Switching and control method for pet redundant inter-controller communication and related device

Abstract

The application belongs to the technical field of power distribution network, and discloses a switching and control method for communication between PET redundant controllers and related devices. When the communication of the redundant controller is abnormal, each controller autonomously decides based on the local redundancy state: if the local controller is the host, the host program is continuously executed and the DO command is output; if the local controller is the backup, the local controller is switched to the host in the PET running state, and then it is determined whether to maintain the host or switch back to the backup through the judgment of the state of the opposite controller, so that the output control command of the unique host is ensured. The method overcomes the redundancy switching failure problem caused by the communication abnormality in the prior art, significantly improves the fault tolerance and reliability of the system, ensures timely switching when the main controller fails, prevents the accidental shutdown of the power electronic transformer, and ensures the safety and stability of power supply.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of power distribution networks, and particularly relates to a switching and control method for communication between PET redundant controllers and a related device. BACKGROUND

[0002] In the field of power distribution networks, a power electronic transformer (PET) is a core equipment for realizing power transformation, transmission and control, and its operation reliability directly determines the stability and safety of the entire power supply system. With the increasing demand for continuity and high quality of power supply in modern society, the industry generally uses redundant control technology to improve the fault tolerance of power electronic transformers. When the main controller fails, the standby controller can quickly switch to operation, thereby avoiding power supply interruption caused by equipment downtime. At present, the mainstream redundant control scheme highly depends on the direct communication link between controllers to realize real-time interaction of operation state data, control instructions and switching signals. This mode can effectively ensure the timeliness and accuracy of redundant switching when the communication link is stable.

[0003] However, in a complex industrial site environment, electromagnetic interference, line aging, loose connection and other factors can cause abnormal interruption of the communication link between redundant controllers. In the prior art, due to the lack of effective alternative communication mechanisms and adaptive switching logic, once the communication is interrupted, the mutually redundant controllers cannot obtain the operation state parameters, fault information and key data required for switching of the other party, resulting in that the standby controller cannot accurately judge the working condition of the main controller, and thus loses the redundant switching capability. This defect not only greatly reduces the fault tolerance value of redundant control, but also may cause the power electronic transformer to directly stop when the main controller suddenly fails, which brings serious safety hazards and economic losses to downstream electrical equipment and the entire power supply system.

[0004] Therefore, the existing redundant control technology of the power electronic transformer has the problem that when the communication between the redundant controllers is abnormally interrupted, effective redundant switching cannot be realized, resulting in equipment downtime. SUMMARY

[0005] The application provides a switching and control method for communication between PET redundant controllers and a related device, which can effectively solve the problem that the existing redundant control technology of the power electronic transformer cannot realize effective redundant switching when the communication between the redundant controllers is abnormally interrupted, resulting in equipment downtime.

[0006] In order to achieve the above purpose, the application adopts the following technical solutions:

[0007] The application discloses a switching and control method for PET inter-controller communication of a redundancy control system.

[0008] The switching and control method for PET inter-controller communication of the redundancy control system comprises the following steps.

[0009] If the communication between the two controllers is abnormal, any controller is taken as a local controller, and the redundancy state of the local controller is determined.

[0010] If the redundancy state of the local controller is a master state, the local controller itself is used to execute a master program and output a DO command.

[0011] If the redundancy state of the local controller is a standby state, the standby state of the local controller is switched to a master state in a PET running state, the redundancy state of a controller on the opposite side is determined, if the redundancy state of the controller on the opposite side is a non-master state, the local controller continues to execute a normal master state part program and outputs a DO command, if the redundancy state of the controller on the opposite side is a master state, the local controller is switched back to a standby state, and the local controller itself is used to execute a program, and no DO command is output in the program.

[0012] Finally, the data of the local controller is synchronized to the controller on the opposite side through a power module.

[0013] Further, before the step of if the communication between the two controllers is abnormal, any controller is taken as a local controller, and the redundancy state of the local controller is determined, the method further comprises the following steps.

[0014] It is determined whether the communication between the two controllers is abnormal.

[0015] If the communication is normal, the redundancy states of the two controllers are determined, if the redundancy states are the same, a master-slave state abnormal fault signal is output, and if the redundancy states are different, a controller in a master state executes a master program, and a controller in a standby state executes a standby program.

[0016] Further, in the step of if the redundancy states are different, the controller in the master state executes the master program, and the controller in the standby state executes the standby program, the specific process that the controller in the master state executes the master program comprises the following steps.

[0017] The controller in the master state executes the master program according to its own parameters, outputs a DO command, and synchronizes the data of the controller in the master state to the controller in the standby state.

[0018] Further, in the step of if the redundancy states are different, the controller in the master state executes the master program, and the controller in the standby state executes the standby program, the specific process that the controller in the standby state executes the standby program comprises the following steps.

[0019] The controller in the standby state executes a standby program according to the updated parameters, and synchronizes the data of the controller in the standby state to the controller in the host state.

[0020] Further, before the controller in the standby state executes the standby program according to the updated parameters, the method further comprises:

[0021] According to the data sent by the controller in the host state, the controller in the standby state updates its DO command, control loop integral value and sequence control state; the updated parameters include the DO command, the control loop integral value and the sequence control state;

[0022] The remote control command, the power instruction, the voltage instruction, the bypass instruction, the module voltage control command and the control command word sent by the controller in the host state are received.

[0023] Further, after the local redundant state is the standby state, the method further comprises:

[0024] The running state of the PET is judged, and if the PET is not running, the current standby state is maintained, and no switching action is performed;

[0025] The data of the local controller is synchronized to the controller on the opposite side through the power module.

[0026] Further, bidirectional data communication is adopted between each power module and the two controllers, and in the communication process, the power module receives the redundant state information sent by the two controllers in real time, the redundant state information occupies 2 bits; the redundant state information contains the redundant state of the controller; wherein the redundant state includes the host state, the standby state and the fault state.

[0027] A switching and control system for communication between PET redundant controllers is applied to a redundant control system, the redundant control system comprising a plurality of power modules and two controllers in communication with each other; each power module is connected to the two controllers respectively; the two controllers are redundant to each other.

[0028] The switching and control system comprises:

[0029] A first judging module is configured to, if the communication between the two controllers is abnormal, take any controller as a local one, and judge the current redundant state of the local one.

[0030] An executing module is configured to, if the redundant state of the local one is the host state, execute a host program using the parameters of the local one itself, and output a DO command.

[0031] The second judging module is used for switching the standby state of the local machine to the host state in the PET running state if the redundancy state of the local machine is the standby state, judging the redundancy state of the opposite side controller, continuing to execute the normal host state part program of the local machine and outputting the DO command if the redundancy state of the opposite side controller is the non-host state, and switching the local machine back to the standby state and executing the program by using the local machine itself parameters if the redundancy state of the opposite side controller is the host state, wherein there is no DO command output in the program.

[0032] The data synchronization module is used for finally synchronizing the data of the local controller to the opposite side controller through the power module.

[0033] The PET redundancy controller intercommunication switching and control device comprises:

[0034] The memory is used for storing the computer program.

[0035] The processor is used for executing the computer program to realize the steps of the PET redundancy controller intercommunication switching and control method.

[0036] The computer readable storage medium stores the computer program, and the computer program is executed by the processor to realize the steps of the PET redundancy controller intercommunication switching and control method.

[0037] Compared with the prior art, the PET redundancy controller intercommunication switching and control method has the following beneficial effects:

[0038] The PET redundancy controller intercommunication switching and control method provided by the application makes each controller autonomously decide based on the local redundancy state when the redundancy controller communication is abnormal: if the local machine is the host, the host program is continued to be executed and the DO command is output, and if the local machine is the standby, the local machine is switched to the host in the PET running state, and then it is decided whether to maintain the host or switch back to the standby through the judgment of the state of the opposite side controller, so that the unique host output control command is ensured. The state machine logic and the local parameters are executed, the decision stalemate caused by the communication interruption is avoided, the state of the opposite side is indirectly perceived through the data synchronization mechanism of the power module, the double host conflict is avoided, and the system continuity is maintained. The redundancy switching failure problem caused by the communication abnormality in the prior art is overcome by using the method, the fault tolerance capability and the reliability of the system are significantly improved, the host controller can be switched in time when the host controller fails, the unexpected shutdown of the power electronic transformer is prevented, and the power supply safety and stability are ensured. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 The redundancy control principle block diagram of the redundancy control system provided by the embodiment of the application is shown in the figure;

[0040] Figure 2An implementation logic flowchart of a PET redundancy controller intercommunication switching and control method is provided for the embodiment of the present application.

[0041] Figure 3 A flowchart of a PET redundancy controller intercommunication switching and control method is provided for the embodiment of the present application.

[0042] Figure 4 A structural schematic diagram of a PET redundancy controller intercommunication switching and control system is provided for the embodiment of the present application. DETAILED DESCRIPTION

[0043] In order to further understand the content of the present application, the present application is described in detail below in combination with the drawings and specific embodiments. It should be understood that the embodiments are only used to explain the present application and are not limiting.

[0044] In order to facilitate better understanding of the technical solutions, the technical terms related to the present application are explained as follows:

[0045] PET (Power Electronic Transformer) refers to a power electronic transformer, which realizes voltage transformation, electrical isolation and energy transmission through power electronic transformation technology, and has a redundant control capability to improve the reliability and stability of the power distribution network.

[0046] DO command refers to a "Digital Output" (digital output) command, which is used to control the switching state of an external device or trigger a specific action.

[0047] bit: bit, the smallest unit of computer data, represents a binary digit.

[0048] As described in the background, the redundant controllers of the power electronic transformer are prone to communication abnormalities, which cannot realize redundant switching. If the communication between the redundant controllers is interrupted, the data and running state for mutual switching cannot be obtained, resulting in shutdown of the power electronic transformer and inability to run.

[0049] In order to solve the above problems, the present embodiment provides a PET redundancy controller intercommunication switching and control method, which proposes to realize the acquisition of the mutual state of the redundant controllers by means of the power module control board. Since each controller is connected to the same module through optical fiber isolation communication, it is necessary to cooperate with the judgment logic in the present method to realize safe switching, to realize independent operation without the need to transmit a large amount of control data, and still support the master-slave switching capability of two controllers, greatly improving the operation reliability of the PET.

[0050] As Figure 3As shown, the embodiment provides a switching and control method for PET redundancy controller intercommunication, which is applied to a redundancy control system and includes the following specific steps:

[0051] If the communication between the two controllers is abnormal, any controller is taken as the local controller, and the current redundancy state of the local controller is determined:

[0052] If the redundancy state of the local controller is the host state, the host program is executed by using the parameters of the local controller, and the DO command is outputted;

[0053] If the redundancy state of the local controller is the standby state, the standby state of the local controller is switched to the host state in the PET running state, the redundancy state of the opposite controller is determined, if the redundancy state of the opposite controller is the non-host state, the local controller continues to execute the normal host state part program and outputs the DO command, if the redundancy state of the opposite controller is the host state, the local controller is switched back to the standby state, and the program is executed by using the parameters of the local controller, and no DO command is outputted in the program;

[0054] Finally, the data of the local controller is synchronized to the opposite controller through the power module.

[0055] The method provided by the embodiment is further described below with reference to the accompanying drawings:

[0056] As shown in the figure, Figure 1 In the redundancy control system, the controller A and the controller B are redundant to each other, and the two controllers are connected with the control boards of n power modules through isolated optical fibers, that is, each power module is connected with the two redundant controllers through optical fibers.

[0057] When the redundancy data interaction communication is interrupted, the control board of the power module is the only communication path of the two controllers, the communication data between the controller and each power module is bidirectional, the controller A and the controller B respectively issue their own redundancy state information, the redundancy state information includes the current redundancy state of each controller, and specifically includes: 1, the host state; 2, the standby state; 3, the fault state. In the data communication process between the controller and the power module, only 2 bit positions are used to complete the issuance of the redundancy state information, the original controller and module communication data amount overhead is small, and the transmission amount of the original communication can be basically unchanged.

[0058] In the operation of the power electronic transformer (PET), the voltage and current sampling data received by the two controllers are from the same data source. Therefore, the PI output integral values of the same control loop are the same, and the output modulation waves are also the same, which ensures that the final control performance is the same. Therefore, only the redundant state information of the opposite controller needs to be known to realize smooth switching of the entire system. The power module also selects the specific optical port data received according to the received controller redundant state information to realize the synchronization of the controller and the module. It should be noted that this mode can only be realized when the power module is working with power, and cannot be switched in the power electronic transformer shutdown state, because only when the power module is powered on can the communication between the two controllers be established.

[0059] As shown in Figure 2 Based on the structure and control principle of the above-mentioned redundant control system, the embodiment provides a switching and control method for communication between PET redundant controllers, including:

[0060] In order to ensure the rapidity of the redundancy switching, the program of the method is set to be executed in the main interrupt of the controller with the fastest execution, and any controller is taken as the local controller, and the opposite controller is the redundant controller. At the beginning of the main interrupt program, the local controller first receives the redundancy synchronization interaction data and the redundancy state of the opposite controller.

[0061] Firstly, it is judged whether the high-speed communication between the two controllers is abnormal. If the communication is normal, it is further judged whether the redundancy states of the two controllers are the same. If the redundancy states of the two controllers are the same, the master-slave state abnormal fault signal is output. If the redundancy states of the two controllers are different, the controller of the master state executes the master program.

[0062] In the embodiment, the above-mentioned step provides the processing logic when the communication is normal. It establishes an effective state verification defense line during the normal operation of the system. By actively comparing the redundancy states of the two controllers, the dangerous states such as "double master" or "double standby" can be detected in time, and an alarm is issued. This preventive mechanism helps the operation and maintenance personnel to discover and handle potential state disorder problems in time, and prevents problems from occurring, thereby improving the robustness and maintainability of the entire redundant control system.

[0063] The host state controller executes the host program according to its own parameters, outputs the DO command, and synchronizes the data of the host state controller to the backup state controller, while the backup state controller executes the backup program. The specific process of the backup state controller executing the backup program is as follows: the backup state controller first updates its DO command, control loop integral value and sequence control state according to the data sent by the host state controller, and the updated parameters include the DO command, control loop integral value and sequence control state, while receiving the remote control command, power instruction, voltage instruction, bypass instruction, module voltage control command and control command word sent by the host state controller, then executing the backup program according to these updated parameters, and synchronizing the data of the backup state controller to the host state controller.

[0064] It can be seen that the embodiment not only clearly defines the core responsibility of the host to control the output, but also emphasizes the synchronization of its key data to the backup controller. This process ensures that the backup controller can continuously obtain the latest running state and control parameters of the system, so that it is always in a "hot standby" state, laying a solid data foundation for rapid, smooth and seamless switching in case of need. In addition, the backup controller is not idle, but needs to feed back its own state data to the host. This enables the host to monitor the health status of the backup controller, forming a complete two-way state awareness closed loop. This design further enhances the observability and reliability of the system, avoiding the risk of switching failure due to hidden faults of the backup controller. Moreover, the parameters maintained by the backup controller, especially dynamic key data such as control loop integral value, can be highly consistent with the host. This deep state synchronization ensures that there is no output mutation or disturbance when the backup controller takes over the control function at the moment of switching, realizing truly disturbance-free switching and maximizing the continuity of power supply to downstream loads.

[0065] If it is judged that the communication between the two controllers is abnormal, the current redundancy state of the local machine (local controller) is first judged. If the redundancy state of the local machine is the host state, the local machine itself is used to execute the host program to output the DO command.

[0066] If the local redundancy state is standby state, firstly, the running state of PET is judged, if PET is not running (stop state), the current standby state is kept, and no switching action is performed; if PET is in running state, the local standby state is switched to master state, then the redundancy state of the opposite side controller is judged according to the redundancy state information of the opposite side controller fed back by the power module, if the redundancy state of the opposite side controller is non-master state (standby state or fault state), the local controller continues to perform normal master state part program, and outputs DO command; if the redundancy state of the opposite side controller is master state, the local controller is switched back to standby state, and the program is executed by using the local parameters, and the program does not include DO command output.

[0067] As can be seen, in the embodiment, an important precondition for state switching is added, that is, whether PET is in running state is judged. The logic of scenario-based intelligent decision is introduced, and meaningless state switching in unnecessary cases such as system not starting or stopping is avoided. This not only reduces unnecessary logical operations, but also prevents logical confusion or device impact caused by mis-switching in the system start-stop stage, so that the control strategy is more reasonable and safe.

[0068] No matter whether the communication between the two controllers is normal or abnormal, the local controller will synchronize its own data to the opposite side controller through the power module at the end of the master interrupt program, and once the communication between the two controllers is restored, the redundant controller can normally receive the redundancy synchronization data of both sides, ensuring the continuous and stable operation of the redundant control system.

[0069] As shown in Figure 4 The embodiment also provides a switching and control system for communication between PET redundant controllers, which comprises: a first judging module, which is used for judging the current redundancy state of a local controller if the communication between two controllers is abnormal; an executing module, which is used for executing master program by using the local parameters of the local controller and outputting DO command if the redundancy state of the local controller is master state; a second judging module, which is used for switching the standby state of the local controller to master state in the running state of PET, judging the redundancy state of the opposite side controller, continuing to execute normal master state part program and outputting DO command if the redundancy state of the opposite side controller is non-master state, and switching the local controller back to standby state, executing program by using the local parameters, and not outputting DO command in the program if the redundancy state of the opposite side controller is master state; and a data synchronization module, which is used for synchronizing the data of the local controller to the opposite side controller through the power module. The switching and control system is applied to a redundant control system, the redundant control system comprises a plurality of power modules and two controllers in communication with each other, each power module is connected with the two controllers respectively, and the two controllers are redundant to each other.

[0070] The application further provides a PET redundancy controller intercommunication switching and control device, comprising: a memory for storing a computer program; and a processor for executing the computer program to realize the steps of the PET redundancy controller intercommunication switching and control method.

[0071] The application further provides a computer program product comprising computer programs / instructions which, when executed by a processor, realize the steps of the PET redundancy controller intercommunication switching and control method.

[0072] The processor executes the computer program to realize the PET redundancy controller intercommunication switching and control steps, for example: if the communication between the two controllers is abnormal, any controller is taken as a local machine, and the current redundancy state of the local machine is determined; if the redundancy state of the local machine is a master state, the local machine itself parameters are used to execute a master program, and a DO command is output; if the redundancy state of the local machine is a standby state, the standby state of the local machine is switched to a master state in a PET running state; the redundancy state of an opposite controller is determined; if the redundancy state of the opposite controller is a non-master state, the local machine continues to execute a normal master state part program, and a DO command is output; if the redundancy state of the opposite controller is a master state, the local machine is switched back to a standby state, and the local machine itself parameters are used to execute a program, and no DO command is output in the program; and finally, the data of the local controller is synchronized to the opposite controller through a power module. The method is applied to a redundancy control system, the redundancy control system comprising a plurality of power modules and two controllers in communication with each other; each power module is connected to the two controllers respectively; and the two controllers are redundant to each other.

[0073] Exemplarily, the computer program can be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the application. The one or more modules / units can be a series of computer program instruction segments capable of completing a preset function, and the instruction segments are used to describe the execution process of the computer program in the PET redundancy controller intercommunication switching and control device. For example, the computer program can be divided into a first determination module, an execution module, a second determination module and a data synchronization module; the functions of the modules are as follows:

[0074] The first determination module is used to, if the communication between the two controllers is abnormal, take any controller as a local machine, and determine the current redundancy state of the local machine.

[0075] The execution module is used to, if the redundancy state of the local machine is a master state, use the local machine itself parameters to execute a master program, and output a DO command.

[0076] The second judging module is used for switching the standby state of the local machine to the host state in the PET running state if the redundancy state of the local machine is the standby state; judging the redundancy state of the opposite side controller; if the redundancy state of the opposite side controller is the non-host state, the local machine continues to execute the normal host state part program and outputs the DO command; if the redundancy state of the opposite side controller is the host state, the local machine is switched back to the standby state and executes the program by using the local machine itself parameters, and there is no DO command output in the program;

[0077] The data synchronization module is used for finally synchronizing the data of the local controller to the opposite side controller through the power module. The application is applied to a redundancy control system, and the redundancy control system comprises a plurality of power modules and two controllers in communication with each other; each power module is connected with the two controllers respectively; and the two controllers are redundant to each other.

[0078] The switching and control device of the PET redundancy controller intercommunication can be a desktop computer, a notebook computer, a palm computer and a cloud server and the like. The switching and control device of the PET redundancy controller intercommunication can include, but is not limited to, a processor and a memory. Those skilled in the art can understand that the above is an example of the switching and control device of the PET redundancy controller intercommunication, and does not constitute a limitation on the switching and control device of the PET redundancy controller intercommunication, and can include more components than the above, or combine certain components, or different components, for example, the switching and control device of the PET redundancy controller intercommunication can also include an input and output device, a network access device, a bus and the like.

[0079] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor and the like. The processor is a control center of the switching and control of the PET redundancy controller intercommunication, and connects each part of the switching and control device of the PET redundancy controller intercommunication by various interfaces and lines.

[0080] The memory can be used to store the computer program and / or modules, and the processor realizes the switching and control of the inter-PET redundant controller communication and various functions of the device by running or executing the computer program and / or modules stored in the memory and calling the data stored in the memory.

[0081] The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; and the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), and the like. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0082] The application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the steps of the PET redundant controller intercommunication switching and control method.

[0083] If the modules / units of the PET redundant controller intercommunication switching and control system are realized in the form of software function units and sold or used as independent products, the modules / units can be stored in a computer readable storage medium.

[0084] Based on such understanding, all or part of the processes of the PET redundant controller intercommunication switching and control method can also be completed by a computer program instructing related hardware, the computer program can be stored in a computer readable storage medium, and the computer program can realize the steps of the PET redundant controller intercommunication switching and control method when executed by a processor. The computer program includes computer program codes, and the computer program codes can be in the form of source codes, object codes, executable files or preset intermediate forms, etc.

[0085] The computer readable storage medium can include any entity or device, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier wave signal, telecommunication signal and software distribution medium, etc. that can carry the computer program codes.

[0086] In summary, the present application provides a PET redundant controller intercommunication switching and control method and related device, compared with the prior control method, has the following advantages:

[0087] When the intercommunication between controllers is abnormal, each controller acts according to its own redundant state as a local identity: if it is a host, it maintains operation and outputs control commands; if it is a backup, it first attempts to upgrade to a host, and then detects the state of the opposite controller through the data exchanged by the power module, and decides whether to consolidate its host status or return to the backup state, thereby ensuring that there is always only one effective master controller in the system. The operating principle of this mechanism lies in its ingenious use of the power module as an independent data channel to indirectly transmit state information, building a set of arbitration logic that does not rely on direct communication links, which not only avoids the decision paralysis caused by communication loss in traditional solutions, but also effectively prevents double-host conflicts through state mutual judgment. The use of this method effectively solves the problem of redundant switching under abnormal communication conditions, greatly improves the robustness and uninterrupted operation capability of the power electronic transformer control system, and ensures seamless switching when the master controller fails, fundamentally eliminating the risk of system downtime and ensuring the safety and stability of the entire power supply network.

[0088] The above embodiments are only one of the implementation manners of the technical solutions of the present application, and the scope of protection of the present application is not limited to the above embodiments, but also includes any changes, substitutions and other implementation manners that are easily thought of by those skilled in the art within the technical scope disclosed by the present application.

[0089] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application and not to limit them, although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the specific implementation of the present application can be modified or replaced, without departing from the spirit and scope of the present application, any modification or equivalent replacement should be covered within the scope of protection of the present application.

Claims

1. A method for switching and controlling PET inter-controller redundancy communication, characterized in that, The application is applied to a redundant control system, which comprises a plurality of power modules and two controllers in communication with each other; each power module is connected to the two controllers respectively; and the two controllers are redundant to each other. The switching and control method for communication between the PET redundant controllers comprises the following steps: If the communication between the two controllers is abnormal, any controller is taken as a local controller, and the current redundant state of the local controller is determined: If the redundant state of the local controller is a master state, the local controller itself is used to execute a master program and output a DO command; the DO command is a digital output command; If the redundant state of the local controller is a standby state, the standby state of the local controller is switched to a master state in a PET running state, the redundant state of an opposite controller is determined, if the redundant state of the opposite controller is a non-master state, the local controller continues to execute a normal master state part program and outputs a DO command, if the redundant state of the opposite controller is a master state, the local controller is switched back to a standby state, and the local controller itself is used to execute a program without a DO command output; Finally, the data of the local controller is synchronized to the opposite controller through a power module. If the redundant state of the local controller is a standby state, the following steps are further included: The running state of the PET is determined, if the PET is not running, the current standby state is maintained, and no switching action is executed; The data of the local controller is synchronized to the opposite controller through a power module.

2. The switching and control method of PET inter-controller communication redundancy according to claim 1, characterized in that, Before the step of taking any controller as a local controller and determining the current redundant state of the local controller, the following step is included: It is determined whether the communication between the two controllers is abnormal: If the communication is normal, the redundant states of the two controllers are determined, if the redundant states are the same, a master-slave state abnormal fault signal is output, and if the redundant states are different, a controller in a master state executes a master program, and a controller in a standby state executes a standby program.

3. The method of claim 2, wherein the method further comprises: In the step of executing the master program by the controller in the master state and executing the standby program by the controller in the standby state, the specific process of executing the master program by the controller in the master state comprises the following steps: The controller in the master state executes the master program according to its own parameters, outputs a DO command, and synchronizes the data of the controller in the master state to the controller in the standby state.

4. The method of claim 2, wherein the method further comprises: In the step of executing the master program by the controller in the master state and executing the standby program by the controller in the standby state, the specific process of executing the standby program by the controller in the standby state comprises the following steps: The controller in the standby state executes the standby program according to the updated parameters, and synchronizes the data of the controller in the standby state to the controller in the master state.

5. The method of claim 4, wherein the method further comprises: Before the step of executing the standby program by the controller in the standby state according to the updated parameters, the following step is further included: The controller in the standby state updates its own DO command, control loop integral value and sequence control state according to the data sent by the controller in the master state; the updated parameters include the DO command, the control loop integral value and the sequence control state; The controller in the standby state receives remote control commands, power instructions, voltage instructions, bypass instructions, module voltage control commands and control command words sent by the controller in the master state.

6. The method of claim 1, wherein the method further comprises: The two-way data communication mode is adopted between each power module and the two controllers, and the power module receives the redundancy state information issued by the two controllers in real time during the communication process, and the redundancy state information occupies 2 bits; the redundancy state information contains the redundancy state of the controller; wherein the redundancy state includes the host state, the standby state and the fault state.

7. A PET redundant controller intercommunication switching and control system, characterized by, The application is applied to a redundancy control system, and the redundancy control system includes a plurality of power modules and two controllers in communication with each other; each power module is connected with the two controllers respectively; the two controllers are redundant to each other; The switching and control system includes: A first judging module is configured to judge the current redundancy state of the local controller if the communication between the two controllers is abnormal; An execution module is configured to execute the host program by using the parameters of the local controller and output a DO command if the redundancy state of the local controller is the host state; wherein the DO command is a digital output command; A second judging module is configured to switch the standby state of the local controller to the host state in the PET running state if the redundancy state of the local controller is the standby state, and judge the redundancy state of the opposite controller; if the redundancy state of the opposite controller is not the host state, the local controller continues to execute the normal host state part program and outputs the DO command; if the redundancy state of the opposite controller is the host state, the local controller is switched back to the standby state, and the program is executed by using the parameters of the local controller, and no DO command is output in the program; and the second judging module further includes: Judging the running state of the PET, and keeping the current standby state and not executing the switching action if the PET is not running; Synchronizing the data of the local controller to the opposite controller through the power module; A data synchronization module is configured to finally synchronize the data of the local controller to the opposite controller through the power module.

8. A PET redundant controller intercommunication switching and control device, characterized by, It includes: A memory is configured to store a computer program; A processor is configured to execute the computer program to realize the steps of the switching and control method of the communication between the PET redundancy controllers according to any one of claims 1-6.

9. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 8. The computer program is executed by the processor to realize the steps of the switching and control method of the communication between the PET redundancy controllers according to any one of claims 1-6.

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