CN101807076B - Duplication redundancy fault-tolerant high-reliability control system having synergistic warm standby function based on PROFIBUS field bus - Google Patents
Duplication redundancy fault-tolerant high-reliability control system having synergistic warm standby function based on PROFIBUS field bus Download PDFInfo
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Abstract
The invention provides a duplication redundancy fault-tolerant high-reliability control system having the cooperative warm standby function based on a PROFIBUS field bus, and relates to a field acquisition control system in a power plant. By first using a duplication reliability system having an arbitration module in a power plant control system and combining the use of software and hardware, the invention solves the problems of poor instantaneity caused by low communication speed and long system switching time, field loss caused by the task immigration, poor system reliability and low network capacity in the existing power plant field control. A process control station and a standby process control station of the system are both accessed to a network A and a network B formed by the duplication redundancy PROFIBUT field bus, a plurality of network A passive stations and a plurality of network B passive stations are respectively accessed to the network A and the network B, and the process control station and the standby process control station are both connected with an arbitration switching module. The invention is applicable to the field acquisition control in the power plant.
Description
Technical field
The present invention relates to a kind of high reliability power plant collection in worksite control system.
Background technology
At present, power plant's field control system all is the RS485 serial communication of adopting low speed, and the total system control cycle is long, real-time is poor.And the bimodulus DPU warm spare working method of existing system employing, there is not the arbitration handover module, make that system's long, on-the-spot recovery switching time is imperfect, have a strong impact on real-time.The subject matter that existing system exists has: 1, the traffic rate of process control station and collection in worksite front end, control end is low; 2, slow, the data of bimodulus DPU switch speed are easily lost, and it is relatively poor that task is taken over the slow and on-the-spot integrality of speed; 3, the reliability of existing system is relatively poor, network capacity is lower.
Summary of the invention
The present invention be low for the traffic rate that solves existing power plant field control system, system's long real-time that causes switching time is poor, task immigration causes the scene to be lost, and the problem that system reliability is poor, network capacity is low, thereby provide a kind of duplication redundancy fault-tolerant high-reliability control system with cooperative warm standby function based on the PROFIBUS fieldbus.
Based on the duplication redundancy fault-tolerant high-reliability control system with cooperative warm standby function of PROFIBUS fieldbus, it comprises process control station, and it also comprises backup procedure control station, arbitration handover module, a m A net slave station and n B net slave station; Wherein m A net slave station is articulated on the A network bus, and n B net slave station is articulated on the B network bus, and described A net is two redundant PROFIBUS fieldbus structures; Described B net is two redundant PROFIBUS fieldbus structures;
Process control station is used for respectively A net and B net being connected into Industrial Ethernet, and the backup procedure control station is the process control station stand-by equipment, and this backup procedure control station also is used for respectively A net and B net being connected into Industrial Ethernet;
The arbitration control signal input end of process control station is connected with an arbitrating signals output terminal of arbitration handover module; Backup procedure control station arbitration control signal input end is connected with No. two arbitrating signals output terminals of arbitration handover module; The control signal output ends of process control station is connected with a signal input end of arbitration handover module, and the control signal output ends of backup procedure control station is connected with No. two signal input end of arbitration handover module;
M is for more than or equal to 1 and be less than or equal to 32 integer;
N is for more than or equal to 1 and be less than or equal to 32 integer.
Beneficial effect: the present invention realizes data transmission by two redundant PROFIBUS fieldbus, and the traffic rate of system is greatly improved; And the present invention adopts the mode of bimodulus complete machine Hot Spare collaborative work, quick seamless switching by arbitration handover module implementation procedure control station and backup procedure control station, system's switching time short, real-time, on-the-spot complete no data loss, and simplified the complexity of system hardware and software, greatly reduced cost; The present invention can be divided into 64 PROFIBUS slave stations in two networks, by the switching to two networks, realizes the control of main website timesharing to all PROFIBUS slave stations, and network capacity is big.
Description of drawings
Fig. 1 is a system architecture synoptic diagram of the present invention; Fig. 2 is the structural representation of the specific embodiment of the invention two; Fig. 3 is the structural representation of the specific embodiment of the invention three; Fig. 4 is the structural representation of the specific embodiment of the invention ten.
Embodiment
Embodiment one, this embodiment is described in conjunction with Fig. 1,
Based on the duplication redundancy fault-tolerant high-reliability control system with cooperative warm standby function of PROFIBUS fieldbus, it comprises process control station 1, and it also comprises backup procedure control station 2, arbitration handover module 5, a m A net slave station 3 and n B net slave station 4; Wherein m A net slave station 3 is articulated on the A network bus, and n B net slave station 4 is articulated on the B network bus, and described A net is two redundant PROFIBUS fieldbus structures; Described B net is two redundant PROFIBUS fieldbus structures;
The arbitration control signal input end of process control station 1 is connected with an arbitrating signals output terminal of arbitration handover module 5; The arbitration control signal input end of backup procedure control station 2 is connected with No. two arbitrating signals output terminals of arbitration handover module 5; The control signal output ends of process control station 1 is connected with a signal input end of arbitration handover module 5, and the control signal output ends of backup procedure control station 2 is connected with No. two signal input end of arbitration handover module 5;
M is for more than or equal to 1 and be less than or equal to 32 integer;
N is for more than or equal to 1 and be less than or equal to 32 integer.
Described two redundant PROFIBUS fieldbus is A network bus PROFIBUS-1_A and A net redundant bus PROFIBUS-2_A; Described B net is made up of two redundant PROFIBUS fieldbus, and described two redundant PROFIBUS fieldbus are B network bus PROFIBUS-1_B and B net redundant bus PROFIBUS-2_B;
Each A net slave station 3 inserts A network bus PROFIBUS-1_A and A net redundant bus PROFIBUS-2_A respectively by two PROFIBUS interfaces respectively; Each B net slave station 4 inserts B network bus PROFIBUS-1_B and B net redundant bus PROFIBUS-2_B respectively by two PROFIBUS interfaces respectively;
Principle of work: native system adopts the redundancy of system-level and component-level, and the bimodulus DPU, A net and the B net that have the arbitration switching all adopt the two redundant PROFIBUS interfaces of two redundant PROFIBUS bus, DPU and front ends, and scheme specifies as follows:
System is connected process control station (being DPU) and front end (62 comprise collection in worksite front end and control front end) by the PROFIBUS fieldbus.Native system adopts the fault-tolerant design of bimodulus Hot Spare DPU, and bimodulus DPU divides A machine and B machine to be equipped with as one main one, and the arbitration handover module sends the arbitration switching signal according to control line and the house dog WDG signal of DPU by logic control, and main frame has bus control right.The PROFIBUS network capacity is 32 slave stations, so 62 PROFIBUS slave stations are numbered ID0-ID61 and are divided into two networks, be for ID0-ID31 number PROFIBUS A net slave station and be PROFIBUS B net slave station ID32-ID61 number, finish the switching of the DPU of main website by the network switch logic, two networks of the DPU of main website timesharing control at A, two networks of B.
The system works flow process is as follows:
Suppose to select the A machine as main frame, the B machine is as backup machine.This moment, A machine control line signal was effective, B machine control line is invalid, the WDG signal of A and B is all invalid, arbitration handover module 5 sends arbitrating signals to A machine and B machine according to A machine and B machine signal logic, make the A machine as main frame, the B machine is as standby host, and A machine and B machine can read the arbitrating signals of arbitration handover module 5 simultaneously, can judge whether arbitration result is correct:
1. two-shipper normal operation:
Host A periodically sends request of data to the PROFIBUS bus, obtains the data that the front end slave station is gathered.Host A sends control signals to PROFIBUS network switch logic module earlier, make the A machine switch to PROFIBUS A net as main website, it is that the PRO1-A interface sends data that A machine main website uses No. 1 interface, and the interface that slave station self-adaptation main website is selected uses the PROFIBUS-1_A bus this moment.When mistake appearred in No. 1 interface, it was PRO2-A that A machine main website switches No. 2 interfaces of use, and use the PROFIBUS-2_A bus this moment, and slave station self-adaptation main website also uses interface PRO2 No. 2.Host A sends control signals to PROFIBUS network handover module logic again and switches to PROFIBUS B net as main website then, and send identical request of data to the B net, with the PROFIBUS interface that the same B net slave station self-adaptation of A net main website uses, PRO1-B or PRO2-B.Whether the A machine can read the output control signal of network switch logic module, correct to detect switching result, is convenient to find handoff error.
Backup machine B machine is in the bus monitoring state, and the arbitrating signals B that two-shipper arbitration handover module sends is with the sending function shielding of backup machine, and backup machine can receive slave station data on the bus, but does not have bus control right.
Host A machine and backup machine B machine are all handled the host computer that the data of its acquisition PC/104 interface by separately is uploaded to separately, and the host A machine will be controlled the result and send on the PROFIBUS, and sending mode is the same.Control front end slave station obtains the control result and produces control in real time.
2. main frame situation about breaking down:
The method that combines by software and hardware detects the host A machine and breaks down, A machine house dog WDG signal effectively or the invalid A of the making machine of A machine control line signal cut off bus, and B machine control line signal is effective, the B machine inserts bus, obtains bus control right.The B machine is taken over the work of A machine.Wait for that the A machine is restarted this moment and recover or the A tester in power-down state is pulled up replacement.When the A machine adds system again, notify current main website by the mutual check signal line, and identification oneself is slave station automatically, obtain restore data from main website.
3. two-shipper situation of fault all:
A machine house dog WDG signal effectively or the invalid A of the making machine of A machine control line signal cut off bus, B machine house dog WDG signal effectively or the invalid B of the making machine of B machine control line signal cut off bus, wait for that A machine and B machine are restarted this moment and recover or A machine and B tester in power-down state are pulled up replacement, wait for that two-shipper recovers normally to add again system.
Technical description:
1, two redundant PROFIBUS fieldbus
Adopt PROFIBUS-DP high speed fieldbus, speed reaches as high as 12Mbps, maximum 32 slave stations of single main website.Process control station DPU is as the PROFIBUS main website in the system, and collection in worksite front end and control end are as the PROFIBUS slave station.Owing to have 62 slave stations in the system, for satisfying the PROFIBUS bus capacity, in these 62 slave station graduation to two networks, two networks have identical main website, and main website combines by PROFIBUS network switch logic and software and is implemented in two internetwork switchings of A, B.System has realized and use relay identical functions by the design of network switch logic, has simplified system architecture, saves hardware cost greatly.
For guaranteeing system reliability, system has adopted the PROFIBUS bus of two redundancies, and main website and slave station all have two redundant PROFIBUS interfaces, and A net and B net all have two redundant buses.Main website produces according to bus failure and switches, and the interface of slave station self-adaptation main website is selected.
2, the reliability model of the fault-tolerant Hot Spare of bimodulus
System adopts the fault-tolerant reliability structure of bimodulus, is made up of task engine on duty (main frame) and backup machine.Task engine on duty (main frame) normally receives data from bus, sends on the bus task engine control bus promptly on duty after the processing.Backup machine then adopts the working method of cooperative warm standby, only receives data and processing from bus, the transmission of arbitration modules shielding backup machine, and backup machine can not produce control action to bus.Task engine on duty and backup machine then by the mutual monitoring of mutual check signal line between machine operation conditions separately, transmit restore data by this signal wire after the fault recovery.
The work of cooperative warm standby two-shipper has following three kinds of states:
⑴ the equal operate as normal of two-shipper, one of them is as task station (master), and another is as backup station (being equipped with).The complete control bus in task station, the backup station then is in the bus snooping state, can accept all data on the bus, but sending function is shielded by arbitration modules.
⑵ when the task station failure (the mode failure judgement that software and hardware combines), arbitration modules can shield the task station and promptly cancel the bus control right at task station to the function that bus sends, the sending function of opening the backup station is about to backup station incision bus, and bus control right is obtained at the backup station.Backup station becomes the processing of main website on duty continuation task, seamlessly takes over follow-up task of main website and work.Former task station through fault handling, parallel operation restart, normally the operation back by the mutual check signal line notify main website on duty it start, and Automatic Logos are the backup station.
⑶ the whole faults of two-shipper, then arbitration modules can all cut off two-shipper from bus, waits for that artificial treatment changes the parallel operation that powers on of normal module and recover to cut again bus again.
3, fault detect and recovery
Adopt following detection method:
⑴, checkpoint are detected and mutual detection of two-shipper combines.Two-shipper detects mutually and refers at outside at interval " survival " state of broadcasting the state of self and checking other node of a period of time.Native system adopts fixed interval, periodically carries out mutual check signal and detects.Distinguish random failure and permanent fault by the method for continuous fault counting simultaneously.
⑵, self check.System is provided with the self check thread and carries out self check, can return method realization self checks such as detection of stored device by read-after-write by encircling communication check bus transceiver module certainly.
⑶ house dog.When endless loop or deadlock situation appear in system software, regularly spill over is effective for house dog, arbitration modules is produced switch.
4, the arbitration switched design of two-shipper
Native system adopts the cooperative warm standby design, the equal operate as normal of two-shipper and to produce operation result be that backup machine is not exported, and the operation result of two-shipper does not need to compare, so arbitration modules has been saved comparator circuit.The cooperative warm standby design does not need task immigration when making failover, can realize switching as long as backup machine is taken over the bus control right of task engine on duty.Simplified the complexity of arbitration commutation circuit and program greatly, the arbitration commutation circuit of native system is used the WDT and the bus control request signal of two-shipper, and judges switching condition in conjunction with software, produces and switches.
Embodiment two, this embodiment is described in conjunction with Fig. 2, this embodiment is with the difference of embodiment one based on the duplication redundancy fault-tolerant high-reliability control system with cooperative warm standby function of PROFIBUS fieldbus, it is identical with the structure of backup procedure control station 2 that process control station 1 comprises, described process control station 1 comprises: control module 1-1, communication interface logical block 1-2, PC/104 interface 1-3 and host computer 1-4; The signal of described control module 1-1 inputs or outputs end and inputs or outputs to hold with the signal of communication interface logical block 1-2 and be connected; The signal of described communication interface logical block 1-2 inputs or outputs end and inputs or outputs end by PC/104 interface 1-3 and the signal of host computer 1-4 and be connected; Four PROFIBUS interfaces of control module 1-1 are four PROFIBUS interfaces of process control station 1.
In the present embodiment, host computer 1-4 mainly moves control algolithm, and control module 1-1 is responsible for obtaining from the PROFIBUS bus data of front-end collection, and upload the data to host computer 1-4 processing by PC/104 interface 1-3.PC/104 interface 1-3 logic adopts FPGA to realize.
The difference of the described duplication redundancy fault-tolerant high-reliability control system with cooperative warm standby function based on the PROFIBUS fieldbus of embodiment three, this embodiment and embodiment two is that host computer 1-4 is embedded PC.
The difference of the described duplication redundancy fault-tolerant high-reliability control system with cooperative warm standby function based on the PROFIBUS fieldbus of embodiment four, this embodiment and embodiment two is that control module 1-1 is that model is the network controller of netX100.
PC104 Interface design in the present embodiment: host computer 1-4(built-in PC) with control module 1-1(communication board) communicates by letter with Data transmission by PC104 between.Present embodiment PC104 communication interface realizes by the dual-ported memory DPM on the controller netX100 of controller, be equivalent to the PC104 outer extension memory at upper computer end netx100, netx100 shines upon part in inside by read-write RAM(DPM) come and the host computer exchange message.
The difference of the described duplication redundancy fault-tolerant high-reliability control system with cooperative warm standby function based on the PROFIBUS fieldbus of embodiment five, this embodiment and embodiment two is that communication interface logical block 1-2 adopts FPGA to realize.
Pass through the method for the communication interface logical block 1-2 in the FPGA implementation procedure control station 1 in the present embodiment:
This method mainly realizes the PC/104 communication interface logic of control module 1-1 and host computer 1-4 by FPGA, also have the switch logic of A net and B net;
The explanation of ㈠ PC/104 interface logic:
1. use dual-ported memory DPM and the host computer 1-4 of control module 1-1 to carry out the PC/104 communication, the storer that is equivalent to expand at upper computer end angle control module 1-1.
2. FPGA realizes the address latch of PC104 high address LA23 ~ LA17.
3. the most-significant byte address wire of FPGA realization PC104 is pressed the storage allocation decoding of host computer, produces the chip selection signal DPM_CS of DPM.
4. FPGA realizes that the terminal voltage of control module 1-1 is risen to the PC/104 driving voltage of 5V by 3.3V.
5. according to the PC/104 sequential, FPGA produces 16 of storeies and selects signal (MEMCS16).
The switch logic explanation of ㈡ A net and B net:
1. control module 1-1 sends the control signal that enables of A net and B net, and when the enable signal of A net or B net was effective, network should switch to A net or B net.
2. FPGA realizes trigger logic, enables the control signal input, can produce the switching signal of interlocking through trigger.
3. FPGA realize to switch the logical relation of the arbitrating signals of exporting with arbitration modules for new number, thereby enables corresponding PROFIBUS field-bus interface.
Embodiment six, in conjunction with Fig. 3 this embodiment is described, this embodiment and embodiment one, two, three, the difference of the four or five described duplication redundancy fault-tolerant high-reliability control systems with cooperative warm standby function based on the PROFIBUS fieldbus is, A net slave station 3 is identical with the structure of B net slave station 4, described A net slave station 3 comprises interface board steering logic unit 3-1 and collection in worksite front-end control unit 3-2, the signal input output end of described collection in worksite front-end control unit 3-2 inputs or outputs end with the signal of interface board steering logic unit 3-1 and is connected, and two PROFIBUS interfaces of described interface board steering logic unit 3-1 are two PROFIBUS interfaces of an A net slave station 3.
The difference of the described duplication redundancy fault-tolerant high-reliability control system with cooperative warm standby function based on the PROFIBUS fieldbus of embodiment seven, this embodiment and embodiment six is, it is characterized in that collection in worksite front-end control unit 3-2 is that model is the network controller of netX50.
The difference of the described duplication redundancy fault-tolerant high-reliability control system with cooperative warm standby function based on the PROFIBUS fieldbus of embodiment eight, this embodiment and embodiment six is that interface board steering logic unit 3-1 is FPGA.
Present embodiment solves the conversion of the 5V level of the 3.3V level of gathering front-end control unit 3-2 in A net slave station or the B net slave station and signals collecting I/O by FPGA.Because FPGA is an online programmable, then can use identical hardware configuration to no collection I/O, satisfy the demand of different slave stations by programming FPGA.
The difference of the described duplication redundancy fault-tolerant high-reliability control system with cooperative warm standby function based on the PROFIBUS fieldbus of embodiment nine, this embodiment and embodiment one, two, three, four, five, six, seven or eight is, it also comprises mutual check signal line 6 between machine, one end of mutual check signal line 6 and a detection signal of process control station 1 input or output end and are connected between a described machine, and the other end of mutual check signal line 6 inputs or outputs to hold with a detection signal of backup procedure control station 2 and is connected between machine.
Embodiment ten, in conjunction with Fig. 4 this embodiment is described, this embodiment and embodiment one, two, three, four, five, six, seven, the difference of the eight or nine described duplication redundancy fault-tolerant high-reliability control systems with cooperative warm standby function based on the PROFIBUS fieldbus is, it also comprises mutual check signal line 7 between No. two machines, one end of mutual check signal line 7 and No. two detection signals of process control station 1 input or output end and are connected between described No. two machines, and the other end of mutual check signal line 7 inputs or outputs to hold with No. two detection signals of backup procedure control station 2 and is connected between No. two machines.
In the present embodiment, 7 pairs of redundant mutual check signal lines of mutual check signal line between mutual check signal line 6 and No. two machines between a machine.Adopt two-shipper mutual check signal line can make main frame and backup machine monitor the other side's running status mutually, both sides periodically send local state, receive the malfunction or the continuous several times receive time-out task engine fault then on duty of task engine on duty when backup machine, backup machine is to arbitration modules request bus control right.After the fault recovery of fault machine, add system again, the message communicating by the mutual check signal line is set to backup machine, reads configuration information and finishes the configuration back and receive the restore data that the current task machine transmits from the last checkpoint of fault.
Consider that reliability and raising error detection accuracy prevent the misoperation of judging by accident and frequently switching, present embodiment adopts two Redundancy Design of mutual check signal line between complete machine, bus, machine.When not receiving mutual check signal, have two kinds of failure conditions, a kind of is the other side's processor hardware and software failure, another kind is a mutual check signal line fault.If adopt single mutual check signal line then can't be accurately directly determine fault type, may produce erroneous judgement, therefore fault detect is judged to handle and is adopted two redundant mutual check signal lines to add the multiple redundancy fault-tolerant design of arbitration, improves system reliability, availability, the property tieed up, and reduces cost.
Claims (10)
1. based on the duplication redundancy fault-tolerant high-reliability control system with cooperative warm standby function of PROFIBUS fieldbus, it comprises process control station (1), it is characterized in that: further comprising backup procedure control station (2), arbitration handover module (5), a m A net slave station (3) and n B net slave station (4); Wherein m A net slave station (3) is articulated on the A network bus, and n B net slave station (4) is articulated on the B network bus, and described A net is two redundant PROFIBUS fieldbus structures; Described B net is two redundant PROFIBUS fieldbus structures;
Process control station (1) is used for respectively A net and B net being connected into Industrial Ethernet, and backup procedure control station (2) is process control station (a 1) stand-by equipment, and this backup procedure control station (2) also is used for respectively A net and B net being connected into Industrial Ethernet;
The arbitration control signal input end of process control station (1) is connected with an arbitrating signals output terminal of arbitration handover module (5); The arbitration control signal input end of backup procedure control station (2) is connected with No. two arbitrating signals output terminals of arbitration handover module (5); The control signal output ends of process control station (1) is connected with a signal input end of arbitration handover module (5), and the control signal output ends of backup procedure control station (2) is connected with No. two signal input end of arbitration handover module (5);
M is for more than or equal to 1 and be less than or equal to 32 integer;
N is for more than or equal to 1 and be less than or equal to 32 integer.
2. the duplication redundancy fault-tolerant high-reliability control system with cooperative warm standby function based on the PROFIBUS fieldbus according to claim 1 is characterized in that described process control station (1) comprising: control module (1-1), communication interface logical block (1-2), PC/104 interface (1-3) and host computer (1-4); The signal of described control module (1-1) inputs or outputs end and inputs or outputs to hold with the signal of communication interface logical block (1-2) and be connected; The signal of described communication interface logical block (1-2) inputs or outputs end and inputs or outputs to hold by the PC/104 interface (1-3) and the signal of host computer (1-4) and be connected; Four PROFIBUS interfaces of control module (1-1) are four PROFIBUS interfaces of process control station (1).
3. the duplication redundancy fault-tolerant high-reliability control system with cooperative warm standby function based on the PROFIBUS fieldbus according to claim 2 is characterized in that host computer (1-4) is embedded PC.
4. the duplication redundancy fault-tolerant high-reliability control system with cooperative warm standby function based on the PROFIBUS fieldbus according to claim 2 is characterized in that control module (1-1) is that model is the network controller of netX100.
5. the duplication redundancy fault-tolerant high-reliability control system with cooperative warm standby function based on the PROFIBUS fieldbus according to claim 2 is characterized in that communication interface logical block (1-2) adopts FPGA to realize.
6. according to claim 1,2,3,4 or 5 described duplication redundancy fault-tolerant high-reliability control systems with cooperative warm standby function based on the PROFIBUS fieldbus, it is characterized in that A net slave station (3) is identical with the structure of B net slave station (4), described A net slave station (3) comprises interface board steering logic unit (3-1) and collection in worksite front-end control unit (3-2), the signal input output end of described collection in worksite front-end control unit (3-2) inputs or outputs end with the signal of interface board steering logic unit (3-1) and is connected, and two PROFIBUS interfaces of described interface board steering logic unit (3-1) are two PROFIBUS interfaces of an A net slave station (3).
7. the duplication redundancy fault-tolerant high-reliability control system with cooperative warm standby function based on the PROFIBUS fieldbus according to claim 6 is characterized in that collection in worksite front-end control unit (3-2) is that model is the network controller of netX50.
8. the duplication redundancy fault-tolerant high-reliability control system with cooperative warm standby function based on the PROFIBUS fieldbus according to claim 6 is characterized in that interface board steering logic unit (3-1) adopts FPGA to realize.
9. according to claim 1,2,3,4,5,7 or 8 described duplication redundancy fault-tolerant high-reliability control systems with cooperative warm standby function based on the PROFIBUS fieldbus, it is characterized in that it also comprises mutual check signal line (6) between machine, one end of mutual check signal line (6) and a detection signal of process control station (1) input or output end and are connected between a described machine, and the other end of mutual check signal line (6) inputs or outputs to hold with a detection signal of backup procedure control station (2) and is connected between machine.
10. the duplication redundancy fault-tolerant high-reliability control system based on the PROFIBUS fieldbus according to claim 9 with cooperative warm standby function, it is characterized in that it also comprises mutual check signal line (7) between No. two machines, one end of mutual check signal line (7) and No. two detection signals of process control station (1) input or output end and are connected between described No. two machines, and the other end of mutual check signal line (7) inputs or outputs to hold with No. two detection signals of backup procedure control station (2) and is connected between No. two machines.
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| WO2012130241A1 (en) * | 2011-03-30 | 2012-10-04 | Vestas Wind Systems A/S | Wind power plant with highly reliable real-time power control |
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| CN106598017A (en) * | 2015-10-20 | 2017-04-26 | 中车大连电力牵引研发中心有限公司 | Redundancy control system |
| CN106888142B (en) * | 2017-03-09 | 2020-01-24 | 广州广哈通信股份有限公司 | E1 double-ring network with ring self-healing function |
| CN107612800B (en) * | 2017-09-14 | 2021-05-25 | 北京鼎实创新科技股份有限公司 | Implementation method and control device of Y-type conversion equipment for connecting PROFIBUS redundant double-bus network and PROFIBUS single-bus network |
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| US7055060B2 (en) * | 2002-12-19 | 2006-05-30 | Intel Corporation | On-die mechanism for high-reliability processor |
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| CN100587639C (en) * | 2006-12-30 | 2010-02-03 | 中国科学院电工研究所 | Real time multiple task distributive control system based on VME bus |
| CN101145894A (en) * | 2007-10-29 | 2008-03-19 | 哈尔滨工业大学 | High-reliability arbitration device for highly available dual host fault tolerance system |
| CN101299205A (en) * | 2008-06-25 | 2008-11-05 | 哈尔滨工业大学 | Priority queuing arbitration system bus control method based on voting |
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