Control authority distribution system

Abstract

The invention relates to the field of industrial control, and discloses a control authority distribution system which comprises an authority request module, an authority distribution module, an authority release module and a safety fault-tolerant module. The permission request module is used for collecting control permission requests of the operation terminals; the authority distribution module dynamically processes the requests according to an M / M / 1 queuing model, a game theory model and a Markov decision process, determines the priorities of the operation terminals, and adopts the game theory model to solve conflicts if a plurality of operation terminals request simultaneously; the permission release module automatically releases the control permission under the condition that the operation is completed or overtime; and the security fault-tolerant module verifies the consistency and security in the permission allocation process through a Byzantine fault-tolerant algorithm. According to the invention, the response speed of the system can be improved, the security of multi-terminal operation and the resource utilization efficiency are ensured, and strong fault-tolerant capability and stability are provided.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial control, and in particular to a control authority allocation system. Background Art

[0002] In industrial control systems, the need for multiple operating terminals to control the same device at the same time is becoming more and more common, especially in complex scenarios such as photovoltaic equipment debugging and mechanical control, which often involve multiple operating interfaces to concurrently control the equipment. However, the existing control authority allocation system usually has the following problems. First, the existing system often lacks a reasonable scheduling mechanism for multiple terminal control requests. When multiple operating terminals request control authority at the same time, the system is prone to resource competition or conflict, resulting in unstable operation of the equipment or operational confusion. Secondly, the traditional authority allocation method is usually based on fixed priority rules or simple queuing mechanisms, which cannot dynamically respond to changes in system load and is difficult to effectively handle sudden high-load requests, which in turn leads to longer response time and affects operational efficiency.

[0003] In addition, the existing system also has major deficiencies in terms of security and fault tolerance. Once some operating terminals or server nodes fail, the system may not be able to recover in time or ensure the consistency of authority allocation, which poses a major security risk. These defects make it difficult for the existing control authority allocation system to meet the requirements of efficient, safe and flexible operations in complex industrial environments. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides a control authority allocation system to solve the conflicts, response delays and consistency problems that may arise in the system when multiple operating terminals concurrently request control authority, and improve the system's security and resource utilization efficiency through dynamic scheduling and fault-tolerant mechanisms.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a control authority allocation system, comprising a plurality of operation terminals and an interlocking control server, wherein the operation terminals are used to request control authority for industrial equipment, and the interlocking control server is used to receive control authority requests from the plurality of operation terminals and allocate control authority according to a preset authority allocation rule, the system comprising: A permission request module, used to collect control permission requests issued by the multiple operation terminals; A permission allocation module, used to dynamically allocate the control permission of the operation terminal to the industrial equipment according to the requests collected by the permission request module; The permission release module is used to release the control permission after the control operation is completed or times out; The security fault-tolerant module is used to ensure the security and consistency of the system during the permission allocation process.

[0006] Preferably, the authority allocation module allocates control authority based on the M / M / 1 queuing model, and the authority allocation module includes the following steps: Each of the plurality of operation terminals sends a control authority request to the interlock control server, and the control authority request is calculated according to the arrival rate. Following the Poisson distribution, the processing time of the interlock control server is based on the service rate It follows an exponential distribution; The interlock control server processes the control authority requests of the multiple operation terminals based on the M / M / 1 queuing model and calculates system performance indicators, including: Average waiting time , used to measure the average time from when the operation terminal issues a request to when it obtains control authority; System Utilization , used to represent the utilization rate of control authority requests, ensuring that the interlock control server is not overloaded while processing requests efficiently; Average queue length , used to characterize the number of requests backlogged on the interlock control server at any time; The authority allocation module dynamically adjusts the authority allocation strategy according to the calculation results, reduces the average waiting time and improves the overall response speed of the system; When the control authority of the operating terminal is released, the interlocking control server updates the system status and recalculates the relevant indicators in the queuing model.

[0007] Preferably, the authority allocation module further processes concurrent requests from multiple operating terminals through a game theory model, and the game theory model includes the following steps: Considering each operating terminal as a participant in the game, each participant can choose between two strategies: requesting control authority or waiting for the release of control authority; Define the payment matrix of the game. When multiple operating terminals request control authority at the same time, the system calculates the benefits of each operating terminal through the following payment matrix: Each element in the matrix represents the gains and losses when different operating terminals choose a certain strategy at the same time. If two operating terminals request control authority at the same time, both parties lose control and are punished. If one terminal chooses to request control authority and the other chooses to wait, the requester gains control and the waiter loses control. The game theory model determines the optimal authority allocation strategy by calculating the Nash equilibrium, so that when multiple operating terminals request at the same time, the system automatically adjusts the allocation decision to avoid conflicts and ensures that each terminal obtains reasonable control authority in the competition; By dynamically adjusting the penalty and reward values ​​in the payment matrix, the system optimizes the authority allocation strategy according to the real-time situation, ensuring that high-priority requests have a higher probability of obtaining control rights, and low-priority requests automatically yield when conflicts occur; The permission allocation module updates the system status after each game is completed and reapplies the game theory model to process subsequent permission requests.

[0008] Preferably, the authority allocation module dynamically adjusts the control priority of each operating terminal through a Markov decision process, and the Markov decision process includes the following steps: Define the state space of the system , where each state represents the distribution of control rights in the current system; Define the action set for the operation terminal ,Each action represents an operation that the operation terminal may perform; Define a reward function for each state-action pair , this reward function is used to evaluate the benefits of the operating terminal performing a specific action in a certain state; According to the state space , Action Set And the reward function , the optimal strategy for operating the terminal is determined by the following Bellman equation , that is, the optimal operation decision under different states: in, For the status The optimal value function under is the discount factor, From the state Through Action Transfer to state The transition probability of The Markov decision process dynamically adjusts the priority of the operating terminal according to the real-time control authority request and system status. When multiple operating terminals request control authority, the operating terminal with the highest priority is selected based on the optimal strategy and the control authority is granted; The system updates the reward function and transition probability of each terminal after each state transition, thereby optimizing the control rights allocation process for subsequent operations.

[0009] Preferably, the permission release module controls the timeout release of permissions according to the Poisson process and controls the retention time of permissions. It obeys exponential distribution, and its probability distribution function is: in, is the overtime release rate, The length of time to maintain control permissions.

[0010] Preferably, the permission release module dynamically adjusts the timeout release rate , flexibly set the retention time of control authority according to different operation requirements.

[0011] Preferably, the safety fault-tolerant module is based on a Byzantine fault-tolerant algorithm, and the Byzantine fault-tolerant algorithm comprises the following steps: Request phase: the operation terminal sends a control authority request to the interlocking control server; Pre-preparation stage: The interlock control server verifies the legitimacy of the request through a distributed consensus protocol; Preparation phase: multiple replica servers confirm the consistency of the request; Commit phase: When the Byzantine fault tolerance conditions are met, the server allocates control permissions.

[0012] The present invention also provides a control authority allocation method, comprising the following steps: Each operation terminal sends a control authority request to the interlocking control server; The interlock control server processes the request according to the M / M / 1 queuing model, the game theory model and the Markov decision process, and determines the priority of the operating terminal; The interlock control server allocates control authority according to the priority level. If multiple operation terminals make requests at the same time, a game theory model is used to handle conflicts. Release the control authority when the operation is completed or times out; The consistency and security of the permission allocation process are verified through the Byzantine fault-tolerant algorithm.

[0013] The present invention also provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the above method is implemented.

[0014] The present invention also provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the method described above is implemented.

[0015] The present invention provides a control authority allocation system, which has the following beneficial effects:

[0016] 1. The present invention optimizes the processing of permission requests by adopting the M / M / 1 queuing model. The system can dynamically adjust the allocation strategy according to the real-time request volume, effectively reduce the waiting time of the operating terminal, improve the response speed of the system, and ensure that good processing performance can be maintained even under high load conditions.

[0017] 2. The present invention solves the conflict problem when multiple operating terminals request control authority at the same time through a game theory model, avoids unsafe situations caused by resource competition, ensures that the system can allocate control authority fairly and reasonably, and allocates it in an orderly manner to prevent operational confusion and conflicts.

[0018] 3. By introducing the Markov decision process, the present invention enables the system to flexibly adjust the control authority allocation strategy according to the request priority and real-time operating environment of different operating terminals, ensuring that urgent or high-priority requests can be responded to in a timely manner, while improving the utilization efficiency of system resources.

[0019] 4. The permission release module of the present invention can automatically release the control permission after the operation is completed or times out, ensuring that the operating terminal will not occupy resources for a long time, ensuring that other waiting terminals can obtain control rights in time, making full use of system resources and avoiding resource waste.

[0020] 5. Through the Byzantine fault-tolerant algorithm, the system can maintain the security and consistency of the permission allocation process when some replica servers fail or encounter malicious attacks, prevent system crashes or inconsistency problems, and enhance the stability and fault tolerance of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the system architecture of the present invention; Figure 2 It is a schematic diagram of the method flow of the present invention; Figure 3 It is a schematic diagram of the computer device structure of the present invention.

[0022] Among them, 40, computer equipment; 41, processor; 42, memory; 43, storage medium. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the specification of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] Please see attached Figure 1The embodiment of the present invention provides a control authority allocation system, which is used for multiple operating terminals to control industrial equipment at the same time, and avoid conflicts and unsafe situations caused by multiple terminals controlling equipment at the same time. The system centrally manages control authority through an interlocking control server to ensure that only one operating terminal has control over the equipment at any time, thereby ensuring the safety, consistency and effectiveness of equipment operation. The system is suitable for a variety of industrial equipment scenarios, especially in scenarios with multiple terminal operation requirements such as photovoltaic equipment debugging and remote control of mechanical equipment.

[0025] The control authority allocation system includes the following main modules: authority request module, authority allocation module, authority release module and security fault tolerance module.

[0026] Permission request module The authority request module is a key component in the control authority allocation system. It is mainly used to collect and transmit control authority requests from multiple operating terminals. The role of this module is to ensure that the requests of all operating terminals can be collected and transmitted to the interlocking control server in real time, so that the system can reasonably allocate authority based on the current request situation.

[0027] In this embodiment, the permission request module is mainly responsible for collecting control permission requests from multiple operation terminals and forwarding these requests to the interlock control server so that the server can perform subsequent permission allocation. The permission request module includes the following main steps: 1. Collection and recording of requests: In this embodiment, the permission request module monitors the status of the operation terminal in real time through the network communication interface. When the operation terminal issues a control permission request, the permission request module will immediately record the request. The control permission request of each operation terminal contains the following information: Unique identification of the operating terminal; Timestamp of when the request was sent; Request type, distinguishing between normal operation requests and emergency operation requests.

[0028] With this information, the permission request module can clearly record the request order and request type of each operating terminal, providing a basis for the subsequent permission allocation process.

[0029] 2. Classification of requests:

[0030] In this embodiment, the permission request module classifies requests according to their types. The request types include ordinary operation requests and emergency operation requests. Emergency operation requests will be given a higher priority so that they can be processed first when permissions are allocated. After classification, the permission request module packages and transmits requests of different categories to the permission allocation module to ensure that the permission allocation process can be optimized based on the request type.

[0031] 3. Calculation of request arrival rate:

[0032] In this embodiment, in order to further optimize the permission allocation process, the permission request module dynamically calculates the arrival rate of the request. Assuming that the arrival of requests conforms to the Poisson distribution, the permission request module will monitor the request frequency of each operating terminal in real time over a period of time and calculate the request arrival rate of the current system. , and passes this value to the permission allocation module. By calculating the arrival rate, the system can adjust the permission allocation according to the current load situation to ensure that the request can be responded to quickly.

[0033] Request arrival rate It is calculated by the following formula: in, For the time period The number of requests received within It reflects the current load of the system and helps the system adjust its allocation strategy.

[0034] 4. Request queuing and monitoring:

[0035] In this embodiment, the permission request module can monitor the request queue of each operation terminal in real time. The requests of the operation terminal will be arranged in the order of arrival time, and the module will queue the requests. When the request issued by the operation terminal is not responded immediately, the request will enter the queue waiting state. By using the queue management mechanism, the system can avoid requests being ignored or lost.

[0036] 5. Data transmission and interaction: In this embodiment, after collecting and recording the request, the permission request module transmits the request information to the permission allocation module through a high-speed data channel. The interaction frequency between the permission request module and the permission allocation module is high, and all collected requests are transmitted in real time to ensure that the allocation module can process based on the latest request situation. In order to improve transmission efficiency, the permission request module will package and transmit the request information to reduce the transmission delay of redundant data.

[0037] 6. Dynamic adjustment of arrival rate: In this embodiment, the permission request module will continuously calculate and update the arrival rate of the request. , and feeds this value back to the permission allocation module. By adjusting the arrival rate in real time, the system can optimize the service rate according to the current request volume. .

[0038] 7. Priority management of requests: In this embodiment, the permission request module will also manage the priority of the request according to the different permission requirements of the operating terminal. For urgent requests, the permission request module will assign a higher priority and mark the request as a high priority request when passing it to the permission allocation module. In this way, when allocating permissions, the system can give priority to these urgent requests to ensure timely response to key tasks.

[0039] Through real-time collection, classification, arrival rate calculation and priority management of requests, the permission request module ensures that the request data can be efficiently and accurately transmitted to the permission allocation module, and provides strong data support for subsequent permission allocation optimization.

[0040] Permission Assignment Module The authority allocation module is used to dynamically allocate the control authority of the operation terminal to the industrial equipment according to the control authority requests issued by multiple operation terminals collected by the authority request module. This module allocates authority through a variety of mathematical models, including M / M / 1 queuing model, game theory model and Markov decision process (MDP), to ensure that the system can efficiently handle multiple concurrent requests and intelligently allocate authority based on factors such as priority and request arrival rate.

[0041] In this embodiment, the authority allocation module dynamically allocates the control authority of the operation terminal according to the multiple control authority requests transmitted by the authority request module. The module includes: 1. Permission request processing based on the M / M / 1 queuing model: In this embodiment, the permission allocation module first queues and schedules the permission requests from the operation terminal through the M / M / 1 queuing model. The M / M / 1 model assumes that the request arrival rate Following Poisson distribution, service rate It obeys exponential distribution. Through this model, the performance indicators of the system can be calculated, and then the efficiency of permission allocation can be adjusted.

[0042] Average waiting time : in, is the request arrival rate, is the service rate of the interlock control server. This formula is used to calculate the average waiting time from when the operation terminal issues a request to when it obtains control authority.

[0043] System Utilization :

[0044] This formula is used to measure the system load and ensure that the system avoids overload while making reasonable use of resources.

[0045] Average queue length :

[0046] This formula is used to describe the number of requests waiting in queue for permission allocation at the operating terminal within a certain period of time. By monitoring the queue length in real time, the system can dynamically adjust the allocation strategy to ensure the timeliness of the system response.

[0047] In this embodiment, the permission allocation module evaluates the current load of the system by calculating these indicators, and dynamically adjusts the processing order of requests to reduce the average waiting time of requests and improve the utilization of system resources.

[0048] 2. Conflict management based on game theory model: In this embodiment, when the authority allocation module processes multiple operation terminals simultaneously sending control authority requests, it uses a game theory model to resolve request conflicts. The game theory model is used to simulate the competitive behavior between the operation terminals to ensure that the system can fairly and reasonably allocate control authority when facing multiple concurrent requests.

[0049] Participant definition: Each operating terminal is regarded as a player in the game, and each player can choose between two strategies: "request control authority" or "wait for release of control authority".

[0050] Payment matrix: When two or more operating terminals make requests at the same time, the system calculates the gains and losses of each operating terminal through the following payment matrix:

[0051] If two terminals choose to request control authority at the same time, the system will punish both parties, resulting in both parties being unable to obtain control authority. If one party requests control authority and the other party chooses to wait, the requesting party obtains control authority and the waiting party loses control authority.

[0052] Nash equilibrium: By solving the Nash equilibrium of the payment matrix, the authority allocation module can dynamically determine the optimal authority allocation strategy to ensure that there is no conflict in the allocation of control rights between multiple operating terminals. The system adjusts the request behavior of each operating terminal according to the Nash equilibrium so that each terminal obtains control authority within a reasonable time.

[0053] 3. Priority adjustment based on Markov decision process: In this embodiment, the authority allocation module dynamically adjusts the control priority of the operation terminal through the Markov decision process (MDP). The MDP model can dynamically adjust the allocation decision according to the request status of the operation terminal and the current load of the system to ensure that high-priority or urgent requests can be processed first.

[0054] State Space : The system status includes possible control rights allocation situations such as "no request status", "terminal A is controlling", and "terminal B is controlling".

[0055] Action Collection : The actions that can be performed by each operation terminal include "request control authority", "release control authority" and "maintain control authority".

[0056] Reward Function : It is used to evaluate the benefit value of an operation terminal performing an action in a specific state. The reward function is associated with the urgency of the request and the priority of the operation terminal. Urgent requests usually receive higher reward values ​​so that they can be given priority in authority allocation.

[0057] Bellman equation: Through the following Bellman equation, the system can solve the optimal strategy : in, For the status The optimal value function under is the discount factor, From the state Through Action Transfer to state The equation is used to calculate the expected benefit of performing an action in different states and determine the optimal authority allocation strategy.

[0058] In this embodiment, the authority allocation module dynamically adjusts the priority of the operating terminal according to the real-time control request and system status to ensure that the emergency request can get the control right first when the conflict occurs. At the same time, the MDP model can reasonably allocate resources under different load conditions and reduce the probability of system conflicts.

[0059] 4. Real-time adjustment of permission allocation strategy: In this embodiment, the authority allocation module will The system dynamically adjusts the service rate by using the timeout information provided by the permission release module to adjust the permission allocation strategy in real time. and request priorities to ensure flexible handling of permission requests under different load conditions.

[0060] By queuing and prioritizing permission requests, the permission allocation module can reasonably allocate control permissions under high load conditions to avoid resource waste, while ensuring system response speed under low load conditions. The permission allocation module can adjust the parameters of the queuing model according to the current system load, thereby reducing the waiting time of the operating terminal while efficiently utilizing resources.

[0061] The authority allocation module in this embodiment provides a solution for efficiently allocating requests from multiple operation terminals by using the M / M / 1 queuing model, game theory model, and Markov decision process. By dynamically adjusting the processing order and priority of requests, the system can reasonably allocate control permissions when concurrent requests and emergencies occur, ensuring the stability and efficiency of system operation.

[0062] Permission release module The permission release module is the part of the control permission allocation system that is responsible for managing the automatic release of the control permission of the operation terminal after the operation is completed or timed out. The main function of this module is to ensure that the control permission is not occupied for a long time, so as to release the control permission in time for other operation terminals to use. The permission release module dynamically determines when to release the control permission by calculating and monitoring the holding time of the control permission, and flexibly adjusts the timeout strategy according to the actual operation requirements.

[0063] In this embodiment, the main function of the permission release module is to manage the release of control permissions of the operating terminal during the process of controlling the device, especially for those cases where the control permissions are still retained after the operation is completed or exceeds the set timeout threshold. The module controls the timeout mechanism through the Poisson process and can dynamically adjust the retention time of the control permissions to ensure efficient use of system resources. Its implementation is as follows: 1. Maintaining control authority and timeout monitoring: In this embodiment, the permission release module monitors in real time the length of time that each operating terminal retains control authority. When an operating terminal obtains control authority, the permission release module starts timing and records the duration of control authority. If the operating terminal does not complete the operation or release the control authority within the specified timeout period, the system will automatically trigger the timeout mechanism and release the current control authority.

[0064] The permission release module controls the timeout through the Poisson process, assuming that the control permission of each operating terminal is maintained for a certain period of time. It obeys exponential distribution, and its probability distribution function is: in, To control the timeout release rate of permissions, The length of time that the control authority is maintained. This formula is used to calculate whether the control authority of the operating terminal should be released at a certain moment. In this way, the system can probabilistically manage the control authority retention time of each operating terminal to ensure that the control authority is released within a reasonable time window.

[0065] 2. Dynamically adjust the timeout release rate: In this embodiment, the permission release module is not only responsible for the timeout release of the control permission, but also can dynamically adjust the holding time of the control permission according to the actual operation requirements and system load. , the system can shorten the holding time of control authority under high load conditions, thereby releasing control authority in time and avoiding resources being occupied for a long time.

[0066] When the system load is high, the permission release module will release the request based on the current system request arrival rate. and service rate , dynamically adjust the timeout parameters so that the control authority can be released faster. On the contrary, when the system load is low, the module will appropriately extend the holding time of the control authority to ensure that the operation terminal has enough time to complete the necessary operations.

[0067] By adjusting the timeout parameters, the system can To optimize the control authority retention strategy, avoid excessive resource occupation while ensuring the system's responsiveness.

[0068] 3. Manual and automatic release of control permissions: In this embodiment, the permission release module can not only automatically release the control right after the control right times out, but also support the operation terminal to manually release the control right after the operation is completed. When an operation terminal completes the operation, it can actively send a request to the permission release module to release the control right. After receiving the request, the permission release module immediately releases the control right of the current operation terminal and notifies the permission allocation module to perform the next round of permission allocation.

[0069] The combination of automatic release and manual release ensures that the system can not only efficiently handle the release of control rights, but also flexibly adapt to the operating rhythm of different operating terminals. Automatic release ensures that control rights are not occupied for a long time through a timeout mechanism, while manual release improves the flexibility of the system.

[0070] 4. Reset the status of control permissions: In this embodiment, after the control authority is released, the authority release module will reset the corresponding operation terminal status, including the terminal's request status and control authority identifier. The purpose of the reset operation is to ensure that the operation terminal will not be affected by the previous request during the subsequent authority application process, thereby ensuring that each operation terminal can participate normally in the new authority allocation cycle.

[0071] The state reset also includes updating the time records of the release of control permissions. These records will be fed back to the permission allocation module to optimize the subsequent permission allocation strategy.

[0072] 5. Collaboration with the authority allocation module: In this embodiment, the permission release module and the permission allocation module work closely together. After the control permission is released, the permission release module will immediately notify the permission allocation module to update the current permission status. After receiving the status update, the permission allocation module will reallocate the control permission according to the current system load and the request of the operation terminal.

[0073] This collaborative working mode ensures the system's rapid switching between permission release and reallocation, avoiding the problem of long-term retention of control permissions between operating terminals, thereby improving the response efficiency of the entire system.

[0074] The permission release module in this embodiment manages the retention time and timeout mechanism of the control permission through the Poisson process, ensuring that the system can reasonably release the control permission and avoid resources being occupied for a long time. By dynamically adjusting the timeout parameters, the permission release module can flexibly adapt to different system load conditions, and on the basis of combining automatic release with manual release, ensure that the control permission of the operation terminal is efficiently managed.

[0075] Safety fault-tolerant module

[0076] The security fault-tolerant module is an important component of the control authority allocation system to ensure system security and consistency. It mainly provides a fault-tolerant mechanism during system operation to ensure that the system can still operate normally and maintain consistency in the event of failures, network interruptions or malicious operations. This module uses the Byzantine Fault Tolerance (BFT) algorithm to achieve fault tolerance and security in a distributed environment to prevent the negative impact on the overall system when problems occur in some nodes.

[0077] In this embodiment, the security fault-tolerant module is responsible for the fault-tolerant processing in the process of allocating control rights in the system, especially in a distributed environment with multiple operating terminals, to ensure that when some nodes (such as operating terminals or servers) fail or are attacked, the system can still maintain consistency and security. This module is mainly implemented through the Byzantine fault-tolerant algorithm, and the specific implementation steps are as follows:

[0078] 1. Application of Byzantine Fault Tolerance Algorithm:

[0079] In this embodiment, the security fault-tolerant module ensures the consistency and reliability of the permission allocation process through the Byzantine fault-tolerant algorithm. The Byzantine fault-tolerant algorithm is a fault-tolerant algorithm that handles the consistency problem of multi-copy data in a distributed system. The system is secure and consistent even if a replica server fails or behaves maliciously. replica servers, of which can tolerate A faulty node.

[0080] 2. Operation process of Byzantine fault tolerance algorithm: In this embodiment, during the permission request processing, the security fault-tolerant module performs fault-tolerant processing according to the basic operation flow of the Byzantine fault-tolerant algorithm: Request phase: When an operation terminal issues a control permission request, the interlock control server sends the request to multiple replica servers. After each replica server receives the request, it first pre-processes it and records the request information.

[0081] Pre-preparation phase: After receiving a request, each replica server will broadcast the summary information of the request to other replica servers. The replica servers mutually verify the correctness and legitimacy of the request information. This step is used to prevent malicious servers from tampering with the request content.

[0082] Preparation phase: After the pre-preparation phase, each replica server will send the verification request information to the interlock control server and wait for feedback from other replica servers. The interlock control server will not consider that the request has been confirmed by enough replicas to enter the "prepared state" until the replica servers confirm that the request is legitimate.

[0083] Commit phase: After the preparation phase, the interlock control server aggregates the confirmation information from different replicas and calculates whether the Byzantine fault tolerance algorithm satisfies the requirements. If the confirmation conditions are met, the system will enter the submission phase and ultimately grant control authority to the corresponding operation terminal.

[0084] 3. Formula description of Byzantine fault tolerance algorithm: In this embodiment, the safety fault-tolerant module relies on the mathematical basis of the Byzantine fault-tolerant algorithm for fault-tolerant processing. The premise of Byzantine fault tolerance is that multiple rounds of information exchange are carried out between replica servers, and The decision is made after the replica servers reach consensus. The fault tolerance of the algorithm can be described by the following formula: in, is the total number of replica servers, It is the maximum number of replica servers that can fail or be compromised in the system. More than 100 copies If all replicas agree to a request, the system can reach a consistent consensus and avoid a single or a few faulty replicas affecting the security of the entire system.

[0085] 4. Dynamic adjustment of fault tolerance mechanism: In this embodiment, the safety fault tolerance module can dynamically adjust the fault tolerance threshold according to the system load and network conditions. The core of the Byzantine fault tolerance algorithm is to ensure The safety fault-tolerant module dynamically adjusts the number of replica servers as the system scale and the number of operation requests change. For example, when the load is low, the number of replica servers can be reduced, while when the load is high or the network is unstable, the number of replica servers can be increased to ensure that the system can continue to maintain consistency and security.

[0086] 5. Collaboration with the authority allocation module: In this embodiment, the security fault-tolerant module works in conjunction with the authority allocation module. After the authority allocation module completes the decision on authority allocation, the security fault-tolerant module verifies the correctness of the allocation process through the Byzantine fault-tolerant algorithm. When allocating control authority, the authority allocation module relies on the confirmation of multiple replica servers to ensure that the entire system can still operate normally even if some replica servers fail.

[0087] 6. Scalability of fault-tolerance mechanism:

[0088] In this embodiment, the safety fault-tolerant module provides a highly scalable fault-tolerant mechanism through the Byzantine fault-tolerant algorithm. As the number of operating terminals and the number of requests increase, the safety fault-tolerant module can increase the number of replica servers according to system requirements to improve the fault tolerance and security of the system. By dynamically adjusting the number of replica servers, the system can maintain consistency and security under different load conditions, avoiding the risk of single point failures to the entire system.

[0089] The security fault-tolerant module in this embodiment implements fault-tolerant processing of permission requests in the permission allocation system through the Byzantine fault-tolerant algorithm. Even if a replica server fails or is attacked, the system can still maintain consistency and security. By dynamically adjusting the number of replica servers, the safety fault-tolerant module provides the system with a high scalability and reliable fault-tolerant mechanism.

[0090] The system of the present invention realizes the dynamic allocation and management of control rights of multiple operating terminals through M / M / 1 queuing model, game theory model, Markov decision process and Byzantine fault tolerance algorithm. The system can effectively handle concurrent permission requests, ensure security, consistency and efficiency under high load and abnormal conditions, and is particularly suitable for multi-terminal control scenarios of industrial equipment.

[0091] Please see attached Figure 2 The present invention also provides a control authority allocation method, which can effectively manage the control authority of multiple operation terminals over industrial equipment. The method specifically includes the following steps: S1: Each operating terminal sends a control permission request to the interlocking control server through the permission request module. Each request contains information such as the terminal's identification, request type and priority, ensuring that all terminal requests can be monitored and recorded in real time.

[0092] S2: After receiving requests from multiple operating terminals, the interlocking control server first preliminarily processes the requests based on the M / M / 1 queuing model and calculates the system load and waiting time. Then, the game theory model is used to resolve conflicts that may arise from multiple terminals to ensure that the system can handle concurrent requests fairly. At the same time, the Markov decision process is used to dynamically adjust the priority of the operating terminal according to the request type and system status of each terminal.

[0093] S3: After determining the priority, the interlock control server allocates control authority according to the urgency and priority of the request. If multiple operation terminals send control requests at the same time, the system uses a game theory model to handle conflicts, ensuring that the allocation of control authority is reasonable and orderly, and avoiding operational confusion caused by resource competition.

[0094] S4: When an operation terminal completes the device operation or exceeds the set operation time, the system automatically releases the control authority of the terminal through the authority release module, and other waiting operation terminals can continue to apply for control rights to ensure that system resources can be fully utilized.

[0095] S5: To ensure the security and consistency of the entire permission allocation process, the system uses a Byzantine fault-tolerant algorithm to verify the correctness of permission allocation through multiple replica servers. Even if some servers fail or encounter malicious operations, the system can still ensure the stability and consistency of the allocation process and ensure fault tolerance in a distributed environment.

[0096] Please see attached Figure 3 The present invention further provides a computer device 40, comprising: a processor 41 and a memory 42, wherein the memory 42 stores a computer program executable by the processor, and when the computer program is executed by the processor, the above method is executed.

[0097] The present invention further provides a storage medium 43 on which a computer program is stored. When the computer program is run by the processor 41, the above method is executed.

[0098] Among them, the storage medium 43 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable red-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, disk or optical disk.

[0099] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A control authority allocation system, comprising a plurality of operation terminals and an interlocking control server, wherein the operation terminals are used to request control authority for industrial equipment, and the interlocking control server is used to receive control authority requests from the plurality of operation terminals and allocate control authority according to a preset authority allocation rule, characterized in that: The system comprises: A permission request module, used to collect control permission requests issued by the multiple operation terminals; A permission allocation module, used to dynamically allocate the control permission of the operation terminal to the industrial equipment according to the requests collected by the permission request module; The permission release module is used to release the control permission after the control operation is completed or times out; Security fault-tolerant module, used to ensure the security and consistency of the system during the permission allocation process; The authority allocation module allocates control authority based on the M / M / 1 queuing model, and the authority allocation module includes the following steps: Each of the plurality of operation terminals sends a control authority request to the interlock control server, and the control authority request is sent according to the arrival rate. Following the Poisson distribution, the processing time of the interlock control server is based on the service rate It follows an exponential distribution; The interlock control server processes the control authority requests of the multiple operation terminals based on the M / M / 1 queuing model and calculates system performance indicators, including: Average waiting time , used to measure the average time from when the operation terminal issues a request to when it obtains control authority; System Utilization , used to represent the utilization rate of control authority requests, ensuring that the interlock control server is not overloaded while processing requests efficiently; Average queue length , used to characterize the number of requests backlogged on the interlock control server at any time; The authority allocation module dynamically adjusts the authority allocation strategy according to the calculation results, reduces the average waiting time and improves the overall response speed of the system; When the control authority of the operating terminal is released, the interlocking control server updates the system status and recalculates the relevant indicators in the queuing model; The authority allocation module also processes concurrent requests from multiple operating terminals through a game theory model, and the game theory model includes the following steps: Considering each operating terminal as a participant in the game, each participant can choose between two strategies: requesting control authority or waiting for the release of control authority; Define the payment matrix of the game. When multiple operating terminals request control authority at the same time, the system calculates the benefits of each operating terminal through the following payment matrix: Each element in the matrix represents the gains and losses when different operating terminals choose a certain strategy at the same time. If two operating terminals request control authority at the same time, both parties lose control and are punished. If one terminal chooses to request control authority and the other chooses to wait, the requester gains control and the waiter loses control. The game theory model determines the optimal authority allocation strategy by calculating the Nash equilibrium, so that when multiple operating terminals request at the same time, the system automatically adjusts the allocation decision to avoid conflicts and ensures that each terminal obtains reasonable control authority in the competition; By dynamically adjusting the penalty and reward values ​​in the payment matrix, the system optimizes the authority allocation strategy according to the real-time situation, ensuring that high-priority requests have a higher probability of obtaining control rights, and low-priority requests automatically yield when conflicts occur; The permission allocation module updates the system status after each game is completed and reapplies the game theory model to process subsequent permission requests; The safety fault-tolerant module is based on the Byzantine fault-tolerant algorithm, which includes the following steps: Request phase: the operation terminal sends a control authority request to the interlocking control server; Pre-preparation stage: The interlock control server verifies the legitimacy of the request through a distributed consensus protocol; Preparation phase: multiple replica servers confirm the consistency of the request; Commit phase: When the Byzantine fault tolerance conditions are met, the server allocates control permissions.

2. A control authority allocation system according to claim 1, characterized in that: The authority allocation module dynamically adjusts the control priority of each operating terminal through a Markov decision process, and the Markov decision process includes the following steps: Define the state space of the system , where each state represents the distribution of control rights in the current system; Define the action set for the operation terminal ,Each action represents an operation that the operation terminal may perform; Define a reward function for each state-action pair , this reward function is used to evaluate the benefits of the operating terminal performing a specific action in a certain state; According to the state space , Action Set And the reward function , the optimal strategy for operating the terminal is determined by the following Bellman equation , that is, the optimal operation decision under different states: in, For the status The optimal value function under is the discount factor, From the state Through Action Transfer to state The transition probability of The Markov decision process dynamically adjusts the priority of the operating terminal according to the real-time control authority request and system status. When multiple operating terminals request control authority, the operating terminal with the highest priority is selected based on the optimal strategy and the control authority is granted; The system updates the reward function and transition probability of each terminal after each state transition, thereby optimizing the control rights allocation process for subsequent operations.

3. A control authority allocation system according to claim 1, characterized in that: The permission release module controls the timeout release of permissions according to the Poisson process and controls the retention time of permissions. It obeys exponential distribution, and its probability distribution function is: in, is the overtime release rate, The length of time to maintain control permissions.

4. A control authority allocation system according to claim 3, characterized in that: The permission release module dynamically adjusts the timeout release rate , and flexibly set the retention time of control authority according to different operation requirements.

5. A control authority allocation method, applied to a control authority allocation system as claimed in any one of claims 1 to 4, characterized in that: The following steps are involved: Each operation terminal sends a control authority request to the interlocking control server; The interlock control server processes the request according to the M / M / 1 queuing model, the game theory model and the Markov decision process, and determines the priority of the operating terminal; The interlock control server allocates control authority according to the priority level. If multiple operation terminals make requests at the same time, a game theory model is used to handle conflicts. Release the control authority when the operation is completed or times out; The consistency and security of the permission allocation process are verified through the Byzantine fault-tolerant algorithm.

6. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to claim 5 is implemented.

7. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to claim 5 is implemented.

Images