Edge control redundancy system for rail transit

Abstract

The invention discloses an edge control redundancy system for rail transit, and the system comprises an industrial edge controller which is used for controlling and executing a data processing task; the controller communication module is connected with the industrial edge controller, and the control communication module carries an input end and an output end; an upper computer; an industrial ring network module; the IO module comprises an IO management module, and the IO management module is used for converting a network signal into a bus signal; the IO module is connected with the IO management module, the IO module converts the bus signal into an IO signal, the IO module outputs a PWM (Pulse Width Modulation) signal, and the IO module comprises a first IO module and a second IO module; and the redundant module is used for comparing the signals of the first IO module and the second IO module and selecting one path of fault-free signal as output according to the compared high / low level signals.

Description

Technical Field

[0001] The present invention relates to the field of industrial control, and in particular to an edge control redundancy system for rail transportation. Background Art

[0002] At present, the redundancy of industrial controllers can be divided into soft redundancy and hard redundancy. Software Redundancy (SWR) is a technology that implements redundancy at the software level. It refers to the use of multiple redundant software modules in a system to perform the same function to increase the reliability and fault tolerance of the system. In soft redundancy, there are usually two or more software modules with the same function running on the same system. These software modules can be the same code or different implementations, but their goal is to perform the same task. When the system is running normally, these software modules will run at the same time, and their output results will be compared to ensure the consistency of the results, thereby verifying the correctness of the system. Hardware Redundancy is a technology that implements redundancy at the hardware level. It refers to the use of multiple redundant hardware components in a system to perform the same function to increase the reliability and fault tolerance of the system. The design goal of hard redundancy is to use redundant hardware in the system so that the system can continue to operate normally when some hardware components fail, thereby reducing the impact caused by system failures and maintaining high availability.

[0003] Figure 1 It is a redundant system for edge control of traditional rail transit. Figure 1 As shown in the figure, the traditional edge control redundant system of rail transit includes: host computer A, communication module B, controller C, industrial ring network D, redundant communication module E and IO module F connected to redundant communication module E. Among them, communication module B is connected to controller C, two groups of communication modules B and controller C and two groups of redundant communication modules E and IO module F form hard redundancy. In short, the traditional edge control redundant system technically adopts redundancy between controllers C, and then uniformly outputs to IO module F through redundant communication module E.

[0004] However, the traditional solution does not provide redundancy for the IO module itself, but only provides backup redundancy and communication redundancy for the controller C. When a problem occurs in the IO module, it will cause system instability, resulting in risks such as equipment downtime. Summary of the invention

[0005] In order to solve the above problems, the purpose of the present application is to provide an edge control redundancy system that can solve the redundancy of the IO module itself.

[0006] The embodiment of the present application provides an edge control redundancy system for rail transit, including:

[0007] An industrial edge controller, the industrial edge controller is used to control and execute data processing tasks;

[0008] A controller communication module, the controller communication module is connected to the industrial edge controller, and the controller communication module is equipped with an input end and an output end;

[0009] A host computer, the host computer is connected to the industrial edge controller through the controller communication module;

[0010] An industrial ring network module, in which the industrial edge controller runs;

[0011] An IO module, the IO module is connected to the industrial ring network module, and the IO module includes:

[0012] An IO management module, wherein the IO management module converts a network signal into a bus signal;

[0013] An IO module, wherein the IO module is connected to the IO management module, the IO module converts the bus signal into an IO signal, the IO module outputs a PWM signal, the IO module comprises a first IO module and a second IO module, and the first IO module and the second IO module are redundant with each other;

[0014] A redundancy module is connected to the first IO module and the second IO module, and the redundancy module compares the signals of the first IO module and the second IO module and selects a fault-free signal as output according to the compared high / low level signals.

[0015] Furthermore, in the edge control redundancy system for rail transit, the redundancy module further comprises:

[0016] An active filter, the active filter being connected to the IO module, and the active filter converting a signal of the IO module into a voltage value;

[0017] A comparison amplifier, the comparison amplifier is connected to the active filter, and the comparison amplifier outputs a high / low level according to the voltage value;

[0018] A logic judgment unit, the logic judgment unit is connected to the comparison amplifier, and the logic judgment unit compares and outputs the level output by the comparison amplifier;

[0019] A mutual exclusion unit, the mutual exclusion unit is connected to the logic judgment unit, and the mutual exclusion unit selectively conducts a high / low level signal output by the first IO module and the second IO module through the respective logic judgment units;

[0020] A signal selection unit is connected to the mutual exclusion unit and the active filter, and the signal selection unit selectively conducts one of the signals of the first IO module and the second IO module through the active filter according to the high / low level signal of the mutual exclusion unit.

[0021] Furthermore, in the edge control redundant system for rail transit, the IO module also includes an IO microprocessor, and the IO microprocessor is used to perform fault diagnosis on the IO module.

[0022] Furthermore, in the edge control redundancy system for rail transit, at least two groups of the industrial edge controller and the controller communication module are provided to run in the industrial ring network module for controller redundancy.

[0023] Furthermore, in the edge control redundant system for rail transit, the controller redundancy adopts master / master and master / slave hot standby redundancy.

[0024] Furthermore, in the edge control redundant system for rail transit, the input ends of the first IO module and the second IO module are connected to the IO management module, and the output ends of the first IO module and the second IO module are connected to the redundant module to increase integration.

[0025] Furthermore, in the edge control redundant system for rail transit, the IO management module includes a first IO management module and a second IO management module, the input end of the first IO module is connected to the first IO management module, the input end of the second IO module is connected to the second IO management module, and the output ends of the first IO module and the second IO module are connected to the redundant module to increase reliability.

[0026] Furthermore, in the edge control redundant system for rail transit, the IO module outputs a PWM signal at a frequency of 10KHz.

[0027] The technical solution provided by the embodiment of the present application has the following advantages:

[0028] 1. Due to the use of IO modules, redundancy on the hardware terminal is completed, which enhances the robustness of the entire control solution;

[0029] 2. Due to the use of redundant modules, when an IO module fails, it can be switched in a very short time, greatly improving the safety of the site. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 Provide edge control redundancy system for traditional rail transit;

[0031] Figure 2 A schematic diagram of a rail transit edge control redundancy system preferred in an embodiment of the present invention;

[0032] Figure 3 A schematic diagram of an IO module preferred in an embodiment of the present invention;

[0033] Figure 4 A schematic diagram of a preferred redundant module in an embodiment of the present invention;

[0034] Figure 5 A schematic diagram of an IO management module preferably connected to two IO modules in an embodiment of the present invention;

[0035] Figure 6 A schematic diagram showing the connection between an IO management module and an IO module as preferred in an embodiment of the present invention;

[0036] Figure 7 An industrial edge controller synchronization architecture embodiment preferred for an embodiment of the present invention;

[0037] Figure 8 This is an embodiment of the preferred industrial edge controller of the present invention that performs backup data exchange through an industrial ring network module. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical scheme and advantages of the implementation of this application clearer, the technical scheme in the embodiment of this application will be described in more detail below in conjunction with the drawings in the embodiment of this application. In the drawings, the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions. The described embodiments are part of the embodiments of this application, not all of them. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain this application, and should not be construed as limitations on this application. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0039] In addition, it should be noted that, unless otherwise clearly specified and limited, the words "installed", "connected", "connected" and similar terms used in the description of this application should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, an indirect connection through an intermediate medium, or the internal connection of two components. Technical personnel in the field can understand their specific meanings in this application according to the specific circumstances.

[0040] Figure 2 Schematic diagram of rail transit edge control redundancy system preferred in the embodiment of the present invention. Figure 2 As shown, the edge control redundancy system for rail transit includes: an industrial edge controller 10, which is used to control and execute data processing tasks. A controller communication module 20, which is connected to the industrial edge controller 10, and the control communication module 20 is equipped with an input end and an output end. A host computer 30, which is connected to the industrial edge controller 10 through the controller communication module 20. An industrial ring network module 40, in which the industrial edge controller 10 runs. An IO module 50, which is connected to the industrial ring network module 40. Figure 3 FIG. 1 is a schematic diagram of an IO module preferably used in an embodiment of the present invention. Figure 3 As shown, the IO module 50 includes: an IO management module 51, which converts the network signal into a bus signal. In this embodiment, preferably, the IO management module 51 is integrated with an EtherNet / IP interface, a dual-way power supply module, etc. IO modules 52A, 52B, the IO modules 52A, 52B include a first IO module 52A and a second IO module 52B, the first IO module 52A and the second IO module 52B are redundant, and the IO modules 52A, 52B include a backplane bus 521, an IO microprocessor 522, a PWM output component 523, a feedback signal terminal 524, a signal filter component 525, a signal amplifier component 526 and a signal equalization or equalization component 527. Among them, the IO module 52 is connected to the IO management module 51 through the backplane bus 521. The IO microprocessor 522 is used to perform fault judgment on the IO modules 52A and 52B. The feedback signal terminal 524 can receive the signal of the IO module 52 when it is working and transmit the signal to the IO module 52 through the signal matching component 527 to determine whether the IO module 52 has a fault. If the IO module 52A or 52B has a fault, a prompt or alarm will be issued. The signal filter component 525 and the signal amplifier component 526 are used to filter and amplify the signal when the IO module 52 outputs the PWM signal.

[0041] In specific applications, a slot for a redundant module 53 is reserved on each IO module 52A, 52B, and then the redundancy of the hardware part is performed. Each module contains two EtherNet interfaces for redundant connection of the modules. The IO management module 51 has a dial address. After the software configures the first 24 bits of the address, the last 8 bits of the address can be directly physically dialed. Each management module has a working status indication, a communication status indication, and a power supply indication, which can easily distinguish the problem location of the module. The IO part is divided into a digital output module, an analog output module, a digital input module, and an analog input module. The IO modules 52A, 52B are connected to the IO management module 51 through the backplane bus 521. When the IO management module 51 is not properly connected to the IO modules 52A, 52B or other faults occur, the fault indicator lights of the IO management unit and the IO module will light up.

[0042] In this embodiment, the output, whether digital or analog, is outputted using PWM waveforms, and the PWM waveform is outputted using a 10KHz frequency and a 30% to 70% duty cycle, which can effectively prevent the IO microprocessor 522 from freezing or running away. Redundancy module 53, which is connected to IO modules 52A and 52B, compares the signals of the first IO module 52A and the second IO module 52B, and selects the signals of the IO modules 52A and 52B without any faults as output according to the compared high / low level signals.

[0043] Figure 4 FIG. 1 is a schematic diagram of a preferred redundant module in an embodiment of the present invention. Figure 4 As shown, the redundancy module 53 is connected to the first IO module 52A and the second IO module 52B. The redundancy module 53 receives the PWM output signals of the signals of the first IO module 52A and the second IO module 52B. The redundancy module 53 compares the signals of the first IO module 52A and the second IO module 52B and selects a fault-free signal as output according to the compared high / low level signals. The redundancy module 53 includes: an active filter 531, which can convert the PWM signals of the IO modules 52A and 52B into voltage values. The active filter 531 is connected to the IO modules 52A and 52B. When the output of the IO modules 52A and 52B is a digital quantity, a high voltage and a low voltage are obtained according to the output duty cycle, for example, the high voltage is 0.7VDD and the low voltage is 0.3VDD. When the output is analog, the corresponding relationship between the duty cycle of the PWM wave and the output voltage is realized through the active filter, so that the duty cycle of the PWM wave has a corresponding voltage value from 0 to 100%, and different voltage values ​​are obtained according to different duty cycles.

[0044] Comparative amplifiers 532A and 532B are used to output high / low levels according to the output voltage value of the filter amplifier 531. In this embodiment, preferably, the comparative amplifier for the PWM output signal of one IO module 52A and 52B includes a first comparative amplifier 532A and a second comparative amplifier 532B. The first comparative amplifier 532A and the second comparative amplifier 532B use the specified reference voltage VDD as the reference value.

[0045] In a specific application, after the signal passes through the active filter 531, the signal is divided into three independent outputs. Two of the three signals are compared by comparator amplifiers 532A and 532B with different configurations. The reference levels of the comparator amplifiers 532A and 532B correspond to the voltage values ​​of 15% and 85% of the PWM wave output through the active filter. This voltage value is considered in detail and then used as the reference value. The two reference voltages are used to output 100% or 0 when the IO module is abnormal and cannot work normally.

[0046] The logic judgment unit 533 compares and outputs the levels output by the comparison amplifiers 532A and 532B. In this embodiment, the logic judgment unit 533 preferably outputs the circuit of normal operation as a low level, and the circuit output is a high level when the circuit is abnormal. The logic judgment unit 533 includes an AND gate 5331 and an inversion circuit 5332. Specifically, after the two signals obtained by the first comparison amplifier 532A and the second comparison amplifier 532B pass through the AND gate 5331, if normal, a high level is output, and if abnormal, a low level is output, and then after passing through the inversion circuit 5332, the circuit of normal operation outputs a low level, and the abnormal circuit outputs a high level. For example, in this embodiment, when the first comparison amplifier 532A uses 0.15VDD as the reference value, any output below this voltage is a high level, and any output above 0.15VDD is a low level. The second comparison amplifier 532B uses 0.85VDD as the reference value, and any output below this voltage is a high level, and any output above 0.85VDD is a low level. When the voltage point range of the normal working range of the IO modules 52A and 52B is within the range of 30% to 70% corresponding to VDD, after comparison with the comparison amplifier, the results are all high level. Only when the PWM is abnormal, the output level value, when compared with the two comparison amplifiers, must have one that gets a low level. Then, after passing through the inversion circuit, the normal working circuit outputs a low level, and the abnormal circuit outputs a high level.

[0047] The mutual exclusion unit 534 is connected to the logic judgment unit 533, and selectively conducts the high / low level signals output by the respective logic judgment units 533 of the IO modules 52A and 52B. Specifically, the mutual exclusion unit 534 includes an IO driver 5341 and a mutual exclusion circuit (5342, 5343, 5344). The IO driver 5341 is used to amplify the current and voltage signals of the IO modules 52A and 52B. The mutual exclusion circuit (5342, 5343, 5344) includes a mutual exclusion sub-circuit 5342 for mutually excluding signals, a reverse driving sub-circuit 5343 for reversing signals, and a merging sub-circuit 5344. The IO module 52A, 52B signal amplified by the IO driver 5341 passes through the mutually exclusive circuit (5342, 5343, 5344) composed of the transmission gate circuit. In the mutually exclusive circuit (5342, 5343, 5344), only one of the two circuits can output, and the other is cut off due to the function of the mutually exclusive circuit (5342, 5343, 5344). The IO module 52A, 52B has only one high / low level signal output through the logic judgment unit 533, and the other signal is used as a backup. The mutual exclusive circuit (5342, 5343, 5344) is randomly turned on. For example, if the first path of the mutual exclusive circuit is turned on, the normal output is the normal low level signal of the first path. If the output of the first path is abnormal, the output is a high level. If the second path is turned on, the normal low-level signal of the second path is normally output, but becomes a high level after passing through the reverse driving sub-circuit 5343, and the abnormal signal of the second path becomes a low level. The two signals are finally combined. The output signal status is shown in the following table:

[0048] Mutually exclusive conduction loop Conducting loop signal status Non-conducting loop signal status Output The first path is on The first signal is normal The second signal is normal Low level The second signal is abnormal Low level The first signal is abnormal The second signal is normal High level The second path is on The second signal is normal The first signal is normal High level The first signal is abnormal High level The second signal is abnormal The first signal is normal Low level

[0049] The signal selection unit 535 has one end connected to the mutual exclusion unit 534 and the other end connected to the active filter 531. The signal selection unit 535 selects the signal of one IO module 52A, 52B through the active filter 531 as output according to the high / low level signal of the mutual exclusion unit 534. In this embodiment, when the level is low, the digital or analog output circuit of the first channel is output, and when the level is high, the digital or analog output circuit of the second channel is output. From the above table, it can be seen that when the first channel is abnormal, the control circuit selection circuit will be switched to the output of the second channel. Since the two IO modules 52A and 52B are the same, the configuration is the same, and the output redundancy is the same when redundant, the output will be performed without interruption at this time. The signal passing through the signal selection unit 535 is output via the protection circuit 536 for IO output.

[0050] In the specific application of the redundant module 53, after the signal passes through the active filter 531, the signal is divided into three independent outputs. Two of the three signals are compared by the comparator amplifiers 532A and 532B with different configurations. The input signal of the other input of the comparator amplifier is the comparison reference voltage, and the voltage values ​​are 0.15VDD and 0.85VDD respectively. For example, the comparator amplifier 532A uses 0.15VDD as the reference value, and any output below this voltage is a high voltage VDD, and any output above 0.15VDD is a low level. The comparator amplifier 2 uses 0.85VDD as the reference value, and any output below this voltage is a high voltage VDD. When the point voltage range of the normal working range is within the range of 30% to 70% corresponding to VDD, after comparison with the comparator amplifier, all the results are high levels. Only when the PWM is abnormal, the output level value, when compared with the two comparator amplifiers, must have a low level.

[0051] After the two signals are passed through the AND gate, if they are normal, a high level is output, and if they are abnormal, a low level is output. After being inverted, the output of the circuit working normally is a low level, and the output of the abnormal circuit is a high level.

[0052] After passing through the IO drive circuit 5341, the current and voltage capabilities of the signal are amplified, and then through the mutually exclusive circuit composed of the transmission gate circuit. In the mutually exclusive circuit, only one of the two circuits can output, and the other is cut off due to the effect of the mutually exclusive circuit, so that only one signal is effective and the other signal is a backup plan. The first and second conduction of the mutually exclusive circuit are random. For example, if the first is turned on, the normal output is the normal low-level signal of the first, and if the first output is abnormal, the output is high. If the second is turned on, the normal output of the second is the normal low-level signal of the second, but after passing through the reverse drive circuit, it becomes a high level, and the abnormal signal of the second becomes a low level. The two finally control the signal to be merged.

[0053] The last management circuit is the signal selection unit 535. When the level is low, the digital or analog output circuit of the first channel will be output, and when the level is high, the digital or analog output circuit of the second channel will be output. From the above table, it can be seen that when the first channel is abnormal, the circuit selection circuit will be controlled to switch to the output of the second channel. Since the two modules are the same, with the same configuration and the same output redundancy, the output will be carried out without interruption.

[0054] like Figure 4As shown, in this embodiment, preferably, the signal passing through the active filter 531 is fed back to the IO microprocessor 522 in the IO modules 52A and 52B through the amplifier circuit 537 and the XNOR gate 538 to perform fault judgment on the IO modules 52A and 52B.

[0055] There are two solutions for IO module redundancy. Figure 5 This is a schematic diagram of the connection between the preferred IO management module and two IO modules in an embodiment of the present invention. Figure 6 This is a schematic diagram of the connection between an IO management module and an IO module preferably in an embodiment of the present invention. Figure 5 and Figure 6 As shown, the redundant module 53 can be connected to two IO management modules 51 connected to one IO management module 51, or can be connected to two IO management modules 51 respectively connected to two IO management modules 51. The first mode: the input end of the first IO module 52A and the second IO module 52B are connected to the IO management module 51, and the output end of the first IO module 52A and the second IO module 52B are connected to the redundant module to increase the integration. The second mode: the IO management module 51 includes the first IO management module 51A and the second IO management module 51B, the input end of the first IO module 52A is connected to the first IO management module 51A, the input end of the second IO module 52B is connected to the second IO management module 51B, and the output end of the first IO module 51A and the second IO module 51B is connected to the redundant module 53 to increase reliability. In actual applications, one of the redundant modes is selected according to the required redundancy. The first mode is redundant in the IO modules 52A and 52B, but the IO management module 51 is not redundant. The second method is adopted to make the IO modules 52A, 52B and the IO management module 51 redundant. In terms of integration and convenience, the first method has better integration and convenience, and the second method has higher robustness and reliability.

[0056] In this embodiment, preferably, at least two groups of industrial edge controllers 10 and controller communication modules 20 are provided to run in the industrial ring network module 40 for controller redundancy.

[0057] The preferred industrial edge controller 10 of this embodiment has high computing power, stability and reliability. The industrial edge controller 10 adopts an independent design. The CPU module has multiple communication interfaces. No additional communication module is required. It is easy to expand and supports third-party communication. In addition, the system has CPU module redundancy, communication module redundancy, and power supply redundancy functions, which greatly improves the safety and reliability of the system. The preferred industrial edge controller 10 of this embodiment includes:

[0058] A core board is a sub-circuit board that contains the core electronic components of the processing system, integrating master / slave chips, memory (eMMC / Nand Flash), running memory (DDR), power supply and clock circuits, etc. It is connected to the baseboard using a board-to-board connector.

[0059] The software installed in the industrial edge controller 10 includes a hard real-time operating system, various interface drivers, and a complete operating system with a graphical interface.

[0060] The first stacking board and the second stacking board, the first stacking board is equipped with input interface, output interface, communication interface and expansion interface, etc. The second stacking board is equipped with two power modules and a power management switching module. The input on the second stacking board includes SD card input, digital input, and analog input; the output includes digital output, switch output, and analog output; the communication interface includes two RS485 interfaces, two EtherNet / IP interfaces; one hot standby interface; the expansion interface includes HDMI interface, USB interface, PCIE interface, etc.

[0061] The memory is divided into two storage areas, which can have different functions in different modes. For example, when used alone, it can be used as a data backup memory. When used in hot standby, it can be used to synchronize business data.

[0062] The two switching power supplies on the second stack board are both isolated power supplies, which can effectively eliminate the influence of external interference. There is a precise voltage regulator module behind the next-level power management switching module, which can effectively filter out the ripple of the switching power supply and external interference.

[0063] Figure 7 This is a preferred industrial edge controller synchronization architecture embodiment of the present invention. Figure 7 As shown, two business processors are synchronously processing the same business, and the business logic information will be synchronized on the backplane bus. When the business logic performs communication data input and output, business processors 1 and 2 send out a synchronization signal switch, and the synchronization processor receives the switch, opens the cache, and the information of the business processor directly enters the cache, and then the information of business processor 2 enters the cache after being inverted. When the cache is completed, the synchronization signal is sent, and the two directly enter the differential synchronization comparison. After the comparison is completed, the same two-way information output is independently output after differential fitting. When any one of the ways has a problem, as long as the signal with the same synchronization feedback can still be output, the one that has no output will be processed by alarm. Ensure the robustness and reliability of the business.

[0064] Figure 8 The preferred embodiment of the present invention is an embodiment in which the industrial edge controller exchanges backup data through the industrial ring network module. Figure 8As shown, the two industrial edge controllers 10 are usually controller products of the same model, but can also be different models. Each controller is responsible for the input and output of its own business logic, and serves as a backup controller to monitor each other's status. The two parties exchange backup data through the ring network, synchronize the running data to the backup memory, and synchronize the storage data to the storage 2. The controller combines the received synchronization information and the control instructions sent by the host computer to generate a normal logic signal to determine whether the other party has a fault. When one party determines that the other party has a fault, the real-time operating system enables the backup data and takes over the work of the other party's business logic, thereby realizing data backup and normal operation of the system.

[0065] Preferably, in this embodiment, the controller redundancy adopts master / master and master / slave hot standby redundancy.

[0066] Specifically, the two industrial edge controllers 10 can be made into hot standby for processing. When performing hot standby, there can be different hot standby modes, which are divided into master-slave hot standby and master / master hot standby. The master / slave mode is a typical configuration mode. During normal operation, the core logic of the site runs on the master controller, and the data is kept completely consistent with the master-slave logic data in real time through mirroring. When the master controller fails, the core business logic of the site automatically switches to the slave controller to ensure uninterrupted operation of the business logic.

[0067] In the master / master mode, there are two sets of edge controllers for different applications or businesses running in the industrial ring network system. Each edge controller runs its own business logic. When one of them fails, the other edge controller will take over its business logic. In this environment, when allocating memory, the data of two different application business logics are allocated on different memories. This configuration can greatly improve the utilization of the equipment. In addition, the dual-master mode is a true dual-machine mutual backup, which requires the industrial controller to have strong processing capabilities to meet the needs of two applications.

[0068] The following is a specific application example of a redundant backup solution using an edge control redundant system for rail transit.

[0069] The specific judgment logic is as follows:

[0070] Based on the normal logic signals of the two main controllers, the normal working mode or the fault mode of the two main controllers is determined, specifically including: (for the convenience of description, one main controller is called A main controller, and the other is called B main controller)

[0071] When the B main controller detects that the output signal of a certain output channel of the A main controller is high (or the corresponding analog value, feedback and output deviation 0.1%), and the normal logic signal corresponding to the output channel is high, it is determined that the output channel of the A main controller is in normal working mode;

[0072] When the B main controller detects that the output signal of a certain output channel of the A main controller is low (or the corresponding analog value, feedback and output deviation 0.1%), and the normal logic signal corresponding to the output channel is low, it is determined that the output channel of the main PLC is in normal working mode;

[0073] When the B main controller detects that the output signal of a certain output channel of the A main controller is high (or the corresponding analog value, feedback and output deviation 0.1%), and the normal logic signal corresponding to the output channel is low, it is determined that the output channel of the A main controller is in the fault working mode;

[0074] When the B main controller detects that the output signal of a certain output channel of the main PLC is low (or the corresponding analog value, feedback and output deviation 0.1%), and the normal logic signal corresponding to the output channel is high, it is determined that the output channel of the A main controller is in the fault working mode;

[0075] When each output channel of the output module of the A main controller is in the normal working mode, it is determined that the A main controller is in the normal working mode;

[0076] When part of the output channels or the output of the output module of the A main controller are in a fault mode, it is determined that the A main controller is in a fault mode.

[0077] In the above method, when the B main controller determines that the A main controller is in a fault mode, taking over the work of the A main controller specifically includes:

[0078] When the B main controller determines that the output of the A main controller is in a fault mode, the output of the B main controller takes over the output of the A main controller, and records the fault information and reports it to the host computer;

[0079] When the B main controller determines that the output of the A main controller is in a fault mode, the start of the call is as follows Figure 6 The spare memory and the data stored in 2 are incorporated into the real-time scheduling system when the tasks related to the B main controller are used to replace the work of the A main controller.

[0080] In the above method, when the B main controller determines that the output channel of the A main controller is in normal mode, the B main controller normally outputs its own independent output to the outside, and can also be configured as a master-slave backup, then the B main controller does not output to the outside;

[0081] When the B main controller determines that the output channel of the A main controller is in a fault mode, the A main controller does not output externally, and the B main controller outputs externally and records the fault information to report to the host computer.

[0082] In this scheme, there are two main controllers, namely, main controller A and main controller B. By monitoring the output signals and normal logic signals of the two main controllers, it is determined whether they are in a normal working mode or a fault working mode.

[0083] In summary, the edge control redundant system for rail transit of the present invention has control redundancy, output redundancy, and dual power supply redundancy during power supply, so that when configuring, the hardware redundancy can be completed by simply plugging in the redundant module, and then the configuration can be completed by easily selecting the module in the software. And the final output model will be the same or the amplified signal of the third path after filtering. If the two are different, a low level will be output for alarm. The edge control redundant system for rail transit of the present invention perfectly takes into account the digital and analog output solutions.

[0084] It is worth noting that the entire IO digital input and analog input scheme is carried out in the opposite direction of the circuit.

[0085] The present application provides an edge control redundancy system that can solve the redundancy problem of the IO module itself.

[0086] The technical solution provided by the embodiment of the present application has the following advantages:

[0087] 1. Due to the use of IO modules, redundancy on the hardware terminal is completed, which enhances the robustness of the entire control solution;

[0088] 2. Due to the use of redundant modules, when an IO module fails, it can be switched in a very short time, greatly improving the safety of the site.

[0089] The above embodiments are provided for persons familiar with the art to implement or use the present application. Personnel familiar with the art can make various modifications or changes to the above embodiments without departing from the application concept of the present application. Therefore, the protection scope of the present application is not limited to the above embodiments, but should be the maximum scope of the innovative features mentioned in the claims.

Claims

1. An edge control redundancy system for rail transit, comprising: An industrial edge controller, the industrial edge controller is used to control and execute data processing tasks; A controller communication module, the controller communication module is connected to the industrial edge controller, and the controller communication module is equipped with an input end and an output end; A host computer, the host computer is connected to the industrial edge controller through the controller communication module; An industrial ring network module, in which the industrial edge controller runs; An IO module, the IO module is connected to the industrial ring network module, and the IO module includes: An IO management module, wherein the IO management module converts a network signal into a bus signal; An IO module, wherein the IO module is connected to the IO management module, the IO module converts the bus signal into an IO signal, the IO module outputs a PWM signal, the IO module comprises a first IO module and a second IO module, and the first IO module and the second IO module are redundant with each other; A redundancy module is connected to the first IO module and the second IO module, and the redundancy module compares the signals of the first IO module and the second IO module and selects a fault-free signal as output according to the compared high / low level signals.

2. The edge control redundancy system for rail transit according to claim 1, characterized in that: The redundancy module further comprises: An active filter, the active filter being connected to the IO module, and the active filter converting a signal of the IO module into a voltage value; A comparison amplifier, the comparison amplifier is connected to the active filter, and the comparison amplifier outputs a high / low level according to the voltage value; A logic judgment unit, the logic judgment unit is connected to the comparison amplifier, and the logic judgment unit compares and outputs the level output by the comparison amplifier; A mutual exclusion unit, the mutual exclusion unit is connected to the logic judgment unit, and the mutual exclusion unit selectively conducts a high / low level signal output by the first IO module and the second IO module through the respective logic judgment units; A signal selection unit is connected to the mutual exclusion unit and the active filter, and the signal selection unit selectively conducts one of the signals of the first IO module and the second IO module through the active filter according to the high / low level signal of the mutual exclusion unit.

3. The edge control redundancy system for rail transit according to claim 1 or 2, characterized in that: The IO module further includes an IO microprocessor, and the IO microprocessor is used to perform fault judgment on the IO module.

4. The edge control redundancy system for rail transit according to claim 1, characterized in that: The industrial edge controller and the controller communication module are provided with at least two groups running in the industrial ring network module for controller redundancy.

5. The edge control redundancy system for rail transit according to claim 4, characterized in that: The controller redundancy adopts master / master and master / slave hot standby redundancy.

6. The edge control redundancy system for rail transit according to claim 1, characterized in that: The input ends of the first IO module and the second IO module are connected to the IO management module, and the output ends of the first IO module and the second IO module are connected to the redundancy module to increase integration.

7. The edge control redundancy system for rail transit according to claim 1, characterized in that: The IO management module includes a first IO management module and a second IO management module, the input end of the first IO module is connected to the first IO management module, the input end of the second IO module is connected to the second IO management module, and the output ends of the first IO module and the second IO module are connected to the redundant module to increase reliability.

8. The edge control redundancy system for rail transit according to claim 1, characterized in that: The IO module outputs a PWM signal at a frequency of 10KHz.

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