A data processing method and device of a controller for a redundant I / O module, and a storage medium

Abstract

A data processing method, device and storage medium of a controller for a redundant I / O module. The method comprises: the controller obtaining a channel original quality of each I / O module in the redundant I / O module through a communication bus, and obtaining a channel sampling value or a control instruction, and judging whether the channel original quality of each I / O module is normal; if the channel original quality of each I / O module is normal, the controller processes the channel data according to the channel type and the data type, keeps the channel quality as normal, and determines the tolerance of the input channel sampling value of the redundant I / O module; if only the channel original quality of one I / O module is normal, the controller selects the sampling value of the working channel of the I / O module; and if the channel original quality of all I / O modules is abnormal, the controller keeps the data in the last normal working state according to the channel type. The scheme improves the reaction and control ability of the controller to the actual working condition.

Description

Technical Field

[0001] This invention belongs to the field of programmable control, and specifically relates to a method, device and storage medium for data processing of redundant I / O modules by a controller. Background Technology

[0002] In programmable logic controllers (PLCs), redundancy of I / O modules is typically used to prevent system function loss or unavailability caused by the failure of a single I / O module. This ensures that the original system functions can be maintained to the greatest extent possible when one I / O module fails.

[0003] For I / O modules, redundant configurations involve two sampled values ​​or two output commands. Simply selecting from these two values ​​is insufficient to accurately reflect the actual operating status. Taking a digital input module as an example, when one channel of a redundant digital input module has a true sampled value and the other a false sampled value, regardless of the calculation method, the result may not accurately reflect the actual operating conditions. For instance, the false channel might be functioning normally, while the true channel might be malfunctioning. In such cases, the OR operation result may not accurately reflect the actual control situation. Therefore, it is necessary to determine the sampled values ​​of the two input channels based on their actual operating status to accurately reflect the actual operating conditions and provide valid data for the controller's logic operations.

[0004] On the other hand, traditional technical solutions may not be able to fully identify the working status of the channel. That is, the known diagnostic measures taken by redundant I / O modules can only identify the corresponding anomalies. There are some cases where the working abnormality of some module channels cannot be identified. It is obviously unreasonable to determine and handle such cases according to the channel quality mentioned above. The rationality of the two sampled channel values ​​should be further evaluated to better reflect the actual working conditions.

[0005] Therefore, it is necessary to take measures to optimize the matching degree between redundant I / O data processing and actual operating conditions. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a data processing method, device, and storage medium for redundant I / O modules by a controller, thereby solving the technical problem of ensuring that the final effective value and quality of redundant I / O module channels match the actual performance under various operating conditions.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution.

[0008] This invention first discloses a method for controller to process data from redundant I / O modules, the method comprising the following steps:

[0009] Step 1: The controller obtains the original channel quality of each I / O module in the redundant I / O modules through the communication bus, and obtains the channel sampling value or control command to determine whether the original channel quality of each I / O module is normal.

[0010] Step 2: If the original quality of each I / O module's channel is normal, the controller processes the channel data according to the channel type and data type, maintains the channel quality as normal, and determines the tolerance of the input channel sample values ​​of the redundant I / O module.

[0011] Step 3: If only one I / O module's channel has a normal original quality, the controller selects the sampled value of that I / O module's working channel. If all I / O modules' channels have abnormal original quality, the controller retains the data from the previous normal working state based on the channel type.

[0012] The present invention further includes the following preferred embodiments:

[0013] The original channel quality of the redundant I / O module includes the normal working state and abnormal working state of the I / O channel. The abnormal working state includes channel disconnection, channel short circuit, channel input or output over-range, channel component abnormality, I / O module abnormality, and communication abnormality with the controller.

[0014] The channel disconnection, channel short circuit, channel input or output over-range, channel component abnormality, and I / O module abnormality are diagnosed by the components and programs within the redundant I / O module. The communication abnormality with the controller is diagnosed by the controller during the communication interaction with the redundant I / O.

[0015] The controller processes channel data according to channel type and data type, and further includes:

[0016] For digital input channels, the sampled input values ​​are logically ORed to obtain the final valid value for that channel.

[0017] For analog input channel types, perform logical summation on the sampled values ​​of analog current input channels to obtain the final effective value of the channel, and perform logical average calculation on the sampled values ​​of analog voltage input channels to obtain the final effective value of the channel.

[0018] For digital and analog output channels, the final output command of the channel is the actual command output, which is the result of the corresponding user program operation.

[0019] The tolerance for determining the input channel sample values ​​of the redundant I / O module further includes:

[0020] The system compares whether the sampled values ​​of the switch inputs are equal, that is, whether all the sampled values ​​of the switch inputs are true or all are false. When the sampled values ​​of the switch inputs are not equal and exceed the preset allowable time, tolerance processing is performed.

[0021] The tolerance for determining the input channel sample values ​​of the redundant I / O module further includes:

[0022] Determine whether the absolute value of the sampling value deviation between analog input channels exceeds the predefined tolerance limit and whether the time exceeding the limit reaches the preset allowable duration. If the predefined tolerance limit is exceeded and the state continues to exceed the allowable duration, tolerance processing is performed.

[0023] Under tolerance conditions, the quality of redundant I / O channels is set to abnormal; the digital input channels are sampled according to the configuration of hold logic, AND logic, or OR logic; the analog input channels are sampled according to the configuration of hold logic, take-large logic, take-small logic, or sum logic. The output channels of digital and analog signals have no tolerance conditions.

[0024] The allowed duration includes an integer multiple of the controller I / O data processing task cycle, with a minimum of 0.

[0025] Accordingly, this application also discloses an electronic device, including a processor and a storage medium;

[0026] The storage medium is used to store instructions;

[0027] The processor is configured to operate according to the instructions to execute the steps of the data processing method for redundant I / O modules according to the aforementioned controller.

[0028] Accordingly, this application also discloses a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the aforementioned controller's data processing method for redundant I / O modules.

[0029] The beneficial effects of this invention are that, compared with the prior art, this invention provides a method, device and storage medium for data processing of redundant I / O modules by a controller. By determining the quality of the redundant I / O module channels, the possibility of mismatch between numerical processing and actual operating conditions is reduced. In addition, by determining the tolerance of the input channel sampling values ​​of the redundant I / O modules, the rationality of the channel data is judged, the deficiencies of channel diagnostic measures are made up for, and the controller's response and control capabilities to actual operating conditions are further improved. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the deployment of the controller and redundant I / O modules in this invention.

[0031] Figure 2 This is a flowchart of the redundant I / O data processing in this invention.

[0032] Figure 3 This is a flowchart of the redundancy I / O tolerance determination process in this invention.

[0033] Figure 4 This is a structural diagram of an electronic device that implements the data processing method of the controller for redundant I / O modules in this invention. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0035] The embodiments described in this application are merely some, not all, embodiments of the present invention. Based on the spirit of the present invention, other embodiments obtained by those skilled in the art without inventive effort are all within the protection scope of the present invention.

[0036] To address the shortcomings of existing technologies, this invention proposes a data processing method, device, and storage medium for redundant I / O modules by a controller. Two I / O modules are configured as a redundant pair, and the input signals are sampled or output signals are generated simultaneously. The controller communicates with the redundant I / O modules simultaneously. The controller determines the channel sample value or channel command and channel quality based on the channel status of the received I / O modules, so that the controller can better match the actual operating conditions when processing the channel data of the redundant I / O modules.

[0037] Figure 1 This is a diagram illustrating the deployment of the controller and redundant I / O modules. (For example...) Figure 1 As shown, the controller 101 obtains the production status information collected by the field instruments from the I / O module 102, executes the user program, and outputs the control command as the execution result to the field actuator 103 through the I / O module, thereby realizing the monitoring and control of the field equipment.

[0038] The redundant I / O modules 102 are configured in pairs of identical modules. This module acquires input from external sensors, samples and converts digital or analog signals into digital signals for the controller to read; or it receives control commands from the controller in digital form and converts them into digital or analog signals acceptable to the actuator. The controller determines the processing based on the acquired data from the redundant I / O modules, enabling the user program to obtain the actual field status and accurate equipment control.

[0039] Instruments or actuators 103 are all deployed on the production site side. Controller 101 is connected to redundant I / O modules 102 via a communication bus 104. Through this communication bus, the controller can acquire sampled data from the redundant I / O modules and can also send control commands to the redundant I / O modules for execution output.

[0040] The redundant I / O module 103 is connected to the instrument or actuator 103 via an I / O channel 105, which is connected in parallel via a physical cable. That is, two redundant I / O modules are connected to the same instrument or actuator at the same time.

[0041] The data processing method for redundant I / O modules by the controller of the present invention includes the following steps:

[0042] Step 1: The controller obtains the original channel quality of each I / O module in the redundant I / O modules through the communication bus, and obtains the channel sampling value or control command to determine whether the original channel quality of each I / O module is normal.

[0043] Figure 2 This is a flowchart of redundant I / O data processing. For example... Figure 2 As shown, in S201, the controller acquires the raw channel quality of the redundant I / O module and obtains the channel sample value or control command. According to... Figure 1 The controller obtains the corresponding channel sample values ​​and raw channel quality from the redundant I / O modules for each input; or obtains control commands from the periodically executed user program for the output. Sample values ​​and control commands are categorized as digital or analog quantities, depending on their data type. The raw channel quality of the redundant I / O modules includes normal and abnormal operating states. Abnormal operating states include, but are not limited to, channel disconnection, channel short circuit, channel input or output exceeding range, channel component malfunction, I / O module malfunction, and communication anomalies with the controller. Channel disconnection, channel short circuit, channel input or output exceeding range, channel component malfunction, and I / O module malfunction are diagnosed by the components and program within the redundant I / O modules. Communication anomalies with the controller are diagnosed by the controller during communication interactions with the redundant I / O modules. Channel quality can be represented as an integer enumeration.

[0044] Execute judgment module T201 to determine whether the original quality of the channels is normal. Determine whether the original quality of the channels of the redundant I / O modules obtained in S201 is in normal working condition. If so, proceed to S202 to process channel data and quality; otherwise, proceed to the judgment module T202.

[0045] Step 2: If the original quality of each I / O module's channel is normal, the controller processes the channel data according to the channel type and data type, maintains the channel quality as normal, and determines the tolerance of the input channel sample values ​​of the redundant I / O module.

[0046] In S202, when the original channel quality of the redundant I / O channels is normal, the channel data is processed and the channel quality is set according to the type. For digital input channels, the channel input sample values ​​are logically ORed to obtain the final valid value of the channel, and the channel quality is set to normal. For analog input channels, the analog current input channel sample values ​​are logically summed to obtain the final valid value of the channel, and the analog voltage input channel sample values ​​are logically averaged to obtain the final valid value of the channel, and the channel quality is set to normal. For digital and analog output channels, the final output command of the channel is the actual command output, that is, the result of the corresponding user program calculation and execution, without additional processing, and the channel quality is set to normal.

[0047] according to Figure 1 The field input channels are connected in parallel. For current input types, each redundant I / O channel completes a portion of the current sampling, so the final input is the sum of the sampled values ​​from the redundant I / O module channels. For voltage input types, since the original input signals of the redundant I / O channels are consistent, the final input is the average of the samples from the redundant I / O module channels.

[0048] In S203, the tolerance of the input channel sample values ​​of the redundant I / O module is determined. See [link to relevant documentation] for details. Figure 3 The flowchart for determining redundant I / O tolerance is as follows: In the judgment module T301, it determines whether the input type is a digital signal or an analog signal. When the redundant I / O channel type is a digital input, it enters the digital input branch, i.e., the judgment module T302; if it is an analog input type, it enters the analog input branch, i.e., S302; if it is neither a digital input nor an analog input, i.e., a digital output or an analog output, it directly enters S304 to end.

[0049] In the judgment module T302, the sampled values ​​of the switch inputs are compared to determine whether they are all true or all false. If the sampled values ​​are not equal and exceed a preset allowable time, the process proceeds to S301 for tolerance processing; otherwise, it directly proceeds to S304 to end. The allowable time is an integer multiple of the controller I / O data processing task cycle to ensure accurate process judgment. Considering some situations with low tolerance for deviation, the allowable time can be set to 0, meaning that once the allowable condition is exceeded, the process immediately enters the tolerance state to process the data. The allowable time can be set on a channel-by-channel basis, or on a module or controller-by-module basis.

[0050] S301, according to Figure 2 The raw sampled values ​​of the redundant I / O channels acquired in S201 are processed for switch data tolerance according to a pre-configured mode (hold logic, AND logic, or OR logic). The result of the processing is used as the final valid value of the redundant I / O channels, and the quality of the redundant I / O channels is set to abnormal. The hold logic refers to holding the valid value when the quality of the previous redundant I / O channel was normal; the AND logic performs a logical AND operation on the raw sampled values ​​of the redundant I / O channels; and the OR logic performs a logical OR operation on the raw sampled values ​​of the redundant I / O channels. This mode can be set on a channel-by-channel basis, or on a module or controller-by-controller basis.

[0051] S302, according to Figure 2 The raw sampled values ​​of the redundant I / O channels acquired in S201 are used to calculate the absolute value of the channel deviation. The absolute value of the deviation can be a range percentage, that is, the ratio of the absolute value of the difference between the raw sampled values ​​of the redundant I / O channels to the range percentage; or it can be an absolute deviation, that is, a part of the current channel's physical range, which is the absolute value of the difference between the raw sampled values ​​of the redundant I / O channels.

[0052] In judgment module T303, it is determined whether the absolute value of the deviation exceeds a predefined tolerance limit or a preset allowed duration. The calculated absolute value of the inter-channel deviation is compared with the predefined tolerance limit. If it exceeds the predefined tolerance limit and the state continues to exceed the allowed duration, then proceed to S303 for tolerance processing; otherwise, proceed directly to S304 to end. The tolerance limit can be set on a per-channel basis, or on a per-module or per-controller basis. When the tolerance limit is expressed using a physical quantity, it should be set on a per-channel basis due to the different physical quantities. In one embodiment, the allowed duration is consistent with the allowed duration in T302.

[0053] In S303, according to Figure 2 The original sampled values ​​of the redundant I / O channels acquired in S201 are processed for analog data tolerance according to a pre-configured mode (hold logic, take larger logic, take smaller logic, or sum logic). The result of the processing is used as the final valid value of the redundant I / O channels, and the quality of the redundant I / O channels is set to abnormal. The hold logic refers to maintaining the valid value when the previous redundant I / O channel had normal quality; the take larger logic multiplies the larger value among the original sampled values ​​of the redundant I / O channels by 2; the take smaller logic multiplies the smaller value among the original sampled values ​​of the redundant I / O channels by 2; and the sum logic accumulates the original sampled values ​​of the redundant I / O channels. The mode can be set on a channel-by-channel basis, or on a module or controller-by-controller basis. Note that the output channels for digital and analog signals have no tolerance state.

[0054] S304, End of the redundancy I / O tolerance determination process.

[0055] Step 3: If only one I / O module's channel has a normal original quality, the controller selects the sampled value of that I / O module's working channel. If all I / O modules' channels have abnormal original quality, the controller retains the data from the previous normal working state based on the channel type.

[0056] In judgment module T202, it is determined whether there is one and only one I / O module whose channel has normal original quality. If so, proceed to S204 for channel data and quality processing; otherwise, if the original quality of any I / O module's channel is abnormal, proceed to S205 for channel data and quality processing.

[0057] In S204, normal channel data is selected and normal quality is set according to the channel type. For digital or analog input channels, when only one I / O module's channel has a normal operating quality, the sampled value of that normal operating channel is selected as the final valid value, and the quality of the redundant I / O channel is set to normal. For digital and analog output channels, the final output command of the channel is the actual command output, that is, the result of the corresponding user program calculation and execution, without additional processing, and the quality of the redundant I / O channel is set to normal.

[0058] In S205, the data and quality settings from the previous normal operating state are retained according to the channel type. For switch and analog input channels, if the original quality of the other I / O module channels is in an abnormal operating state, the final valid value when the channel quality was normal is retained, that is, the final valid value when at least one I / O channel was in normal operating state, and the quality of redundant I / O channels is set to abnormal. For switch and analog output channels, the final output command of the channel is output as the actual command, that is, the result of the user program calculation and execution, without additional processing, and the quality of redundant I / O channels is set to abnormal.

[0059] S206 marks the end of the redundant I / O data processing flowchart.

[0060] The beneficial effects of this invention are that, compared with the prior art, this invention provides a method, device and storage medium for data processing of redundant I / O modules by a controller. By determining the quality of the redundant I / O module channels, the possibility of mismatch between numerical processing and actual operating conditions is reduced. In addition, by determining the tolerance of the input channel sampling values ​​of the redundant I / O modules, the rationality of the channel data is judged, the deficiencies of channel diagnostic measures are made up for, and the controller's response and control capabilities to actual operating conditions are further improved.

[0061] Figure 4 A structural diagram of the electronic device provided in this application is shown. The electronic device includes a processor and a memory. The memory stores computer instructions, which, when executed by the processor, cause the processor to perform the computer instructions to achieve the following: Figure 1 The method and its detailed scheme are shown, and data is exchanged between devices via a communication interface.

[0062] Based on the spirit of this invention, those skilled in the art will readily conceive that a computer program product can be obtained based on the aforementioned data processing method for redundant I / O modules using a controller. The computer program product may include a computer-readable storage medium on which computer-readable program instructions are loaded to cause a processor to implement various aspects of this disclosure. That is, this application also includes an electronic device including a processor and a storage medium; the storage medium is used to store instructions; the processor is used to operate according to the instructions to perform the steps of the aforementioned data processing method for redundant I / O modules using a controller.

[0063] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example, but not limited to, electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination of the foregoing. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0064] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0065] Computer program instructions used to perform the operations of this disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing the status information of the computer-readable program instructions to implement various aspects of this disclosure.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the protection scope of the claims of the present invention.

Claims

1. A method for data processing of redundant I / O modules by a controller, characterized in that, Includes the following steps: Step 1: The controller obtains the original channel quality of each I / O module in the redundant I / O modules through the communication bus, and obtains the channel sampling value or control command to determine whether the original channel quality of each I / O module is normal. Step 2: If the original quality of each I / O module's channel is normal, the controller processes the channel data according to the channel type and data type, maintains the channel quality as normal, and determines the tolerance of the input channel sample values ​​of the redundant I / O module. Step 3: If only one I / O module's channel has normal original quality, the controller selects the sampled value of that I / O module's working channel. If all I / O modules' channels have abnormal original quality, the controller retains the data from the previous normal working state according to the channel type. The controller processes channel data according to channel type and data type, and further includes: For digital input channels, the sampled input values ​​are logically ORed to obtain the final valid value for that channel. For analog input channel types, perform logical summation on the sampled values ​​of analog current input channels to obtain the final effective value of the channel, and perform logical average calculation on the sampled values ​​of analog voltage input channels to obtain the final effective value of the channel. For digital and analog output channels, the final output instruction of the channel is the actual instruction output, which is the result of the corresponding user program operation and execution. For current input types, each channel of the redundant I / O module completes a portion of current sampling, and the final input is the sum of the sampled values ​​of the channels of the redundant I / O module; for voltage input types, the final input is the average value of the samples from the channels of the redundant I / O module. The tolerance for determining the input channel sample values ​​of the redundant I / O module further includes: Under tolerance conditions, the quality of redundant I / O channels is set to abnormal; the digital input channels are sampled according to the configuration of hold logic, AND logic, or OR logic; the hold logic holds the valid value when the quality of the previous redundant I / O channel was normal; the AND logic performs a logical AND operation on the original sampled values ​​of the redundant I / O channels; the OR logic performs a logical OR operation on the original sampled values ​​of the redundant I / O channels; the analog input channels are sampled according to the configuration of hold logic, maximum logic, minimum logic, or summation logic, wherein the output channels of digital and analog signals have no tolerance state; the maximum logic multiplies the larger value among the original sampled values ​​of the redundant I / O channels by 2; the minimum logic multiplies the smaller value among the original sampled values ​​of the redundant I / O channels by 2; the summation logic accumulates the original sampled values ​​of the redundant I / O channels.

2. The data processing method for redundant I / O modules by the controller according to claim 1, characterized in that, The original channel quality of the redundant I / O module includes the normal working state and abnormal working state of the I / O channel. The abnormal working state includes channel disconnection, channel short circuit, channel input or output over-range, channel component abnormality, I / O module abnormality, and communication abnormality with the controller.

3. The data processing method for redundant I / O modules by the controller according to claim 2, characterized in that, The channel disconnection, channel short circuit, channel input or output over-range, channel component abnormality, and I / O module abnormality are diagnosed by the components and programs within the redundant I / O module. The communication abnormality with the controller is diagnosed by the controller during the communication interaction with the redundant I / O.

4. The data processing method for redundant I / O modules by the controller according to claim 3, characterized in that, The tolerance for determining the input channel sample values ​​of the redundant I / O module further includes: The system compares whether the sampled values ​​of the digital inputs are equal, that is, whether all the sampled values ​​of the digital inputs are true or false. When the sampled values ​​of the digital inputs are not equal and exceed the preset allowable time, tolerance processing is performed.

5. The data processing method for redundant I / O modules by the controller according to claim 4, characterized in that, The tolerance for determining the input channel sample values ​​of the redundant I / O module further includes: Determine whether the absolute value of the sampling value deviation between analog input channels exceeds the predefined tolerance limit and whether the time exceeding the limit reaches the preset allowable duration. If it exceeds the predefined tolerance limit and the state continues to exceed the allowable duration, then tolerance processing is performed.

6. The data processing method for redundant I / O modules by the controller according to claim 5, characterized in that, The allowed duration includes an integer multiple of the controller I / O data processing task cycle, with a minimum of 0.

7. An electronic device, comprising a processor and a storage medium; characterized in that: The storage medium is used to store instructions; The processor is configured to operate according to the instructions to perform the steps of the data processing method for redundant I / O modules by the controller according to any one of claims 1-6.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the steps of the data processing method for redundant I / O modules by the controller as described in any one of claims 1-6.

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