A multi-redundancy-based front-end TT&C system integrated control system

Abstract

The application provides a kind of pre-measuring and controlling system comprehensive control system based on multi-redundancy, the whole system adopts double channel design, double channel runs simultaneously, and each running process is backup for each other, so that when channel switching is carried out in any running process, time sequence continuity can be guaranteed, the problem that time sequence cannot be strictly continued when main backup is switched under original backup mode is solved.That is to say, the application constructs double-channel double-machine information synchronization mechanism based on communication data counter channel and command information counter channel, solves the problem of system continuous operation under extreme situation and communication failure and other failure modes;At the same time, the application designs arbitration mechanism based on execution configuration file, and the execution strategy in the execution configuration file can be set according to different failure modes, and the update strategy can be replaced by replacing the execution configuration file, which enhances the flexibility of the system and significantly improves the comprehensive fault tolerance and abnormal processing capability of the system pre-control software.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of measurement and control, and particularly relates to a comprehensive control system of a front measurement and control system based on multiple redundancies. BACKGROUND

[0002] In order to reliably and stably fly and accurately send a payload into a predetermined orbit, each system on a launch vehicle plays an important role, and ground testing and launch control also plays a crucial role in ensuring the success of the mission of the launch vehicle. The ground testing and launch control is used for comprehensively checking and confirming the functions and performances of the launch vehicle to eliminate technical risks in advance, and is also an important part of pre-launch work, and plays a decisive role in the reliability of the mission and the safety of the launch site. Therefore, the ground testing and launch control can play a very important role in the launch process of the launch vehicle. At present, in order to increase reliability and safety, the related systems of the launch vehicle generally adopt a redundancy mechanism. Taking a measurement and control network as an example, a network communication link redundancy mode is generally adopted, the front-end and rear-end devices of the measurement and control network are connected through a ring redundancy network formed by a main switch, a main optical fiber, a vice switch and a vice optical fiber, and a fast, safe and reliable data communication channel is provided for the system. The front-end and rear-end test and control computers are connected to the switch using a server network adapter at the same time, so as to eliminate the single failure point failure hidden danger in data communication.

[0003] As an important part of the measurement and control system of the launch vehicle, the front measurement and control system generally also adopts a redundant configuration mode, and two systems are provided for backup execution. At present, one system is generally used for operation, and the other system is used for backup execution. After the current running system fails, the backup system is switched to run, so as to increase the reliability. With the increasing requirement for the reliability of the launch vehicle, the mode of "one system running and one system backup" cannot meet the requirements of reliability and safety. In the extreme case of communication failure and actuator failure, the system may still fail, and in the case of failure of the running machine, the system execution time sequence cannot be strictly continued after the backup machine is switched, so it is necessary to build a redundant front measurement and control system with higher reliability and safety. SUMMARY

[0004] In order to solve the above problems, the application provides a comprehensive control system of a front measurement and control system based on multiple redundancies, which provides multiple redundancy mechanisms for the redundancy design requirements of the front measurement and control system, and greatly improves the reliability and safety of the front measurement and control system of the launch vehicle measurement and control.

[0005] A comprehensive control system of a front measurement and control system based on multiple redundancies, comprising a control part and a front execution part divided into two channels, and each of the two channels is provided with a communication module, an analysis module, an execution function module and a device module.

[0006] Two communication modules forward UDP communication frames received from the control part to each other, and also send UDP communication frames from the other party and from the control part to the analysis module belonging to the same channel as itself;

[0007] Two analysis modules analyze UDP communication frames received in real time, and forward the command queue obtained by analysis to the other party. Each analysis module has a dual-channel command queue, and forwards the dual-channel command queue to the execution function module belonging to the same channel as itself;

[0008] The execution function module in priority mode determines whether to execute each instruction in the dual-channel command queue according to the execution configuration file, and forwards the priority execution information to the execution function module in follow-up mode. It also controls the device module belonging to the same channel according to the priority execution information. The execution function module in follow-up mode determines whether to execute each instruction in the dual-channel command queue according to the priority execution information and the execution configuration file, and forwards the follow-up execution information to the execution function module in priority mode. It also controls the device module belonging to the same channel according to the follow-up execution information.

[0009] Further, the control part includes a control operation end, a control sending end A, and a control sending end B. The control operation end provides unique control operation information input for the system, and converts the control operation information into UDP communication frames. It also controls the control sending end A and the control sending end B to send UDP communication frames to the communication modules of the two channels simultaneously.

[0010] The UDP communication frame contains the protocol information required by the front control part, the UDP communication frame sending end information, and the UDP communication frame sending sequence number information according to the system communication protocol. The sending sequence number is re-counted after each start of the entire system and is incremented by one for each communication frame. The UDP communication frame sending end information is used to distinguish whether the sending source of the current UDP communication frame is the control sending end A or the control sending end B. The UDP communication frame sending sequence number information is used to record the sending sequence number of the current UDP communication frame. The sending sequence numbers of UDP communication frames with the same control operation sent from the control sending end A and the control sending end B are the same.

[0011] Further, the two channels are denoted as A channel and B channel, and the two analysis modules are denoted as front A-end analysis module and front B-end analysis module. The method for obtaining the dual-channel command queue of the two analysis modules is as follows:

[0012] The pre-A side analysis module parses the received UDP communication frame into command information, wherein the command information includes UDP communication frame sending end information and UDP communication frame sending serial number information, and then stores the parsed command information into the A side command queue. During the storage process, it is simultaneously judged whether the UDP communication frame sending serial number corresponding to the currently stored command information has been recorded before the current storage. If yes, the current storage operation is cancelled and the current command information is discarded. If no, the current storage operation is continued and the UDP communication frame sending end information and the UDP communication frame sending serial number information of the command information currently stored in the A side command queue are recorded. After the command information is successfully stored in the A side command queue, the command information successfully stored in the A side command queue is forwarded to the pre-B side analysis module.

[0013] The pre-B side analysis module parses the received UDP communication frame into command information, wherein the command information includes UDP communication frame sending end information and UDP communication frame sending serial number information, and then stores the parsed command information into the B side command queue. During the storage process, it is simultaneously judged whether the UDP communication frame sending serial number corresponding to the currently stored command information has been recorded before the current storage. If yes, the current storage operation is cancelled and the current command information is discarded. If no, the current storage operation is continued and the UDP communication frame sending end information and the UDP communication frame sending serial number information of the command information currently stored in the B side command queue are recorded. After the command information is successfully stored in the B side command queue, the command information successfully stored in the B side command queue is forwarded to the pre-A side analysis module.

[0014] The pre-A side analysis module receives the command information forwarded by the pre-B side analysis module and stores it into the B side forwarding queue, thereby obtaining a double-channel command queue including the A / B command queue. The pre-B side analysis module receives the command information forwarded by the pre-A side analysis module and stores it into the A side forwarding queue, thereby obtaining a double-channel command queue including the B / A command queue.

[0015] Further, the information included in the execution configuration file is: a condition required to be met for each instruction to be executed, and an execution strategy corresponding to each instruction about the device module in different fault modes. The condition required to be met for each instruction to be executed is that, for a UDP communication frame generated by a same control operation information issued by the control part, at least one analysis module successfully parses it and successfully stores it in one of the double-channel command queues.

[0016] The priority execution information includes: an instruction in the double-channel command queue that is judged to be executable by the execution function module in the priority mode, and information about the execution of the instruction in the device module being successful or failed;

[0017] The executable instruction judged by the execution function module in the follow-up mode in the double-channel command queue meets that: the instruction is successfully parsed by at least one parsing module and is successfully stored in one of the queues in the double-channel command queue, and the instruction is judged as executable by the execution function module in the priority mode and fails to be executed on the device module;

[0018] The follow-up execution information includes: the instruction judged as executable by the execution function module in the follow-up mode in the double-channel command queue, and information that the instruction judged as executable is successfully executed or fails to be executed on the device module.

[0019] Further, the communication modules of the two channels are synchronously connected based on network data frames of the TCP protocol, and the parsing modules of the two channels are synchronously connected based on system command information of the TCP protocol.

[0020] Further, the device modules of the two channels adopt the same configuration of hardware instrument devices, and a linkage mode for ensuring connection and ensuring disconnection is designed for the use scene; in the linkage mode for ensuring connection, the connection devices in the device modules of the two channels adopt a parallel design, and any device connection can make the system connected; in the linkage mode for ensuring disconnection, the disconnection devices in the device modules of the two channels adopt a series design, and any device disconnection can make the system disconnected.

[0021] Beneficial effects:

[0022] 1. The application provides a multi-redundancy-based front-end measurement and control system comprehensive control system, the overall system adopts a double-channel design, the double channels run simultaneously, and each running process is a backup for the other, so that the timing is consecutive when the channels are switched in any running process, and the problem that the timing cannot be strictly continued when the main backup is switched in the original backup mode is solved; that is, the application constructs a double-channel double-machine information synchronization mechanism based on communication data opposite channels and command information opposite channels, and solves the problem of continuous system operation in the case of communication failure and other failure modes.

[0023] 2. The application provides a multi-redundancy-based front-end measurement and control system comprehensive control system, based on the execution information issued by the control part, an arbitration mechanism based on an execution configuration file is designed, and the execution strategy in the execution configuration file can be set according to different failure modes, that is, different execution strategies can be set under different failures, and the strategy update only needs to replace the execution configuration file, so that corresponding seamless switching control solutions can be provided under different failure conditions, the system flexibility is enhanced, the comprehensive fault tolerance and abnormal processing capability of the system front-end control software are significantly improved, the high availability of the system task execution function is guaranteed, and the overall reliability of the system is effectively improved.

[0024] 3. The application provides a multi-redundancy-based front-end measurement and control system integrated control system, two execution function modules are designed in a non-equal manner, are divided into a priority mode and a following mode, and support mutual replacement; the execution function module in the priority mode performs judgment and execution preferentially, and forwards priority execution information, the execution function module in the following mode performs judgment and forwards following execution information subsequently, and the specific execution contents of the two execution function modules need to refer to an execution configuration file, and the non-equal redundant execution mechanism based on multi-source command information can adapt to the execution operation of different command types of the front-end control system.

[0025] 4. The application provides a multi-redundancy-based front-end measurement and control system integrated control system, and the execution of the device modules of the two channels supports a linkage mode, ensures that connection adopts a parallel design, ensures that disconnection adopts a series design, and can provide the overall reliability of the system. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 A principle block diagram of a multi-redundancy-based front-end measurement and control system integrated control system is provided. DETAILED DESCRIPTION

[0027] In order to enable personnel in the art to better understand the present application, the technical solutions in the present application will be clearly and completely described below in combination with the accompanying drawings in the embodiments of the present application.

[0028] A multi-redundancy-based front-end measurement and control system integrated control system comprises a control part and a front-end execution part divided into two channels, and the two channels are each provided with a communication module, an analysis module, an execution function module and a device module;

[0029] The two communication modules each forward the UDP communication frame received from the control part to the other, and simultaneously send the UDP communication frame from the other and from the control part to the analysis module belonging to the same channel as itself;

[0030] The two analysis modules analyze the UDP communication frame received by themselves in real time, and forward the command queue obtained by the analysis of themselves to the other, and each analysis module has a double-channel command queue, and forwards the double-channel command queue to the execution function module belonging to the same channel as itself;

[0031] The execution function module in the priority mode judges whether to execute each instruction in the double-channel command queue according to the execution configuration file, and forwards the priority execution information to the execution function module in the following mode, and controls the device modules belonging to one channel according to the priority execution information; the execution function module in the following mode judges whether to execute each instruction in the double-channel command queue according to the priority execution information and the execution configuration file, and forwards the following execution information to the execution function module in the priority mode, and controls the device modules belonging to one channel according to the following execution information.

[0032] It should be noted that the execution configuration file includes the following information: conditions required to be met for each instruction to be executed, and execution strategies of the device modules in different fault modes corresponding to each instruction.

[0033] The priority execution information includes the following information: instructions in the double-channel command queue that are judged to be executable by the execution function module in the priority mode, and information about successful or failed execution of the instructions on the device modules.

[0034] The instructions in the double-channel command queue that are judged to be executable by the execution function module in the following mode meet the following conditions: at least one of the analysis modules successfully parses the instruction and successfully stores it in one of the double-channel command queues, and the instruction is judged to be executable by the execution function module in the priority mode and fails to be executed on the device modules.

[0035] The following execution information includes the following information: instructions in the double-channel command queue that are judged to be executable by the execution function module in the following mode, and information about successful or failed execution of the instructions on the device modules.

[0036] Specifically, as shown in Figure 1 The pre-control system is decoupled into a control part and a pre-execution part. The control part designs an operation control layer, mainly including an operation control end, a control sending end A, and a control sending end B. The pre-execution part designs a communication data layer, a command protocol layer, and an execution function layer. The communication data layer mainly includes a pre-A communication module and a pre-B communication module. The command protocol layer mainly includes a pre-A analysis module and a pre-B analysis module. The execution function layer mainly includes a pre-A execution function module, a pre-B execution function module, a pre-A device module, and a pre-B device module. The control part and the pre-execution part are connected by a network, and the network communication between them uses a UDP network protocol.

[0037] The control operation end provides unique control operation information input for the system, and simultaneously converts the control operation information into a UDP communication frame, and also simultaneously controls the control sending end A and the control sending end B to send the UDP communication frame to the communication module of the two channels. The UDP communication frame contains the protocol information required by the pre-control system according to the system communication protocol, and also contains two redundant information: the UDP communication frame sending end information and the UDP communication frame sending serial number information, wherein the sending serial number value is re-counted after each start of the entire system and is sequentially incremented by each communication frame; the UDP communication frame sending end information distinguishes the sending source of the current UDP communication frame as the control sending end A or the control sending end B; the UDP communication frame sending serial number information is used to record the sending serial number of the current communication frame, wherein the UDP communication frames with the same control operation sent from the control sending end A and the control sending end B have the same sending serial number. The control sending end A sends the UDP communication frame to the pre-A end network communication module through the UDP network protocol through the A1 step, and the control sending end B sends the UDP communication frame to the pre-B end network communication module through the UDP network protocol through the B1 step.

[0038] A TCP protocol-based network data frame synchronization connection is built between the pre-A end communication module and the pre-B end communication module. The pre-A end communication module receives the UDP communication frame sent by the control sending end A based on the network protocol, and simultaneously forwards the received UDP communication frame to the pre-B end network communication module through the A2 step; the pre-B end network communication module receives the UDP communication frame sent by the control sending end B based on the network protocol, and simultaneously forwards the received UDP communication frame to the pre-A end network communication module through the B2 step. The pre-A end communication module receives the UDP communication frame sent by the control part at the same time, and simultaneously receives the UDP communication frame forwarded by the pre-B end communication module; the pre-B end communication module receives the UDP communication frame sent by the control part at the same time, and simultaneously receives the UDP communication frame forwarded by the pre-A end communication module. The pre-A end communication module and the pre-B end communication module respectively transmit all the received UDP communication frames to the pre-A end analysis module and the pre-B end analysis module. The pre-A end communication module and the pre-B end communication module simultaneously contain network configuration, network connection construction and other basic functions, and are not directly related to the redundant function design, and will not be described again.

[0039] It should be noted that when the pre-A communication module passes all the received UDP communication frames to the pre-A analysis module, the transmission order of the UDP communication frames from the control part and the UDP communication frames forwarded from the pre-B communication module is uncertain, which is related to the delay of the communication link; for example, assuming that the control sending end A and the control sending end B send 10 frames of UDP communication frames to the communication modules of the two channels at the same time, the pre-A communication module has received the first frame of UDP communication frame sent from the control part and sent it to the pre-A analysis module at the current time, and then the communication link between the pre-A communication module and the control sending end A delays, the pre-A communication module will receive the first and second frames of UDP communication frames forwarded from the pre-B communication module at the next time, and send the two frames of UDP communication frames to the pre-A analysis module; that is, the UDP communication frames from the control part and the UDP communication frames forwarded from the pre-B communication module may be sent to the pre-A analysis module alternately; similarly, the UDP communication frames from the control part and the UDP communication frames forwarded from the pre-A communication module may also be sent to the pre-B analysis module alternately.

[0040] The pre-A analysis module and the pre-B analysis module construct a system command information synchronization connection based on TCP protocol. The pre-A analysis module analyzes the received UDP communication frame into command information through A3 step, wherein the command information includes UDP communication frame sending end information and UDP communication frame sending sequence number information, and stores the analyzed command information into A end command queue through A4 step. During the storage process, it is judged whether the UDP communication frame sending sequence number corresponding to the currently stored command information has been recorded before the current storage, if yes, the current storage operation is cancelled and the current command information is discarded, if no, the current storage operation continues and the UDP communication frame sending end information and the UDP communication frame sending sequence number information of the command information currently stored in the A end command queue are recorded. After the command information is successfully stored in the A end command queue, the pre-A analysis module forwards the analyzed command information successfully stored in the A end command queue to the pre-B analysis module through A5 step.

[0041] The front-end B-side analysis module parses the received UDP communication frame into command information through B3, wherein the command information includes UDP communication frame sending end information and UDP communication frame sending serial number information, and stores the parsed command information into the B-side command queue through B4. During the storage, it is simultaneously determined whether the UDP communication frame sending serial number corresponding to the currently stored command information has been recorded before the current storage. If yes, the current storage operation is cancelled and the current command information is discarded. If no, the current storage operation continues and the UDP communication frame sending end information and the UDP communication frame sending serial number information of the command information currently stored in the B-side command queue are recorded. After the command information is successfully stored in the B-side command queue, the successfully stored command information is forwarded to the front-end A-side analysis module through B5.

[0042] The front-end A-side analysis module receives the command information forwarded by the front-end B-side analysis module through A6 and stores it into the B-side forwarding queue, thereby obtaining a double-channel command queue including A / B command queues, and then transmits the double-channel command queue including A / B command queues to the front-end A-side execution function module. The front-end B-side analysis module receives the command information forwarded by the front-end A-side analysis module through B6 and stores it into the A-side forwarding queue, thereby obtaining a double-channel command queue including B / A command queues, and then transmits the double-channel command queue including B / A command queues to the front-end B-side execution function module. The front-end A-side analysis module and the front-end B-side analysis module simultaneously include protocol configuration and protocol analysis, and are not directly related to the redundancy function design, and thus will not be described herein.

[0043] As described above, the UDP communication frames from the control part and the UDP communication frames forwarded by the front-end B-side communication module may be sent to the front-end A-side analysis module in an interlaced manner. Assuming that the order of the UDP communication frames received by the front-end A-side analysis module is A1-B1-B2-B3-A2-A3, wherein A1-A3 are the first three UDP communication frames from the control sending end A-side, B1-B3 are the first three UDP communication frames from the front-end B-side communication module, A and B are UDP communication frame sending end information, and are only used to indicate that the sending source of the current UDP communication frame is from the control sending end A-side or the control sending end B-side, and each frame of the UDP communication frame is sent by the control sending end A-side and the control sending end B-side simultaneously, and thus they have the same sending serial number value. Based on this, when the front-end A-side analysis module parses the UDP communication frames with serial numbers A2 and A3, it will be found during the storage that whether the UDP communication frame sending serial number corresponding to the currently stored command information has been recorded before the current storage, i.e., B2 and B3 have been recorded. Thus, the operation of storing the UDP communication frames A2 and A3 is cancelled and the command information obtained by parsing the UDP communication frames A2 and A3 is discarded.

[0044] The execution function layer adopts A-side and B-side non-equivalent design, and priority mode and following mode are designed respectively. The pre-A-side execution function module adopts priority mode by default, and the pre-B-side execution function module adopts following mode by default. The modes adopted by the two can be exchanged.

[0045] In the case that the pre-A-side execution function module adopts priority mode and the pre-B-side execution function module adopts following mode, the pre-A-side execution function module receives A / B command queue information, and judges whether to execute the command and carry out execution through A7 step. The judgment basis is an execution configuration file. The execution configuration file contains the execution strategy in the state of the command information currently in the first queue. After execution, A-side execution information is forwarded to the B-side through A8 step. The pre-B-side execution function module receives B / A command queue information and A8 step forwarding A-side execution information, and judges whether to execute the command and carry out execution through B7 step. The judgment basis is an execution configuration file. The execution configuration file contains the execution strategy in the state of the current queue command information and forwarding execution information. After execution, B-side execution information is forwarded to the A-side through B8 step. After receiving the B-side execution information forwarded by B8 step, the pre-A-side execution function module carries out subsequent processing operation according to the current state.

[0046] The pre-B-side execution function module carries out subsequent processing operation according to the current state after B8 step. If the execution operation of the pre-A-side execution function module and the pre-B-side execution function module involves a hardware instrument device module, the hardware instruments of the pre-A-side device module and the pre-B-side device module are controlled through device control function respectively. The pre-A-side execution function module and the pre-B-side execution function module simultaneously contain basic functions such as instrument driver configuration and channel mapping configuration, and are not directly related to redundancy function design, which will not be described here.

[0047] The pre-A-side device module and the pre-B-side device module adopt the same configured hardware instrument device, and a linkage mode for ensuring connection and ensuring disconnection is designed for the use scene. In the linkage mode for ensuring connection, the connection devices in the pre-A-side device module and the pre-B-side device module adopt parallel design, and any device connection can ensure system connection; in the linkage mode for ensuring disconnection, the disconnection devices in the pre-A-side device module and the pre-B-side device module adopt series design, and any device disconnection can ensure system disconnection.

[0048] In summary, the application provides a multi-redundancy-based front-end TT&C system integrated control system, which constructs a multi-channel A-end and B-end double-machine information synchronization mechanism based on a communication data opposite channel and a command information opposite channel, solves the problem of system continuous operation under fault modes such as communication failure in extreme cases, designs a system arbitration mechanism based on an execution configuration file based on the execution information received by the A-end and the B-end, supports different execution strategies under different faults, and only needs to replace the configuration file to update the strategy, thereby enhancing the flexibility of the system, designs a non-equivalent redundant execution mechanism based on multi-source command information based on the command information received by the A-end and the B-end, is based on priority and following, and can adapt to the execution operation of different command types of the front-end control system, the overall system adopts A-end and B-end design, the A-end and the B-end run simultaneously, back up each other during the running process, and the timing is consecutive during the execution process, thereby solving the switching problem under the original backup mode, providing a corresponding seamless switching control solution under different fault occurrence conditions, significantly improving the integrated fault tolerance and abnormal processing capability of the front-end control software of the system, guaranteeing the high availability of the system task execution function, and effectively improving the overall reliability of the system.

[0049] Of course, the application can have other various embodiments, and those skilled in the art can certainly make various corresponding changes and modifications according to the application without departing from the spirit and essence of the application. However, these corresponding changes and modifications should belong to the protection scope of the claims attached to the application.

Claims

1. A multi-redundancy-based pre-TMSS integrated control system, characterized in that, It includes a control section and a front-end execution section divided into two channels, and each channel is equipped with a communication module, a parsing module, an execution function module, and a device module; The two communication modules forward the UDP communication frames they receive from the control unit to each other, and also send the UDP communication frames from the other party and from the control unit to the parsing module that belongs to the same channel as themselves. Two parsing modules parse the UDP communication frames they receive in real time and forward the command queues they parse to each other. Each parsing module then has a dual-channel command queue and forwards the dual-channel command queues to the execution function module that belongs to the same channel as itself. In priority mode, the execution function module determines whether to execute each instruction in the dual-channel command queue based on the execution configuration file, and forwards the priority execution information to the execution function module in follow mode. It also controls the device module belonging to the same channel based on the priority execution information. In follow mode, the execution function module determines whether to execute each instruction in the dual-channel command queue based on the priority execution information and the execution configuration file, and forwards the follow execution information to the execution function module in priority mode. It also controls the device module belonging to the same channel based on the follow execution information.

2. The integrated control system based on a multi-redundant front-end measurement and control system as described in claim 1, characterized in that, The control section includes a control operation terminal, a control sending terminal A, and a control sending terminal B. The control operation terminal provides the system with a unique control operation information input and converts the control operation information into UDP communication frames. It also controls the control sending terminals A and B to send UDP communication frames to the communication modules of the two channels simultaneously. The UDP communication frame contains, according to the system communication protocol, the protocol information required by the front-end control section, the UDP communication frame sender information, and the UDP communication frame sequence number information. The sequence number is recounted after each system startup and increments sequentially for each communication frame. The UDP communication frame sender information is used to distinguish whether the current UDP communication frame originates from control sender A or control sender B. The UDP communication frame sequence number information is used to record the current UDP communication frame's sequence number. UDP communication frames with the same control operation sent simultaneously from control sender A and control sender B have the same sequence number.

3. The integrated control system based on a multi-redundant front-end measurement and control system as described in claim 1, characterized in that, Let's denote the two channels as channel A and channel B, and the two parsing modules as the front-end parsing module A and the front-end parsing module B, respectively. The specific method for obtaining the dual-channel command queue of the two parsing modules is as follows: The front-end A-side parsing module parses the received UDP communication frames into command information, which includes UDP communication frame sender information and UDP communication frame sequence number information. Then, it stores the parsed command information into the A-side command queue. During the storage process, it simultaneously checks whether the UDP communication frame sequence number corresponding to the currently stored command information has been recorded before this storage. If yes, the current storage operation is canceled and the current command information is discarded. If no, the current storage operation continues and records the UDP communication frame sender information and UDP communication frame sequence number information of the command information currently stored in the A-side command queue. After the command information is successfully stored in the command queue of the A-end, it is then forwarded to the front-end parsing module of the B-end. The front-end B-side parsing module parses the received UDP communication frames into command information, which includes UDP communication frame sender information and UDP communication frame sequence number information. The parsed command information is then stored in the B-side command queue. During the storage process, it is simultaneously determined whether the UDP communication frame sequence number corresponding to the currently stored command information has been recorded before this storage. If yes, the current storage operation is canceled and the current command information is discarded. If no, the current storage operation continues and the UDP communication frame sender information and UDP communication frame sequence number information of the command information currently stored in the B-side command queue are recorded. After the command information is successfully stored in the B-end command queue, it is then forwarded to the front-end A-end parsing module. The front-end A-terminal parsing module receives command information forwarded by the front-end B-terminal parsing module and stores it in the B-terminal forwarding queue, thus obtaining a dual-channel command queue containing the A / B command queues; the front-end B-terminal parsing module receives command information forwarded by the front-end A-terminal parsing module and stores it in the A-terminal forwarding queue, thus obtaining a dual-channel command queue containing the B / A command queues.

4. The integrated control system based on a multi-redundant front-end measurement and control system as described in claim 1, characterized in that, The execution configuration file includes the following information: the conditions that each instruction must meet to be executed, and the execution strategy of each instruction for the device module under different fault modes. The conditions that each instruction must meet to be executed are: for a UDP communication frame generated by the same control operation information issued by the control part, at least one parsing module must successfully parse it and successfully store it into one of the queues in the dual-channel command queue. Priority execution information includes: instructions that are determined to be executable by the execution function module in priority mode in the dual-channel command queue, and information on whether the instructions determined to be executable are successfully executed or fail to be executed on the device module; In the dual-channel command queue, the execution function module in the follow mode determines that the instruction is executable if it meets the following conditions: the instruction is successfully parsed by at least one parsing module and successfully stored in one of the queues in the dual-channel command queue; the instruction is determined to be executable by the execution function module in the priority mode and fails to execute on the device module. The follow-up execution information includes: instructions that the execution function module in the follow-up mode in the dual-channel command queue determines as executable, and information on whether the instructions determined as executable are successfully executed or fail to execute on the device module.

5. A comprehensive control system based on a multi-redundant front-end measurement and control system as described in any one of claims 1 to 4, characterized in that, The communication modules of the two channels are synchronously connected based on network data frames of the TCP protocol; the parsing modules of the two channels are synchronously connected based on system command information of the TCP protocol.

6. A comprehensive control system based on a multi-redundant front-end measurement and control system as described in any one of claims 1 to 4, characterized in that, The two channels' equipment modules use the same hardware instruments and are designed with linkage modes that guarantee connection and disconnection for different usage scenarios. In the linkage mode that guarantees connection, the connection devices in the two channels' equipment modules are designed in parallel, so that the system is connected when any device is connected. In the linkage mode that guarantees disconnection, the disconnection devices in the two channels' equipment modules are designed in series, so that the system is disconnected when any device is disconnected.

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