in a redundant board and a system provided with the redundant board.
본 발명의 일 실시 예에 따른 이중화 보드를 구비한 제어기 시스템은, 이중화로 구성된 제1 및 제2 보드; 및 상기 제1 및 제2 보드와 각각 통신하는 적어도 하나의 하위보드를 포함하고, 상기 제1 및 제2 보드 각각은, 상대보드와 데이터를 서로 송수신하는 데이터송수신부와, 상기 제1,2 보드의 초기화를 수행하는 초기화처리부와, 초기화 완료정보를 상기 하위보드로 전송하고 상기 하위보드로부터 마스터/슬레이브 설정정보를 수신하는 통신부와, 상기 제1,2보드의 초기화가 완료되면 상기 초기화 완료정보를 생성하고 상기 통신부를 통해 수신된 마스터/슬레이브 설정정보를 바탕으로 상기 제1,2보드를 각각 마스터 보드 또는 슬레이브 보드로 설정하며, 상기 적어도 하나의 하위보드 각각은, 상기 제1보드의 통신부와 통신하여 상기 제1보드의 초기화 완료정보를 수신하고 상기 마스터/슬레이브 설정정보를 전송하는 제1통신모듈과, 상기 제2보드의 통신부와 통신하여 상기 제2보드의 초기화 완료정보를 수신하고 상기 마스터/슬레이브 설정정보를 전송하는 제2통신모듈과, 상기 제1,2통신모듈을 통해 수신되는 상기 제1,2 보드의 초기화 완료정보의 수신시점을 비교하여 상기 마스터/슬레이브 설정정보를 생성하는 제어모듈을 포함한다.A controller system having a redundancy board according to an embodiment of the present invention includes first and second boards composed of redundancy; And at least one sub-board each communicating with the first and second boards, wherein each of the first and second boards includes a data transmission / reception unit that transmits and receives data to and from the other board, and the first and second boards. The initialization processing unit for performing initialization of the communication unit for transmitting the initialization completion information to the lower board and receiving master / slave setting information from the lower board, and the initialization completion information when the initialization of the first and second boards is completed Based on the master / slave setting information generated and received through the communication unit, the first and second boards are respectively set as master boards or slave boards, and each of the at least one lower board communicates with the communication unit of the first board. The first communication module to receive initialization completion information of the first board and transmit the master / slave setting information, and a communication unit of the second board The second communication module for receiving the initialization completion information of the second board and transmitting the master / slave setting information, and the initialization completion information of the first and second boards received through the first and second communication modules. And a control module that generates the master / slave setting information by comparing the reception time points.
본 발명에서, 상기 제어모듈은 상기 제1,2보드의 초기화 완료정보의 수신시점이 상대적으로 더 빠른 보드를 상기 마스터 보드로 설정한다는 설정정보를 생성한다.In the present invention, the control module generates setting information for setting a board having a relatively faster start point of initialization completion information of the first and second boards as the master board.
본 발명에서, 상기 제어모듈은 상기 제1,2보드의 초기화 완료정보의 수신시점이 같으면 기설정된 보드를 마스터 보드로 설정한다는 설정정보를 생성한다.In the present invention, the control module generates setting information to set a preset board as a master board if the reception time of the initialization completion information of the first and second boards is the same.
또한, 본 발명의 다른 실시 예에 따른 이중화 보드를 구비한 제어기 시스템은, 이중화로 구성된 제1 및 제2 보드; 및 상기 제1 및 제2 보드와 각각 통신하는 적어도 하나의 하위보드를 포함하고, 상기 제1 및 제2 보드 각각은, 상대보드와 데이터를 서로 송수신하는 데이터송수신부와, 상기 제1,2 보드의 초기화를 수행하는 초기화처리부와, 초기화 완료정보를 상기 하위보드로 전송하고 상기 하위보드로부터 마스터/슬레이브 설정정보를 수신하는 통신부와, 상기 제1,2보드의 초기화가 완료되면 상기 초기화의 완료시점을 포함하는 초기화 완료정보를 생성하고 상기 통신부를 통해 수신된 마스터/슬레이브 설정정보를 바탕으로 상기 제1,2보드를 각각 마스터 보드 또는 슬레이브 보드로 설정하며, 상기 적어도 하나의 하위보드 각각은, 상기 제1보드의 통신부와 통신하여 상기 제1보드의 초기화 완료정보를 수신하고 상기 마스터/슬레이브 설정정보를 전송하는 제1통신모듈과, 상기 제2보드의 통신부와 통신하여 상기 제2보드의 초기화 완료정보를 수신하고 상기 마스터/슬레이브 설정정보를 전송하는 제2통신모듈과, 상기 제1,2통신모듈을 통해 수신되는 상기 제1,2 보드의 초기화 완료정보에 각각 포함된 초기화 완료시점을 서로 비교하여 상기 마스터/슬레이브 설정정보를 생성하는 제어모듈을 포함한다.In addition, the controller system having a redundancy board according to another embodiment of the present invention, the first and second boards composed of redundancy; And at least one sub-board each communicating with the first and second boards, wherein each of the first and second boards includes a data transmission / reception unit that transmits and receives data to and from the other board, and the first and second boards. The initialization processing unit performing initialization of the communication unit, the communication unit transmitting initialization completion information to the sub-board and receiving master / slave setting information from the sub-board, and when the initialization of the first and second boards is completed, the initialization is completed. Generates initialization completion information including and sets the first and second boards as master boards or slave boards, respectively, based on master / slave setting information received through the communication unit, and each of the at least one sub-board comprises: A first communication module that communicates with the communication unit of the first board to receive initialization completion information of the first board and to transmit the master / slave setting information. And a second communication module communicating with the communication unit of the second board to receive initialization completion information of the second board and transmitting the master / slave setting information, and the second communication module to be received through the first and second communication modules. It includes a control module that generates the master / slave setting information by comparing each initialization completion time included in the initialization completion information of the 1,2 board.
본 발명에서, 상기 제어모듈은 상기 제1,2보드의 초기화 완료시점이 상대적으로 더 빠른 보드를 상기 마스터 보드로 설정한다는 설정정보를 생성한다.In the present invention, the control module generates setting information for setting a board having a relatively faster initialization time of the first and second boards as the master board.
본 발명에서, 상기 제어모듈은 상기 제1,2보드의 초기화 완료시점이 같으면 기설정된 보드를 마스터 보드로 설정한다는 설정정보를 생성한다.In the present invention, when the initialization completion time of the first and second boards is the same, the control module generates setting information to set a preset board as a master board.
또한, 본 발명의 일 실시 예에 따른 이중화 보드의 마스터/슬레이브 보드 설정방법은, 이중화 보드 및 적어도 하나의 하위보드를 포함하는 제어기 시스템에서 상기 이중화 보드의 마스터/슬레이브 보드 설정방법에 있어서, 이중화된 제1,2 보드에 부팅전압이 인가되면 각각 자신의 보드를 초기화하는 초기화단계; 상기 제1,2보드가 각각 초기화의 완료에 따라 초기화 완료정보를 생성하여 상기 하위보드로 각각 전송하는 제1전송단계; 상기 하위보드가 상기 제1,2보드로부터 각각 수신된 초기화 완료정보의 수신시점을 비교하여 마스터/슬레이브 설정정보를 생성하는 생성단계; 상기 하위보드가 상기 생성된 마스터/슬레이브 설정정보를 상기 제1,2보드로 각각 전송하는 제2전송단계; 및 상기 제1,2보드가 상기 각각 수신된 마스터/슬레이브 설정정보에 따라 자신을 마스터 보드 또는 슬레이브 보드 중 하나로 설정하는 설정단계를 포함한다.In addition, the method for setting a master / slave board of a redundant board according to an embodiment of the present invention is a method for setting a master / slave board of the redundant board in a controller system including a redundant board and at least one sub-board. An initialization step of initializing their own boards when a boot voltage is applied to the first and second boards; A first transmission step in which the first and second boards respectively generate initialization completion information according to the completion of initialization and transmit them to the lower board, respectively; A generation step in which the lower board compares the reception time points of the initialization completion information received from the first and second boards to generate master / slave setting information; A second transmission step in which the lower board transmits the generated master / slave setting information to the first and second boards, respectively; And a setting step in which the first and second boards set themselves as one of a master board or a slave board according to the received master / slave setting information, respectively.
본 발명에서, 상기 하위보드는 상기 제1,2보드로부터 각각 수신된 초기화 완료정보의 수신시점을 비교하여 더 빨리 수신된 보드를 마스터 보드로 설정하고 더 늦게 수신된 보드를 슬레이브 보드로 설정한다는 설정정보를 생성한다.In the present invention, the lower board sets the board that is received earlier as the master board and the board that is received later as the slave board by comparing the reception points of the initialization completion information received from the first and second boards, respectively. Generate information.
본 발명에서, 상기 하위보드는 상기 제1,2보드로부터 각각 수신된 초기화 완료정보의 수신시점이 동일하면 기설정된 보드를 마스터 보드로 설정하고 나머지 보드를 슬레이브 보드로 설정한다는 설정정보를 생성한다.In the present invention, the lower board generates setting information that sets a preset board as a master board and sets the remaining boards as slave boards when the reception times of initialization completion information received from the first and second boards are the same.
또한, 본 발명의 다른 실시 예에 따른 이중화 보드의 마스터/슬레이브 보드 설정방법은, 이중화 보드 및 적어도 하나의 하위보드를 포함하는 제어기 시스템에서 상기 이중화 보드의 마스터/슬레이브 보드 설정방법에 있어서, 이중화된 제1,2 보드에 부팅전압이 인가되면 각각 자신의 보드를 초기화하는 초기화단계; 상기 제1,2보드가 각각 초기화의 완료에 따라 초기화 완료시점을 포함하는 초기화 완료정보를 생성하여 상기 하위보드로 각각 전송하는 제1전송단계; 상기 하위보드가 상기 제1,2보드로부터 각각 수신된 초기화 완료정보에 포함된 초기화 완료시점을 비교하여 마스터/슬레이브 설정정보를 생성하는 생성단계; 상기 하위보드가 상기 생성된 마스터/슬레이브 설정정보를 상기 제1,2보드로 각각 전송하는 제2전송단계; 및 상기 제1,2보드가 상기 각각 수신된 마스터/슬레이브 설정정보에 따라 자신을 마스터 보드 또는 슬레이브 보드 중 하나로 설정하는 설정단계를 포함한다.In addition, the method for setting a master / slave board of a redundant board according to another embodiment of the present invention is a method for setting a master / slave board of the redundant board in a controller system including a redundant board and at least one sub-board. An initialization step of initializing their own boards when a boot voltage is applied to the first and second boards; A first transmission step in which the first and second boards respectively generate initialization completion information including an initialization completion time point and transmit them to the lower board, respectively, according to the completion of initialization; A generation step of generating master / slave setting information by comparing the initialization completion time points included in the initialization completion information received from the first and second boards by the lower board; A second transmission step in which the lower board transmits the generated master / slave setting information to the first and second boards, respectively; And a setting step in which the first and second boards set themselves as one of a master board or a slave board according to the received master / slave setting information, respectively.
본 발명에서, 상기 하위보드는 상기 제1,2보드로부터 각각 수신된 초기화 완료정보에 포함된 초기화 완료시점을 비교하여 더 빠른 보드를 마스터 보드로 설정하고 더 늦은 보드를 슬레이브 보드로 설정한다는 설정정보를 생성한다.In the present invention, the lower board sets the faster board as the master board and the later board as the slave board by comparing the initialization completion time included in the initialization completion information received from the first and second boards, respectively. Produces
본 발명에서, 상기 하위보드는 상기 제1,2보드로부터 각각 수신된 초기화 완료정보에 포함된 초기화 완료시점이 동일하면 기설정된 보드를 마스터 보드로 설정하고 나머지 보드를 슬레이브 보드로 설정한다는 설정정보를 생성한다.In the present invention, when the initialization completion time included in the initialization completion information received from the first and second boards is the same, the lower board sets the preset information to set the preset board as the master board and set the remaining boards as slave boards. To create.
본 발명에 의하면 제어기 내의 이중화 보드에서 각각 초기화되는 시점을 기준으로 마스터/슬레이브 보드를 설정하므로 간단하고 빠른 설정이 가능하다.According to the present invention, since the master / slave board is set based on the time point at which each of the redundancy boards in the controller is initialized, simple and quick setting is possible.
또한, 본 발명에 의하면 이중화 보드에 각각 동일한 소프트웨어를 탑재하고 추가적인 구성없이 마스터/슬레이브 보드를 설정할 수 있으므로 제품의 생산성이 높아지고 오작동 가능성이 낮아진다.In addition, according to the present invention, since the same software is mounted on the redundant board and the master / slave board can be set without additional configuration, the productivity of the product is increased and the possibility of malfunction is reduced.
도 1은 본 발명의 실시 예에 따른 제어기 시스템 내의 이중화 보드의 예시도이다.1 is an exemplary diagram of a redundancy board in a controller system according to an embodiment of the present invention.
도 2는 본 발명의 실시 예에 따른 이중화 보드를 구비한 제어기 시스템의 구성도이다.2 is a configuration diagram of a controller system having a redundancy board according to an embodiment of the present invention.
도 3은 본 발명의 일 실시 예에 따른 제어기 시스템의 이중화 보드에 대한 마스터/슬레이브 설정방법을 나타낸 흐름도이다.3 is a flowchart illustrating a master / slave setting method for a redundant board of a controller system according to an embodiment of the present invention.
도 4는 본 발명의 다른 실시 예에 따른 이중화 보드의 마스터/슬레이브 보드 설정방을 나타낸 흐름도이다.4 is a flowchart illustrating a master / slave board setting method of a redundant board according to another embodiment of the present invention.
이하, 본 발명의 실시 예들을 예시적인 도면을 통해 상세하게 설명한다. 각 도면의 구성요소들에 참조부호를 부가함에 있어서, 동일한 구성요소들에 대해서는 비록 다른 도면상에 표시되더라도 가능한 한 동일한 부호를 가지도록 하고 있음에 유의해야 한다. 또한, 본 발명의 실시 예를 설명함에 있어, 관련된 공지구성 또는 기능에 대한 구체적인 설명이 본 발명의 실시 예에 대한 이해를 방해한다고 판단되는 경우에는 그 상세한 설명은 생략한다.Hereinafter, embodiments of the present invention will be described in detail through exemplary drawings. It should be noted that in adding reference numerals to the components of each drawing, the same components have the same reference numerals as possible even though they are displayed on different drawings. In addition, in describing embodiments of the present invention, when it is determined that detailed descriptions of related well-known structures or functions interfere with understanding of the embodiments of the present invention, detailed descriptions thereof will be omitted.
또한, 본 발명의 실시 예의 구성 요소를 설명하는 데 있어서, 제1, 제2, A, B, (a), (b) 등의 용어를 사용할 수 있다. 이러한 용어는 그 구성 요소를 다른 구성 요소와 구별하기 위한 것일 뿐, 그 용어에 의해 해당 구성 요소의 본질이나 차례 또는 순서 등이 한정되지 않는다. 어떤 구성 요소가 다른 구성요소에 "연결", "결합" 또는 "접속"된다고 기재된 경우, 그 구성 요소는 그 다른 구성요소에 직접적으로 연결되거나 접속될 수 있지만, 각 구성 요소 사이에 또 다른 구성 요소가 "연결", "결합" 또는 "접속"될 수도 있다고 이해되어야 할 것이다.In addition, in describing the components of the embodiments of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only for distinguishing the component from other components, and the nature, order, or order of the component is not limited by the term. When a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected to or connected to the other component, but another component between each component It should be understood that may be "connected", "coupled" or "connected".
도 1은 본 발명의 실시 예에 따른 제어기 시스템 내의 이중화 보드의 예시도이다.1 is an exemplary diagram of a redundancy board in a controller system according to an embodiment of the present invention.
도 1을 참조하면 본 발명의 실시 예에 따른 이중화 보드(20)가 적용된 장치(10)는 이중화로 구성된 제1보드(21) 및 제2보드(22)를 포함하여 구성된다. 제1보드(21) 및 제2보드(20)는 이중화로 구성되므로 서로 동일한 구성(하드웨어) 및 동일한 기능(소프트웨어 및 프로그램)이 탑재된다. 이러한 장치(10)는 다양한 형태로 구성될 수 있다. 예컨대 설비나 장치 등을 제어하는 제어장치가 될 수 있다. Referring to FIG. 1, a device 10 to which a redundancy board 20 according to an embodiment of the present invention is applied includes a first board 21 and a second board 22 made of redundancy. Since the first board 21 and the second board 20 are configured with redundancy, the same configuration (hardware) and the same function (software and program) are mounted on each other. The device 10 may be configured in various forms. For example, it may be a control device that controls equipment or devices.
또한, 본 발명의 실시 예에서 제1보드(21) 및 제2보드(22)는 일반적인 제어기 내에 구비되는 보드(board)로서, 예컨대 연산보드, 제어보드 등과 같이 각종 기능을 수행하는 보드를 통칭한다. 뿐만 아니라 본 발명에서 이러한 보드(21,22)는 제어기 또는 제어모듈 등의 장치를 포함하는 개념으로 사용된다.In addition, in the embodiment of the present invention, the first board 21 and the second board 22 are boards provided in a general controller, and collectively refer to boards that perform various functions, such as a calculation board and a control board. . In addition, in the present invention, these boards 21 and 22 are used as a concept including devices such as a controller or a control module.
나아가, 본 발명의 실시 예에서는 일례로 2개의 보드(21,22)로 이중화된 보드를 도시하고 있으나, 본 발명은 이러한 실시 예에 한정되지 않고 2개 이상의 보드들로 다중화로 구성될 수도 있다. 즉, 본 발명에 따른 마스터/슬레이브 보드의 설정방법은 다중화 보드에도 동일하게 적용될 수 있다. 이에 본 발명에서는 설명의 편의상 일례로 이중화된 보드에 대하여 설명하도록 한다.Further, in the exemplary embodiment of the present invention, a board duplicated by two boards 21 and 22 is shown as an example, but the present invention is not limited to this embodiment and may be configured by multiplexing two or more boards. That is, the method of setting the master / slave board according to the present invention can be equally applied to a multiplexed board. Therefore, in the present invention, for convenience of description, a duplicated board will be described.
도 2는 본 발명의 실시 예에 따른 이중화 보드를 구비한 제어기 시스템의 구성도이다. 2 is a configuration diagram of a controller system having a redundancy board according to an embodiment of the present invention.
도 2를 참조하면, 본 발명에 따른 제어기 시스템(100)은 제1보드(21), 제2보드(22) 및 적어도 하나의 하위보드(23)을 포함하여 구성된다.Referring to FIG. 2, the controller system 100 according to the present invention includes a first board 21, a second board 22, and at least one lower board 23.
상기한 바와 같이 이중화된 보드(21,22)는 각각 동일한 구성 및 기능을 가지므로, 이하에서 제1,2 보드(21,22)의 구성 및 기능에 대해서는 제1보드(21)를 기준으로 설명하기로 한다. 이러한 설명은 당연히 제2보드(22)에도 동일하게 적용된다.As described above, since the redundant boards 21 and 22 each have the same configuration and function, the configuration and function of the first and second boards 21 and 22 will be described below based on the first board 21. I will do it. Naturally, this description applies equally to the second board 22.
본 발명에서 제1보드(21)는 데이터송수신부(211), 초기화처리부(212), 통신부(213) 및 제어부(214)를 포함하여 구성된다.In the present invention, the first board 21 includes a data transmission / reception unit 211, an initialization processing unit 212, a communication unit 213, and a control unit 214.
데이터송수신부(211)는 상대보드와 데이터를 송수신한다. 즉, 제1보드(21)의 데이터송수신부(211)는 제2보드(22)의 데이터송수신부(221)와 데이터를 서로 주고 받는다. 이러한 데이터는 제1,2 보드(21,22) 간에 서로 공유하고자 하는 데이터로서, 예컨대 각종 상태정보, 제어값, 하위보드의 정보, 동작에 필요한 프로그램 등을 서로 공유하여 제어기의 이중화를 구현하도록 한다.The data transmission / reception unit 211 transmits and receives data to / from the counterpart board. That is, the data transmission / reception unit 211 of the first board 21 exchanges data with the data transmission / reception unit 221 of the second board 22. These data are data to be shared between the first and second boards 21 and 22, and, for example, share various status information, control values, information of lower boards, programs required for operation, and the like to implement controller redundancy. .
초기화처리부(212)는 제1보드(21)에 초기부팅을 위한 전압이 인가되면 제1보드(21)를 초기화시킨다. 이러한 전압은 보드(21)의 전원이 꺼진 상태, 구체적으로 해당 보드(21)를 포함하는 장치의 전원이 꺼진 상태에서 장치를 부팅할 때 별도의 전원공급장치(예:SMPS)로부터 공급되는 기동전압이 될 수 있다. 이처럼 장치를 부팅하기 위해 전원을 공급하면 제1보드(21)로도 전원이 공급된다.The initialization processing unit 212 initializes the first board 21 when a voltage for initial booting is applied to the first board 21. This voltage is the starting voltage supplied from a separate power supply (for example, SMPS) when the device is booted in a state in which the power of the board 21 is turned off, specifically, the power of the device including the corresponding board 21 is turned off. Can be As such, when power is supplied to boot the device, power is also supplied to the first board 21.
통신부(213)는 상기와 같이 초기화가 완료되면 초기화 완료정보를 적어도 하나 이상의 하위보드(23)로 전송하고 하위보드(23)로부터 전송되는 마스터/슬레이브 설정정보를 수신한다. 이러한 마스터/슬레이브 설정정보에는 두 보드(21,22) 중 어느 보드를 마스터 보드로 설정할 것인지에 대한 정보를 포함한다. 또한 초기화 완료정보는 각 보드의 초기화 시점 및 상태에 대한 정보를 포함한다. 여기서, 제1보드(21)의 초기화가 진행되어 완료되면 통신부(213)는 그 완료와 동시에 바로 하위보드(23)로 초기화 완료정보를 전송한다.When the initialization is completed as described above, the communication unit 213 transmits the initialization completion information to at least one sub-board 23 and receives master / slave setting information transmitted from the sub-board 23. The master / slave setting information includes information on which board of the two boards 21 and 22 is to be set as the master board. In addition, the initialization completion information includes information on the initialization timing and status of each board. Here, when the initialization of the first board 21 is completed and completed, the communication unit 213 immediately transmits the initialization completion information to the lower board 23 upon completion.
제어부(214)는 통신부(213)를 통해 하위보드(23)로부터 수신된 마스터/슬레이브 설정정보를 이용하여 자신을 마스터 보드로 설정할 것인지, 슬레이브 보드로 설정한 것인지를 결정한다. 즉, 제어부(214)는 하위보드(23)로부터 수신된 마스터/슬레이브 설정정보에 자신이 마스터 보드로 설정되는 정보가 포함되어 있으면 자신을 마스터 보드로 설정하고, 반대로 자신이 슬레이브 보드로 설정되는 정보가 포함되어 있으면 자신을 슬레이브 보드로 설정하는 것이다.The control unit 214 determines whether to set itself as a master board or a slave board using the master / slave setting information received from the lower board 23 through the communication unit 213. That is, if the master / slave setting information received from the lower board 23 includes information set as the master board, the control unit 214 sets itself as the master board, and vice versa. If is included, you are setting yourself up as a slave board.
하위보드(23)는 적어도 하나 이상 구비되며, 각각 2개의 통신모듈(231,232) 및 제어모듈(233)을 포함한다. 2개의 통신모듈 중에서 제1통신모듈(231)은 제1보드(21)의 통신부(213)와 통신을 수행하여 제1보드(21)의 초기화 완료정보를 수신하고 마스터/슬레이브 설정정보를 송신한다. 제2통신모듈(232)은 제2보드(22)의 통신부(223)와 통신을 수행하여 제2보드(22)의 초기화 완료정보를 수신하고 마스터/슬레이브 설정정보를 송신한다. 이때, 각각의 하위보드(23)는 제1통신모듈(231) 및 제2통신모듈(232)를 통해 각각 동일한 마스터/슬레이브 설정정보를 제1보드(21)의 통신부(213) 및 제2보드(22)의 통신부(223)으로 전송한다.At least one lower board 23 is provided, and includes two communication modules 231 and 232 and a control module 233, respectively. Among the two communication modules, the first communication module 231 communicates with the communication unit 213 of the first board 21 to receive initialization completion information of the first board 21 and transmits master / slave setting information. . The second communication module 232 communicates with the communication unit 223 of the second board 22 to receive initialization completion information of the second board 22 and transmits master / slave setting information. At this time, each lower board 23 transmits the same master / slave setting information through the first communication module 231 and the second communication module 232, respectively, to the communication unit 213 and the second board of the first board 21. (22) to the communication unit 223.
제어모듈(233)은 제1통신모듈(231) 및 제2통신모듈(232)를 통해 각각 수신된 제1보드(21)의 초기화 완료정보와 제2보드(22)의 초기화 완료정보를 확인한다. 이때, 수신된 두 보드(21,22)의 초기화 완료정보를 비교하여 상대적으로 더 빨리 수신된 보드를 마스터 보드로 설정하고 상대적으로 더 늦게 수신된 보드를 슬레이브 보드로 설정한다는 설정정보를 생성한다. 이와 같이 생성된 설정정보를 제1,2통신모듈(231,232)를 통해 각각 제1,2보드(21,22)로 전송하도록 한다.The control module 233 checks initialization completion information of the first board 21 and initialization completion information of the second board 22 received through the first communication module 231 and the second communication module 232, respectively. . At this time, the initialization completion information of the two received boards 21 and 22 is compared to generate setting information for setting the received board as the master board relatively quickly and setting the received board as the slave board relatively later. The generated setting information is transmitted to the first and second boards 21 and 22 through the first and second communication modules 231 and 232, respectively.
다른 실시 예에서, 제어모듈(233)은 두 보드(21,22)로부터 수신된 초기화 완료정보를 확인하여 그 내부에 포함되어 있는 초기화 완료시점을 비교하여 초기화 완료시점이 상대적으로 더 빠른 보드를 마스터 보드로 설정한다는 설정정보를 생성하고, 상대적으로 더 느린 보드를 마스터 보드로 설정한다는 설정정보를 생성할 수도 있다.In another embodiment, the control module 233 checks the initialization completion information received from the two boards 21 and 22, compares the initialization completion time included therein, and masters the board whose initialization completion time is relatively faster. It is also possible to generate setting information for setting a board, and setting information for setting a relatively slower board as a master board.
이와 같이, 제1,2보드(21.22)는 하위보드(23)로부터 수신되는 마스터/슬레이브 설정정보를 바탕으로 각각 마스터 및 슬레이브 보드로 설정하도록 한다. 특히, 본 발명에서는 이중화된 제1,2보드(21,22)로부터 하위보드(23)가 초기화 완료정보를 수신하는 시점을 기준으로 상대적으로 더 빨리 수신된 보드를 마스터 보드로 설정하는 것이다. 다른 예로서 초기화 완료시점이 더 빠른 보드를 마스터 보드로 설정할 수도 있는 것이다.As described above, the first and second boards 21.22 are set to master and slave boards, respectively, based on master / slave setting information received from the lower board 23. Particularly, in the present invention, the received board is set as the master board relatively faster based on the time when the lower board 23 receives the initialization completion information from the redundant first and second boards 21 and 22. As another example, a board having a faster initialization completion time may be set as a master board.
상기한 바와 같이 이중화된 두 보드(21,22)는 실질적으로 동일한 보드이다. 즉, 동일한 구성 및 기능을 가지며 실질적으로 동일하게 동작하는 같은 보드이다. 하지만 이와 같이 두 보드(21,22)가 동일하다고 하더라도 오랜 기간 사용하게 되면 두 보드(21,22)의 성능이 조금씩 달라질 수 있다. 이때, 본 발명에서는 두 개의 제1,2보드(21,22)에 동시에 전원이 인가되어 두 보드(21.22)가 동시에 초기화를 수행한다고 하더라도 초기화 속도면에서 미세한 차이가 발생할 수 있다. 이에, 본 발명에서는 그 미세한 차이에 따라 초기화 완료정보가 하위보드(23)에 수신되는 시차가 발생할 수 있고, 이러한 시차를 기준으로 마스터 및 슬레이브 보드를 설정하도록 하는 것이다. 또한, 이러한 미세한 차이에 따라 초기화 완료시점에 시차가 발생할 수도 있고, 이러한 시차를 기준으로 역시 마스터 및 슬레이브 보드를 설정하도록 할 수도 있는 것이다. As mentioned above, the two boards 21 and 22 which are duplicated are substantially the same board. That is, it is the same board that has the same configuration and function and operates substantially the same. However, even if the two boards 21 and 22 are the same, the performance of the two boards 21 and 22 may be slightly different when used for a long period of time. At this time, in the present invention, even if the two first and second boards 21 and 22 are simultaneously supplied with power, and the two boards 21.22 simultaneously perform initialization, a slight difference may occur in the initialization speed. Accordingly, in the present invention, a time difference may occur in which initialization completion information is received on the lower board 23 according to the minute difference, and the master and slave boards are set based on the time difference. In addition, a time difference may occur at the time of initialization completion according to the minute difference, and the master and slave boards may also be set based on the time difference.
만약, 하위보드(23)에 제1,2보드(21.22)의 초기화 완료정보의 수신시간이 동일하거나 초기화 완료시점이 동일한 경우에는 두 보드 중 기설정된 보드를 마스터 보드로 설정되고 다른 보드를 슬레이브 보드로 설정한다는 설정정보를 생성하여 각 보드(21,22)로 전송할 수 있다.If the receiving time of the initialization completion information of the first and second boards 21.22 is the same on the lower board 23, or when the initialization completion time is the same, the preset board among the two boards is set as the master board and the other board is the slave board. It is possible to generate setting information to set to and transmit to each board (21,22).
도 3은 본 발명의 일 실시 예에 따른 제어기 시스템의 이중화 보드에 대한 마스터/슬레이브 설정방법을 나타낸 흐름도이다.3 is a flowchart illustrating a master / slave setting method for a redundant board of a controller system according to an embodiment of the present invention.
도 3을 참조하면 본 발명에 따른 이중화 보드의 마스터/슬레이브 설정방법에서는 이중화로 구성된 제1보드(21) 및 제2보드(22)에 초기 부팅에 의한 전압이 인가되면(S101), 각각의 초기화처리부(212,222)에서 자신의 보드(21,22)를 초기화한다(S103).Referring to FIG. 3, in the master / slave setting method of a redundant board according to the present invention, when a voltage by an initial boot is applied to the first board 21 and the second board 22 composed of redundancy (S101), each initialization is performed. The processing units 212 and 222 initialize their boards 21 and 22 (S103).
이어, 제1,2보드(21,22)는 각각 초기화가 완료됨에 따라 초기화 완료정보를 생성하여(S105), 통신부(213,223)를 통해 하위보드(23)로 전송한다(S107).Subsequently, the first and second boards 21 and 22 respectively generate initialization completion information as the initialization is completed (S105), and transmit them to the lower board 23 through the communication units 213 and 223 (S107).
이에 하위보드(23)는 제1,2보드(21,22)로부터 각각 수신된 초기화 완료정보의 수신시점을 비교한다(S109). 비교결과 상대적으로 더 빨리 수신된 보드를 마스터 보드로 설정함과 동시에 상대적으로 더 늦게 수신된 보드를 슬레이브 보드로 설정한다는 설정정보를 생성하여(S111), 상기 설정정보를 제1,2보드(21,22)로 전송한다(S113). 예컨대, 제1보드(21)로부터의 초기화 완료정보가 제2보드(22)의 초기화 완료정보보다 더 빨리 수신된 경우 하위모듈(23)은 제1보드(21)를 마스터 보드로 설정하고 제2보드(22)를 슬레이브 보드로 설정한다는 설정정보를 생성하여 제1,2보드(21.22)로 동일하게 전송하는 것이다.Accordingly, the lower board 23 compares the reception time of the initialization completion information received from the first and second boards 21 and 22, respectively (S109). As a result of the comparison, while setting the received board as the master board relatively quickly and simultaneously setting the received board as the slave board (S111), the setting information is set to the first and second boards (21). , 22) (S113). For example, when the initialization completion information from the first board 21 is received earlier than the initialization completion information of the second board 22, the lower module 23 sets the first board 21 as the master board and the second The setup information for setting the board 22 as a slave board is generated, and the same is transmitted to the first and second boards 21.22.
계속해서, 제1,2보드(21,22)는 이러한 설정정보를 바탕으로 자신을 마스터 보드 또는 슬레이브 보드로 설정한다(S115). 상기 예에서와 같이 설정정보 내에 제1보드(21)는 마스터 보드로 설정하고 제2보드(22)를 슬레이브 보드로 설정한다고 되어 있으면 제1보드(21)는 자신을 마스터 보드로 설정하고 제2보드(22)는 자신을 슬레이브 보드로 설정하는 것이다.Subsequently, the first and second boards 21 and 22 set themselves as a master board or a slave board based on the setting information (S115). As in the above example, if the first board 21 is set as the master board and the second board 22 is set as the slave board in the setting information, the first board 21 sets itself as the master board and the second board. The board 22 is to set itself as a slave board.
만약, 상기 S111 단계에서 마스터/슬레이브 설정정보를 생성할 때 두 초기화 완료정보의 수신시점이 동일하면 두 보드 중에서 기설정된 보드를 마스터 보드로 설정하고, 다른 보드를 슬레이브 보드로 설정한다는 설정정보를 생성하도록 한다.If, when generating the master / slave setting information in step S111, if the reception time of the two initialization completion information is the same, set the preset board as the master board and set the other board as the slave board among the two boards. Do it.
도 4는 본 발명의 다른 실시 실시 예에 따른 제어기 시스템의 이중화 보드에 대한 마스터/슬레이브 설정방법을 나타낸 흐름도이다.4 is a flowchart illustrating a master / slave setting method for a redundant board of a controller system according to another embodiment of the present invention.
도 4를 참조하면 본 발명의 다른 실시 예에 따른 이중화 보드의 마스터/슬레이브 설정방법에서는 이중화로 구성된 제1보드(21) 및 제2보드(22)에 초기부팅신호와 함께 전압이 인가되면(S201), 초기화처리부(212,222)에서 자신의 보드(21,22)를 각각 초기화한다(S203).Referring to FIG. 4, in a method for setting a master / slave of a redundancy board according to another embodiment of the present invention, when a voltage is applied together with an initial boot signal to the first board 21 and the second board 22 composed of redundancy (S201) ), The initialization processing units 212 and 222 initialize their boards 21 and 22, respectively (S203).
이어, 제1,2보드(21,22)는 각각 초기화가 완료됨에 따라 초기화 완료정보를 생성하여(S205), 통신부(213,223)를 통해 하위보드(23)로 전송한다(S207). 이러한 초기화 완료정보에는 각 보드(21,22)의 초기화 완료시점에 대한 정보를 포함한다.Subsequently, the first and second boards 21 and 22 respectively generate initialization completion information as the initialization is completed (S205) and transmit them to the lower board 23 through the communication units 213 and 223 (S207). The initialization completion information includes information on the completion time of initialization of each board 21 and 22.
이에 하위보드(23)는 제1,2보드(21,22)로부터 각각 수신된 초기화 완료정보에 포함된 초기화 완료시점을 비교한다(S209). 비교결과 두 보드(21.22)의 초기화 완료시점이 상대적으로 더 빠른 보드를 마스터 보드로 설정하고 상대적으로 더 늦은 보드를 슬레이브 보드로 설정한다는 설정정보를 생성하여(S211), 상기 설정정보를 제1,2보드(21,22)로 전송한다(S213). 예컨대, 제1보드(21)로부터의 초기화 완료시점이 제2보드(22)의 초기화 완료시점보다 더 빠른 경우 하위모듈(23)은 제1보드(21)를 마스터 보드로 설정하고 제2보드(22)를 슬레이브 보드로 설정한다는 설정정보를 생성하여 제1,2보드(21.22)로 동일하게 전송하는 것이다.Accordingly, the lower board 23 compares the initialization completion time included in the initialization completion information received from the first and second boards 21 and 22 (S209). As a result of the comparison, the setup information is generated to set a board with a relatively faster board as a master board and a board with a relatively slower board as a slave board when the initialization of the two boards 21.22 is completed (S211). It transmits to the two boards (21,22) (S213). For example, when the initialization completion time from the first board 21 is faster than the initialization completion time of the second board 22, the lower module 23 sets the first board 21 as the master board and the second board ( 22) is to transmit the same to the first and second boards (21.22) by generating setting information to set the slave board.
계속해서, 제1,2보드(21,22)는 이러한 설정정보를 바탕으로 자신을 마스터 보드 또는 슬레이브 보드로 설정한다(S215). 상기 예에서와 같이 설정정보 내에 제1보드(21)는 마스터 보드로 설정하고 제2보드(22)를 슬레이브 보드로 설정한다고 되어 있으면 제1보드(21)는 자신을 마스터 보드로 설정하고 제2보드(22)는 자신을 슬레이브 보드로 설정하는 것이다.Subsequently, the first and second boards 21 and 22 set themselves as a master board or a slave board based on the setting information (S215). As in the above example, if the first board 21 is set as the master board and the second board 22 is set as the slave board in the setting information, the first board 21 sets itself as the master board and the second board. The board 22 is to set itself as a slave board.
만약, 상기 S21 단계에서 마스터/슬레이브 설정정보를 생성할 때 두 초기화 완료시점이 동일하면, 두 보드 중에서 기설정된 보드를 마스터 보드로 설정하고, 다른 보드를 슬레이브 보드로 설정한다는 설정정보를 생성하도록 한다.If, when generating the master / slave setting information in step S21, if the initialization completion time points are the same, set the preset board as the master board and set the other board as the slave board. .
이상에서 설명한 바와 같이 본 발명에서는 동일한 구성 및 기능을 갖는 이중화 보드에서 각각 자신의 초기화 완료정보를 하위보드로 전송할 때 하위보드에서 그 초기화 완료정보의 수신시점에 따라 마스터/슬레이브 보드를 설정하도록 한다. 또한, 각각 자신의 초기화 완료시점을 하위보드에서 확인하여 그 초기화 완료시점에 따라 마스터/슬레이브 모드를 설정하도록 한다. 이로써 간단한 방법으로 빠르게 마스터 보드를 설정할 수 있다는 장점이 있다.As described above, in the present invention, when each of its own initialization information is transmitted to the lower board in the redundant board having the same configuration and function, the master / slave board is set according to the reception time of the initialization complete information in the lower board. Also, check the time of each initialization on the lower board and set the master / slave mode according to the time of completion of the initialization. This has the advantage of being able to quickly set up the master board in a simple way.
이상에서, 본 발명의 실시 예를 구성하는 모든 구성 요소들이 하나로 결합하거나 결합하여 동작하는 것으로 설명되었다고 해서, 본 발명이 반드시 이러한 실시 예에 한정되는 것은 아니다. 즉, 본 발명의 목적 범위 안에서라면, 그 모든 구성 요소들이 하나 이상으로 선택적으로 결합하여 동작할 수도 있다. 또한, 이상에서 기재된 "포함하다", "구성하다" 또는 "가지다" 등의 용어는, 특별히 반대되는 기재가 없는 한, 해당 구성 요소가 내재할 수 있음을 의미하는 것이므로, 다른 구성 요소를 제외하는 것이 아니라 다른 구성 요소를 더 포함할 수 있는 것으로 해석되어야 한다. 기술적이거나 과학적인 용어를 포함한 모든 용어들은, 다르게 정의되지 않는 한, 본 발명이 속하는 기술 분야에서 통상의 지식을 가진 자에 의해 일반적으로 이해되는 것과 동일한 의미가 있다. 사전에 정의된 용어와 같이 일반적으로 사용되는 용어들은 관련 기술의 문맥상의 의미와 일치하는 것으로 해석되어야 하며, 본 발명에서 명백하게 정의하지 않는 한, 이상적이거나 과도하게 형식적인 의미로 해석되지 않는다.In the above, even if all the components constituting the embodiments of the present invention are described as being combined or operated as one, the present invention is not necessarily limited to these embodiments. That is, if it is within the scope of the present invention, all of the components may be selectively combined and operated. In addition, the terms "include", "consist" or "have" as described above mean that the corresponding component can be intrinsic, unless specifically stated to the contrary, excluding other components. It should not be interpreted as being able to further include other components. All terms, including technical or scientific terms, have the same meaning as generally understood by a person skilled in the art to which the present invention pertains, unless otherwise defined. Commonly used terms, such as predefined terms, should be interpreted as being consistent with the contextual meaning of the related art, and are not to be interpreted as ideal or excessively formal meanings unless explicitly defined in the present invention.
이상의 설명은 본 발명의 기술 사상을 예시적으로 설명한 것에 불과한 것으로서, 본 발명이 속하는 기술 분야에서 통상의 지식을 가진 자라면 본 발명의 본질적인 특성에서 벗어나지 않는 범위에서 다양한 수정 및 변형이 가능할 것이다. 따라서, 본 발명에 개시된 실시 예들은 본 발명의 기술 사상을 한정하기 위한 것이 아니라 설명하기 위한 것이고, 이러한 실시 예에 의하여 본 발명의 기술 사상의 범위가 한정되는 것은 아니다. 본 발명의 보호 범위는 아래의 청구범위에 의하여 해석되어야 하며, 그와 동등한 범위 내에 있는 모든 기술 사상은 본 발명의 권리범위에 포함되는 것으로 해석되어야 할 것이다.The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and variations without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the technical spirit of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted by the claims below, and all technical spirits within the scope equivalent thereto should be interpreted as being included in the scope of the present invention.

Claims (12)

  1. 이중화로 구성된 제1 및 제2 보드; 및First and second boards composed of redundancy; And
    상기 제1 및 제2 보드와 각각 통신하는 적어도 하나의 하위보드를 포함하고,And at least one sub-board each communicating with the first and second boards,
    상기 제1 및 제2 보드 각각은,Each of the first and second boards,
    상대보드와 데이터를 서로 송수신하는 데이터송수신부와, 상기 제1,2 보드의 초기화를 수행하는 초기화처리부와, 초기화 완료정보를 상기 하위보드로 전송하고 상기 하위보드로부터 마스터/슬레이브 설정정보를 수신하는 통신부와, 상기 제1,2보드의 초기화가 완료되면 상기 초기화 완료정보를 생성하고 상기 통신부를 통해 수신된 마스터/슬레이브 설정정보를 바탕으로 상기 제1,2보드를 각각 마스터 보드 또는 슬레이브 보드로 설정하며,A data transmission / reception unit that transmits and receives data to and from a counterpart board, an initialization processing unit that performs initialization of the first and second boards, and transmits initialization completion information to the lower board and receives master / slave setting information from the lower board. When initialization of the communication unit and the first and second boards is completed, the initialization completion information is generated, and the first and second boards are respectively set as master boards or slave boards based on master / slave setting information received through the communication unit. And
    상기 적어도 하나의 하위보드 각각은,Each of the at least one sub-board,
    상기 제1보드의 통신부와 통신하여 상기 제1보드의 초기화 완료정보를 수신하고 상기 마스터/슬레이브 설정정보를 전송하는 제1통신모듈과, 상기 제2보드의 통신부와 통신하여 상기 제2보드의 초기화 완료정보를 수신하고 상기 마스터/슬레이브 설정정보를 전송하는 제2통신모듈과, 상기 제1,2통신모듈을 통해 수신되는 상기 제1,2 보드의 초기화 완료정보의 수신시점을 비교하여 상기 마스터/슬레이브 설정정보를 생성하는 제어모듈을 포함하는 이중화 보드를 구비한 제어기 시스템.The first communication module communicating with the communication unit of the first board receives initialization completion information of the first board and transmits the master / slave setting information, and the initialization of the second board by communicating with the communication unit of the second board Comparing the receiving point of the completion time of the initialization information of the first and second boards received through the first and second communication modules and the second communication module that receives the completed information and transmits the master / slave setting information to the master / slave A controller system having a redundancy board including a control module that generates slave setting information.
  2. 제1항에 있어서, 상기 제어모듈은 상기 제1,2보드의 초기화 완료정보의 수신시점이 상대적으로 더 빠른 보드를 상기 마스터 보드로 설정한다는 설정정보를 생성하는 이중화 보드를 구비한 제어기 시스템.The controller system of claim 1, wherein the control module is configured with a redundancy board to generate setting information for setting a board that is relatively faster in receiving the initialization completion information of the first and second boards to the master board.
  3. 제1항에 있어서, 상기 제어모듈은 상기 제1,2보드의 초기화 완료정보의 수신시점이 같으면 기설정된 보드를 마스터 보드로 설정한다는 설정정보를 생성하는 이중화 보드를 구비한 제어기 시스템.The controller system of claim 1, wherein the control module is configured with a redundancy board to generate setting information to set a preset board as a master board when the reception times of the initialization completion information of the first and second boards are the same.
  4. 이중화로 구성된 제1 및 제2 보드; 및First and second boards composed of redundancy; And
    상기 제1 및 제2 보드와 각각 통신하는 적어도 하나의 하위보드를 포함하고,And at least one sub-board each communicating with the first and second boards,
    상기 제1 및 제2 보드 각각은,Each of the first and second boards,
    상대보드와 데이터를 서로 송수신하는 데이터송수신부와, 상기 제1,2 보드의 초기화를 수행하는 초기화처리부와, 초기화 완료정보를 상기 하위보드로 전송하고 상기 하위보드로부터 마스터/슬레이브 설정정보를 수신하는 통신부와, 상기 제1,2보드의 초기화가 완료되면 상기 초기화의 완료시점을 포함하는 초기화 완료정보를 생성하고 상기 통신부를 통해 수신된 마스터/슬레이브 설정정보를 바탕으로 상기 제1,2보드를 각각 마스터 보드 또는 슬레이브 보드로 설정하며,A data transmission / reception unit that transmits and receives data to and from a counterpart board, an initialization processing unit that performs initialization of the first and second boards, and transmits initialization completion information to the lower board and receives master / slave setting information from the lower board. When the initialization of the communication unit and the first and second boards is completed, initialization completion information including the completion time of the initialization is generated, and the first and second boards are respectively based on the master / slave setting information received through the communication unit. Set as master board or slave board,
    상기 적어도 하나의 하위보드 각각은,Each of the at least one sub-board,
    상기 제1보드의 통신부와 통신하여 상기 제1보드의 초기화 완료정보를 수신하고 상기 마스터/슬레이브 설정정보를 전송하는 제1통신모듈과, 상기 제2보드의 통신부와 통신하여 상기 제2보드의 초기화 완료정보를 수신하고 상기 마스터/슬레이브 설정정보를 전송하는 제2통신모듈과, 상기 제1,2통신모듈을 통해 수신되는 상기 제1,2 보드의 초기화 완료정보에 각각 포함된 초기화 완료시점을 서로 비교하여 상기 마스터/슬레이브 설정정보를 생성하는 제어모듈을 포함하는 이중화 보드를 구비한 제어기 시스템.The first communication module communicating with the communication unit of the first board receives initialization completion information of the first board and transmits the master / slave setting information, and the initialization of the second board by communicating with the communication unit of the second board The second communication module receiving the completion information and transmitting the master / slave setting information, and the initialization completion time included in the initialization completion information of the first and second boards received through the first and second communication modules, respectively. A controller system having a redundancy board including a control module for comparing and generating the master / slave setting information.
  5. 제4항에 있어서, 상기 제어모듈은 상기 제1,2보드의 초기화 완료시점이 상대적으로 더 빠른 보드를 상기 마스터 보드로 설정한다는 설정정보를 생성하는 이중화 보드를 구비한 제어기 시스템.5. The controller system of claim 4, wherein the control module is configured with a redundancy board to generate setting information for setting a board that is relatively faster to initialize the first and second boards as the master board.
  6. 제1항에 있어서, 상기 제어모듈은 상기 제1,2보드의 초기화 완료시점이 같으면 기설정된 보드를 마스터 보드로 설정한다는 설정정보를 생성하는 이중화 보드를 구비한 제어기 시스템.The controller system of claim 1, wherein the control module is configured with a redundancy board to generate setting information that sets a preset board as a master board when the initialization completion times of the first and second boards are the same.
  7. 이중화 보드 및 적어도 하나의 하위보드를 포함하는 제어기 시스템에서 상기 이중화 보드의 마스터/슬레이브 설정방법에 있어서,In the controller system comprising a redundant board and at least one sub-board, in the master / slave setting method of the redundant board,
    이중화된 제1,2 보드에 부팅전압이 인가되면 각각 자신의 보드를 초기화하는 초기화단계;An initialization step of initializing their own boards when a boot voltage is applied to the duplicated first and second boards;
    상기 제1,2보드가 각각 초기화의 완료에 따라 초기화 완료정보를 생성하여 상기 하위보드로 각각 전송하는 제1전송단계;A first transmission step in which the first and second boards respectively generate initialization completion information according to the completion of initialization and transmit them to the lower board, respectively;
    상기 하위보드가 상기 제1,2보드로부터 각각 수신된 초기화 완료정보의 수신시점을 비교하여 마스터/슬레이브 설정정보를 생성하는 생성단계;A generation step in which the lower board compares the reception time points of the initialization completion information received from the first and second boards to generate master / slave setting information;
    상기 하위보드가 상기 생성된 마스터/슬레이브 설정정보를 상기 제1,2보드로 각각 전송하는 제2전송단계; 및A second transmission step in which the lower board transmits the generated master / slave setting information to the first and second boards, respectively; And
    상기 제1,2보드가 상기 각각 수신된 마스터/슬레이브 설정정보에 따라 자신을 마스터 보드 또는 슬레이브 보드 중 하나로 설정하는 설정단계를 포함하는 이중화 보드의 마스터/슬레이브 설정방법.And setting the master / slave as one of the master board or the slave board according to the received master / slave setting information, respectively.
  8. 제7항에 있어서, 상기 하위보드는 상기 제1,2보드로부터 각각 수신된 초기화 완료정보의 수신시점을 비교하여 더 빨리 수신된 보드를 마스터 보드로 설정하고 더 늦게 수신된 보드를 슬레이브 보드로 설정한다는 설정정보를 생성하는 이중화 보드의 마스터/슬레이브 보드 설정방법.The method of claim 7, wherein the lower board sets the received board as the master board faster and sets the received board as the slave board later by comparing the received time points of initialization completion information received from the first and second boards, respectively. How to set up a master / slave board of a redundant board that generates setting information.
  9. 제7항에 있어서, 상기 하위보드는 상기 제1,2보드로부터 각각 수신된 초기화 완료정보의 수신시점이 동일하면 기설정된 보드를 마스터 보드로 설정하고 나머지 보드를 슬레이브 보드로 설정한다는 설정정보를 생성하는 이중화 보드의 마스터/슬레이브 보드 설정방법.The method of claim 7, wherein the lower board generates setting information to set a preset board as a master board and set the remaining boards as slave boards when the reception times of initialization completion information received from the first and second boards are the same. How to set up the master / slave board of the redundant board.
  10. 이중화 보드 및 적어도 하나의 하위보드를 포함하는 제어기 시스템에서 상기 이중화 보드의 마스터/슬레이브 설정방법에 있어서,In the controller system comprising a redundant board and at least one sub-board, in the master / slave setting method of the redundant board,
    이중화된 제1,2 보드에 부팅전압이 인가되면 각각 자신의 보드를 초기화하는 초기화단계;An initialization step of initializing their own boards when a boot voltage is applied to the duplicated first and second boards;
    상기 제1,2보드가 각각 초기화의 완료에 따라 초기화 완료시점을 포함하는 초기화 완료정보를 생성하여 상기 하위보드로 각각 전송하는 제1전송단계;A first transmission step in which the first and second boards respectively generate initialization completion information including an initialization completion time point and transmit them to the lower board, respectively, according to the completion of initialization;
    상기 하위보드가 상기 제1,2보드로부터 각각 수신된 초기화 완료정보에 포함된 초기화 완료시점을 비교하여 마스터/슬레이브 설정정보를 생성하는 생성단계;A generation step of generating master / slave setting information by comparing the initialization completion time points included in the initialization completion information received from the first and second boards by the lower board;
    상기 하위보드가 상기 생성된 마스터/슬레이브 설정정보를 상기 제1,2보드로 각각 전송하는 제2전송단계; 및A second transmission step in which the lower board transmits the generated master / slave setting information to the first and second boards, respectively; And
    상기 제1,2보드가 상기 각각 수신된 마스터/슬레이브 설정정보에 따라 자신을 마스터 보드 또는 슬레이브 보드 중 하나로 설정하는 설정단계를 포함하는 이중화 보드의 마스터/슬레이브 설정방법.And setting the master / slave as one of the master board or the slave board according to the received master / slave setting information, respectively.
  11. 제10항에 있어서, 상기 하위보드는 상기 제1,2보드로부터 각각 수신된 초기화 완료정보에 포함된 초기화 완료시점을 비교하여 더 빠른 보드를 마스터 보드로 설정하고 더 늦은 보드를 슬레이브 보드로 설정한다는 설정정보를 생성하는 이중화 보드의 마스터/슬레이브 설정방법.The method of claim 10, wherein the lower board sets the faster board as the master board and the later board as the slave board by comparing the initialization completion time included in the initialization completion information received from the first and second boards, respectively. How to set up master / slave of a redundant board that generates setting information.
  12. 제10항에 있어서, 상기 하위보드는 상기 제1,2보드로부터 각각 수신된 초기화 완료정보에 포함된 초기화 완료시점이 동일하면 기설정된 보드를 마스터 보드로 설정하고 나머지 보드를 슬레이브 보드로 설정한다는 설정정보를 생성하는 이중화 보드의 마스터/슬레이브 설정방법.The method of claim 10, wherein the lower board sets the preset board as a master board and sets the remaining boards as slave boards when the initialization completion time included in the initialization completion information received from the first and second boards is the same. How to set up master / slave of a redundant board that generates information.
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