CN105045181A - Overall redundant architecture of PAS 100 control system - Google Patents
Overall redundant architecture of PAS 100 control system Download PDFInfo
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- CN105045181A CN105045181A CN201510440770.2A CN201510440770A CN105045181A CN 105045181 A CN105045181 A CN 105045181A CN 201510440770 A CN201510440770 A CN 201510440770A CN 105045181 A CN105045181 A CN 105045181A
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- G—PHYSICS
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- 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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24175—Redundant communication channel, if one fails use the other
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25232—DCS, distributed control system, decentralised control unit
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Abstract
The invention discloses an overall redundant architecture of a PAS 100 control system. A control layer is provided with at least one group of mutually redundant main controller and backup controller. The main controller and the backup controller are redundant according to the ratio of 1:1. The main controller executes a control decision, and realizes data interaction between a monitoring layer and an input and output layer. The backup controller synchronizes programs and data of the main controller in real time and monitors the running state of the main controller. The main controller and the backup controller of the control layer carry out network communication with a monitoring layer through a communication network. The input and output layer is provided with a number of input and output modules. A number of IO modules and two mutually redundant main and backup communication modules are arranged in each input and output module. Main and backup communication modules in each input and output modules respectively carry out data interaction with the main controller and the backup controller of the control layer through two mutually redundant main and backup communication buses. According to the invention, the timeliness, the safety and the reliability of the PAS100 control system are improved, and the cost is low.
Description
Technical field
The present invention relates to the redundancy framework of dcs, be specifically related to a kind of overall redundancy framework of PAS100 control system.
Background technology
PAS100 control system is the automatic process control system system based on DCS frame design, adopt modular design method and open design concept, make this system possess good opening and extendability, be applicable to the automatic process control system of the industries such as oil, chemical industry, metallurgy, light industry, the energy and environmental protection.Existing DCS system (i.e. collective and distributive type control system or dcs) adopts multi-level hierarchical structure, combine the advantage of conventional instrument control system and centralized computer control, compensate for their respective deficiencies, possess the features such as decentralised control, centralized operation, differentiated control, flexible configuration and configuration convenience, its reliability is the key index of DCS system.In order to improve the reliability of DCS system, therefore need to carry out redundancy setting to DCS system.The redundant position of the DCS system of different manufacturers, degree and specific implementation are all different, and common system redundancy implementation is parts redundant.Consider different with for concrete industry application demand based on cost factor, the parts redundant of different manufacturers realize rank and mode is also different, the whole parts redundant of some employings, also have employing section components redundancy.In theory, the position degree that is more, redundancy that the Redundancy Design of system realizes redundancy is higher, and the safety and reliability of system is better.But from the Design and implementation angle of system, also can add the cost of the complexity of system, the difficulty of design and product, and much higher complexity must cause more unpredictalbe problem, adds some potential risks.Economically consider, too high redundance can increase the cost of system greatly, or even a kind of waste.As: the key-course of existing control system communicates with Modbus/TCP agreement with adopting Ethernet between input and output interlayer, and technical difficulty is relatively large, and cost is high, and the inevitable communication module redundancy of controller redundancy, network redundancy.Therefore be badly in need of a kind of redundancy structure reasonable in design of exploitation at present, this redundancy structure safety and reliability, and cost is low.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, there is provided a kind of overall redundancy framework of PAS100 control system, this redundancy framework is reasonable, considers ageing, the security of PAS100 control system, reliability, and cost is low, ensure that PAS100 control system can normally be run.
Object of the present invention can be achieved through the following technical solutions:
A kind of overall redundancy framework of PAS100 control system, comprise the supervisory layers of PAS100 control system, key-course and input and output layer, it is characterized in that: described key-course is provided with at least one group of master controller of redundancy and spare controller each other, described master controller and spare controller press 1:1 redundancy, described master controller performs control decision, realize the data interaction with supervisory layers and input and output layer, the program of described spare controller real-time synchronization master controller and data also monitor the running status of master controller, the master controller of described key-course and spare controller all adopt two, and the main communication network of redundancy and spare communication network and supervisory layers carry out network service each other, described input and output layer is provided with multiple input/output module group, multiple I/O module and two the main communication module of redundancy and spare communication module is each other provided with in described each input/output module group, the main communication module of each input/output module group and spare communication module are equipped with four communication interfaces, wherein two communication interfaces are for realizing the communication redundancy to controller, two other communication interface is for realizing the communication redundancy to I/O module in input/output module group, the main communication bus of redundancy and the master controller of spare communication bus and key-course and spare controller carry out data interaction each other respectively by two for the main communication module of each input/output module group and spare communication module.
The master controller of described key-course and spare controller are formed by power module, CPU module and public base, described power module and CPU module are fixed on public base by connector, realize interconnected by the base plate of public base, described CPU module is provided with communications network interface and communication bus interface, carry out data interaction by the communications network interface of CPU module between master controller and spare controller, the communications network interface of CPU module is used for the communication carried out with supervisory layers; The communication bus interface of CPU module is used for carrying out data interaction with the communication module of each input/output module group of input and output layer.
Power module and the CPU module of the power module of described master controller and CPU module and spare controller are separate.
The CPU module of described master controller and spare controller is equipped with two communication bus interface, two communication bus interface are RS485 bus interface, and the RS485 bus of redundancy and the main communication module of Modbus communication protocol and input and output layer and spare communication module carry out data interaction each other respectively by two for the master controller of described key-course and spare controller.
Described master controller and the CPU module of spare controller are equipped with two communications network interfaces for being connected with supervisory layers, and the main communication network of redundancy and spare communication network and supervisory layers carry out network service each other respectively by two for the master controller of described key-course and spare controller.
Described two are RJ45 Ethernet interface for the communications network interface be connected with supervisory layers, and the master ethernet of redundancy and Ethernet for subsequent use and supervisory layers carry out network service each other respectively by two for the master controller of described key-course and spare controller.
Optical fiber is adopted to carry out between described master controller and spare controller, for data interaction between redundant manipulator.
Described input and output layer is provided with maximum eight input/output module groups, is equipped with maximum eight I/O module and two the main communication module of redundancy and spare communication module each other in described each input/output module group.
It is mutual that the main communication module of described each input/output module group and spare communication module all carry out real time data by I/O module in two each other main communication bus of redundancy and spare communication bus and input/output module group.
Main communication module in described each input/output module group and spare communication module carry out data interaction respectively by each I/O module in two each other the RS485 bus of redundancy and Modbus agreement and input/output module group.
Beneficial effect of the present invention: key-course of the present invention is set at least one group of master controller of redundancy and spare controller each other by 1:1 redundancy principle, control decision is performed by master controller, realize the data interaction with supervisory layers and input and output layer, the running status of master controller is monitored by the program of spare controller real-time synchronization master controller and data, achieve the controller redundancy of key-course, if master controller occurs abnormal, then master controller switches to stand-by state.The existence of master controller do not detected when spare controller or monitor main control and break down, then spare controller switches to major state, ensure that the normal operation of controller; Be provided with multiple I/O module and two the main communication module of redundancy and spare communication module each other in each input/output module group of input and output layer, achieve communication module redundancy; Main communication module and spare communication module are equipped with four communication interfaces, wherein two communication interfaces are for realizing the communication redundancy to controller, two other communication interface is for realizing the communication redundancy to I/O module in input/output module group, each communication module reads the load module data of I/O module in real time, and data packing is sent to controller, communication module unpacks and controls to export order and the output module being sent to each I/O module respectively, communication module share controller with the communication task of input and output layer, improve the work efficiency of controller.Main communication module and spare communication module respectively by two each other the main communication bus of redundancy and the master controller of spare communication bus and key-course and spare controller carry out data interaction, achieve bus redundancy.Communication module and controller adopt bus communication, communicate with Modbus/TCP agreement relative to Ethernet, and technical difficulty is relatively low, and operating cost is low, and adopt two communication modules and two buses, have ensured the proper communication of input and output layer and key-course.The present invention is based on the overall situation to consider, because controller is the core component of system, once controller breaks down, the function of whole control loop all will lose efficacy, network and bus are the media of each functional part of connected system, and network and bus are subject to the impact of external factor, the possibility broken down is relatively high, the safety and reliability designing requirement of network is high, and the fault of I/O module, on the impact of systemic-function be local, I/O module fault can be solved by other method simultaneously, therefore the present invention proposes a kind of overall redundancy scheme, and adopt 1:1 redundancy principle, effectively and simple, flexible configuration, be easy to realize, various level data traffic and traffic rate are taken into full account, adopt Ethernet, optical fiber and RS485 bussing technique realize various level communication redundancy, take into full account the feature of industry control industry and collective and distributive type control system, meet the application demand of the sector and this area, reduce the complicacy of overall system design, there is good consistance and practicality, easy to use, good reliability, versatility are high, meet higher ageing, reliability and security, and cost is low.
The master controller of described key-course and spare controller are formed by power module, CPU module and public base, power module and CPU module are fixed on public base by connector, realize interconnected by the base plate of public base, hardware is simpler, and cost is also relatively low.CPU module is provided with communications network interface and communication bus interface, carries out data interaction between master controller and spare controller by the communication network of CPU module, and the communications network interface of CPU module is used for communicating with supervisory layers; The communication bus interface of CPU module is used for carrying out data interaction with the communication module of each input/output module group of input and output layer.CPU module adopts communication bus to communicate with the communication module of Modbus agreement with input/output module group by self integrated communication interface, and technical difficulty is relatively low, and cost is low, has high reliability and stability.
Power module and the CPU module of the power module of described master controller and CPU module and spare controller are separate, if wherein a controller breaks down, an other controller is unaffected, system still can normally be run, and simultaneity factor management or maintenance staff can realize online replacing according to the miscue information of system to failed controller.
The RS485 bus of redundancy and the main communication module of Modbus communication protocol and input and output layer and spare communication module carry out data interaction each other respectively by two for the master controller of described key-course and spare controller, adopt redundancy RS-485 bus stability high, easy realization, cost is relatively low, and redundant configuration is more flexible.
Master controller and spare controller all adopt two each other the main communication network of redundancy and spare communication network and supervisory layers carry out network service, achieve network redundancy, ensure that the unimpeded of network.
Described input and output layer is provided with maximum eight input/output module groups, is equipped with maximum eight I/O module and two the main communication module of redundancy and spare communication module each other in described each input/output module group.Be practically applicable to middle-size and small-size control system, meet general and common redundancy requirement, to meet on market user to the redundancy requirement of control system, and cost is low.
Accompanying drawing explanation
Fig. 1 is the theory diagram of control system of the present invention;
Fig. 2 is the structural representation of controller of the present invention;
Fig. 3 is the connection diagram of two redundant manipulators in key-course of the present invention;
Fig. 4 is the structural representation of communication module of the present invention;
Fig. 5 is the connection diagram of I/O module and communication module;
Fig. 6 is bus redundancy connection diagram;
Fig. 7 is the redundant network connection diagram between supervisory layers and key-course;
Fig. 8 is the schematic diagram that the nonredundant network between supervisory layers with key-course is connected.
Specific embodiment
Below in conjunction with accompanying drawing, the present invention is further described.
See shown in Fig. 1 to Fig. 8, a kind of overall redundancy framework of PAS100 control system, PAS100 control system, according to DCS architecture design, is mainly divided into 3 levels, comprises supervisory layers, key-course and input and output layer.
The critical piece of described key-course is controller, and major function is the collection realizing load module data in input and output layer, performs steering logic according to configuration program, and the output of output module data in control inputs output layer.Controller is running control software, performs steering logic, and is realized by certain communication mechanism and strategy and data message mutual of each module of input and output layer and each node of supervisory layers.Controller is the core component that control system control decision performs, and its stability and reliability are vital to whole system.Theory and practice all proves, redundancy a kind ofly can improve the stability of system and the effective ways of reliability.Because controller has high importance in the controls, therefore key-course is provided with at least one group of master controller of redundancy and spare controller each other, and master controller and spare controller press 1:1 redundancy.Shown in Figure 1, in the present embodiment, key-course is provided with one group of master controller of redundancy and spare controller each other, and master controller and spare controller press 1:1 redundancy.
Shown in 2, controller 1A and controller 1B is formed by power module 1, CPU module 2 and public base 3, and power module 1 and CPU module 2 are fixed on public base 3 by connector, and the base plate of logical public base 3 realizes interconnected.Power module 1 is powered for controller, and CPU module, based on the design of technical grade X86 core board, is the core of controller.Described CPU module 2 is provided with three communications network interfaces and two communication bus interface, and a wherein communications network interface of CPU module is used for the data interaction between master controller and spare controller, and another two communications network interfaces are used for communicating with supervisory layers; Two communication bus interface of CPU module are used for carrying out data interaction with the communication module of each input/output module group of input and output layer.Shown in Figure 3, in the present embodiment: CPU module is provided with two RJ45 Ethernet interfaces, a fiber optic Ethernet interface and two RS485 bus interface.Two RJ45 Ethernet interfaces are RJ45-1 respectively, RJ45-2, two RS485 bus interface are RS485-1 respectively, RS485-2, two RJ45 Ethernet interfaces are used for communicating with supervisory layers, fiber optic Ethernet interface is used for the data interaction between master controller and spare controller, and two RS485 bus interface, for realizing communication and the data interaction of each input/output module group with input and output layer, are most preferred embodiment.
Under normal circumstances, controller 1A is master controller, and controller 1B is spare controller.In such cases, controller 1A performs control decision, realizes the data interaction with supervisory layers and input and output layer; The program of controller 1B real-time synchronization master controller and data also monitor the running status of master controller.If master controller occurs abnormal, then master controller switches to stand-by state.The existence of master controller do not detected when spare controller or monitor main control and break down, then spare controller switches to major state.
The power supply of described master controller and spare controller and CPU are separate.If one in master controller and spare controller breaks down, the power supply that can cut off this controller is changed this controller, an other controller is unaffected, system still can normally be run, and simultaneity factor management or maintenance staff can realize online replacing according to the miscue information of system to failed controller.
The key-course of described PAS100 control system can also be set to many group controllers, described each group controller can be configured to master controller and the spare controller of redundancy each other, also nonredundancy controller can be adopted, form the controller of many group full redundancys, or form many group controllers of redundancy and nonredundancy mixing.
In all working task of controller, communicating with the I/O module of input and output layer and realizing data interaction is a task the most consuming time.In order to improve controller work efficiency, PAS100 control system introduce communication module with share controller with the communication task of input and output layer.
Described input and output layer is for controlling the output of on-site signal measurement and PAS100 control system control signal, input and output layer is made up of maximum eight input/output module groups, and each input/output module group comprises maximum eight I/O module and two the main communication module of redundancy and spare communication module each other.Main communication module and spare communication module and I/O module are arranged in same frame and form an input/output module group, and main communication module and spare communication module unify the data of I/O module in processed group, and realize data interaction with controller.The function of each I/O module be on-site signal measure and output system control signal to field apparatus.Main communication module and spare communication module be controller realize with data communication in each input/output module group " the collecting and distributing " center " of information; in the input process of I/O module; each load module data in communication module reading group in real time, and break into a packet and send to controller; In the output procedure of I/O module, communication module resolves the output steering order of self-controller, then controls the output of each output module respectively.
In the present embodiment: input and output layer is provided with eight input/output module groups, be first, second, third, fourth respectively ... 8th input/output module group.Each input/output module group includes eight I/O module IOX1, IOX2, IOX3, IOX4, IOX5, IOX6, IOX7, IOX8 and two the main communication module CPXA of redundancy and spare communication module CPXB each other.First input/output module group is respectively IO11, IO12, IO13, IO14, IO15, IO16, IO17, IO18 by eight I/O module, and main communication module CP1A and spare communication module CP1B, and eight I/O module and two communication modules are positioned at same IO frame.Second input/output module group is respectively IO21, IO22, IO23, IO24, IO25, IO26, IO27, IO28 by eight I/O module, and main communication module CP2A and spare communication module CP2B, and eight I/O module and two communication modules are positioned at same IO frame.The vibrational power flow of all the other several input/output module groups is all identical, omits at this.It is mutual that main communication module and spare communication module all carry out real time data by I/O module in two each other main communication bus of redundancy and spare communication bus and input/output module group.
The master slave mode of redundant communication module is determined by controller, namely controller and which communication module carry out data communication then that communication module be main communication module, another is spare communication module.Under normal circumstances, controller and communication module CPXA carry out data communication, and now, communication module CPXA is main communication module, and communication module CPXB is spare communication module.In such cases, main communication module realizes the data communication with each I/O module in controller data and input/output module group; The data of the main communication module of spare communication module Real-Time Monitoring and running status.If it is abnormal that the controller of key-course detects that main communication module occurs, then controller provides with main communication module communication failure information and data communication is switched to spare communication module.Now, spare communication module switches to major state, and main communication module switches to stand-by state.
Described main communication module and spare communication module separate, if wherein an arbitrary communication module breaks down, individual unaffected in addition, system still can normally be run.Again because communication module and I/O module all possess Hot Plug Capability, and plug the operation that one of them module can not affect other module, so system management or maintenance staff are according to the miscue information of system, online replacing can be realized when influential system does not run to fault communication module.
Shown in Figure 4: main communication module and the spare communication module of each input/output module group are equipped with two RS485 communication interfaces for connection control device with two for being connected the RS485 communication interface of I/O module, two RS485 communication interfaces for connection control device are RS485-U1 and RS485-U2 respectively, two is RS485-D1 and RS485-D2 for connecting the RS485 communication interface of I/O module respectively, the communication redundancy of two realizations of the RS485 communication interface for connection control device to controller, two realize the communication redundancy to I/O module in input/output module group for the RS485 communication interface connecting I/O module.
Main communication module in each input/output module group and spare communication module are connected with each I/O module with spare communication bus successively by the main communication bus of two RS485 communication interfaces, two redundancies each other, described main communication bus and spare communication bus all adopt RS485 bus, communication protocol adopts Modbus communication protocol, and in the main communication module of input/output module group and spare communication module and input/output module group, each I/O module is based on the Modbus protocol realization data interaction of RS485 bus.Implement technical difficulty lower, cost also relative to lower, and has high reliability and stability.
Shown in Figure 5, main communication module and realize being connected by two the RS485 buses be built on IO framework soleplate between spare communication module with eight I/O module.Main communication module is by I/O module data in RS485 bus read-write group, and spare communication module obtains corresponding data by monitoring this bus.If two RS485 bus is respectively RS485-1 and RS485-2.Under normal circumstances, RS485-1 is main communication bus, and RS485-2 is spare communication bus, and main communication module and spare communication module are all communicated with each I/O module by main communication bus RS485-1.Main communication module reads and writes I/O module data by main communication bus RS485-1, then spare communication module is monitored this main communication bus RS485-1 and obtained corresponding data; Main communication module reads and writes I/O data by spare communication bus RS485-2, then spare communication module is monitored spare communication bus RS485-2 and obtained corresponding data.Namely the communication bus of main communication module have switched, and the communication bus of spare communication module also carries out corresponding switching.If main communication module and spare communication module by main communication bus RS485-1 and a certain I/O module communication failure, are then enabled spare communication bus RS485-2 and are communicated with this I/O module; If main communication module and spare communication module are by I/O module communication failure number each in main communication bus RS485-1 and input/output module group more than n (this value can be arranged, and is defaulted as 4), then spare communication bus RS485-2 switches to main communication bus.Because RS485-1 and RS485-2 is separate, if a RS485-1 and RS485-2 wherein arbitrary communication bus breaks down or exception, or a certain nodes break down of main communication bus or exception, spare communication bus is unaffected, and system can normally be run and work.
Shown in Figure 6, the main communication module of each input/output module group and spare communication module respectively by two RS485 communication interfaces, two the main communication bus of redundancy and the master controller of spare communication bus and key-course and spare controller carry out data interaction each other, main communication bus and spare communication bus all adopt RS485 bus, communication protocol adopts Modbus communication protocol, based on the Modbus protocol realization data interaction of RS485 bus between two communication modules of input and output layer and the controller of key-course.Relative to ethernet communication, this bus communication hardware is simpler, and implement technical difficulty lower, cost also relative to lower, and has high reliability and stability.
All be connected by two RS485 buses between the main communication module of the master controller of key-course and spare controller and input and output layer and spare communication module.If two RS485 bus is respectively RS485-A and RS485-B, under normal circumstances, RS485-A is main communication bus, and RS485-B is spare communication bus, and each controller is communicated with each communication module by main communication bus RS485-A.If controller by main communication bus RS485-A and a certain communication module communication failure, is then enabled spare communication bus RS485-B and is communicated with this communication module; If controller by main communication bus RS485-A and communication module failure number more than n (this value can be arranged, and is defaulted as 4), then spare communication bus RS485-B switches to main communication bus.Because RS485-A and RS485-B is separate, if wherein an arbitrary communication bus breaks down or abnormal, or a certain nodes break down of main communication bus or exception, spare communication bus is unaffected, and system can normally be run and work.
Communication bus redundancy in communication bus redundancy between key-course and input and output layer and each input/output module group between two communication modules and I/O module, form the bus redundancy of PAS100 control system, bus redundancy ensure that the proper communication between key-course and input and output layer and in each input/output module group between two communication modules and I/O module.
Owing to adopting RS-485 bus communication between the communication module of PAS100 control system and controller, therefore the main communication module of input and output layer and spare communication module can be linked on two primary, spare controllers respectively, also can receive separately on arbitrary controller; Two RS-485 bus communications of redundancy can be adopted between communication module and controller, also can adopt single RS-485 bus communication, thus make PAS100 control system can realize separately controller redundancy, communication module redundancy and bus redundancy.
Described supervisory layers is the tool software such as PAS-HMI monitoring software, configuration software and the PAS-CONFIG run on PC platform, for system monitoring, Project Configuration and debugging.Supervisory layers is provided with server, multiple active station (1 ... n active station) and engineer station.
Shown in 1 and Fig. 7, in this PAS100 control system, the network between supervisory layers with key-course is connected and is configured to redundancy.The master controller of key-course and spare controller all provide two RJ45 Ethernet interfaces to supervisory layers, two main communication network of redundancy and spare communication networks each other can be accessed respectively by these two RJ45 Ethernet interface master controllers and spare controller, main communication network and spare communication network all adopt 100M/1000M Ethernet, general Modbus/TCP or special SicModbus-UDP communication protocol, maximum network nodes is 247, achieves the communication network redundancy between supervisory layers and key-course.In the system of network redundancy, wherein a network default is as main communication network, and another network is spare communication network, if main communication network breaks down, then enables spare communication network; If a certain node and main communication network interface break down, then this node is enabled and spare communication network interface.
Shown in Figure 8, described supervisory layers is connected with the network between key-course also can be configured to nonredundant network.
Claims (10)
1. the overall redundancy framework of a PAS100 control system, comprise the supervisory layers of PAS100 control system, key-course and input and output layer, it is characterized in that: described key-course is provided with at least one group of master controller of redundancy and spare controller each other, described master controller and spare controller press 1:1 redundancy, described master controller performs control decision, realize the data interaction with supervisory layers and input and output layer, the program of described spare controller real-time synchronization master controller and data also monitor the running status of master controller, the master controller of described key-course and spare controller adopt communication network and supervisory layers to carry out network service, described input and output layer is provided with multiple input/output module group, multiple I/O module and two the main communication module of redundancy and spare communication module is each other provided with in described each input/output module group, the main communication module of each input/output module group and spare communication module are equipped with four communication interfaces, wherein two communication interfaces are for realizing the communication redundancy to controller, two other communication interface is for realizing the communication redundancy to I/O module in input/output module group, the main communication bus of redundancy and the master controller of spare communication bus and key-course and spare controller carry out data interaction each other respectively by two for the main communication module of each input/output module group and spare communication module.
2. the overall redundancy framework of PAS100 control system according to claim 1, it is characterized in that: the master controller of described key-course and spare controller are by power module, CPU module and public base are formed, described power module and CPU module are fixed on public base by connector, realize interconnected by the base plate of public base, described CPU module is provided with communications network interface and communication bus interface, data interaction is carried out by the communications network interface of CPU module between master controller and spare controller, the communications network interface of CPU module is used for the communication carried out with supervisory layers, the communication bus interface of CPU module is used for carrying out data interaction with the communication module of each input/output module group of input and output layer.
3. the overall redundancy framework of PAS100 control system according to claim 1 and 2, is characterized in that: power module and the CPU module of the power module of described master controller and CPU module and spare controller are separate.
4. the overall redundancy framework of PAS100 control system according to claim 1 and 2, it is characterized in that: the CPU module of described master controller and spare controller is equipped with two communication bus interface, two communication bus interface are RS485 bus interface, and the RS485 bus of redundancy and the main communication module of Modbus communication protocol and input and output layer and spare communication module carry out data interaction each other respectively by two for the master controller of described key-course and spare controller.
5. the overall redundancy framework of PAS100 control system according to claim 1 and 2, it is characterized in that: described master controller and the CPU module of spare controller are equipped with two communications network interfaces for being connected with supervisory layers, the main communication network of redundancy and spare communication network and supervisory layers carry out network service each other respectively by two for the master controller of described key-course and spare controller.
6. the overall redundancy framework of PAS100 control system according to claim 5, it is characterized in that: described two are RJ45 Ethernet interface for the communications network interface be connected with supervisory layers, the master ethernet of redundancy and Ethernet for subsequent use and supervisory layers carry out network service each other respectively by two for the master controller of described key-course and spare controller.
7. the overall redundancy framework of PAS100 control system according to claim 1 and 2, is characterized in that: described master controller is connected with adopting optical fiber between spare controller, for data interaction between redundant manipulator.
8. the overall redundancy framework of PAS100 control system according to claim 1, it is characterized in that: described input and output layer is provided with maximum eight input/output module groups, in described each input/output module group, be equipped with maximum eight I/O module and two the main communication module of redundancy and spare communication module each other.
9. the overall redundancy framework of the PAS100 control system according to claim 1 or 8, is characterized in that: it is mutual that the main communication module of described each input/output module group and spare communication module all carry out real time data by I/O module in two each other main communication bus of redundancy and spare communication bus and input/output module group.
10. the overall redundancy framework of PAS100 control system according to claim 9, is characterized in that: the main communication module in described each input/output module group and spare communication module carry out data interaction respectively by each I/O module in two each other the RS485 bus of redundancy and Modbus agreement and input/output module group.
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| CN111506103A (en) * | 2020-03-20 | 2020-08-07 | 航天科工仿真技术有限责任公司 | Unmanned aerial vehicle control system and forced landing method |
| CN114019785A (en) * | 2021-10-19 | 2022-02-08 | 浙江中控技术股份有限公司 | Data synchronization method, system, equipment and medium for multiple redundancy system |
| CN114019785B (en) * | 2021-10-19 | 2023-11-07 | 浙江中控技术股份有限公司 | Data synchronization method, system, equipment and medium of multiple redundant system |
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