Satellite control method and device based on distributed data acquisition

Abstract

The invention discloses a satellite control method and device based on distributed data acquisition, and belongs to the technical field of satellite control. The method comprises the steps that four computers are used for constructing a control system, each computer is connected to a corresponding lower computer through a bus, the multiple lower computers are dispersed to achieve data collection and control through different computers, and in the control system, each computer collects local data responsible for the computer, and the local data are stored in the control system; the method comprises the following steps of: performing data exchange on local data and other computers to obtain local input data, further performing fusion processing on the local input data, performing control calculation to obtain local output data, and performing exchange comparison on the local output data and the output data of other computers to ensure the reliability of the output data. Therefore, local output control data is obtained, and the lower computer is controlled by using the local output control data. According to the invention, through combination of distributed data acquisition and four-machine hot backup, the real-time performance of data processing can be improved.

Description

Technical Field

[0001] The present invention relates to the field of satellite control technology, and in particular to a satellite control method and device based on distributed data acquisition. Background Art

[0002] The space station is assembled from multiple modules, each of which is equipped with controllers, sensors, and actuators. The controller on a single module controls the attitude and orbit of the single module when it is in flight, and controls the attitude and orbit of the assembly after docking. If the controller of a module fails, the controller of another module needs to replace the failed controller to complete the control of the assembly. In order to meet the needs of any controller on the space station to control the assembly, the sensors and actuators on each module need to be integrated and used.

[0003] In the related technology, the satellite control system uses a single computer to collect data and control the lower computers in multiple cabins. However, facing the large number of sensors and actuators in the space station, it is impossible to achieve real-time processing. Summary of the invention

[0004] The present invention provides a satellite control method and device based on distributed data acquisition. The technical solution is as follows:

[0005] On the one hand, a satellite control method based on distributed data acquisition is provided, which is applied to each computer in a control system, wherein the control system is composed of four computers, each of which is connected to a corresponding lower computer through a bus, and the lower computer includes an actuator and a sensor; the method includes:

[0006] In each control cycle, the local data is collected, and the local data is sent to three other computers, and the other machine data sent by the three other computers are received to obtain the local input data through data exchange; the local data at least includes bus data;

[0007] The local input data is fused according to the data source type, and the fused input data is controlled and calculated to obtain the local output data;

[0008] Send the local output data to three other computers, and receive the other-machine output data sent by three other computers;

[0009] Compare the local output data with the output data of other machines to obtain the local output control data, and use the local output control data to control the lower machine.

[0010] On the other hand, a satellite control device based on distributed data acquisition is provided, which is applied to each computer in a control system, wherein the control system is composed of four computers, each of which is connected to a corresponding lower computer through a bus, and the lower computer includes an actuator and a sensor; the device includes:

[0011] A data acquisition unit, used to collect local data in each control cycle;

[0012] A data exchange unit, used for sending local data to three other computers and receiving other-machine data sent by the three other computers, so as to obtain local input data through data exchange; the local data at least includes bus data;

[0013] The data processing unit is used to perform fusion processing on the input data of the local machine according to the type of data source, and to perform control calculation on the input data after fusion processing to obtain the output data of the local machine;

[0014] The data exchange unit is also used to send the local output data to three other computers, and receive the other-machine output data sent by the three other computers;

[0015] The control unit is used to compare the local output data with the output data of other machines to obtain the local output control data, and use the local output control data to control the lower machine.

[0016] On the other hand, a computer device is provided, which includes a memory and a processor, the memory is used to store computer programs, and the processor is used to execute the computer programs stored in the memory to implement the steps of the above-mentioned satellite control method based on distributed data acquisition.

[0017] On the other hand, a computer-readable storage medium is provided, wherein a computer program is stored in the storage medium, and when the computer program is executed by a processor, the steps of the satellite control method based on distributed data acquisition are implemented.

[0018] On the other hand, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the satellite control method based on distributed data acquisition described above are implemented.

[0019] The technical solution provided by the present invention can at least bring the following beneficial effects:

[0020] Four computers are used to build a control system. Each computer is connected to the corresponding lower computer through a bus. Multiple lower computers are dispersed and different computers are used to realize data acquisition and control. In the control system, each computer collects the local data that it is responsible for, and then exchanges the local data with other computers to obtain the local input data. After further fusion processing of the local input data, control calculation is performed to obtain the local output data. To ensure the reliability of the output data, the local output data is exchanged and compared with the output data of other machines to obtain the local output control data, and the local output control data is used to control the lower computer. This solution can improve the real-time performance of data processing by combining distributed data acquisition with four-machine hot backup. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 is a flow chart of a satellite control method based on distributed data acquisition provided by an embodiment of the present invention;

[0023] Figure 2 It is a schematic diagram of the connection relationship between a control system and a lower computer provided by an embodiment of the present invention;

[0024] Figure 3 It is a structural diagram of a satellite control device based on distributed data acquisition provided by an embodiment of the present invention;

[0025] Figure 4 It is a hardware architecture diagram of a computer device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0027] Please refer to Figure 1A satellite control method based on distributed data acquisition provided by an embodiment of the present invention is applied to each computer in a control system, wherein the control system is composed of four computers, each of which is connected to a corresponding lower computer through a bus, and the lower computer includes an actuator and a sensor; the method includes:

[0028] Step 100, collecting local data in each control cycle, and sending the local data to three other computers, and receiving other-machine data sent by the three other computers, so as to obtain local input data through data exchange; the local data at least includes bus data;

[0029] Step 102, fusing the local input data according to the data source type, and performing control calculation on the fused input data to obtain the local output data;

[0030] Step 104, sending the local output data to three other computers, and receiving the other-machine output data sent by the three other computers;

[0031] Step 106, compare the local output data with the other machine output data to obtain the local output control data, and use the local output control data to control the lower machine.

[0032] In the embodiment of the present invention, four computers are used to construct a control system, each computer is connected to a corresponding lower computer through a bus, and multiple lower computers are dispersed to realize data acquisition and control by different computers. In the control system, each computer acquires the local data that it is responsible for, and then exchanges the local data with other computers to obtain local input data. After further fusion processing of the local input data, control calculation is performed to obtain local output data. To ensure the reliability of the output data, the local output data is exchanged and compared with the output data of other machines, thereby obtaining local output control data, and the local output control data is used to control the lower computers. This solution can improve the real-time performance of data processing by combining distributed data acquisition with four-machine hot backup.

[0033] Described below Figure 1 How the various steps are performed.

[0034] First, for step 100, local data is collected in each control cycle, and the local data is sent to three other computers, and other machine data sent by the three other computers are received to obtain local input data through data exchange; the local data at least includes bus data.

[0035] Please refer to Figure 2, is a schematic diagram of the connection relationship between the control system and the lower computer. The control system includes four computers, namely A, B, C and D. The four computers are connected in pairs and use hot backup to achieve data transmission. Each computer is connected to the corresponding lower computer through a bus. The lower computer includes a sensor and an actuator. Figure 2 The types of the sensors n1, n2, n3, n4, na, nb, nc, and nd are not exactly the same, and the types of the actuators m1, m2, m3, m4, ma, mb, mc, and md are not exactly the same.

[0036] In each control cycle, each computer in the control system collects its own data. The local data includes bus data and other local data. Machine A, machine B, machine C and machine D collect their own data respectively to obtain machine A data, machine B data, machine C data and machine D data.

[0037] In order to ensure that each computer in the control system can obtain complete data and use the complete data to achieve subsequent output control, four computers are required to exchange data. The data exchange method is: each computer sends its own data to three other computers, and receives other computer data sent by three other computers. If Xy is used to represent the data of machine X sent by machine Y, then after the first round of data exchange, machine A, machine B, machine C and machine D all obtain a complete input data AaBbCcDd, see Table 1;

[0038] Table 1:

[0039] Machine\Received Number 0 1 2 3 A Aa Bb Cc D B Bb Cc D Aa C Cc D Aa Bb D D Aa Bb Cc

[0040] It can be seen that each computer has obtained a complete set of input data AaBbCcDd.

[0041] In order to increase the reliability of the system, in one embodiment of the present invention, a second round of data exchange may be performed, that is, after sending the local data to the three other computers and receiving the other-machine data sent by the three other computers, and before obtaining the local input data, the following steps S11-S13 may be further included:

[0042] S11: forwarding the three corresponding copies of the other-machine data sent by the three other computers to each other computer, and receiving the three copies of the other-machine data forwarded by the three other computers respectively, so that the local computer obtains four complete copies of the data;

[0043] In this step, after the second round of data exchange, each computer has four complete data, see Table 2;

[0044] Table 2:

[0045]

[0046]

[0047] S12: After removing one complete source data from the four complete data, the remaining three complete data are compared, and the local input data is determined according to the comparison result; the complete source data is the complete data obtained by the local after receiving the other machine data sent by the three other computers.

[0048] Since each computer has four complete data, in order to improve the reliability of the system, it is necessary to compare the other three complete data after removing the complete source data.

[0049] In one embodiment of the present invention, the comparison can be performed in at least one of the following ways: the remaining three complete data are compared bit by bit. If the value at the current bit is not exactly the same, the final result at the current bit is selected by taking the majority method. After each bit is compared, the local input data is obtained.

[0050] Taking the comparison process of machine A as an example, the complete source data AaBbCcDd is eliminated, and the other three data AbBbCbDb, AcBcCcDc, and AdBdCdDd are compared.

[0051] Specifically, when determining the true data of machine A for machine A, data Ab, data Ac and data Ad are compared bit by bit; when determining the true data of machine B for machine B, data Bb, data Bc and data Bd are compared bit by bit; when determining the true data of machine C for machine C, data Cb, data Cc and data Cd are compared bit by bit; when determining the true data of machine D for machine D, data Db, data Dc and data Dd are compared bit by bit.

[0052] When comparing each current position, if the values ​​on the current position are exactly the same, the same value will be used as the final result on the current position; if the values ​​on the current position are not exactly the same, the final result on the current position will be selected by taking the majority method. If the values ​​on the current position are not the same, the data on this position is abnormal.

[0053] In the above, each computer has obtained the input data of its own computer.

[0054] Then, for step 102, the local input data is fused according to the type of data source, and the fused input data is controlled and calculated to obtain the local output data.

[0055] In the embodiment of the present invention, since there is common data in the data acquired by different computers, it is necessary to perform fusion processing on the local input data to ensure that the data used for control calculation is accurate.

[0056] In one embodiment of the present invention, the types of data sources include single-source data, synchronous multi-source data, and asynchronous multi-source data; wherein the single-source data is data that can only be obtained by a single computer; the synchronous multi-source data is data that can be obtained by multiple computers at the same time; and the asynchronous multi-source data is data that can be obtained by multiple computers but not at the same time.

[0057] Then, the fusion processing of the local input data according to the type of data source includes the following processing methods:

[0058] The single-source data in the local input data is not processed; since there is no duplicate data in the single-source data, it does not need to be processed and can be used directly.

[0059] The synchronized multi-source data in the local input data is selected according to the set rules to obtain the data result; wherein the rule can be set according to the specific task requirements. For example, the data is sorted by size, the second largest value is taken as the data result, or the median value is selected as the data result.

[0060] The asynchronous multi-source data in the local input data is processed according to the principle of first-come-first-served and non-repeated execution to obtain the data result. The remote control data for the space station generally needs to be injected from the ground. Different computers may receive data at different times. In order to ensure the rapid processing and execution of the data, the asynchronous multi-source data is processed according to the principle of first-come-first-served and non-repeated execution. Specifically, if the asynchronous multi-source data has not been executed, the asynchronous multi-source data will be executed this time. If the asynchronous multi-source data has been executed, it will not be executed again this time. It can be seen that as long as one of the four computers receives the asynchronous multi-source data, it can be executed immediately without waiting for the other computers to receive the asynchronous multi-source data, which further improves the real-time performance of data processing.

[0061] In the embodiment of the present invention, in order to meet the high reliability requirements, the lower computer on the space station adopts a double redundancy method, and the redundancy method includes: interface redundancy and equipment redundancy.

[0062] Interface redundancy means that the same lower machine is connected to the computer through multiple interfaces. When the computer is connected to the lower machine, it is connected to the lower machine through multiple interfaces to prevent interface failure. When the interface is not faulty, the data of the same lower machine at the same time is collected through multiple interfaces. For multiple copies of data from different interfaces, after input exchange, the valid data is selected according to the interface priority.

[0063] Equipment redundancy is to use multiple devices to back up a type of slave computer; multiple slave computers of the same type are connected to the computer. For example, slave computers M1 and M2 of the same type are connected to machine A. In each control cycle, machine A needs to perform fault diagnosis on slave computers M1 and M2, and select valid slave computer data according to the priority of the slave computers. For example, if slave computer M1 fails, the data of slave computer M2 will be used as valid data.

[0064] That is, this step requires determining the redundancy method adopted by the sensors and actuators connected to this machine;

[0065] If the redundancy mode adopted is interface redundancy, then valid data is determined according to multiple copies of data from multiple different interfaces in the order of interface priority, and control calculation is performed using the valid data;

[0066] If the redundancy method adopted is device redundancy, fault diagnosis is performed separately according to multiple lower computers, valid data is determined according to the device priority order, and control calculations are performed using the valid data.

[0067] Finally, step 104 "sending the local output data to three other computers, and receiving the other computer output data sent by the three other computers" and step 106 "comparing the local output data with the other computer output data to obtain the local output control data, and using the local output control data to control the lower computer" are explained at the same time.

[0068] The output data includes at least calculation instructions, important data, flags, etc.

[0069] In order to ensure the consistency of the output data, each calculation also needs to exchange and compare the output data. The exchange and comparison method is the same as the exchange and comparison method of the local data and the other machine data in step 100. Similarly, when performing data comparison, each computer obtains four copies of output data, and the underlying hardware completes the tolerance-free comparison of the data. The comparison is performed bit by bit, and if there are not completely the same values ​​on the bit, the majority principle is used to obtain the data result. Since the four copies of data are compared, when there is a 2:2 form, it is determined that the data on the bit is abnormal, and if the values ​​on the bit are not the same, the data on the bit is abnormal. Output control is not performed when the data is abnormal.

[0070] Furthermore, when the output control data is obtained after the comparison is completed, and the output control data is normal, it is also necessary to determine whether the floating-point number of the output control data is valid. Specifically, the floating-point format validity of the floating-point number in the local output control data is judged. If the floating-point format is valid, the control of the lower computer using the local output control data is executed; otherwise, the lower computer is not controlled.

[0071] Since data may change during the data comparison process, resulting in abnormal floating point format, a trap will be triggered if the floating point number is read at this time. In order to improve the reliability of the output control data, it is necessary to determine the validity of the floating point format of the compared data. If the validity determination fails, the output control data of the machine is considered invalid and the output control will not be performed.

[0072] It should be noted that the data exchange between computers involved in the embodiments of the present invention is that the software puts the data into the specified input exchange memory, and the underlying hardware completes the data exchange and tolerance-free bitwise comparison. Compared with the data collection of a single computer, the large amount of data will affect the collection rate. The present invention can ensure the rapid exchange of data and improve the real-time performance of data processing.

[0073] Please refer to Figure 3 The embodiment of the present invention provides a satellite control device based on distributed data acquisition, which is applied to each computer in a control system. The control system is composed of four computers, each of which is connected to a corresponding lower computer through a bus. The lower computer includes an actuator and a sensor. The device includes:

[0074] The data collection unit 300 is used to collect local data in each control cycle;

[0075] The data exchange unit 302 is used to send local data to three other computers and receive other-machine data sent by the three other computers to obtain local input data through data exchange; the local data at least includes bus data;

[0076] The data processing unit 304 is used to perform fusion processing on the local input data according to the data source type, and perform control calculation on the fused input data to obtain the local output data;

[0077] The data exchange unit 302 is also used to send the local output data to three other computers, and receive the other machine output data sent by the three other computers;

[0078] The control unit 306 is used to compare the local output data with the output data of other machines to obtain the local output control data, and use the local output control data to control the lower machine.

[0079] In one embodiment of the present invention, the device may also include: a comparison unit, used to forward the three corresponding copies of the other machine data sent by the three other computers to each other computer, and receive the three copies of the other machine data forwarded by the three other computers respectively, so that the local computer obtains four complete data; after eliminating one complete source data from the four complete data, the remaining three complete data are compared, and the local computer input data is determined according to the comparison result; the complete source data is the complete data obtained by the local computer after receiving the other machine data sent by the three other computers.

[0080] In one embodiment of the present invention, when the comparison unit performs the comparison of the remaining three complete data and determines the local input data based on the comparison results, it specifically includes: comparing the remaining three complete data bit by bit, if the values ​​on the current bit are not exactly the same, selecting the final result on the current bit by taking the majority method, and obtaining the local input data after each bit is compared.

[0081] In one embodiment of the present invention, the data source types include single-source data, synchronous multi-source data and asynchronous multi-source data; the single-source data is data that can only be obtained by a single computer; the synchronous multi-source data is data that can be obtained by multiple computers at the same time; the asynchronous multi-source data is data that can be obtained by multiple computers but not at the same time;

[0082] When the data processing unit executes the fusion processing of the local input data according to the type of data source, it specifically includes: not processing the single-source data in the local input data; selecting the synchronous multi-source data in the local input data according to the set rules to obtain the data result; processing the asynchronous multi-source data in the local input data according to the first-come-first-served principle without repeated execution to obtain the data result.

[0083] In one embodiment of the present invention, when the data processing unit executes the control calculation of the fused input data, it specifically includes: determining the redundancy method adopted by the sensors and actuators connected to the machine; the redundancy method includes interface redundancy and equipment redundancy; if the redundancy method adopted is interface redundancy, then according to multiple copies of data from multiple different interfaces, in accordance with the interface priority order, valid data is determined, and control calculation is performed using the valid data; if the redundancy method adopted is equipment redundancy, then according to different equipment characteristics, equipment fault diagnosis is performed separately, valid data is determined in accordance with the equipment priority order, and control calculation is performed using the valid data.

[0084] In one embodiment of the present invention, the device may also include: a judgment unit, used to judge the validity of the floating point format of the floating point number in the local output control data. If the floating point format is valid, the control of the lower computer using the local output control data is executed; otherwise, the lower computer is not controlled.

[0085] It should be noted that: the satellite control device based on distributed data collection provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the satellite control device based on distributed data collection provided in the above embodiment and the satellite control method embodiment based on distributed data collection belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0086] The embodiment of the present application also provides a computer device, please refer to Figure 4 The computer device includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, at least one program, a code set or an instruction set is loaded and executed by the processor to implement the satellite control method based on distributed data acquisition provided by the above-mentioned method embodiments.

[0087] An embodiment of the present application also provides a computer-readable storage medium, on which is stored at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the satellite control method based on distributed data acquisition provided in the above-mentioned method embodiments.

[0088] An embodiment of the present application also provides a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium, and the processor executes the computer program, so that the computer device executes any of the satellite control methods based on distributed data acquisition described in the above embodiments.

[0089] For the convenience of description, the above system or device is described by dividing it into various modules or units according to its functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0090] It can be known from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly contributed to the prior art in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

[0091] Finally, it should be noted that, in this article, relational terms such as first, second, third and fourth are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0092] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A satellite control method based on distributed data acquisition, characterized in that: Applied to each computer in a control system, the control system is composed of four computers, each computer is connected to a corresponding lower computer through a bus, and the lower computer includes an actuator and a sensor; the method includes: In each control cycle, the local data is collected, and the local data is sent to three other computers, and the other machine data sent by the three other computers are received to obtain the local input data through data exchange; the local data at least includes bus data; The local input data is fused according to the data source type, and the fused input data is controlled and calculated to obtain the local output data; Send the local output data to three other computers, and receive the other-machine output data sent by three other computers; Compare the local output data with the output data of other machines to obtain the local output control data, and use the local output control data to control the lower machine.

2. The method according to claim 1, characterized in that After sending the local data to the three other computers and receiving the other-machine data sent by the three other computers and before obtaining the local input data, the method further includes: Forward the three corresponding copies of the data sent by the three other computers to each other computer, and receive the three copies of the data forwarded by the three other computers respectively, so that the local computer obtains four complete copies of the data; After removing one complete source data from the four complete data, the remaining three complete data are compared, and the local input data is determined according to the comparison result; the complete source data is the complete data obtained by the local after receiving the other machine data sent by the three other computers.

3. The method according to claim 2, characterized in that The remaining three complete data are compared, and the local input data is determined according to the comparison results, including: The remaining three complete data are compared bit by bit. If the value at the current bit is not exactly the same, the final result at the current bit is selected by taking the majority method. After each bit is compared, the local input data is obtained.

4. The method according to claim 1, characterized in that: The data source types include single-source data, synchronous multi-source data and asynchronous multi-source data; the single-source data is data that can only be obtained by a single computer; the synchronous multi-source data is data that can be obtained by multiple computers at the same time; the asynchronous multi-source data is data that can be obtained by multiple computers but not at the same time; The fusing process of the local input data according to the data source type includes: The single-source data in the local input data is not processed; The synchronized multi-source data in the local input data is selected according to the set rules to obtain the data results; The asynchronous multi-source data in the local input data is processed according to the principle of first-come-first-served and non-repeated execution to obtain the data result.

5. The method according to claim 4, characterized in that The controlling calculation of the fused input data includes: Determine the redundancy mode adopted by the sensors and actuators connected to the machine; the redundancy mode includes interface redundancy and equipment redundancy; If the redundancy mode adopted is interface redundancy, then valid data is determined according to multiple copies of data from multiple different interfaces in the order of interface priority, and control calculation is performed using the valid data; If the redundancy method adopted is device redundancy, device fault diagnosis is performed separately according to the characteristics of different devices, valid data is determined according to the device priority order, and control calculations are performed using the valid data.

6. The method according to any one of claims 1 to 5, characterized in that: After obtaining the local output control data and before using the local output control data to control the lower computer, the method further includes: The floating point format validity is judged for the floating point numbers in the local output control data. If the floating point format is valid, the local output control data is used to control the lower computer. Otherwise, the lower computer is not controlled.

7. A satellite control device based on distributed data acquisition, characterized in that: Applicable to each computer in a control system, the control system is composed of four computers, each computer is connected to a corresponding lower computer through a bus, the lower computer includes an actuator and a sensor; the device includes: A data acquisition unit, used to collect local data in each control cycle; A data exchange unit, used for sending local data to three other computers and receiving other-machine data sent by the three other computers, so as to obtain local input data through data exchange; the local data at least includes bus data; The data processing unit is used to perform fusion processing on the input data of the local machine according to the type of data source, and to perform control calculation on the input data after fusion processing to obtain the output data of the local machine; The data exchange unit is also used to send the local output data to three other computers, and receive the other-machine output data sent by the three other computers; The control unit is used to compare the local output data with the output data of other machines to obtain the local output control data, and use the local output control data to control the lower machine.

8. A computer device, characterized in that: The computer device includes a memory and a processor, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to implement the steps of any one of the methods described in claims 1-6.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The method comprises a computer program, wherein when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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