An industrial control computer redundancy switching control method, device, system and medium

Abstract

The application provides an industrial control machine redundancy switching control method, device, system and medium, and belongs to the technical field of industrial control. The method comprises the following steps: acquiring main period data collected by a master control machine and slave period data collected by a slave control machine in a preset period; determining a first redundancy switching strategy of the industrial control system based on the main period data and the slave period data; acquiring self-link information of each communication link and interaction link information of each communication link interacting with other communication links; determining a second redundancy switching strategy of the industrial control system based on the self-link information and the interaction link information; and performing redundancy switching based on the first redundancy switching strategy when the first redundancy switching strategy is the same as the second redundancy switching strategy. The application avoids frequent triggering of redundancy switching and improves the stability of the industrial control system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial control, and particularly relates to an industrial control machine redundancy switching control method, device, system and medium. BACKGROUND

[0002] With the development of industrial automatic control technology, in order to improve the reliability requirement of industrial control field, double machine redundancy technology appears, when one control machine fails, the other control machine can work alternately, which ensures the sustainable operation of the industrial control system.

[0003] The current control machine redundancy switching mode generally depends on the fault condition of the redundancy control machine, the control machine with no fault is prior to the control machine with light fault to be the main role, and the control machine with light fault is prior to the control machine with heavy fault to be the slave role. When determining the role, the real-time fault condition is used for judgment, that is, who has greater fault at a moment, and then the role is determined. In this mode, when the main control machine has a short-time light fault, the redundancy switching is triggered, and the redundancy switching will bring disturbance to the control system. When the fault of the control machine occurs jitter, the fault disappears for a while, and the fault occurs for a while, and frequent redundancy switching may cause the redundancy control machine to be short-time invalid.

[0004] Therefore, it is necessary to provide an industrial control machine redundancy switching control method, device, system and medium to avoid frequent triggering of redundancy switching. SUMMARY

[0005] Therefore, it is necessary to provide an industrial control machine redundancy switching control method, device, system and medium to avoid frequent triggering of redundancy switching.

[0006] In one aspect, in order to solve the above technical problems, the present application provides an industrial control machine redundancy switching control method applied to an industrial control system, the industrial control system comprising a main control machine, a slave control machine and a plurality of communication links for realizing communication between the main control machine and the slave control machine, and the method comprises the following steps:

[0007] acquiring main period data collected by the main control machine and slave period data collected by the slave control machine in a preset period;

[0008] determining a first redundancy switching strategy of the industrial control system based on the main period data and the slave period data;

[0009] acquiring self-link information of each communication link and interaction link information of interaction with other communication links;

[0010] determining a second redundancy switching strategy of the industrial control system based on the self-link information and the interaction link information;

[0011] when the first redundancy switching strategy is the same as the second redundancy switching strategy, performing redundancy switching based on the first redundancy switching strategy.

[0012] In a possible implementation, the first redundancy switching strategy comprises a switching execution strategy, the switching execution strategy being switching the master control machine to the slave control machine and switching the slave control machine to the master control machine; and the determining the first redundancy switching strategy of the industrial control system based on the master period data and the slave period data comprises:

[0013] determining a master failure level and a master failure probability of the master control machine based on the master period data;

[0014] determining a slave failure level and a slave failure probability of the slave control machine based on the slave period data;

[0015] when the master failure level is greater than the slave failure level and the master failure probability is greater than the slave failure probability, generating the switching execution strategy.

[0016] In a possible implementation, the master control machine is in communication connection with a plurality of field devices, the master period data comprises an interrupt signal frequency, a pulse signal frequency of the master control machine and a failure number of a failed field device in the plurality of field devices, and the determining the master failure level and the master failure probability of the master control machine based on the master period data comprises:

[0017] performing pulse counting based on the interrupt signal frequency and the pulse signal frequency to obtain a failure count value, and determining the master failure level based on the failure count value;

[0018] determining the master failure probability based on the failure number.

[0019] In a possible implementation, the master failure level comprises a slight failure, a moderate failure and a serious failure, and the determining the master failure level based on the failure count value comprises:

[0020] when the failure count value is greater than a first threshold value and less than or equal to a second threshold value, the master failure level is the slight failure; the second threshold value is greater than the first threshold value;

[0021] when the failure count value is greater than the second threshold value and less than or equal to a third threshold value, the master failure level is the moderate failure; the third threshold value is greater than the second threshold value;

[0022] when the failure count value is greater than the third threshold value, the master failure level is the serious failure.

[0023] In a possible implementation, the determining the second redundancy switching strategy of the industrial control system based on the self-link information and the interaction link information comprises:

[0024] determining a plurality of initial redundancy switching strategies corresponding to the plurality of communication links based on the self-link information and the interaction link information;

[0025] when the plurality of initial redundancy switching strategies are consistent, taking the initial redundancy switching strategy as the second redundancy switching strategy.

[0026] In a possible implementation, the initial redundancy switching strategy comprises a switching execution strategy; the determining the plurality of initial redundancy switching strategies corresponding to the plurality of communication links based on the self-link information and the interaction link information comprises:

[0027] determining a failure type of the communication link based on the self-link information and the interaction link information; the failure type comprises a first failure type and a second failure type, the first failure type is that the communication link cannot communicate with other communication links, and the second failure type is that the communication link can communicate with at least one other communication link;

[0028] when the failure type is the first failure type, generating the switching execution strategy.

[0029] In a possible implementation, the communication link comprises a first communication link and a second communication link;

[0030] the self-link information comprises first self-link information of the first communication link and second self-link information of the second communication link;

[0031] the interaction link information of the first communication link comprises first interaction link sub-information and second interaction link sub-information;

[0032] the first interaction link sub-information is the second self-link information received by the first communication link;

[0033] the second interaction link sub-information comprises the first self-link information forwarded by the second communication link to the first communication link.

[0034] In another aspect, the present application also provides an industrial control computer redundancy switching control device, applied to an industrial control system, the industrial control system comprising a master control computer, a slave control computer and a plurality of communication links for realizing communication between the master control computer and the slave control computer, the device comprising:

[0035] a data acquisition unit configured to acquire main cycle data collected by the master controller and slave cycle data collected by the slave controller in a preset period;

[0036] a first redundancy switching strategy determination unit configured to determine a first redundancy switching strategy of the industrial control system based on the main cycle data and the slave cycle data;

[0037] a link information acquisition unit configured to acquire self link information of each of the communication links and interaction link information of each of the communication links interacting with other communication links;

[0038] a second redundancy switching strategy determination unit configured to determine a second redundancy switching strategy of the industrial control system based on the self link information and the interaction link information;

[0039] a redundancy switching unit configured to perform redundancy switching based on the first redundancy switching strategy when the first redundancy switching strategy is the same as the second redundancy switching strategy.

[0040] In another aspect, the present application also provides an industrial control system comprising a memory and a processor, wherein,

[0041] the memory is configured to store a program;

[0042] the processor is coupled to the memory and configured to execute the program stored in the memory to implement the steps of the industrial control machine redundancy switching control method in any of the possible implementation manners.

[0043] In another aspect, the present application also provides a computer readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the steps of the industrial control machine redundancy switching control method in any of the possible implementation manners.

[0044] The industrial control machine redundancy switching control method provided by the present application determines a first redundancy switching strategy based on main cycle data and slave cycle data, and determines a second redundancy switching strategy according to self link information and interaction link information, and executes the first redundancy switching strategy only when the first redundancy switching strategy is the same as the second redundancy switching strategy, instead of directly executing the first redundancy switching strategy, thereby avoiding the technical problems of instability and short-term failure of the industrial control system caused by frequent redundancy switching.

[0045] Furthermore, the present invention determines the first redundancy switching strategy by obtaining the master cycle data and slave cycle data within a preset period, rather than using the data at a certain moment. That is, a redundancy switching judgment is made once every preset period, and the fastest redundancy switching frequency is once per preset period. Compared with the prior art, which makes a redundancy switching judgment at every moment, the number of redundancy switching is further reduced, thereby further avoiding the technical problem of short-term failure in the industrial control system and improving the stability of the industrial control system. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 A schematic diagram of an embodiment of the industrial control system provided by the present invention;

[0048] Figure 2 A schematic flowchart of an embodiment of the redundancy switching control method for industrial controllers provided by the present invention;

[0049] Figure 3 For the present invention Figure 2 A schematic diagram of an embodiment of S202;

[0050] Figure 4 For the present invention Figure 2 A schematic diagram of an embodiment of S204;

[0051] Figure 5 For the present invention Figure 4 A schematic diagram of an embodiment of S401;

[0052] Figure 6 A schematic diagram of an embodiment of the redundancy switching control device for industrial control computers provided by the present invention;

[0053] Figure 7 A schematic diagram of an embodiment of the industrial control system provided by the present invention. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0055] It should be understood that the accompanying drawings are not drawn to scale. The flowcharts used in the present application show the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowcharts can not be implemented in sequence, the steps without logical context relationship can be reversed in sequence or implemented simultaneously. In addition, one or more other operations can be added to the flowcharts or one or more operations can be removed from the flowcharts under the guidance of the content of the present application. Some block diagrams shown in the drawings are functional entities, which do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different network and / or processor systems and / or microcontroller systems.

[0056] Reference to“an embodiment” herein means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily independent or alternative embodiments to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0057] The present application provides an industrial control machine redundancy switching control method, device, system and medium, which are described below respectively.

[0058] The embodiment of the present application is to realize the redundancy switching control method when the master control machine and the slave control machine in the industrial control system are switched, as shown in the Figure 1 The industrial control system includes a master control machine, a slave control machine and a plurality of communication links for realizing communication between the master control machine and the slave control machine.

[0059] Among them, Figure 1 The industrial control system is a double communication link, that is, the master control machine and the slave control machine each include two communication links, the master control machine includes a first communication link and a second communication link, and the slave control machine includes a first slave communication link and a second slave communication link. The master control machine and the slave control machine are in communication connection with a plurality of field devices for receiving field data collected by the field devices, and at the same time, the master control machine can also send control instructions generated by the master control machine to the field devices.

[0060] In some embodiments of the present application, as shown in Figure 2 The industrial control machine redundancy switching control method includes:

[0061] S201, acquiring master cycle data collected by the master control machine and slave cycle data collected by the slave control machine in a preset period;

[0062] S202. Determine the first redundancy switching strategy of the industrial control system based on the master cycle data and slave cycle data;

[0063] S203. Obtain the self-link information of each communication link and the interaction link information of interacting with other communication links;

[0064] S204. Determine the second redundancy switching strategy of the industrial control system based on its own link information and interactive link information;

[0065] S205. When the first redundancy switching strategy is the same as the second redundancy switching strategy, redundancy switching is performed based on the first redundancy switching strategy.

[0066] The preset cycle can be set or adjusted according to the actual situation.

[0067] It should be understood that: in the embodiments of the present invention, the master controller and slave controller refer to the master controller and slave controller of the industrial control system within a certain preset period. In the next preset period or other preset periods, the master-slave relationship of the master controller and slave controller may change.

[0068] It should be noted that the first redundancy switching strategy and the second redundancy switching strategy in steps S202 and S204 both include a switching execution strategy and a switching non-execution strategy. The switching execution strategy refers to switching the master controller to the slave controller and switching the slave controller to the master controller. The switching non-execution strategy refers to maintaining the master-slave relationship between the master controller and the slave controller within the current preset period, that is, not switching the master controller and the slave controller.

[0069] Compared with the prior art, the industrial control redundancy switching control method provided in this embodiment of the invention determines a first redundancy switching strategy based on master cycle data and slave cycle data, and determines a second redundancy switching strategy based on its own link information and interaction link information. The first redundancy switching strategy is only executed when the first redundancy switching strategy and the second redundancy switching strategy are the same, rather than directly executing the first redundancy switching strategy. This avoids the technical problem of instability and short-term failure of industrial control system caused by frequent redundancy switching.

[0070] Furthermore, the embodiments of the present invention determine the first redundancy switching strategy by obtaining the master cycle data and slave cycle data within a preset period, rather than using the data at a certain moment. That is, a redundancy switching judgment is made once every preset period, and the fastest frequency of redundancy switching is once per preset period. Compared with the prior art, which makes a redundancy switching judgment at every moment, the number of redundancy switching is further reduced, thereby further avoiding the technical problem of short-term failure in the industrial control system and improving the stability of the industrial control system.

[0071] In some embodiments of the present application, as shown in Figure 3 Step S202 comprises:

[0072] S301, determining the main failure level and the main failure probability of the main controller based on the main period data;

[0073] S302, determining the slave failure level and the slave failure probability of the slave controller based on the slave period data;

[0074] S303, generating a switching execution strategy when the main failure level is greater than the slave failure level and the main failure probability is greater than the slave failure probability.

[0075] The embodiment of the present application controls the redundancy switching from two dimensions of failure level and failure probability, compared with relying on a single failure level to control the redundancy switching, the control is more accurate, further avoids the frequent triggering of the redundancy switching, and further improves the stability of the industrial control system.

[0076] It should be understood that: the implementation principles and processes of step S301 and step S302 are exactly the same, and step S301 is taken as an example for description below.

[0077] In some embodiments of the present application, the main period data comprises the interrupt signal frequency, the pulse signal frequency of the main controller, and the failure number of the field device that appears failure in the plurality of field devices, and then step S301 comprises:

[0078] Based on the interrupt signal frequency and the pulse signal frequency, pulse counting is performed to obtain a failure count value, and the main failure level is determined based on the failure count value;

[0079] The main failure probability is determined based on the failure number.

[0080] The interrupt signal frequency is the pulse width sent in a fixed time. The pulse signal is a discrete signal, and the waveform shape is various, and there is obvious interval between waveforms, but it has certain periodicity, and the pulse signal frequency is how many waveform periods are sent in 1 second, for example, ten same waveform periods are sent in 1 second, and the pulse signal frequency is 10 / second. Specifically, after the main controller receives the interrupt signal and the pulse signal of the slave controller, the interrupt signal frequency and the pulse signal frequency are extracted.

[0081] Specifically, the pulse count is the count of the period-unfixed pulse received from the outside. When the interrupt signal sent from the slave control machine reaches the master control machine, the communication signal between the master control machine and the slave control machine is connected, and the rising edge of the interrupt signal received by the master control machine starts. When the rising edge of the interrupt signal, the master control machine starts to count the pulse according to the received pulse signal. When the interrupt signal of the slave control machine is sent, the communication signal between the master control machine and the slave control machine is disconnected, and the falling edge of the interrupt signal received by the master control machine stops. When the falling edge of the interrupt signal, the master control machine can stop the pulse count, and the total pulse count value received is the fault count value.

[0082] Wherein, the master fault probability is the ratio of the number of faults to the total number of multiple field devices.

[0083] In specific embodiments of the present application, the master fault level includes minor fault, moderate fault and serious fault, and the master fault level is determined based on the fault count value, comprising:

[0084] When the fault count value is greater than the first threshold value and less than or equal to the second threshold value, the master fault level is a minor fault; the second threshold value is greater than the first threshold value;

[0085] When the fault count value is greater than the second threshold value and less than or equal to the third threshold value, the master fault level is a moderate fault; the third threshold value is greater than the second threshold value;

[0086] When the fault count value is greater than the third threshold value, the master fault level is a serious fault.

[0087] It should be noted that the first threshold value, the second threshold value and the third threshold value can be set or adjusted according to the actual application scene of the industrial control system, which is not limited here.

[0088] In order to improve the accuracy of the generated second redundant switching strategy, in some embodiments of the present application, as shown in Figure 4 Step S204 comprises:

[0089] S401, determining a plurality of initial redundant switching strategies corresponding to a plurality of communication links based on the self-link information and the interaction link information;

[0090] S402, when the plurality of initial redundant switching strategies are consistent, the initial redundant switching strategy is used as the second redundant switching strategy.

[0091] The embodiments of the present application set that when the plurality of initial redundant switching strategies determined by all communication links are consistent, the initial redundant switching strategy is used as the second redundant switching strategy, that is, when all communication links need to be switched redundantly, the redundant switching is performed, which effectively avoids mis-cutting and improves the accuracy of redundant switching control.

[0092] In some embodiments of the present application, the initial redundancy switching strategy comprises a switching execution strategy; then as shown in Figure 5 Step S401 comprises:

[0093] S501, determining a fault type of the communication link based on the self-link information and the interaction link information; the fault type comprises a first fault type and a second fault type, the first fault type is that the communication link cannot communicate with other communication links, and the second fault type is that the communication link can communicate with at least one other communication link;

[0094] S502, generating a switching execution strategy when the fault type is the first fault type.

[0095] The embodiment of the present application generates the switching execution strategy only when the communication link cannot communicate with other communication links, and when the communication link can communicate with at least one other communication link, communication is performed through the interaction link information, at this time, the switching execution strategy is not generated, the number of times of generating the second redundancy switching strategy is further reduced, and the stability of the industrial control system is further improved.

[0096] Specifically, the self-link information comprises first self-link information of the first communication link and second self-link information of the second communication link;

[0097] The interaction link information of the first communication link comprises first interaction link sub-information and second interaction link sub-information;

[0098] The first interaction link sub-information is the second self-link information received by the first communication link;

[0099] The second interaction link sub-information comprises the first self-link information forwarded by the second communication link to the first communication link.

[0100] For example, as shown in Figure 1As shown, the first communication link a, the second communication link b, the first slave communication link c and the second slave communication link d, when the communication between the first communication link a and the second communication link b fails, the first communication link a cannot receive the link information of the second communication link b when interacting with other communication links. With the information forwarding function between the communication links, in the current communication period, the first slave communication link c and the second slave communication link d can receive the link information of the second communication link b, and the link information of the second communication link b is forwarded to the first communication link a through the forwarding function between the communication links. At this time, the second communication link b can also obtain the link information of the first communication link a through the first slave communication link c and the second slave communication link d, indicating that the first communication link a is still working normally, and only the communication between the first communication link a and the second communication link b fails. If the first communication link a fails as a whole, at this time, all other communication links cannot receive the information of the first communication link a, and at this time, the fault type is determined as the first fault type.

[0101] In order to better implement the industrial control machine redundancy switching control method in the embodiment of the present application, on the basis of the industrial control machine redundancy switching control method, correspondingly, the embodiment of the present application also provides an industrial control machine redundancy switching control device applied to an industrial control system, the industrial control system including a master control machine, a slave control machine and a plurality of communication links for realizing the communication between the master control machine and the slave control machine, such as Figure 6 As shown, the industrial control machine redundancy switching control device 600 includes:

[0102] A data acquisition unit 601 is configured to acquire master period data collected by the master control machine and slave period data collected by the slave control machine in a preset period.

[0103] A first redundancy switching strategy determination unit 602 is configured to determine a first redundancy switching strategy of the industrial control system based on the master period data and the slave period data.

[0104] A link information acquisition unit 603 is configured to acquire self link information of each communication link and interaction link information for interacting with other communication links.

[0105] A second redundancy switching strategy determination unit 604 is configured to determine a second redundancy switching strategy of the industrial control system based on the self link information and the interaction link information.

[0106] A redundancy switching unit 605 is configured to perform redundancy switching based on the first redundancy switching strategy when the first redundancy switching strategy is the same as the second redundancy switching strategy.

[0107] The industrial control machine redundancy switching control device 600 provided by the above embodiments can implement the technical solutions described in the above industrial control machine redundancy switching control method embodiments, and the principles of the implementation of the above modules or units can be referred to the corresponding content in the above industrial control machine redundancy switching control method embodiments, which will not be described here again.

[0108] As shown in Figure 7 The present application also correspondingly provides an industrial control system 700. The industrial control system 700 comprises a processor 701, a memory 702 and a display 703. Figure 7 Only part of the components of the industrial control system 700 are shown, but it should be understood that all the shown components are not required to be implemented, and more or less components can be alternatively implemented.

[0109] The processor 701 can be a central processing unit (CPU), a microprocessor or other data processing chip in some embodiments, used to run the program code or process data stored in the memory 702, such as the industrial control machine redundancy switching control method in the present application.

[0110] In some embodiments, the processor 701 can be a single server or a server group. The server group can be centralized or distributed. In some embodiments, the processor 701 can be local or remote. In some embodiments, the processor 701 can be implemented in a cloud platform. In an embodiment, the cloud platform can include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, a multiple cloud, etc., or any combination of the above.

[0111] The memory 702 can be an internal storage unit of the industrial control system 700 in some embodiments, such as a hard disk or a memory of the industrial control system 700. The memory 702 can also be an external storage device of the industrial control system 700 in other embodiments, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the industrial control system 700.

[0112] Further, the memory 702 can include both the internal storage unit and the external storage device of the industrial control system 700. The memory 702 is used to store the application software and various data installed in the industrial control system 700.

[0113] The display 703 can be, in some embodiments, an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch display, and the like. The display 703 is used to display information of the industrial control system 700 and to display a visualized user interface. The components 701-703 of the industrial control system 700 communicate with each other through a system bus.

[0114] In some embodiments of the present application, when the processor 701 executes the industrial control machine redundancy switching control program in the memory 702, the following steps can be implemented:

[0115] obtaining main period data collected by a main control machine and slave period data collected by a slave control machine in a preset period;

[0116] determining a first redundancy switching strategy of the industrial control system based on the main period data and the slave period data;

[0117] obtaining self-link information of each communication link and interaction link information of interaction with other communication links;

[0118] determining a second redundancy switching strategy of the industrial control system based on the self-link information and the interaction link information;

[0119] when the first redundancy switching strategy is the same as the second redundancy switching strategy, performing redundancy switching based on the first redundancy switching strategy.

[0120] It should be understood that, when the processor 701 executes the industrial control machine redundancy switching control program in the memory 702, in addition to the above functions, other functions can also be implemented, which can be referred to the description of the corresponding method embodiments.

[0121] Further, the type of the industrial control system 700 referred to in the embodiments of the present application is not specifically limited, and the industrial control system 700 can be a mobile phone, a tablet computer, a personal digital assistant (PDA), a wearable device, a laptop, and the like. Exemplary embodiments of the portable industrial control system include, but are not limited to, a portable industrial control system running an IOS, an android, a microsoft, or other operating system. The above-mentioned portable industrial control system can also be other portable industrial control systems, and it should also be understood that, in some other embodiments of the present application, the industrial control system 700 can also not be a portable industrial control system, but a desktop computer having a touch-sensitive surface (such as a touch panel).

[0122] Correspondingly, the embodiment of the present application further provides a computer readable storage medium for storing computer readable programs or instructions, which can realize the steps or functions in the industrial control machine redundancy switching control method provided by the above-mentioned method embodiments when executed by a processor.

[0123] Those skilled in the art can understand that all or part of the processes of the above-mentioned embodiments can be completed by a computer program instructing relevant hardware (such as a processor, a control machine, etc.) to complete, and the computer program can be stored in a computer readable storage medium. The computer readable storage medium is a disk, an optical disk, a read-only memory or a random access memory, etc.

[0124] The above provides a detailed description of an industrial control machine redundancy switching control method, device, system and medium provided by the present application. The principle and implementation mode of the present application are described by applying specific examples in this paper. The above embodiment is only used to help understand the method and core idea of the present application. Meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range will be changed. In summary, the content of the specification should not be understood as a limitation of the present application.

Claims

1. An industrial controller redundancy switchover control method characterized by comprising: The application is applied to an industrial control system, the industrial control system comprises a master controller, a slave controller and a plurality of communication links for realizing communication between the master controller and the slave controller, and the method comprises: acquiring master cycle data collected by the master controller and slave cycle data collected by the slave controller in a preset period; the master cycle data comprises an interrupt signal frequency of the master controller, a pulse signal frequency and a fault number of a fault field device in a plurality of field devices; determining a first redundancy switching strategy of the industrial control system based on the master cycle data and the slave cycle data; acquiring self link information of each communication link and interaction link information of interaction with other communication links; determining a second redundancy switching strategy of the industrial control system based on the self link information and the interaction link information; when the first redundancy switching strategy is the same as the second redundancy switching strategy, performing redundancy switching based on the first redundancy switching strategy; the first redundancy switching strategy and the second redundancy switching strategy both comprise a switching execution strategy and a switching non-execution strategy, the switching execution strategy means switching the master controller to the slave controller and switching the slave controller to the master controller, and the switching non-execution strategy means maintaining the master-slave relationship of the master controller and the slave controller in the current preset period; the redundancy switching is determined once per preset period.

2. The industrial controller failover control method of claim 1, wherein, The determination of the first redundancy switching strategy of the industrial control system based on the master cycle data and the slave cycle data comprises: determining a master fault level and a master fault probability of the master controller based on the master cycle data; determining a slave fault level and a slave fault probability of the slave controller based on the slave cycle data; when the master fault level is greater than the slave fault level and the master fault probability is greater than the slave fault probability, generating the switching execution strategy.

3. The industrial controller failover control method of claim 2, wherein, The master controller is in communication connection with a plurality of field devices, and the determination of the master fault level and the master fault probability of the master controller based on the master cycle data comprises: performing pulse counting based on the interrupt signal frequency and the pulse signal frequency to obtain a fault count value, and determining the master fault level based on the fault count value; determining the master fault probability based on the fault number.

4. The industrial controller failover control method of claim 3, wherein, The master fault level comprises a slight fault, a moderate fault and a serious fault, and the determination of the master fault level based on the fault count value comprises: when the fault count value is greater than a first threshold value and less than or equal to a second threshold value, the master fault level is a slight fault; the second threshold value is greater than the first threshold value; when the fault count value is greater than the second threshold value and less than or equal to a third threshold value, the master fault level is a moderate fault; the third threshold value is greater than the second threshold value; when the fault count value is greater than the third threshold value, the master fault level is a serious fault.

5. The industrial controller failover control method of claim 1, wherein, The determination of the second redundancy switching strategy of the industrial control system based on the self link information and the interaction link information comprises: determining a plurality of initial redundancy switching strategies corresponding to the plurality of communication links based on the self link information and the interaction link information; When the multiple initial redundancy switching strategies are consistent, the initial redundancy switching strategy is taken as the second redundancy switching strategy.

6. The industrial controller failover control method of claim 5, wherein, The initial redundancy switching strategy comprises a switching execution strategy; the determination of the multiple initial redundancy switching strategies corresponding to the multiple communication links based on the self-link information and the interaction link information comprises: determining a failure type of the communication link based on the self-link information and the interaction link information; the failure type comprises a first failure type and a second failure type, the first failure type being that the communication link cannot communicate with other communication links, and the second failure type being that the communication link can communicate with at least one other communication link; when the failure type is the first failure type, the switching execution strategy is generated.

7. The industrial controller failover control method of claim 6, wherein, The communication link comprises a first communication link and a second communication link; The self-link information comprises first self-link information of the first communication link and second self-link information of the second communication link; The interaction link information of the first communication link comprises first interaction link sub-information and second interaction link sub-information; The first interaction link sub-information is the second self-link information received by the first communication link; The second interaction link sub-information comprises the first self-link information forwarded by the second communication link to the first communication link.

8. An industrial controller redundant switching control apparatus, characterized by comprising: Applied to an industrial control system, the industrial control system comprising a master control machine, a slave control machine and multiple communication links for realizing communication between the master control machine and the slave control machine, the device comprising: a data acquisition unit configured to acquire master cycle data collected by the master control machine and slave cycle data collected by the slave control machine in a preset period; the master cycle data comprising an interrupt signal frequency, a pulse signal frequency of the master control machine and a failure number of a field device that fails in multiple field devices; a first redundancy switching strategy determination unit configured to determine a first redundancy switching strategy of the industrial control system based on the master cycle data and the slave cycle data; a link information acquisition unit configured to acquire self-link information of each communication link and interaction link information of each communication link interacting with other communication links; a second redundancy switching strategy determination unit configured to determine a second redundancy switching strategy of the industrial control system based on the self-link information and the interaction link information; a redundancy switching unit configured to perform redundancy switching based on the first redundancy switching strategy when the first redundancy switching strategy is the same as the second redundancy switching strategy; The first redundancy switching strategy and the second redundancy switching strategy both comprise a switching execution strategy and a switching non-execution strategy, the switching execution strategy indicating switching the master control machine to the slave control machine and switching the slave control machine to the master control machine, and the switching non-execution strategy indicating maintaining the master-slave relationship of the master control machine and the slave control machine in the current preset period; Redundancy switching is determined once per preset period.

9. An industrial control system, characterized by comprise a memory and a processor, wherein the memory is configured to store a program; The processor is coupled with the memory and used to execute a program stored in the memory to implement the steps in the industrial control computer redundancy switching control method of any one of claims 1-7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by a processor, implements the steps in the industrial control computer redundancy switching control method of any one of claims 1-7.

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