WO2020091256A1 - Système de contrôleur ayant une carte redondante, et procédé de configuration maître/esclave pour carte redondante - Google Patents

Système de contrôleur ayant une carte redondante, et procédé de configuration maître/esclave pour carte redondante 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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WO
WIPO (PCT)
Prior art keywords
board
boards
master
slave
initialization
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PCT/KR2019/013237
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English (en)
Korean (ko)
Inventor
권효철
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효성중공업 주식회사
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Publication of WO2020091256A1 publication Critical patent/WO2020091256A1/fr

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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.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • General Engineering & Computer Science (AREA)
  • Programmable Controllers (AREA)

Abstract

La présente invention concerne un procédé de configuration d'une carte maître/esclave pendant un amorçage initial d'une carte redondante, et une carte associée. Un procédé de configuration maître/esclave d'une carte redondante, selon un mode de réalisation de la présente invention, consiste : à initialiser des première et seconde cartes redondantes, respectivement, lorsqu'une tension d'amorçage est appliquée à ces dernières ; à permettre aux première et seconde cartes de générer des informations d'achèvement d'initialisation, respectivement, selon l'achèvement de l'initialisation de façon à les transmettre à une carte de rang inférieur, respectivement ; à permettre à la carte de rang inférieur de comparer des moments de réception des informations d'achèvement d'initialisation respectivement reçues en provenance des première et seconde cartes de façon à générer des informations de configuration maître/esclave ; à permettre à la carte de rang inférieur de transmettre les informations de configuration maître/esclave générées aux première et seconde cartes, respectivement ; et à permettre aux première et seconde cartes de se configurer comme carte maîtresse ou carte esclave en fonction des informations de configuration maître/esclave reçues respectivement.
PCT/KR2019/013237 2018-10-31 2019-10-08 Système de contrôleur ayant une carte redondante, et procédé de configuration maître/esclave pour carte redondante WO2020091256A1 (fr)

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KR10-2018-0131602 2018-10-31
KR1020180131602A KR20200048933A (ko) 2018-10-31 2018-10-31 이중화 보드를 구비한 제어기 시스템 및 그 이중화 보드의 마스터/슬레이브 설정방법

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KR940007707A (ko) * 1992-09-28 1994-04-27 정용문 공통 메모리를 이용한 데이터 공유장치 및 제어방법
KR20040055038A (ko) * 2002-12-20 2004-06-26 엘지전자 주식회사 이더넷 스위칭 보드 시스템 및 이중화 방법
KR20060031048A (ko) * 2004-10-07 2006-04-12 엘지전자 주식회사 에스지에스엔 아이유 인터페이스의 이중화 장치 및 그 방법
KR20080020807A (ko) * 2006-09-01 2008-03-06 주식회사 포스콘 Ｐｌｃ 시스템의 삼중화 장치 및 방법
US20170075836A1 (en) * 2013-12-19 2017-03-16 Nr Electric Co., Ltd. Method and apparatus for automatic signal exchange between multiple embedded cpu boards

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Publication number Priority date Publication date Assignee Title
KR20000055954A (ko) 1999-02-11 2000-09-15 김영환 이중화 보드용 마스터/슬레이버 선택 회로
KR100320149B1 (ko) 2000-03-07 2002-01-10 서평원 이중화 보드에서 와치독 인터럽트를 이용한 마스터 권한설정 장치 및 방법

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR940007707A (ko) * 1992-09-28 1994-04-27 정용문 공통 메모리를 이용한 데이터 공유장치 및 제어방법
KR20040055038A (ko) * 2002-12-20 2004-06-26 엘지전자 주식회사 이더넷 스위칭 보드 시스템 및 이중화 방법
KR20060031048A (ko) * 2004-10-07 2006-04-12 엘지전자 주식회사 에스지에스엔 아이유 인터페이스의 이중화 장치 및 그 방법
KR20080020807A (ko) * 2006-09-01 2008-03-06 주식회사 포스콘 Ｐｌｃ 시스템의 삼중화 장치 및 방법
US20170075836A1 (en) * 2013-12-19 2017-03-16 Nr Electric Co., Ltd. Method and apparatus for automatic signal exchange between multiple embedded cpu boards

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