CN101751020A - High-availability function block redundancy method - Google Patents

Abstract

The invention relates to a high-availability function block redundancy method, which comprises the following steps that: field devices are subjected to addition processing; redundancy relationships are configured and set to enable the field devices after the addition processing to form a field circuit, and corresponding main function blocks and back-up function blocks are configured and set; real-time data synchronization are carried out on the main function blocks and back-up function blocks; when the main function blocks in the same redundancy relationship fail, the field devices which find the failure firstly call a redundancy handover request service to send a redundancy handover message; and the device in which the back-up function blocks are positioned (namely redundancy units) receive and process the redundancy handover request message, and call a redundancy handover command service to issue a global redundancy handover command message for notifying all related devices to carry out redundancy handover. The method ensures the continuity of the control process, and maximally ensures the consistency of the redundant links and the main links, and has the advantages of low development cost, quick redundancy handover speed and wide application range.

Description

Translated fromChinese

一种高可用性功能块冗余方法A High Availability Function Block Redundancy Method

技术领域technical field

本发明涉及自动控制领域及现场总线技术，具体地说是一种低成本的应用于现场总线控制系统的高可用性功能块冗余方法。The invention relates to the field of automatic control and field bus technology, in particular to a low-cost high-availability function block redundancy method applied to a field bus control system.

背景技术Background technique

现场总线控制系统(Fieldbus Control Syste，FCS)的应用越来越广泛，从制药到炼油等工业行业都逐渐越来越多地采用现场总线控制系统。逐渐有取代传统分布式控制系统(Distributed Control System，DCS)的趋势。IEC61158第四版的推出更加有力地推动了现场总线技术的发展。现场总线相对于DCS有诸多优点。所有的现场总线标准都是开放的，不同厂家的相同类型现场总线产品具备互操作性，给用户提供了构建系统的极大的灵活性。现场总线的布线成本更低，由于将控制下放到现场，使之比传统DCS的控制方式有更高的可靠性。现场总线控制系统的配置方式灵活，结构简单，易于维护等特点使得现场总线在工业控制领域得到广泛使用。现场总线一个重要特点就是将执行控制功能的功能块下放到现场设备之中。将执行控制功能的功能块下放到现场设备之中的好处是显而易见的：使得现场设备能够就近获取现场信息，减少了AD/DA转化，使得DCS系统中“信息孤岛”现象得到改善；减少了硬件设备如隔离器、端子柜等；使得布线变得更加简单，只需一条线缆或双绞线即可。但是，由于现场的电磁干扰和尘埃、震动等环境因素明显较DCS机柜更加恶劣，所以进行冗余以保证可靠性也就更加重要和紧迫。Fieldbus control system (Fieldbus Control System, FCS) is more and more widely used, from pharmaceutical to oil refining and other industries are gradually using fieldbus control system more and more. There is a tendency to gradually replace the traditional distributed control system (Distributed Control System, DCS). The introduction of the fourth edition of IEC61158 has more effectively promoted the development of fieldbus technology. Fieldbus has many advantages over DCS. All fieldbus standards are open, and the same type of fieldbus products from different manufacturers are interoperable, providing users with great flexibility in building systems. The wiring cost of the field bus is lower, and because the control is transferred to the field, it has higher reliability than the traditional DCS control method. The flexible configuration, simple structure and easy maintenance of the fieldbus control system make the fieldbus widely used in the field of industrial control. An important feature of the field bus is that the function blocks that perform the control functions are transferred to the field devices. The benefits of delegating the function blocks that perform control functions to field devices are obvious: the field devices can obtain field information nearby, reducing AD/DA conversion, and improving the "information island" phenomenon in the DCS system; reducing hardware Equipment such as isolators, terminal cabinets, etc.; make wiring easier, only one cable or twisted pair is required. However, since the electromagnetic interference, dust, vibration and other environmental factors on site are obviously worse than DCS cabinets, it is more important and urgent to implement redundancy to ensure reliability.

冗余包括处理器冗余、通信冗余、I/O冗余和电源冗余。按冗余实现方式可分为：硬冗余、软冗余。硬冗余(hard.redundancy)，即采用特殊的硬件模块或PLC中固化的程序来实现PLC同步、故障切换的冗余方式；软冗余(soft.redundancy)，即采用编程的方式来实现PLC同步、故障切换的冗余方式。按冗余切换方式可分为：1.热冗余(热备hot.back)，即硬冗余方式，当主设备故障时，通过特定硬件判别、备份方式无间隙地自动切换到备用设备上，保持系统正常运行；2.暖冗余(暖备或温备walqT1.back)，即软冗余方式主要通过编程方式来实现冗余。由于软冗余的实现受多方因素制约，系统切换的时间较硬冗余稍长，因此部分软冗余可能会使主设备在发生切换时有间隙或需要人为简单干预或预置才得以完善；3.冷冗余(冷备cold.back)，即一套或部分冗余的设备(如：CPU)不通电、不工作，准备待命(人为预置好)。当主设备故障时需要人工恢复系统运行。按照现在的严格定义，这种方式，并不算是冗余，只作备件理解。这种冗余一般应用于实时性不强、工艺连续性要求不高的场合。Redundancy includes processor redundancy, communication redundancy, I/O redundancy, and power redundancy. According to the redundancy implementation method, it can be divided into hard redundancy and soft redundancy. Hard redundancy (hard.redundancy), that is, the use of special hardware modules or programs solidified in the PLC to achieve PLC synchronization, failover redundancy; soft redundancy (soft.redundancy), that is, the use of programming to achieve PLC Synchronization, failover redundancy. According to the redundancy switching method, it can be divided into: 1. Hot redundancy (hot.back), that is, the hard redundancy method. When the main device fails, it will automatically switch to the backup device without gaps through specific hardware discrimination and backup mode. Keep the system running normally; 2. Warm redundancy (warm standby or warm standby walqT1.back), that is, the soft redundancy method mainly realizes redundancy through programming. Since the realization of soft redundancy is restricted by many factors, the system switching time is slightly longer than that of hard redundancy, so some software redundancy may cause gaps in the switching of the main equipment or require simple human intervention or presetting to be perfected; 3. Cold redundancy (cold backup cold.back), that is, a set or part of redundant equipment (such as: CPU) is not powered on, does not work, and is ready to stand by (preset manually). When the main device fails, it is necessary to manually restore the system operation. According to the current strict definition, this method is not considered redundant, it is only understood as spare parts. This kind of redundancy is generally used in occasions where the real-time performance is not strong and the requirements for process continuity are not high.

但是，无论哪种冗余方式均需要额外的冗余硬件实现，这使得构建现场总线控制系统的成本上涨。However, no matter what kind of redundancy mode requires additional redundant hardware implementation, this increases the cost of building a fieldbus control system.

发明内容Contents of the invention

针对现有技术中存在的上述不足之处，提高现场总线设备的可靠性，在不增加硬件成本和复杂性的前提下，本发明要解决的技术问题是提供一种低成本的高可用性功能块冗余方法。Aiming at the above-mentioned deficiencies in the prior art, to improve the reliability of the fieldbus equipment, without increasing the hardware cost and complexity, the technical problem to be solved by the present invention is to provide a low-cost high-availability function block Redundant method.

对传统现场总线设备的改进方法，实现功能块冗余。The improved method of traditional fieldbus equipment realizes the function block redundancy.

为解决上述技术问题，本发明采用的技术方案如下：In order to solve the problems of the technologies described above, the technical scheme adopted in the present invention is as follows:

本发明一种高可用性功能块冗余方法包括以下步骤：A high-availability function block redundancy method of the present invention comprises the following steps:

对现场设备进行增设处理：利用控制回路中完成控制功能所必需的现场设备做为硬件平台，增设用于冗余的备份功能块；在原有现场总线协议栈基础上增设冗余链路对象；为现场设备增设冗余信息对象、冗余切换请求服务、冗余切换命令服务、冗余管理实体以及冗余监视定时器；组态并设置冗余关系：将上述增设处理后的现场设备组成现场回路，组态并设置相应的主功能块及备分功能块；对主功能块和备份功能块进行实时数据同步，即主功能块和备份功能块使用相同输入，同时计算，主功能块输出结果，备份功能块计算但不输出结果；当同一冗余关系中的主功能块失效时，最先发现的现场设备调用冗余切换请求服务发送冗余切换报文；备份功能块所在的设备即冗余设备接收并处理冗余切换请求报文，调用冗余切换命令服务，发布全局的冗余切换命令报文，通知所有相关设备进行冗余切换。Adding field devices: using the field devices necessary to complete the control function in the control loop as the hardware platform, adding backup function blocks for redundancy; adding redundant link objects on the basis of the original fieldbus protocol stack; Add redundant information objects, redundant switching request services, redundant switching command services, redundant management entities, and redundant monitoring timers to field devices; configure and set redundancy relationships: combine the above-mentioned added and processed field devices into a field loop , configure and set the corresponding main function block and backup function block; real-time data synchronization between the main function block and the backup function block, that is, the main function block and the backup function block use the same input, calculate at the same time, and the output result of the main function block, The backup function block calculates but does not output the result; when the main function block in the same redundancy relationship fails, the first discovered field device calls the redundancy switching request service to send a redundancy switching message; the device where the backup function block is located is the redundancy The device receives and processes the redundant switching request message, calls the redundant switching command service, issues the global redundant switching command message, and notifies all related devices to perform redundant switching.

本发明方法还包括操作员干预式链路恢复机制，即当在冗余切换完成，系统进入新的工作状态时，若主功能块恢复功能，操作员手动强制切换回主功能块进行控制。The method of the present invention also includes an operator-intervention link recovery mechanism, that is, when the redundancy switching is completed and the system enters a new working state, if the main function block resumes its function, the operator manually switches back to the main function block for control.

所述备份功能块是基于软件技术的功能块级别，采用同一控制回路中的现场设备增设的功能块来冗余主控制器的功能块，不需要额外增加新的专用于冗余功能的硬件。The backup function block is based on the function block level of software technology, and uses the function blocks added by the field devices in the same control loop to redundant the function blocks of the main controller, without additionally adding new hardware dedicated to redundant functions.

所述冗余链路对象是用于冗余功能块之间通信的一种程序结构，是描述冗余链路关系的一种对象；冗余链路对象描述发布现场数据的源设备地址、发布现场数据的源设备数据发布的进程、订阅现场数据的目标设备地址、订阅现场数据的进程。The redundant link object is a program structure used for communication between redundant function blocks, and is an object describing the relationship between redundant links; the redundant link object describes the source device address, release The process of publishing the source device data of the field data, the address of the target device subscribing to the field data, and the process of subscribing to the field data.

所述冗余信息对象用于组织管理冗余信息，包括：可供冗余的功能块数目、正常报文超时时间以及是否强制恢复主链路。The redundancy information object is used to organize and manage redundancy information, including: the number of functional blocks available for redundancy, normal message timeout time, and whether to forcibly restore the main link.

所述冗余切换请求服务为无确认无连接的网络服务，当作为订阅者参与冗余链路通信的设备监视到标志性报文超时达到规定次数，调用的一种全局广播服务；该服务发布冗余切换请求报文。The redundant switching request service is a network service with no confirmation and no connection. When the device participating in the redundant link communication as a subscriber monitors that the signature message times out and reaches the specified number of times, it calls a global broadcast service; the service publishes Redundancy switching request message.

所述冗余切换命令服务为无确认无连接的网络服务，冗余设备收到任何与之有冗余关系的设备发布的冗余切换请求报文之后，调用本服务，要求全部参与冗余链路通信的订阅者进行链路切换动作。The redundant switching command service is a network service with no confirmation and no connection. After the redundant device receives the redundant switching request message issued by any device that has a redundant relationship with it, it calls this service and requires all to participate in the redundant chain. The subscribers of the channel communication perform the link switching action.

所述冗余管理实体为用于监视、发送、处理冗余切换服务及冗余切换报文的程序。The redundancy management entity is a program for monitoring, sending, and processing redundancy switching services and redundancy switching messages.

所述冗余监视定时器为软件或硬件定时器；该定时器监视每个同时拥有主链路、冗余链路的端点；所有定时器的超时时间统一配置；定时器为循环使用，直到相应链路失效或发生切换事件；定时器被重置的条件是所监视端点的主链路传递的现场数据在规定时间内到达或定时器超时；定时器超时事件连续发生且若未达到规定次数，则重置定时器并记录超时事件；若达到规定次数则停止定时器，触发链路切换事件。The redundancy monitoring timer is a software or hardware timer; the timer monitors each endpoint that simultaneously has a main link and a redundant link; the timeout time of all timers is uniformly configured; the timer is used cyclically until the corresponding Link failure or switching event occurs; the condition for the timer to be reset is that the field data delivered by the main link of the monitored endpoint arrives within the specified time or the timer expires; the timer timeout event occurs continuously and if the specified number of times is not reached, Then reset the timer and record the timeout event; if the specified number of times is reached, stop the timer and trigger a link switching event.

所述冗余关系是指一个含有备份功能块的设备和所有被该设备内备份功能块所冗余的现场设备的集合。The redundancy relationship refers to a set of a device containing a backup function block and all field devices redundant by the backup function block in the device.

所述调用冗余切换请求服务发送冗余切换报文包括以下步骤：Said invoking a redundant switching request service to send a redundant switching message includes the following steps:

在组态并设置冗余关系之后，重新启动冗余监视定时器；After configuring and setting the redundancy relationship, restart the redundancy watchdog timer;

判断收到标志性报文是否超时；Judging whether the received signature message has timed out;

如果超时，则超时计数器递增1；If it times out, the timeout counter is incremented by 1;

如果超时次数到达规定的数目，则发送冗余切换请求报文并进入下一轮循环；If the number of timeouts reaches the specified number, send a redundant switching request message and enter the next cycle;

若未达到规定的次数，则进入下一轮循环；If the specified number of times is not reached, enter the next cycle;

若收到标志性报文未超时，将对应的冗余监视定时器停止，使用有效链路所载荷数据更新现场数据，进入下一轮循环。If the signature message is received without timeout, stop the corresponding redundancy monitoring timer, use the data loaded by the effective link to update the field data, and enter the next round of cycle.

所述冗余设备接收并处理冗余切换请求报文包括以下步骤：The redundant device receiving and processing the redundant switching request message includes the following steps:

当冗余设备收到冗余切换请求报文，提取报文结点信息；When the redundant device receives the redundant switching request message, it extracts the message node information;

判断是否是第一次收到冗余切换请求报文，如果是，提取本冗余关系的链路冗余信息；Judging whether it is the first time to receive a redundancy switching request message, if so, extracting the link redundancy information of this redundancy relationship;

调用冗余切换命令服务构建冗余切换命令报文，广播冗余切换命令报文，发布冗余链路切换报警，该处理过程结束；Invoke the redundant switching command service to construct a redundant switching command message, broadcast the redundant switching command message, issue a redundant link switching alarm, and the process ends;

如果不是第一次收到冗余切换请求报文，忽略本次冗余切换请求，该处理过程结束。If it is not the first time that the redundancy switching request message is received, this redundant switching request is ignored, and the processing process ends.

所述冗余设备通知所有相关设备进行冗余切换包括以下步骤：Said redundant equipment notifies all related equipments to perform redundant switching including the following steps:

当设备收到冗余切换命令报文后，提取冗余关系的链路冗余信息，判断是否处于同一冗余关系，如是，则查找冗余链路对象，设置冗余链路的工作状态为1，设置主链路工作状态为0，表示冗余链路开始工作，主链路失效；如果不是处于同一冗余关系，则忽略本次冗余切换命令，该处理过程结束。When the device receives the redundancy switching command message, it extracts the link redundancy information of the redundancy relationship and judges whether it is in the same redundancy relationship. If so, it searches for the redundant link object and sets the working status of the redundant link to 1. Set the working status of the main link to 0, which means that the redundant link starts to work and the main link fails; if it is not in the same redundancy relationship, ignore this redundant switching command, and the process ends.

本发明解决了冗余带来的成本上升的问题，充分利用原有软硬件资源，在不增加硬件成本的前提下提供了控制器功能块冗余能力，本发明可应用于各类现场总线控制系统之中，另外本发明具有以下优点：The present invention solves the problem of cost increase caused by redundancy, fully utilizes the original software and hardware resources, and provides controller function block redundancy capability without increasing the hardware cost. The present invention can be applied to various field bus control Among the systems, the present invention has the following advantages in addition:

1.保证控制过程的连续性。本发明方法采用了冗余链路与主链路数据同步方式，最大限度地保证了冗余链路和主链路之间数据的一致性，使得冗余切换发生时现场数据的连续性得以保证，进一步地使得控制过程的连续性得以保证；1. Ensure the continuity of the control process. The method of the present invention adopts the data synchronization mode between the redundant link and the main link, which ensures the consistency of data between the redundant link and the main link to the greatest extent, so that the continuity of the on-site data can be guaranteed when the redundant switching occurs , which further ensures the continuity of the control process;

2.低成本。本发明方法实现了不增加硬件投入而取得额外的冗余能力，开发成本低；2. Low cost. The method of the invention achieves additional redundant capability without increasing hardware investment, and the development cost is low;

3.快速的冗余切换速度。本发明使用显示切换可以使冗余切换速度达到比较理想的速度，切换可靠；3. Fast redundancy switching speed. The present invention uses display switching to make the redundant switching speed reach an ideal speed, and the switching is reliable;

4.广阔的应用范围。本发明提出的功能块冗余技术在各类使用功能块完成控制功能的现场总线上均能够方便地实现，具有广阔的应用；4. Wide range of applications. The functional block redundancy technology proposed by the present invention can be conveniently implemented on various field buses that use functional blocks to complete control functions, and has wide applications;

5.灵活性。采用本发明技术构建控制系统具备很高的灵活性，可以选择使用或不使用功能块冗余功能；可以混合使用冗余和普通构建系统方式；5. Flexibility. Using the technology of the present invention to build a control system has high flexibility, and you can choose to use or not use the redundant function of function blocks; you can mix redundant and common system building methods;

6.兼容性。本发明的技术方案具备良好的兼容性，支持功能块冗余的设备与不支持功能块冗余的原有设备可以很好地混合组态。6. Compatibility. The technical scheme of the invention has good compatibility, and the equipment supporting redundant function blocks and the original equipment not supporting redundant function blocks can be well mixed and configured.

附图说明Description of drawings

图1为本发明方法对现场设备进行增设处理后的现场回路示意图；Fig. 1 is the field circuit schematic diagram after the field equipment is added and processed by the method of the present invention;

图2为本发明方法进行组态时的链路模型；Fig. 2 is the link model when the inventive method is configured;

图3为本发明方法的协议层次模型；Fig. 3 is the protocol level model of the inventive method;

图4为本发明方法中冗余切换请求报文封装格式；Fig. 4 is a redundant switching request message encapsulation format in the method of the present invention;

图5为本发明方法中冗余切换命令报文封装格式；Fig. 5 is the packet format of redundant switching command message in the method of the present invention;

图6为本发明方法中正常工作情况下标志性报文的处理流程图；Fig. 6 is the processing flowchart of the landmark message under the normal working situation in the method of the present invention;

图7为本发明方法中冗余设备处理冗余切换请求报文流程图；Fig. 7 is a flowchart of redundant equipment processing redundant switching request messages in the method of the present invention;

图8为本发明方法中设备收到冗余切换命令报文处理流程图；Fig. 8 is a flow chart of the processing of the device receiving the redundant switching command message in the method of the present invention;

图9为本发明方法中冗余切换整个过程的事件图。FIG. 9 is an event diagram of the entire process of redundancy switching in the method of the present invention.

具体实施方式Detailed ways

下面结合附图对本发明作进一步详细说明，本实施例中备份功能块以PID为例，包括但不限于PID功能块。The present invention will be described in further detail below in conjunction with the accompanying drawings. In this embodiment, the backup function block takes PID as an example, including but not limited to the PID function block.

本发明使用参与组态的现场仪表如温度表、压力表、现场总线到电流表、电流到现场总线表等仪表中增设的备份功能块作为主功能块的冗余，并不使用参与组态以外的其他仪表或设备作为冗余，当主功能块不能执行控制功能时，由相应的备份功能块接管控制，藉此提高可用性，并且不增加成本；本发明是一种基于软件技术的功能块级别的冗余方案，方法包括以下步骤：The present invention uses the backup function blocks added in the field instruments participating in the configuration, such as thermometers, pressure gauges, field bus to ammeters, and current to field bus meters, as the redundancy of the main function blocks, and does not use other than participating configuration Other instruments or equipment are used as redundancy. When the main function block cannot perform the control function, the corresponding backup function block takes over the control, thereby improving availability and not increasing costs; the present invention is a function block-level redundancy based on software technology. The remaining scheme, the method includes the following steps:

对现场设备进行增设处理：利用控制回路中完成控制功能所必需的现场设备做为硬件平台，增设用于冗余的备份功能块，用于备份主功能块；在原有现场总线协议栈基础上增设冗余链路对象，用于提供链路冗余能力和传递冗余的现场数据；为现场设备增设冗余信息对象，用于组织管理冗余信息；增设冗余切换请求服务，用于发送冗余切换请求报文，通知冗余设备切换事件已经发生；增设冗余切换命令服务，用于发布全局的冗余切换命令报文，通知所有相关设备进行冗余切换；增设冗余管理实体，用于监视和处理冗余切换服务及报文；增设冗余监视定时器，用于监视标志性报文是否超时；具有冗余备份功能块的设备为冗余设备，用于冗余切换请求报文。Addition of field devices: use the field devices necessary to complete the control function in the control loop as the hardware platform, add redundant backup function blocks for backup of the main function block; add on the basis of the original fieldbus protocol stack Redundant link objects are used to provide link redundancy capabilities and transmit redundant field data; add redundant information objects for field devices to organize and manage redundant information; add redundant switching request services to send redundant Additional switchover request messages are used to notify redundant equipment that a switchover event has occurred; a redundant switchover command service is added to issue global redundant switchover command messages to notify all related It is used to monitor and process redundant switching services and messages; a redundant monitoring timer is added to monitor whether the iconic message is timed out; the device with redundant backup function blocks is a redundant device, which is used for redundant switching request messages .

组态并设置冗余关系：将上述增设处理后的现场设备组成现场回路，并设置相应的主功能块及备分功能块；Configure and set the redundancy relationship: form the above-mentioned added and processed field devices into a field loop, and set the corresponding main function block and backup function block;

对主功能块和备份功能块进行实时数据同步，即主功能块和备份功能块使用相同输入，同时计算，主功能块输出结果，备份功能块计算但不输出结果；Real-time data synchronization between the main function block and the backup function block, that is, the main function block and the backup function block use the same input and calculate at the same time, the main function block outputs the result, and the backup function block calculates but does not output the result;

当同一冗余关系中的主功能块失效时，最先发现的现场设备调用冗余切换请求服务用广播或单播的方式发送冗余切换报文；When the main function block in the same redundancy relationship fails, the first discovered field device invokes the redundancy switching request service and sends a redundancy switching message by broadcast or unicast;

备份功能块所在的设备即冗余设备接收并处理冗余切换请求报文，调用冗余切换命令服务，发布全局的冗余切换命令报文，通知所有相关设备进行冗余切换。The device where the backup function block is located, that is, the redundant device receives and processes the redundant switching request message, invokes the redundant switching command service, issues a global redundant switching command message, and notifies all related devices to perform redundant switching.

对现场设备进行增设处理后的现场回路示意图如图1所示，在一个现场总线控制网络中，典型地存在多个仪表和控制器，在逻辑上这些仪表和控制器的功能包括AI，AO，PID等等，对应功能块AI，AO，PID。一般，现场仪表中通常包含AI、AO等模块，如果处理能力足够，还可能包含PID功能块。控制器中通常包含PID功能块等，完成控制功能。在图1中，包含两个主控制器1、2，三个现场仪表A、B、C，每个控制器的PID模块起主控作用，分别命名为主PID1、主PID2和主PID3。现场仪表包括仪表A、仪表B、仪表C，它们除了完成仪表功能的功能块之外还有PID功能块。用仪表A中的PID功能块来冗余主控制器中的主PID1，命名为备份PID1；用仪表B中的PID来冗余主控制器2中的主PID2，命名为备份PID2；用仪表C中的PID来冗余主控制器2中的主PID3，命名为备份PID3；在这里，仪表A、仪表B、仪表C以及主控制器1、主控制器2都是完成控制功能必须的，没有为冗余而增设其他设备；可见这是一种功能块级别的冗余；该方案与传统方案最大的特点就是不必加入专用的冗余设备。The schematic diagram of the field circuit after the addition of field devices is shown in Figure 1. In a fieldbus control network, there are typically multiple instruments and controllers. Logically, the functions of these instruments and controllers include AI, AO, PID and so on, corresponding to function blocks AI, AO, PID. Generally, field instruments usually include modules such as AI and AO, and may also include PID function blocks if the processing capacity is sufficient. The controller usually includes PID function blocks, etc., to complete the control function. In Fig. 1, there are two master controllers 1 and 2, and three field instruments A, B and C. The PID module of each controller plays the role of master control, and they are respectively named master PID1, master PID2 and master PID3. Field instruments include instrument A, instrument B, and instrument C, which have PID function blocks in addition to the function blocks that complete the instrument functions. Use the PID function block in instrument A to redundant the main PID1 in the main controller, named as backup PID1; use the PID in instrument B to redundant the main PID2 in the main controller 2, named as backup PID2; use instrument C The PID in the main controller 2 is used to redundant the main PID3 in the main controller 2, which is named as the backup PID3; here, instrument A, instrument B, instrument C, main controller 1, and main controller 2 are all necessary to complete the control function, and there is no Additional equipment is added for redundancy; it can be seen that this is a kind of redundancy at the function block level; the biggest feature of this scheme and the traditional scheme is that there is no need to add dedicated redundant equipment.

所述备份功能块是采用同一控制回路中的现场设备增设的功能块来冗余主控制器的功能块，不需要额外增加新的专用于冗余功能的硬件；冗余链路对象是用于冗余功能块之间通信的一种程序结构，是描述冗余链路关系的一种对象；冗余链路对象描述发布现场数据的源设备地址、发布现场数据的源设备数据发布的进程、订阅现场数据的目标设备地址、订阅现场数据的进程；冗余信息对象用于组织管理冗余信息，包括：可供冗余的功能块数目、正常报文超时时间以及是否强制恢复主链路；冗余切换请求服务为无确认无连接的网络服务，当作为订阅者参与冗余链路通信的设备监视到标志性报文超时达到规定次数，调用的一种全局广播服务；该服务发布冗余切换请求报文；冗余切换命令服务为无确认无连接的网络服务，冗余设备收到任何与之有冗余关系的设备发布的冗余切换请求报文之后，调用本服务，要求全部参与冗余链路通信的订阅者进行链路切换动作；冗余管理实体为用于监视、发送、处理冗余切换服务及冗余切换报文的程序；冗余监视定时器为软件或硬件定时器；该定时器监视每个同时拥有主链路、冗余链路的端点；所有定时器的超时时间统一配置；定时器为循环使用，直到相应链路失效或发生切换事件；定时器被重置的条件是所监视端点的主链路传递的现场数据在规定时间内到达或定时器超时；定时器超时事件连续发生且若未达到规定次数，则重置定时器并记录超时事件；若达到规定次数则停止定时器，触发链路切换事件；所述冗余关系是指一个含有备份功能块的设备和所有被该设备内备份功能块所冗余的现场设备的集合。The backup function block is to use the function block added by the field device in the same control loop to redundant the function block of the main controller, without additionally adding new hardware dedicated to the redundancy function; the redundant link object is used for A program structure for communication between redundant function blocks, which is an object describing the relationship between redundant links; the redundant link object describes the address of the source device that releases field data, the process of releasing data from the source device that releases field data, The address of the target device for subscribing to on-site data, the process of subscribing on-site data; the redundant information object is used to organize and manage redundant information, including: the number of functional blocks available for redundancy, normal message timeout and whether to forcibly restore the main link; Redundant switching request service is a network service without confirmation and connection. When a device participating in redundant link communication as a subscriber monitors that the signature message timeout reaches the specified number of times, it calls a global broadcast service; this service publishes redundant Switchover request message; redundant switchover command service is a network service with no confirmation and no connection. After the redundant device receives any redundant switchover request message issued by any device that has a redundant relationship with it, it calls this service and requires all to participate. Subscribers of redundant link communication perform link switching actions; redundant management entities are programs for monitoring, sending, and processing redundant switching services and redundant switching messages; redundant monitoring timers are software or hardware timers ;The timer monitors each endpoint that has both the main link and the redundant link; the timeout period of all timers is uniformly configured; the timer is used cyclically until the corresponding link fails or a switching event occurs; the timer is reset The condition is that the field data transmitted by the main link of the monitored endpoint arrives within the specified time or the timer times out; the timer timeout event occurs continuously and if the specified number of times is not reached, the timer is reset and the timeout event is recorded; The number of times stops the timer and triggers a link switching event; the redundancy relationship refers to a set of equipment containing a backup function block and all field devices that are redundant by the backup function block in the device.

本发明方法还包括以下步骤：操作员干预式链路恢复机制，即当在冗余切换完成，系统进入新的工作状态时，若主功能块恢复功能，操作员手动强制切换回主功能块进行控制。The method of the present invention also includes the following steps: an operator intervention link recovery mechanism, that is, when the redundancy switching is completed and the system enters a new working state, if the main function block resumes function, the operator manually switches back to the main function block to perform control.

组态时，冗余链路和普通链路处于同等地位，统一对待；采用冗余链路与主链路数据实时同步更新、具备相同输入输出的数据同步方式，为此采用输入端与输出端多对多即输入端与输出端M:N的链路组织方式；采用主链路故障触发切换事件的冗余切换方式；采用显示切换方法；实现切换报警服务；实现操作员干预式链路恢复机制；实现扩展的调度方式以支持冗余链路和冗余功能块。During configuration, the redundant link and the common link are in the same status and are treated uniformly; the data of the redundant link and the main link are updated synchronously in real time, and the data synchronization method with the same input and output is adopted. Many-to-many, that is, the link organization mode of the input terminal and the output terminal M:N; adopt the redundant switching mode in which the main link failure triggers the switching event; adopt the display switching method; realize switching alarm service; realize operator intervention link recovery Mechanism; implements extended scheduling methods to support redundant links and redundant function blocks.

上述冗余链路是指用于传递标志性报文的辅助链路；链路上正常时刻没有数据传递，与相对应的主链路有相同的源端点和目的端点；冗余链路的作用是当主链路或主功能块发生故障时，冗余链路以最快速度替代主链路进行通信；冗余链路的这种特质使得发生故障现场不停车成为可能；The above redundant link refers to the auxiliary link used to transmit the iconic message; there is no data transmission on the link at normal time, and it has the same source endpoint and destination endpoint as the corresponding main link; the role of the redundant link When the main link or the main function block fails, the redundant link replaces the main link for communication at the fastest speed; this characteristic of the redundant link makes it possible to not stop at the scene of the failure;

所述普通链路是指未添加冗余措施的正常工作的链路；The normal link refers to a normal working link without adding redundancy measures;

所述主链路是指添加冗余措施之后，能够完成现场数据和标志性报文传递工作并且被接收端认可并处理的链路；主链路可以有相应冗余链路也可以没有冗余链路与之对应；主链路是通常情况下的工作链路，现场数据及标志性报文在主链路进行传递。The main link refers to the link that can complete the delivery of on-site data and iconic messages and be recognized and processed by the receiving end after adding redundancy measures; the main link can have corresponding redundant links or not. The link corresponds to it; the main link is the working link under normal circumstances, and the field data and symbolic messages are transmitted on the main link.

所述输出端是指产生现场数据并且参与组态的功能块的某一端口；输出端可以发布现场数据或标志性报文；通常，冗余链路会连接到与相应主链路相同的输出端，以保证冗余链路数据的实时性；一个输出端可以链接多个链路。The output refers to a certain port of a function block that generates field data and participates in configuration; the output can publish field data or symbolic messages; usually, the redundant link will be connected to the same output as the corresponding main link terminal to ensure the real-time performance of redundant link data; one output terminal can link multiple links.

所述输入端是接收现场数据并参与组态的功能块的某一端口；输入端接收链路上传来的现场数据和标志性报文；输入端可以有多个链路与之相连；输入端的多个链路中只有一个起到控制作用；The input end is a certain port of a function block that receives on-site data and participates in configuration; the input end receives on-site data and symbolic messages from the link; the input end can have multiple links connected to it; the input end Only one of the multiple links plays a control role;

所述组态是指操作员构建控制逻辑功能以及冗余备份关系并将其下载到现场设备的过程；组态时任何输入和输出都可以链接到一个或者一个以上的其他输入、输出，也即输入和输出是M:N的关系；组态时，冗余链路和主链路将同时链接到输入和输出，冗余链路和主链路同时传递现场数据，同时传递给输入，正常工作时由输入端所在功能块剔除冗余数据，同时冗余链路接受与主链路同样的现场数据，链接到相同的输出端，以保证冗余链路时刻掌握与主链路相同的最新数据；如果主链路发生故障，达到预置的故障判定条件，则将控制权交给冗余链路，使得冗余链路发生作用。The configuration refers to the process in which the operator builds the control logic function and redundant backup relationship and downloads it to the field device; during configuration, any input and output can be linked to one or more than one other input and output, that is, The relationship between input and output is M:N; when configuring, the redundant link and the main link will be linked to the input and output at the same time, and the redundant link and the main link will transmit the field data at the same time, and pass it to the input at the same time, and work normally At the same time, the redundant data is eliminated by the functional block where the input terminal is located, and at the same time, the redundant link accepts the same field data as the main link and links to the same output terminal, so as to ensure that the redundant link always grasps the same latest data as the main link ; If the main link fails and the preset failure determination condition is met, the control right is handed over to the redundant link, so that the redundant link takes effect.

所述冗余切换请求服务为无确认无连接的网络服务，当作为订阅者参与冗余链路通信的设备监视到标志性报文超时达到规定次数，调用的一种全局广播服务；该服务发布冗余切换请求报文。相关冗余设备接收此报文，并据此发布冗余切换命令报文；处于同一冗余关系的不同设备可以先后发出多次调用冗余切换请求服务，发布冗余切换请求报文，冗余设备将处理最先到达的报文，其余的将被忽略。The redundant switching request service is a network service with no confirmation and no connection. When the device participating in the redundant link communication as a subscriber monitors that the signature message times out and reaches the specified number of times, it calls a global broadcast service; the service publishes Redundancy switching request message. Relevant redundant devices receive this message and issue a redundant switching command message accordingly; different devices in the same redundant relationship can issue multiple calls to the redundant switching request service and issue redundant switching request messages. The device will process the packet that arrives first and the rest will be ignored.

所述冗余切换命令服务为无确认无连接的网络服务，冗余设备收到任何与之有冗余关系的设备发布的冗余切换请求报文之后，调用本服务，要求全部参与冗余链路通信的订阅者进行链路切换动作。在同一冗余关系内的设备可能会陆续发现标志性报文超时达到规定次数事件：若在发现该事件时尚未接收到冗余设备发送的冗余切换命令报文，则立刻发送冗余切换请求报文；若在发现该事件之前收到冗余设备发送的冗余切换报文，则停止监视标志性超时报文，进行冗余链路切换；若同冗余设备收到冗余切换请求报文大于1次，则从第二次开始，所有冗余切换请求报文被忽略；The redundant switching command service is a network service with no confirmation and no connection. After the redundant device receives the redundant switching request message issued by any device that has a redundant relationship with it, it calls this service and requires all to participate in the redundant chain. The subscribers of the channel communication perform the link switching action. Devices in the same redundancy relationship may successively discover the event that the signature message timeout reaches the specified number of times: if the event has not been received when the redundant device sends the redundant switching command message, the redundant switching request will be sent immediately message; if the redundancy switching message sent by the redundant device is received before the event is discovered, stop monitoring the marked time-out message and perform redundant link switching; if the same redundant device receives the redundant switching request message If the message is more than 1 time, all redundant switching request messages will be ignored from the second time;

上述标志性报文可以由具体实现所灵活规定；标志性报文一定是在主链路上和冗余链路上被传递的报文；标志性报文可能携带实时数据或现场数据；如携带现场数据的信息发布报文。The above-mentioned signature message can be flexibly stipulated by the specific implementation; the signature message must be the message transmitted on the main link and the redundant link; the signature message may carry real-time data or field data; if it carries Information release message of field data.

所述冗余管理实体是指：用于监视、发送、处理冗余切换服务及冗余切换报文的一段程序。The redundant management entity refers to a program for monitoring, sending, and processing redundant switching services and redundant switching messages.

所述数据同步是保持冗余功能块计算结果时刻与相应主功能块计算结果相一致的某种同步方法；数据同步方式可以有多种，在本发明采用的是冗余链路与相应主链路有相同的数据来源，相同的数据传递目的端点；这种方式能够以较低代价维护冗余连路上的数据的实时性，以便需要时能够及时进行冗余切换；切换发生之后冗余链路所传递的现场数据仍然是有效的和最新的；The data synchronization is a certain synchronization method that keeps the calculation results of the redundant function blocks consistent with the calculation results of the corresponding main function blocks; The roads have the same data source and the same data transfer destination endpoint; this method can maintain the real-time performance of the data on the redundant link at a lower cost, so that the redundant switch can be performed in time when necessary; after the switch occurs, the redundant link The transmitted site data remains valid and up-to-date;

所述切换事件是指这样的事件：能够引起主链路传递的标志性报文超时；并且主链路传递的标志性报文超时次数达到预先配置的数目；切换事件发生之后会触发冗余切换动作；The switching event refers to such an event: it can cause the timeout of the signature message transmitted by the main link; and the number of timeouts of the signature message transmitted by the main link reaches a pre-configured number; after the switching event occurs, the redundancy switching will be triggered action;

所述冗余切换是指，当切换事件发生时，把相应的本地主链路对输入端起作用的控制权移交给冗余链路；即仅有冗余链路上传递的现场数据被采纳；The redundant switching refers to that, when a switching event occurs, the control right of the corresponding local main link acting on the input terminal is handed over to the redundant link; that is, only the field data transmitted on the redundant link is adopted ;

所述显示切换是指，当切换事件发生触发冗余切换动作，首先在本结点进行冗余切换；然后调用冗余切换请求服务，发布冗余切换请求报文，通知处于同一冗余关系的冗余设备；该冗余设备将发布冗余切换命令报文，通知网络上其他所有结点对相应链路进行切换；The display switching means that when a switching event triggers a redundant switching action, the redundant switching is first performed at this node; then the redundant switching request service is invoked, and a redundant switching request message is issued to notify the Redundant device; the redundant device will issue a redundant switching command message to notify all other nodes on the network to switch the corresponding link;

所述切换报警服务是指当切换动作完成之后，使用某种通信方式通知上位机软件；以便用户及时了解链路工作情况；The switching alarm service refers to using a certain communication method to notify the upper computer software after the switching action is completed; so that the user can keep abreast of the link working condition;

所述操作员干预式链路恢复机制是指，当操作员确认被取代的主链路恢复工作能力之后，强行命令相应冗余链路再次进入备份状态；主链路开始重新工作，取得控制权，其所传递给输入端的现场数据被重新采用；The operator-intervention link recovery mechanism refers to that after the operator confirms that the replaced primary link has recovered its working capability, it forces the corresponding redundant link to enter the backup state again; the primary link starts to work again and obtains control , the field data passed to the input is reused;

图2中备份功能块即备份PID1是采用同一回路中的仪表A增设的功能块来冗余主控制器1的功能块，不需要额外增加新的硬件。在图2中有三个设备：仪表A、主控制器1、仪表B。用粗实线画出的代表控制的链路关系即通信关系。仪表A的AI功能块把输出端OUT链接在主控制器1主PID1的输入端IN上；主控制器1的主PID1经过运算之后将运算结果输出给仪表B；主PID1的OUT输出端链接在仪表B的A O的输入端CAS_IN上；仪表B的AO功能块的输出端OUT链接在主控制器1的主PID1的BKCAL_IN输入端上，即仪表B把结果反馈给主控制器1的主PID1；以上的链接方式完成了一个典型的控制回路。The backup function block in Fig. 2, that is, the backup PID1, uses the function block added by the instrument A in the same loop to redundant the function block of the main controller 1, and no additional new hardware is needed. In Figure 2, there are three devices: instrument A, main controller 1, and instrument B. The link relationship drawn by the thick solid line represents the control link relationship, that is, the communication relationship. The AI function block of the instrument A links the output terminal OUT to the input terminal IN of the main PID1 of the main controller 1; the main PID1 of the main controller 1 outputs the calculation result to the instrument B after calculation; the OUT output terminal of the main PID1 is linked to The input terminal CAS_IN of the A O of instrument B; the output terminal OUT of the AO function block of instrument B is connected to the BKCAL_IN input terminal of the main PID1 of the main controller 1, that is, the instrument B feeds back the result to the main PID1 of the main controller 1 ; The above links complete a typical control loop.

细实线所绘链路代表冗余的通信关系。在图2中选择了仪表A的PID模块来冗余主PID1，称之为备份PID1；仪表A把输出数据传给主PID1的同时也传给备份PID1；仪表B的反馈信息反馈给主PID1的同时也反馈给备份PID1；这样备份PID1就可以与主PID1同步进行相同的运算。而备份PID1的输出也可以传递给仪表B的AO功能块的输入，这是为了保证当主PID1及其链路发生故障时备份PID1在第一时间把数据传递给仪表B，达到不打断控制过程而进行冗余切换的目的，当主PID1工作正常时，备份PID1只是进行计算，并不输出数据。Links drawn by thin solid lines represent redundant communication relationships. In Figure 2, the PID module of instrument A is selected to redundant the main PID1, which is called backup PID1; instrument A transmits the output data to the main PID1 and also to the backup PID1; the feedback information of instrument B is fed back to the main PID1 At the same time, it also feeds back to the backup PID1; in this way, the backup PID1 can perform the same operation synchronously with the main PID1. The output of the backup PID1 can also be passed to the input of the AO function block of the meter B. This is to ensure that when the main PID1 and its link fail, the backup PID1 will transfer the data to the meter B at the first time, so as not to interrupt the control process. For the purpose of redundant switching, when the main PID1 works normally, the backup PID1 only performs calculations and does not output data.

主控制器1正常工作时，主PID1起作用，备份PID1通过获得与主PID1相同的两个输入完成与主PID1相同的运算，备份PID1的计算结果与主PID1的计算结果应该是相同的。仪表B收到主PID1的输出，并使用该数据。When the main controller 1 works normally, the main PID1 works, and the backup PID1 completes the same operation as the main PID1 by obtaining the same two inputs as the main PID1, and the calculation result of the backup PID1 and the main PID1 should be the same. Meter B receives the output from master PID1 and uses that data.

当主PID1发生故障而不能把数据传递给仪表B时，仪表B发布冗余切换请求报文；仪表A作为备份PID所在设备，收到冗余切换报文之后将组织并发布冗余切换命令报文，命令处于该冗余关系内的全部进行切换，并且开始在冗余链路上发布数据。这样，主控制器1的主PID1就被架空，仪表A内的备份PID1将起控制作用，直到操作员认为主PID1故障已经恢复，并强制切换回主控制器的主PID1。When the main PID1 fails and the data cannot be transmitted to instrument B, instrument B issues a redundant switching request message; instrument A, as the device where the backup PID is located, will organize and issue a redundant switching command message after receiving the redundant switching message , order all the nodes in the redundancy relationship to switch, and start publishing data on the redundancy link. In this way, the main PID1 of the main controller 1 is overhead, and the backup PID1 in the instrument A will take control until the operator thinks that the failure of the main PID1 has been recovered, and forcibly switches back to the main PID1 of the main controller.

在进行调度时，要把备份PID数据传递的时隙考虑进去。When scheduling, the time slot for backup PID data transfer should be taken into consideration.

如图3，给出协议层次模型，通常情况下可划分为物理层、数据链路层、现场总线通信协议栈、用户层几个层次，其中现场总线通信协议栈负责实现现场设备即结点之间的通信功能，完成OSI模型中网络层、传输层、会话层和表示层中全部或某些层次及其全部或部分功能。现场总线通信协议栈中包含全部的本地现场设备的全局属性，这些属性可以是可配置，也可为不可配置。As shown in Figure 3, the protocol layer model is given. Usually, it can be divided into physical layer, data link layer, fieldbus communication protocol stack, and user layer. It completes all or some layers and all or part of their functions in the network layer, transport layer, session layer and presentation layer in the OSI model. The fieldbus communication protocol stack contains all the global properties of the local field devices, and these properties can be configurable or non-configurable.

本发明在现场总线通信协议栈中增设了冗余信息对象，该对象用于存储链路冗余能力、可供冗余的功能块数目、正常报文超时时间、显式/隐式切换方法、是否强制恢复主链路等内容；该对象可支持读写服务；通过使用读写服务读写冗余信息对象可以配置冗余工作方式。冗余信息对象在尚未组态时有一组默认值，该组默认值较为保守，即便用户不进行配置仍可使用。如果用户有特殊的需求可以灵活配置该对象，选择更合适的冗余配置。In the present invention, a redundant information object is added in the field bus communication protocol stack, and the object is used for storing link redundancy capability, the number of functional blocks available for redundancy, normal message timeout time, explicit/implicit switching method, Whether to forcibly restore content such as the main link; this object can support read and write services; by using the read and write services to read and write redundant information objects, the redundant working mode can be configured. Redundant information objects have a set of default values when they have not been configured. This set of default values is relatively conservative and can still be used even if the user does not configure it. If the user has special requirements, the object can be flexibly configured and a more appropriate redundant configuration can be selected.

在现场总线通信协议栈中增设的冗余链路对象是用于描述发布现场数据的源设备地址、发布现场数据的源设备数据发布的进程、订阅现场数据的目标设备地址以及订阅现场数据的进程；冗余链路获得与主链路相同的输入；冗余链路把现场数据传递给目标设备；冗余链路对象支持读写服务；上述现场数据是指需要在规定时刻进行传递的有关现场控制和报警等信息的数据。The redundant link object added in the fieldbus communication protocol stack is used to describe the address of the source device that publishes the field data, the process of publishing the data of the source device that publishes the field data, the address of the target device that subscribes to the field data, and the process of subscribing to the field data ; The redundant link obtains the same input as the main link; the redundant link transmits the field data to the target device; the redundant link object supports read and write services; the above field data refers to the relevant field that needs to be transmitted at the specified time Data for information such as control and alarm.

在进行组态配置时，同时进行冗余配置，组态之后的链路模型图如图2所示。When performing configuration configuration, redundant configuration is performed at the same time, and the link model diagram after configuration is shown in Figure 2.

本发明方法在用户层增加冗余管理应用进程，该应用进程的作用是维护与冗余相关的信息，依所在设备的冗余角色不同，执行的功能有所不同。冗余应用进程逻辑上包含冗余管理实体。冗余管理实体的作用是用于监视、发送、处理冗余切换服务及冗余切换报文的一段程序；在图2所示仪表A中，冗余管理实体的功能是处理冗余切换请求报文，将该报文的结点信息和链路信息等提取出来，确定是冗余关系内哪个设备所发送的冗余切换请求，并验证其正确性；并且负责组织冗余切换命令，命令处于该冗余设备主导的冗余关系内全部设备进行冗余切换。The method of the invention adds a redundancy management application process in the user layer, and the function of the application process is to maintain information related to redundancy, and the functions executed are different according to the redundancy role of the equipment where it is located. Redundant application processes logically contain redundant managed entities. The role of the redundant management entity is a program for monitoring, sending, and processing redundant switching services and redundant switching messages; in instrument A shown in Figure 2, the function of the redundant management entity is to process redundant switching request messages file, extract the node information and link information of the message, determine which device in the redundancy relationship sent the redundancy switch request, and verify its correctness; and be responsible for organizing the redundancy switch command, the command is in All devices in the redundancy relationship led by the redundant device perform redundancy switching.

如图4所示，冗余切换请求报文包含Length字段2字节，Length字段用于说明有效数据的长度；Linkage Fault Info字段16字节，本字段用于说明哪个主链路失败，及可能的链路失败原因；NodeTAG字段32字节，本字段用于说明发布冗余切换请求报文的设备的结点TAG；Backup Linkage No.字段，备用链路编号4字节，本字段指出相应的冗余链路编号；Reserved字段，保留位4字节，留待将来备用；该报文由冗余切换请求服务组织并发出。As shown in Figure 4, the redundant switching request message contains a Length field of 2 bytes. The Length field is used to indicate the length of valid data; the Linkage Fault Info field is 16 bytes. This field is used to indicate which primary link failed, and the possible The cause of link failure; the NodeTAG field is 32 bytes, this field is used to indicate the node TAG of the device that issued the redundant switching request message; the Backup Linkage No. field, the backup link number is 4 bytes, this field indicates the corresponding Redundant link number; Reserved field, 4 bytes are reserved for future use; this message is organized and sent by the redundant switching request service.

如图5所示，冗余切换命令报文包含Length字段2字节，Length字段用于说明有效数据的长度；Backup Linkages series字段64字节，该字段用于指出全部需要切换的冗余链路信息；NodeTAG字段32字节，该字段指出冗余功能块所在设备的结点TAG；Respond Type字段4字节，该字段指出响应的方式，默认为0，表示无响应；ShiftDelay字段4字节，指出切换的最大延迟；Reserved字段保留位4字节，留待将来备用；该报文由冗余切换命令服务组织并发出；As shown in Figure 5, the redundant switching command message contains a Length field of 2 bytes, and the Length field is used to indicate the length of valid data; the Backup Linkages series field is 64 bytes, and this field is used to indicate all redundant links that need to be switched Information; the NodeTAG field is 32 bytes, which indicates the node TAG of the device where the redundant function block is located; the Respond Type field is 4 bytes, which indicates the response method, and the default value is 0, indicating no response; the ShiftDelay field is 4 bytes, Indicates the maximum delay of switching; the Reserved field reserves 4 bytes for future use; this message is organized and sent by the redundant switching command service;

如图6～8所示，详细阐述了整个冗余切换的过程。图6给出了正常情况下被冗余设备处理标志性报文及其超时事件的流程。在组态并设置冗余关系之后，各链路开始工作，主功能块与其对应的冗余功能块具有相同的输入，系统为每一条被冗余的主链路启动一个冗余监视定时器，用来监视该链路上的标志性报文超时事件；收到数据之后首先判断标志性报文是否超时；若超时，则超时计数器递增1，如果超时次数到达规定的数目，则发送冗余切换请求报文并进入下一轮循环；若未超时，将对应的冗余监视定时器停止，使用有效链路所载荷数据更新现场数据，进入下一轮循环。As shown in Figures 6-8, the whole redundant switching process is described in detail. Fig. 6 shows the flow of the flag message and its timeout event being processed by the redundant device under normal conditions. After configuring and setting the redundancy relationship, each link starts to work, the main function block and its corresponding redundant function block have the same input, and the system starts a redundancy monitoring timer for each redundant main link, It is used to monitor the timeout event of the signature message on the link; after receiving the data, it first judges whether the signature message times out; if it times out, the timeout counter increments by 1, and if the number of timeouts reaches the specified number, a redundancy switch is sent Request a message and enter the next cycle; if it does not time out, stop the corresponding redundancy monitoring timer, use the data loaded by the effective link to update the field data, and enter the next cycle.

通常，在如图2所示的链路关系中，如果主控制器1出现问题，则各个主链路对应的冗余监视定时器将陆续超时，每个相关设备在处理这类超时的时候采用相同的策略；当备用PID1所在仪表A收到冗余切换请求报文之后(一个或以上，有一个即可触发)，发布冗余切换命令报文，命令冗余关系内所有包含冗余链路的设备开始强制切换；Usually, in the link relationship shown in Figure 2, if there is a problem with the main controller 1, the redundancy monitoring timers corresponding to each main link will time out one after another, and each related device will use The same strategy; when the meter A where the standby PID1 is located receives the redundant switching request message (one or more, one can be triggered), it issues a redundant switching command message, commanding all redundant links in the redundant relationship The device starts to switch forcibly;

图7说明了备份功能块所在的冗余设备收到冗余切换请求报文时的处理流程。当冗余设备收到冗余切换请求报文，提取报文结点信息，判断是否是第一次收到冗余切换请求报文，如果是，提取本冗余关系的链路冗余信息，调用冗余切换命令服务构建冗余切换命令报文，广播冗余切换命令报文，发布冗余链路切换报警，该处理过程结束；如果不是第一次收到冗余切换请求报文，说明已经执行过切换命令，忽略本次冗余切换请求，不需要再次执行，该处理过程结束。Fig. 7 illustrates the processing flow when the redundant device where the backup function block is located receives the redundancy switching request message. When the redundant device receives the redundant switching request message, it extracts the message node information, and judges whether it is the first time to receive the redundant switching request message, and if so, extracts the link redundancy information of the redundant relationship, Call the redundant switchover command service to construct a redundant switchover command message, broadcast the redundant switchover command message, issue a redundant link switchover alarm, and the process ends; if it is not the first time to receive a redundant switchover request message, indicate The switching command has already been executed, ignore this redundant switching request, do not need to execute again, and the process ends.

如图8所示，当设备收到冗余切换命令报文后，提取冗余关系的链路冗余信息，判断是否处于同一冗余关系，如是，则查找冗余链路对象，设置冗余链路的工作状态为1，设置主链路工作状态为0，表示冗余链路开始工作，主链路失效；如果不是处于同一冗余关系，则忽略本次冗余切换命令，该处理过程结束。As shown in Figure 8, when the device receives the redundancy switching command message, it extracts the link redundancy information of the redundancy relationship and judges whether it is in the same redundancy relationship. If so, it searches for the redundancy link object and sets the redundancy The working state of the link is 1, and the working state of the main link is set to 0, which means that the redundant link starts to work and the main link fails; if it is not in the same redundant relationship, ignore this redundant switching command, the processing process Finish.

如图9所示，为本发明方法中的冗余切换过程。首先，仪表B检到从主控制器1的OUT链接到仪表B的IN输入端的主链路超时，并且达到规定次数(本实施例为3次)，仪表B则认为发生切换事件，在本地进行冗余切换，并且广播发布冗余切换请求报文，主控制器1不是冗余设备，忽略该报文，仪表A作为冗余设备接收并处理该报文，发布冗余切换命令，命令处于该冗余关系内的全部设备进行冗余切换；若同一冗余关系中还有其他设备发布冗余切换请求也不再触发冗余切换命令。As shown in FIG. 9, it is a redundant switching process in the method of the present invention. First, the instrument B detects that the main link from the OUT link of the main controller 1 to the IN input terminal of the instrument B has timed out, and reaches the specified number of times (3 times in this embodiment), the instrument B considers that a switching event has occurred, and performs a local Redundant switching, and broadcast redundant switching request message, main controller 1 is not a redundant device, ignore this message, instrument A receives and processes this message as a redundant device, and issues a redundant switching command, the command is in this All devices in the redundancy relationship perform redundancy switchover; if there are other devices in the same redundancy relationship that issue a redundancy switchover request, the redundancy switchover command will no longer be triggered.

Claims (13)

Translated fromChinese

1.一种高可用性功能块冗余方法，其特征在于包括以下步骤：1. A high availability function block redundancy method is characterized in that comprising the following steps:对现场设备进行增设处理：利用控制回路中完成控制功能所必需的现场设备做为硬件平台，增设用于冗余的备份功能块；在原有现场总线协议栈基础上增设冗余链路对象；为现场设备增设冗余信息对象、冗余切换请求服务、冗余切换命令服务、冗余管理实体以及冗余监视定时器；Adding field devices: using the field devices necessary to complete the control function in the control loop as the hardware platform, adding backup function blocks for redundancy; adding redundant link objects on the basis of the original fieldbus protocol stack; Redundant information objects, redundant switching request service, redundant switching command service, redundant management entity and redundant monitoring timer are added to the field device;组态并设置冗余关系：将上述增设处理后的现场设备组成现场回路，组态并设置相应的主功能块及备分功能块；Configure and set the redundancy relationship: form the above-mentioned added and processed field devices into a field loop, configure and set the corresponding main function block and backup function block;对主功能块和备份功能块进行实时数据同步，即主功能块和备份功能块使用相同输入，同时计算，主功能块输出结果，备份功能块计算但不输出结果；Real-time data synchronization between the main function block and the backup function block, that is, the main function block and the backup function block use the same input and calculate at the same time, the main function block outputs the result, and the backup function block calculates but does not output the result;当同一冗余关系中的主功能块失效时，最先发现的现场设备调用冗余切换请求服务发送冗余切换报文；When the main function block in the same redundancy relationship fails, the first discovered field device invokes the redundancy switching request service to send a redundancy switching message;备份功能块所在的设备即冗余设备接收并处理冗余切换请求报文，调用冗余切换命令服务，发布全局的冗余切换命令报文，通知所有相关设备进行冗余切换。The device where the backup function block is located, that is, the redundant device receives and processes the redundant switching request message, invokes the redundant switching command service, issues a global redundant switching command message, and notifies all related devices to perform redundant switching.2.按权利要求1所述的高可用性功能块冗余方法，其特征在于还包括操作员干预式链路恢复机制，即当在冗余切换完成，系统进入新的工作状态时，若主功能块恢复功能，操作员手动强制切换回主功能块进行控制。2. The high-availability function block redundancy method according to claim 1, characterized in that it also includes an operator intervention link recovery mechanism, that is, when the redundancy switch is completed and the system enters a new working state, if the main function Block recovery function, the operator manually forces to switch back to the main function block for control.3.按权利要求1所述的高可用性功能块冗余方法，其特征在于：3. The high availability function block redundancy method according to claim 1, characterized in that:所述备份功能块是基于软件技术的功能块级别，采用同一控制回路中的现场设备增设的功能块来冗余主控制器的功能块，不需要额外增加新的专用于冗余功能的硬件。The backup function block is based on the function block level of software technology, and uses the function blocks added by the field devices in the same control loop to redundant the function blocks of the main controller, without additionally adding new hardware dedicated to redundant functions.4.按权利要求1所述的高可用性功能块冗余方法，其特征在于：4. The high availability function block redundancy method according to claim 1, characterized in that:所述冗余链路对象是用于冗余功能块之间通信的一种程序结构，是描述冗余链路关系的一种对象；冗余链路对象描述发布现场数据的源设备地址、发布现场数据的源设备数据发布的进程、订阅现场数据的目标设备地址、订阅现场数据的进程。The redundant link object is a program structure used for communication between redundant function blocks, and is an object describing the relationship between redundant links; the redundant link object describes the source device address, release The process of publishing the source device data of the field data, the address of the target device subscribing to the field data, and the process of subscribing to the field data.5.按权利要求1所述的高可用性功能块冗余方法，其特征在于：5. The high availability function block redundancy method according to claim 1, characterized in that:所述冗余信息对象用于组织管理冗余信息，包括：可供冗余的功能块数目、正常报文超时时间以及是否强制恢复主链路。The redundancy information object is used to organize and manage redundancy information, including: the number of functional blocks available for redundancy, normal message timeout time, and whether to forcibly restore the main link.6.按权利要求1所述的高可用性功能块冗余方法，其特征在于：6. The high availability function block redundancy method according to claim 1, characterized in that:所述冗余切换请求服务为无确认无连接的网络服务，当作为订阅者参与冗余链路通信的设备监视到标志性报文超时达到规定次数，调用的一种全局广播服务；该服务发布冗余切换请求报文。The redundant switching request service is a network service with no confirmation and no connection. When the device participating in the redundant link communication as a subscriber monitors that the signature message times out and reaches the specified number of times, it calls a global broadcast service; the service publishes Redundancy switching request message.7.按权利要求1所述的高可用性功能块冗余方法，其特征在于：7. The high availability function block redundancy method according to claim 1, characterized in that:所述冗余切换命令服务为无确认无连接的网络服务，冗余设备收到任何与之有冗余关系的设备发布的冗余切换请求报文之后，调用本服务，要求全部参与冗余链路通信的订阅者进行链路切换动作。The redundant switching command service is a network service with no confirmation and no connection. After the redundant device receives the redundant switching request message issued by any device that has a redundant relationship with it, it calls this service and requires all to participate in the redundant chain. The subscribers of the channel communication perform the link switching action.8.按权利要求1所述的高可用性功能块冗余方法，其特征在于：8. The high availability function block redundancy method according to claim 1, characterized in that:所述冗余管理实体为用于监视、发送、处理冗余切换服务及冗余切换报文的程序。The redundancy management entity is a program for monitoring, sending, and processing redundancy switching services and redundancy switching messages.9.按权利要求1所述的高可用性功能块冗余方法，其特征在于：9. The high availability function block redundancy method according to claim 1, characterized in that:所述冗余监视定时器为软件或硬件定时器；该定时器监视每个同时拥有主链路、冗余链路的端点；所有定时器的超时时间统一配置；定时器为循环使用，直到相应链路失效或发生切换事件；定时器被重置的条件是所监视端点的主链路传递的现场数据在规定时间内到达或定时器超时；定时器超时事件连续发生且若未达到规定次数，则重置定时器并记录超时事件；若达到规定次数则停止定时器，触发链路切换事件。The redundancy monitoring timer is a software or hardware timer; the timer monitors each endpoint that simultaneously has a main link and a redundant link; the timeout time of all timers is uniformly configured; the timer is used cyclically until the corresponding Link failure or switching event occurs; the condition for the timer to be reset is that the field data delivered by the main link of the monitored endpoint arrives within the specified time or the timer expires; the timer timeout event occurs continuously and if the specified number of times is not reached, Then reset the timer and record the timeout event; if the specified number of times is reached, stop the timer and trigger a link switching event.10.按权利要求1所述的高可用性功能块冗余方法，其特征在于：10. The high availability function block redundancy method according to claim 1, characterized in that:所述冗余关系是指一个含有备份功能块的设备和所有被该设备内备份功能块所冗余的现场设备的集合。The redundancy relationship refers to a set of a device containing a backup function block and all field devices redundant by the backup function block in the device.11.按权利要求1所述的高可用性功能块冗余方法，其特征在于：11. The high availability function block redundancy method according to claim 1, characterized in that:所述调用冗余切换请求服务发送冗余切换报文包括以下步骤：Said invoking a redundant switching request service to send a redundant switching message includes the following steps:在组态并设置冗余关系之后，重新启动冗余监视定时器；After configuring and setting the redundancy relationship, restart the redundancy watchdog timer;判断收到标志性报文是否超时；Judging whether the received signature message has timed out;如果超时，则超时计数器递增1；If it times out, the timeout counter is incremented by 1;如果超时次数到达规定的数目，则发送冗余切换请求报文并进入下一轮循环；If the number of timeouts reaches the specified number, send a redundant switching request message and enter the next cycle;若未达到规定的次数，则进入下一轮循环；If the specified number of times is not reached, enter the next cycle;若收到标志性报文未超时，将对应的冗余监视定时器停止，使用有效链路所载荷数据更新现场数据，进入下一轮循环。If the signature message is received without timeout, stop the corresponding redundancy monitoring timer, use the data loaded by the effective link to update the field data, and enter the next round of cycle.12.按权利要求1所述的高可用性功能块冗余方法，其特征在于：12. The high availability function block redundancy method according to claim 1, characterized in that:所述冗余设备接收并处理冗余切换请求报文包括以下步骤：The redundant device receiving and processing the redundant switching request message includes the following steps:当冗余设备收到冗余切换请求报文，提取报文结点信息；When the redundant device receives the redundant switching request message, it extracts the message node information;判断是否是第一次收到冗余切换请求报文，如果是，提取本冗余关系的链路冗余信息；Judging whether it is the first time to receive a redundancy switching request message, if so, extracting the link redundancy information of this redundancy relationship;调用冗余切换命令服务构建冗余切换命令报文，广播冗余切换命令报文，发布冗余链路切换报警，该处理过程结束；Invoke the redundant switching command service to construct a redundant switching command message, broadcast the redundant switching command message, issue a redundant link switching alarm, and the process ends;如果不是第一次收到冗余切换请求报文，忽略本次冗余切换请求，该处理过程结束。If it is not the first time that the redundancy switching request message is received, this redundant switching request is ignored, and the processing process ends.13.按权利要求1所述的高可用性功能块冗余方法，其特征在于：所述冗余设备通知所有相关设备进行冗余切换包括以下步骤：13. The high-availability function block redundancy method according to claim 1, characterized in that: said redundant device notifies all relevant devices to perform redundant switching comprising the following steps:当设备收到冗余切换命令报文后，提取冗余关系的链路冗余信息，判断是否处于同一冗余关系，如是，则查找冗余链路对象，设置冗余链路的工作状态为1，设置主链路工作状态为0，表示冗余链路开始工作，主链路失效；如果不是处于同一冗余关系，则忽略本次冗余切换命令，该处理过程结束。When the device receives the redundancy switching command message, it extracts the link redundancy information of the redundancy relationship and judges whether it is in the same redundancy relationship. If so, it searches for the redundant link object and sets the working status of the redundant link to 1. Set the working status of the main link to 0, which means that the redundant link starts to work and the main link fails; if it is not in the same redundancy relationship, ignore this redundant switching command, and the process ends.

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