Decentralized control system controller undisturbed switching judgment method, system, equipment and medium

Abstract

The invention belongs to the technical field of controllers, and relates to a decentralized control system controller undisturbed switching judgment method, system and device and a medium. According to the invention, the real-time data of the external input signal in the normal operation state and the switching process of the controller are obtained and are compared to determine whether the data are consistent. The normal operation state of the controller and the internal operation processing capability data in the switching process are obtained and are compared to determine whether the data are consistent. The undisturbed data of the external output signal in the normal operation state and the switching process of the controller are obtained and are compared to determine whether the undisturbed data are consistent. If the normal operation state of the controller is consistent with the real-time data of the external input signal, the internal operation processing capability data and the undisturbed data of the external output signal in the switching process, the switching of the controller is not disturbed, otherwise, the switching of the controller is not disturbed; through comprehensive analysis and judgment of input signal processing, internal data processing capability and signal output performance of the controller, whether the controller is in undisturbed switching can be accurately judged.

Description

Technical Field

[0001] The present invention belongs to the technical field of controllers, and relates to a method, system, device and medium for judging seamless switching of controllers in a distributed control system. Background Art

[0002] With the application and popularization of distributed control systems (DCS) in industrial production processes such as thermal power generation, hydropower generation, and nuclear power generation, the distributed control system (DCS) has become the most important key device in the field of industrial automation, and its performance is directly related to the safety, reliability and economy of the actual production process.

[0003] The controller is the central processing unit of each process control station of the distributed control system (DCS), and is one of the core devices of the distributed control system (DCS). It is responsible for the operation of control logic and the processing of input signals and output instructions. If the controller fails, the monitoring of process parameters and the control ability of the process will be lost. Therefore, all distributed control systems (DCS) have redundant designs for the controller. Generally, in the application of the distributed control system (DCS), a complete hot standby redundant mode is adopted for the controller. One is the main controller, and the other is the standby controller, and a fault judgment mechanism is established. When the main controller fails, the standby controller immediately starts running. In theory, the logic algorithm and state of the standby controller are the same as those of the main controller, and the switching process can be completed seamlessly. Therefore, whether the redundant controller can perform seamless switching is a key indicator to measure the performance of the controller.

[0004] At present, relevant power industry standards and industry standards only generally stipulate that the control system should be able to perform seamless redundancy switching between the main and standby controllers normally, the system status display, fault diagnosis, alarm and printing functions are correct, and the input / output and data transmission capabilities of analog and digital signals should remain normal, but do not specify by what means to collect abnormal data. Since the processing cycle of the controller generally ranges from 20 ms to 500 ms, and the resolution of historical data is generally above 500 ms, operation and maintenance personnel cannot rely on the data recording ability of the distributed control system (DCS) itself to collect the data of controller switching. The seamless switching test of the controller generally artificially simulates the failure of the main controller or its external related equipment, and the standby controller automatically starts working. By observing the normal operation status display, fault alarm status, and the input / output data of analog and digital signals recorded in history before and after the switching, the judgment is made. Due to the insufficient resolution of the historical station and the inability to detect and record actual control disturbances and data mutations, it cannot truly evaluate the seamless switching ability of the controller switching process. At the same time, it is also impossible to distinguish which link of the input signal processing, internal data processing ability, and signal output performance of the controller will be affected by the controller switching.

[0005] In summary, during the redundant switchover process of the primary and standby controllers in a distributed control system (DCS), it is impossible to judge whether the controller performs a seamless switchover, and it is impossible to identify which link of the controller's input signal processing, internal data processing ability, and signal output performance will be affected by the controller switchover. Summary of the Invention

[0006] The purpose of the present invention is to provide a method, system, device, and medium for judging seamless switchover of a controller in a distributed control system, so as to solve the technical problems that during the redundant switchover process of the primary and standby controllers in a distributed control system, it is impossible to judge whether the controller performs a seamless switchover, and it is impossible to identify which link of the controller's input signal processing, control logic operation, and signal output performance will be affected by the controller switchover. The present invention can accurately identify the impact of controller switchover on the controller's input signal processing, internal data processing ability, and signal output performance, and can accurately judge whether the controller performs a seamless switchover.

[0007] To achieve the above purpose, the present invention adopts the following technical solutions: In the first aspect, the present invention provides a method for judging seamless switchover of a controller in a distributed control system, including the following steps: Obtain the real-time data of the external input signal during the normal operation state of the controller and the controller switchover process, and compare whether they are consistent; Obtain the internal operation processing ability data during the normal operation state of the controller and the controller switchover process, and compare whether they are consistent; Obtain the seamless data of the external output signal during the normal operation state of the controller and the controller switchover process, and compare whether they are consistent; If the real-time data of the external input signal, the internal operation processing ability data, and the seamless data of the external output signal during the normal operation state of the controller and the controller switchover process are respectively consistent, then the controller switchover is seamless; otherwise, the controller does not perform a seamless switchover.

[0008] In the second aspect, the present invention provides a system for judging seamless switchover of a controller in a distributed control system, including an external input data judgment module, an internal operation data judgment module, an external output data judgment module, and a seamless switchover judgment module, where: The external input data judgment module: is used to obtain the real-time data of the external input signal during the normal operation state of the controller and the controller switchover process, and compare and judge whether they are consistent; The internal operation data judgment module: is used to obtain the internal operation processing ability data during the normal operation state of the controller and the controller switchover process, and compare whether they are consistent; The external output data judgment module: is used to obtain the seamless data of the external output signal during the normal operation state of the controller and the controller switchover process, and compare whether they are consistent; Disturbance-free switching judgment module: used to determine that if the real-time data of the external input signal, the internal operation processing ability data, and the disturbance-free data of the external output signal during the normal operation state of the controller and the controller switching process are respectively consistent, then the controller switching is disturbance-free; otherwise, the controller does not perform disturbance-free switching.

[0009] In a third aspect, the present invention provides an electronic device, including: a processor; a memory for storing computer program instructions; and for implementing the steps of the method for judging the disturbance-free switching of the controller of the distributed control system when executing the computer program.

[0010] In a fourth aspect, the present invention provides a storage medium, which stores computer program instructions. When the computer program instructions are loaded and run by a processor, the processor executes the method for judging the disturbance-free switching of the controller of the distributed control system.

[0011] In a fifth aspect, the present invention provides a computer program product, which includes computer instructions for instructing a computer to execute the method for judging the disturbance-free switching of the controller of the distributed control system.

[0012] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention evaluates the impact of the controller switching process on the controller input signal reception performance by obtaining the real-time data of the external input signal during the normal operation state of the controller and the controller switching process and comparing whether they are consistent. By obtaining the internal operation processing ability data during the normal operation state of the controller and the controller switching process and comparing whether they are consistent, the impact of the controller switching process on the controller's internal data processing ability is evaluated. By obtaining the disturbance-free data of the external output signal during the normal operation state of the controller and the controller switching process and comparing whether they are consistent, the impact of the controller switching process on the controller signal output performance is evaluated. If the real-time data of the external input signal, the internal operation processing ability data, and the disturbance-free data of the external output signal during the normal operation state of the controller and the controller switching process are respectively consistent, then the controller switching is disturbance-free; otherwise, the controller does not perform disturbance-free switching. Through the comprehensive analysis and judgment of the controller's input signal processing, internal data processing ability, and signal output performance, the present invention can accurately judge whether the controller performs disturbance-free switching.

[0013] 2. The system of the present invention includes an external input data judgment module, an internal operation data judgment module, an external output data judgment module, and a seamless switching judgment module, where: The external input data judgment module is used to obtain the real-time data of the external input signals during the normal operation state and the switching process of the controller and compare whether they are consistent; The internal operation data judgment module is used to obtain the internal operation processing ability data during the normal operation state and the switching process of the controller and compare whether they are consistent; The external output data judgment module is used to obtain the seamless data of the external output signals during the normal operation state and the switching process of the controller and compare whether they are consistent; The seamless switching judgment module is used to determine that the controller switches seamlessly if the real-time data of the external input signals, the internal operation processing ability data, and the seamless data of the external output signals during the normal operation state and the switching process of the controller are respectively consistent, otherwise the controller does not switch seamlessly. Each module cooperates with each other, can accurately identify the impact of controller switching on the processing of the input signals of the controller, the internal processing data ability, and the signal output performance of the controller, and can accurately determine whether the controller switches seamlessly.

[0014] 3. The device, medium, and computer program product of the present invention can also accurately identify the impact of controller switching on the processing of the input signals of the controller, the internal processing data ability, and the signal output performance of the controller, and can accurately determine whether the controller switches seamlessly. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of data acquisition for the real-time processing of external input signals by the controller according to an embodiment of the present invention; Figure 2 It is a schematic diagram of data acquisition for the internal operation processing ability of the controller according to an embodiment of the present invention; Figure 3 It is a schematic diagram of data acquisition for the seamless property of the external output signals of the controller according to an embodiment of the present invention; Figure 4 It is a schematic diagram of generating the test results of seamless switching of the controller according to an embodiment of the present invention; Figure 5 It is a flowchart of the method of the present invention; Figure 6 It is a system module diagram of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0016] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0017] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of the present invention are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0018] The present invention will be further described in detail below with reference to the drawings: See Figure 5 , the present invention discloses a method for judging seamless switching of a distributed control system controller, including the following steps: S1. Obtain the real-time data of the external input signal during the normal operation state of the controller and the switching process of the controller, and compare whether they are consistent, specifically as follows: Configure a counter function block in the controller, and connect the input end of the counter function block to the measured DI channel; Use a pulse signal generator to input a square wave pulse train with a duty cycle of 50% to the DI channel, and the pulse width is equal to the larger value of the controller processing cycle and the hardware scanning cycle; Input a fixed number of square wave pulse trains, and record the number of pulses accumulated by the counter function block; Judge whether the number of pulses accumulated by the counter function block is consistent with the number of pulses issued by the pulse signal generator; If the number of pulses accumulated by the counter function block is consistent with the number of pulses issued by the pulse signal generator, the set pulse width data is the performance data of the controller receiving the input signal. If the number of pulses accumulated by the counter function block is less than the number of pulses issued by the pulse signal generator, the total time of the pulses issued by the pulse signal generator divided by the number of pulses accumulated by the counter function block, the obtained data is the performance data of the controller receiving the input signal, where the total time of the pulses issued by the pulse signal generator is the number of pulses issued multiplied by the pulse width.

[0019] S2. Obtain the internal operation processing ability data during the normal operation state of the controller and the switching process of the controller, and compare whether they are consistent, specifically as follows: Test the processing cycle of the controller, and the processing cycle of the controller is the internal operation processing ability data; Configure a test logic in the controller using an accumulation function block, a switching function block, a constant function block, and a pulse function block. The controller performs an accumulation count once per operation. The logic function is set to start accumulation manually and automatically stop counting after the accumulation is completed within the set time. Set the accumulation time of the test logic through the pulse function block, and the accumulation time of the test logic is greater than the switching time of the controller. Start the test by manually setting to 1, complete the accumulation count within the set time, and read the value recorded by the accumulation function block. Divide the accumulation time by the accumulation value, and the resulting data is the processing cycle of the tested controller. Compare whether the processing cycle measured during normal operation of the controller is consistent with the processing cycle measured during the controller switching process.

[0020] S3. Obtain the non-interference data of the external output signals during the normal operation state and the switching process of the controller, and compare whether they are consistent. Specifically as follows: Configure a self-excited oscillation logic in the controller using an RS flip-flop, a delay-off, and a delay-on function block. The self-excited oscillation logic is connected to the controller DO output, and the self-excited oscillation logic realizes a pulse train with an output width of 1 s. The controller DO output is connected in parallel with a resistor of a fixed resistance value, and a high-precision recorder is connected across the resistor. The waveform of the high-precision recorder is the waveform of the controller DO output, and the waveform of the controller DO output is the non-interference data of the external output signal during the normal operation state of the controller. Build a ramp signal logic in the controller using an RS flip-flop, a switching function block, high and low limit function blocks, and an accumulation function block. Output a ramp signal through the controller AO. The ramp signal logic realizes automatic subtraction when the accumulation reaches the upper limit and automatic start of accumulation when the subtraction reaches the lower limit. The controller performs an accumulation or subtraction once per scan, and outputs a ramp signal that cycles from 0 to 100 to 0. The controller AO output is connected in series with a low-voltage DC power supply of a fixed voltage and connected to a high-precision recorder. The waveform of the high-precision recorder is the waveform of the controller AO output, and the waveform of the controller AO output is the non-interference data of the external output signal during the controller switching process. The voltage of the low-voltage DC power supply is 0 - 24V. Compare whether the non-interference data of the external output signal during the normal operation state of the controller is consistent with the non-interference data of the external output signal during the controller switching process.

[0021] S4. If the real-time data of the external input signals, the internal operation processing ability data, and the non-interference data of the external output signals during the normal operation state and the switching process of the controller are respectively consistent, then the controller switching is non-disturbing; otherwise, the controller does not switch without disturbance. See Figure 4 .

[0022] See Figure 5 Figure 5 , in another feasible embodiment of the present invention, the following is adaptively modified according to the situation. The steps include: obtaining the real-time data of the external input signals during the normal operation state of the controller and the controller switching process, and comparing whether they are consistent to evaluate the impact of the controller switching process on the controller's input signal reception performance. Obtaining the internal operation processing ability data during the normal operation state of the controller and the controller switching process, and comparing whether they are consistent to evaluate the impact of the controller switching process on the controller's internal data processing ability. Obtaining the non-interference data of the external output signals during the normal operation state of the controller and the controller switching process, and comparing whether they are consistent to evaluate the impact of the controller switching process on the controller's signal output performance. If the real-time data of the external input signals, the internal operation processing ability data, and the non-interference data of the external output signals during the normal operation state of the controller and the controller switching process are respectively consistent, then the controller switching is without disturbance; otherwise, the controller does not switch without disturbance. Through the comprehensive analysis and judgment of the controller's input signal processing, internal data processing ability, and signal output performance, the present invention can accurately determine whether the controller switches without disturbance.

[0023] Embodiment 1: See Figure 4 Figure 4 , the purpose of the present invention is to solve the problems of difficult data acquisition for the controller switching performance test of the distributed control system, inability to qualitatively evaluate the disturbance-free ability of the controller switching, inability to locate and evaluate the impact of the controller switching on input signal processing, control logic operation, and output instruction processing, etc., and provide a method for judging the disturbance-free switching of the controller of the distributed control system to help testers evaluate the disturbance-free ability of the controller switching process through data acquisition and qualitative analysis.

[0024] This embodiment discloses a method for judging the disturbance-free switching of the controller of the distributed control system, including: a data acquisition and analysis method for the real-time performance of the controller to process external input signals, a data acquisition and analysis method for the internal operation processing ability of the controller, and a data acquisition and analysis method for the non-interference of the controller to external output signals.

[0025] S1. The acquisition and analysis of the data of the controller to process the real-time performance of external input signals are as follows: Collect the performance data of the controller receiving input signals under normal conditions and during the switching process of the controller, that is, the speed at which the system receives and processes input signals. Compare and analyze the data collected under normal conditions and during the switching process of the controller to evaluate the impact of the controller switching process on the controller's input signal reception performance.

[0026] Furthermore, see Appendix Figure 1 Figure 1 , the specific steps for the data acquisition and analysis of the controller to process the real-time performance of external input signals are: S11. Configure a counter function block in the controller, and connect the input end of the counter function block to the measured controller channel; S12. Use a pulse signal generator to input a fixed number of square wave pulse trains with a duty cycle of 50% to the controller channel, and the pulse width is equal to the larger value of the controller processing cycle or the hardware scan cycle; S13. Record the number of pulses accumulated by the counter function block; S14. If the number of pulses accumulated by the counter function block is the same as the number of pulses sent by the pulse signal generator, the set pulse width data is the performance data of the controller receiving the input signal; If the number of pulses accumulated by the counter function block is less than the number of pulses sent by the pulse signal generator, divide the total pulse time sent by the pulse signal generator by the number of pulses accumulated by the counter function block, and the obtained data is the performance data of the controller receiving the input signal, where the total pulse time sent by the pulse signal generator is the number of pulses sent multiplied by the pulse width.

[0027] S2. Data acquisition and analysis of the internal operation processing ability of the controller are as follows: Collect the data of the internal operation processing ability of the controller in the normal state and during the switching process of the controller, that is, the controller processing cycle, and compare and analyze the data collected in the normal state and during the switching process of the controller to evaluate the impact of the controller switching process on the internal data processing ability of the controller.

[0028] Furthermore, refer to Appendix Figure 2 , and the specific steps for data acquisition and analysis of the internal operation processing ability of the controller are: S21. Configure a test logic in the controller using an accumulation function block, a switching function block, a constant function block, a pulse function block, etc. The controller performs an accumulation count once for each operation, and the logic function is set to start the accumulation manually and stop counting automatically after the accumulation is completed within the set time; S22. Set the accumulation time of the test logic through the pulse function block, and the accumulation time of the test logic is greater than the switching time of the controller; S23. Start the test by manually setting it to 1, complete the accumulation count within the set time, and read the value recorded by the accumulation function block; S24. Divide the accumulation time by the accumulation value, and the obtained data is the processing cycle of the controller during actual operation, that is, the data of the internal operation processing ability of the controller.

[0029] S3. Data acquisition and analysis of the non-interference of the external output signal of the controller are as follows: Collect the performance data of the controller signal output under normal conditions and during the switching process of the acquisition controller, that is, the digital output and analog output of the controller. Compare and analyze the data collected under normal conditions and during the switching process of the controller to evaluate the impact of the controller switching process on the controller signal output performance.

[0030] Furthermore, referring to the appendix Figure 3 , the specific steps for the acquisition and analysis of the non-interference data of the external output signal of the controller are as follows: S31. Configure a self-excited oscillation logic in the controller using function blocks such as RS flip-flops, delay off, and delay on, and connect it to the DO output of the controller. The self-excited oscillation logic realizes a pulse train with an output width of 1 s. S32. The DO output of the controller is connected in parallel with a resistor of a fixed resistance value, and a high-precision recorder is connected across the resistor. Its waveform is the waveform of the DO output of the controller, that is, the data for detecting the non-interference of the controller's external output digital signal. S33. Build a ramp signal logic in the controller using function blocks such as RS flip-flops, switching function blocks, high and low limit function blocks, and accumulation function blocks. The ramp signal is output through the AO output of the controller. The ramp signal logic realizes automatic subtraction when accumulating to the upper limit and automatic accumulation when subtracting to the lower limit. The controller performs one accumulation or subtraction each time it scans, and outputs a ramp signal with a 0~100~0 cycle. S34. The AO output of the controller is connected in series with a low-voltage DC power supply with a fixed voltage and connected to a high-precision recorder. Its waveform is the data for detecting the non-interference of the controller's external output analog signal. Among them, the voltage of the low-voltage DC power supply is 0~24V.

[0031] Based on the above method, the present invention also discloses a non-interference switching judgment system for a distributed control system controller. Referring to Figure 6 , it includes an external input data judgment module, an internal operation data judgment module, an external output data judgment module, and a non-interference switching judgment module, where: External input data judgment module: used to obtain the real-time data of the external input signal of the controller under normal operation and during the switching process and judge whether they are consistent; Internal operation data judgment module: used to obtain the internal operation processing ability data of the controller under normal operation and during the switching process and judge whether they are consistent; External output data judgment module: used to obtain the non-interference data of the external output signal of the controller under normal operation and during the switching process and judge whether they are consistent; Non-interference switching judgment module: used to determine that the controller switches without disturbance if the real-time data of the external input signal, the internal operation processing ability data, and the non-interference data of the external output signal of the controller under normal operation and during the switching process are respectively consistent, otherwise the controller does not switch without interference.

[0032] Each module of the system of the present invention cooperates with each other, and can accurately identify the impacts of controller switching on the input signal processing of the controller, the internal data processing ability, and the signal output performance, and can accurately determine whether the controller is switched without disturbance.

[0033] An electronic device includes: a processor; a memory for storing computer program instructions; and steps for implementing a method for judging the seamless switching of a controller in a distributed control system when the computer program is executed.

[0034] A storage medium stores computer program instructions, and when the computer program instructions are loaded and run by a processor, the processor executes a method for judging the seamless switching of a controller in a distributed control system.

[0035] A computer program product includes computer instructions, and the computer instructions direct a computer to execute a method for judging the seamless switching of a controller in a distributed control system.

[0036] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0037] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to generate a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices generate means for implementing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0038] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0039] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operation steps are executed on the computer or other programmable apparatus to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable apparatus provide steps for realizing the functions specified in one process or a plurality of processes and / or one block or a plurality of blocks. Figure 1 one process or a plurality of processes and / or Figure 1 steps of the functions specified in one block or a plurality of blocks.

[0040] The above is only to illustrate the technical idea of the present invention and should not be used to limit the protection scope of the present invention. Any modification made on the basis of the technical solution according to the technical idea proposed by the present invention falls within the protection scope of the claims of the present invention.

Claims

1. A method for determining the disturbance-free switching of a controller in a distributed control system, characterized in that: The following steps are involved: Obtain real-time data of external input signals during normal operation of the controller and during controller switching, and compare whether they are consistent; Obtain the internal computing processing capacity data of the controller in normal operation state and during controller switching, and compare whether they are consistent; Obtain the disturbance-free data of the external output signal during the normal operation state of the controller and the controller switching process, and compare whether they are consistent; If the real-time data of the external input signal, the internal processing capability data and the disturbance-free data of the external output signal in the normal operation state of the controller and the controller switching process are respectively consistent, the controller switches without disturbance, otherwise the controller does not switch without disturbance.

2. The method for determining the disturbance-free switching of a controller of a distributed control system according to claim 1, characterized in that: The steps of obtaining the real-time data of the external input signal in the normal operation state of the controller and the controller switching process and comparing whether they are consistent are as follows: Configure a counter function block in the controller, and connect the input of the counter function block to the DI channel to be measured; Use the pulse signal generator to input a square wave pulse train with a duty cycle of 50% to the DI channel. The pulse width is equal to the larger value of the controller processing cycle and the hardware scanning cycle. Input a fixed number of square wave pulse trains and record the number of pulses accumulated by the counter function block; Determine whether the number of pulses accumulated by the counter function block is consistent with the number of pulses sent by the pulse signal generator.

3. The method for determining the disturbance-free switching of a controller in a distributed control system according to claim 2, characterized in that: In the step of determining whether the number of pulses accumulated by the counter function block is consistent with the number of pulses emitted by the pulse signal generator, if the number of pulses accumulated by the counter function block is consistent with the number of pulses emitted by the pulse signal generator, the set pulse width data is the performance data of the controller receiving the input signal; if the number of pulses accumulated by the counter function block is less than the number of pulses emitted by the pulse signal generator, the total time of the pulses emitted by the pulse signal generator is divided by the number of pulses accumulated by the counter function block, and the resulting data is the performance data of the controller receiving the input signal, wherein the total time of the pulses emitted by the pulse signal generator is the number of pulses emitted multiplied by the pulse width.

4. The method for determining the disturbance-free switching of a controller in a distributed control system according to claim 1, characterized in that: The steps of obtaining the internal computing processing capacity data of the controller in the normal operation state and the controller switching process and comparing whether they are consistent are as follows: Testing the processing cycle of the controller, wherein the processing cycle of the controller is the internal computing processing capacity data of the controller; In the controller, a test logic is configured using the accumulation function block, switching function block, constant function block and pulse function block. The controller performs accumulation counting once per operation. The logic function is set to manually start accumulation and automatically stop counting after the accumulation is completed within the set time. The accumulated time of the test logic is set by the pulse function block, and the accumulated time of the test logic is greater than the controller switching time; Start the test by manually setting 1, complete the cumulative counting within the set time, and read the value recorded by the cumulative function block; Divide the accumulated time by the accumulated value, and the data obtained is the processing cycle of the tested controller; Compare the processing cycle measured during normal controller operation and the processing cycle measured during controller switching to see if they are consistent.

5. The method for determining the disturbance-free switching of a controller in a distributed control system according to claim 1, characterized in that: The steps of obtaining the disturbance-free data of the external output signal in the normal operating state of the controller and the controller switching process and comparing whether they are consistent are as follows: In the controller, a self-oscillation logic is configured using an RS trigger, a delay-off function block, and a delay-on function block. The self-oscillation logic is connected to the controller DO output. The self-oscillation logic realizes an output pulse train with a width of 1 s. The controller DO output is connected in parallel with a resistor of a fixed resistance, and both ends of the resistor are connected to a high-precision recorder. The waveform of the high-precision recorder is the waveform output by the controller DO. The waveform output by the controller DO is the non-disturbance data of the external output signal of the controller in normal operating state. In the controller, a ramp signal logic is built by using an RS trigger, a switching function block, a high and low limit function block, and an accumulation function block, and a ramp signal is output through the controller AO. The ramp signal logic realizes automatic accumulation when the accumulation reaches the upper limit, and automatic accumulation starts when the accumulation reaches the lower limit. The controller accumulates or decrements once each scan, and outputs a ramp signal of 0~100~0 cycles; The controller AO output is connected in series with a low-voltage DC power supply with a fixed voltage, and connected to a high-precision recorder. The waveform of the high-precision recorder is the waveform output by the controller AO. The waveform output by the controller AO is the non-disturbance data of the external output signal during the controller switching process. Compare the disturbance-free data of the external output signal in the normal operation state of the controller with the disturbance-free data of the external output signal during the controller switching process to see if they are consistent.

6. The method for determining the disturbance-free switching of a controller in a distributed control system according to claim 5, characterized in that: In the step of the controller AO output being serially connected to a low-voltage DC power supply with a fixed voltage, the voltage of the low-voltage DC power supply is 0-24V.

7. A disturbance-free switching judgment system for a distributed control system controller, characterized in that: It includes an external input data judgment module, an internal operation data judgment module, an external output data judgment module and a non-disturbance switching judgment module, wherein: External input data judgment module: used to obtain the real-time data of external input signals during the normal operation state of the controller and the controller switching process, and compare and judge whether they are consistent; Internal operation data judgment module: used to obtain the internal operation processing capacity data of the controller during normal operation and controller switching, and compare whether they are consistent; External output data judgment module: used to obtain the disturbance-free data of the external output signal during the normal operation state of the controller and the controller switching process, and compare whether they are consistent; Disturbance-free switching judgment module: If the real-time data of the external input signal, the internal operation processing capability data and the disturbance-free data of the external output signal in the normal operation state of the controller and the controller switching process are consistent, the controller switches without disturbance; otherwise, the controller does not switch without disturbance.

8. An electronic device comprising: Processor; memory, electronic device used to store computer program instructions; characterized in that it is used to implement the steps of the method for determining the disturbance-free switching of a controller of a distributed control system as described in any one of claims 1 to 6 when executing the computer program.

9. A storage medium storing computer program instructions, characterized in that: When the computer program instructions are loaded and executed by the processor, the processor executes the method for determining disturbance-free switching of a controller in a distributed control system according to any one of claims 1 to 6.

10. A computer program product, comprising computer instructions, characterized in that: The computer instructions instruct the computer to execute the method for determining disturbance-free switching of a controller in a distributed control system as described in any one of claims 1 to 6.

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