Isolated rtu multi-master operation arbitration module and data processing method

Abstract

The application discloses an isolated RTU multi-master station operation arbitration module and a data processing method, which comprises a double-path electrical isolation master station communication collection unit, a multi-register data analysis and mapping storage unit, a control right arbitration management unit, a control domain allocation execution unit, an event-driven operation unit, a multi-stage mirror image latching unit and a single-path isolation output unit; the double-path electrical isolation master station communication collection unit is used for independently isolating and collecting two master stations and outputting register data; and the multi-register data analysis and mapping storage unit is used for analyzing the register data and establishing a mapping relationship between the data and operation nodes. Thus, the problems of data conflict, instruction coverage and inconsistent control state during parallel access of the existing multi-master station are solved, unified analysis, stable operation and conflict arbitration of multi-master station data are realized, and the control output continuity and system operation stability are maintained under the abnormal communication condition, so that the reliability of an industrial control system is improved.

Description

Technical Field

[0001] This invention relates to the field of communication and data processing technology, and in particular to an isolated RTU multi-master station operation arbitration module and data processing method. Background Technology

[0002] Multi-master station arbitration refers to a control and data processing mechanism in industrial automation control systems where remote terminal units (RTUs) simultaneously connect to two or more host master stations. This mechanism unifies the access, processing, and conflict resolution of acquired data and control commands sent by each master station. Its core function is to achieve data fusion, command coordination, and consistent output control in multi-master station parallel control scenarios, thereby ensuring the stable operation of lower-level execution devices within complex control architectures. This type of technology is typically applied in scenarios requiring multi-system collaborative control, such as petrochemical, power monitoring, intelligent manufacturing, and unattended industrial sites.

[0003] In related technologies, RTU-type equipment typically relies on standardized electronic assembly and system integration devices for manufacturing or packaging. These devices generally include power supply units, communication interface units, main control processing units, and structural packaging units. Through processes such as component installation, circuit soldering, function solidification, communication debugging, and overall packaging, the equipment achieves structural forming and functional integration, and is used to complete basic functions such as field data access, remote communication transmission, and control signal output to meet the basic needs of industrial sites for data acquisition and remote control.

[0004] However, existing technologies still have certain limitations in applications with multiple master stations accessing in parallel. When multiple master stations simultaneously write data or issue control commands to the same RTU system, problems such as data overwriting, command conflicts, or uncertain execution order can easily arise, leading to inconsistent control output results. In the event of communication link fluctuations or abnormal master station exits, the system lacks an effective unified coordination mechanism, which may result in abrupt changes in control state or output interruptions. Furthermore, existing systems struggle to effectively differentiate and stabilize data in a timely manner when faced with data changes under complex operating conditions, thus affecting the continuity and reliability of overall control. Summary of the Invention

[0005] The present invention aims to at least partially solve one of the technical problems in the related art.

[0006] Therefore, the purpose of this invention is to propose an isolated RTU multi-master station operation arbitration module and data processing method to solve the problems of data conflict, instruction overlay and inconsistent control status when multiple master stations are accessed in parallel. It realizes unified parsing, stable operation and conflict arbitration of multi-master station data, and maintains the continuity of control output and system operation stability in the event of communication abnormalities, thereby improving the reliability of industrial control systems.

[0007] To achieve the above objectives, this invention proposes an isolated RTU multi-master station arbitration module and data processing method, comprising:

[0008] The system includes a dual-channel electrically isolated master station communication acquisition unit, a multi-register data parsing and mapping storage unit, a control right arbitration management unit, a control domain allocation and execution unit, an event-driven calculation unit, a multi-level mirror latch unit, and a single-channel isolated output unit.

[0009] in:

[0010] The dual-channel electrically isolated master station communication acquisition unit is used to independently acquire and output register data from two master stations in isolation.

[0011] The multi-register data parsing and mapping storage unit is used to parse register data and establish a mapping relationship between data and computing nodes;

[0012] The control arbitration management unit is used to generate control ownership results based on the main station's operating status.

[0013] The control domain allocation execution unit is used to divide and allocate the register address space into control domains according to the control ownership result.

[0014] The event-driven arithmetic unit is used to trigger arithmetic operations based on changes in register data and generate control results.

[0015] The multi-level mirror latch unit is used for hierarchical storage of control results and anomaly recovery.

[0016] The single-channel isolation output unit is used to output final control data to the slave station.

[0017] In addition, the isolated RTU multi-master station computing arbitration module and data processing method proposed above according to the present invention may also have the following additional technical features:

[0018] Specifically, the control arbitration management unit calculates a control score based on the master station's online status, communication stability, data continuity, and instruction validity, and determines the master station as the master station based on the control score.

[0019] Specifically, when the difference in control scores between two main stations is less than a preset threshold, a control arbitration delay mechanism is triggered to maintain the current control ownership unchanged within a preset time window, so as to avoid frequent switching of control.

[0020] Specifically, the control domain allocation execution unit divides the register address space into at least two control domains, each corresponding to a different control parameter type, and allocates them to different master stations for execution based on the control ownership result.

[0021] Specifically, when the ownership of control changes, the control domain allocation execution unit triggers a control domain migration operation, causing the corresponding control domain to migrate from the current master station to the new master station with control.

[0022] Specifically, the event-driven operation unit only triggers the operation when the change in register data exceeds a preset change threshold; otherwise, the result of the previous operation remains unchanged.

[0023] Specifically, the event-driven arithmetic unit constructs a tree-like arithmetic structure based on register mapping relationships, performs hierarchical calculations on multiple register input data, and generates control output results.

[0024] Specifically, the multi-level mirror latch unit includes a real-time mirror layer, a periodic storage layer, and a recovery mirror layer, wherein the real-time mirror layer is used for caching the current running state, the periodic storage layer is used for periodically saving the control state, and the recovery mirror layer is used for state recovery in abnormal situations.

[0025] Specifically, when a main station loses connection, communication is interrupted, or a power failure occurs, the multi-level mirror latch unit performs state rollback recovery according to the priority order of the recovery mirror layer, the periodic storage layer, and the real-time mirror layer.

[0026] Specifically, when outputting control data, the single-channel isolation output unit continuously monitors the master station's control status. When a change in control status is detected, the output data is updated synchronously to ensure the continuous and stable control status of the slave station.

[0027] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects: The isolated RTU multi-master station operation arbitration module and data processing method of the present invention can realize unified data processing and control output in a multi-master station environment. During the control switch process, the control right scoring mechanism and control right switch threshold are used to reduce the frequent switching of control right. The independent permission management of different control areas is realized through the control domain division method, so that the system can still maintain control continuity when the master station is abnormally offline, communication is interrupted or the state changes. At the same time, the event-driven operation mechanism reduces redundant calculations, and the control state recording and recovery are realized through the multi-level mirror latch mechanism, thereby improving the overall system operation stability and control continuity. Attached Figure Description

[0028] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0029] Figure 1 This is a block diagram of the overall hardware architecture of the present invention;

[0030] Figure 2This is a flowchart of the control arbitration process of the present invention;

[0031] Figure 3 This is a diagram of the dynamic allocation structure of the control domain of the present invention;

[0032] Figure 4 This is a flowchart of the event-driven computation node of the present invention;

[0033] Figure 5 This is a flowchart of the multi-level mirror latching and recovery process of the present invention. Detailed Implementation

[0034] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the invention, and should not be construed as limiting the invention. Rather, embodiments of the invention include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0035] The following description, in conjunction with the accompanying drawings, illustrates an isolated RTU multi-master station arbitration module and data processing method according to an embodiment of the present invention.

[0036] Example 1

[0037] like Figure 1 An isolated RTU multi-master station computing arbitration module and data processing method according to an embodiment of the present invention includes:

[0038] The system includes a dual-channel electrically isolated master station communication acquisition unit, a multi-register data parsing and mapping storage unit, a control right arbitration management unit, a control domain allocation and execution unit, an event-driven calculation unit, a multi-level mirror latch unit, and a single-channel isolated output unit.

[0039] in:

[0040] The dual-channel electrically isolated master station communication acquisition unit is used to independently acquire and output register data from two master stations in isolation.

[0041] The multi-register data parsing and mapping storage unit is used to parse register data and establish a mapping relationship between data and operation nodes;

[0042] The control arbitration management unit is used to generate control ownership results based on the main station's operating status;

[0043] The control domain allocation execution unit is used to divide and allocate the register address space into control domains based on the control ownership result.

[0044] The event-driven arithmetic unit is used to trigger operations and generate control results based on changes in register data;

[0045] Multi-level mirror latch units are used for hierarchical storage of control results and anomaly recovery.

[0046] The single-channel isolated output unit is used to output the final control data to the lower slave station.

[0047] It should be noted that the dual-channel electrically isolated master station communication acquisition unit is used to establish two independent master station communication channels, receive and isolate data from different master stations, and provide raw register data to subsequent processing units.

[0048] The multi-register data parsing and mapping storage unit is used to parse and process the acquired register data, identify the corresponding data type and address information, establish the mapping relationship between register data and subsequent processing objects, and complete data caching and status recording.

[0049] The control arbitration management unit is used to manage the operating status and control requests of multiple master stations, determine the control ownership result based on the current system status, and output control status information to subsequent units.

[0050] The control domain allocation execution unit is used to establish the correspondence between control permissions and register address spaces based on the control ownership result, so as to realize the permission management of different control regions.

[0051] The event-driven arithmetic unit is used to monitor the register data status and execute the corresponding data processing procedure when the trigger condition is met, generating control result data.

[0052] The multi-level mirror latch unit is used to save the control state and output state during system operation, and to complete the state recording and recovery process when the system operating state changes.

[0053] The single-channel isolation output unit is used to receive the processed control results and output control data to the slave device according to the preset communication method.

[0054] During operation, the dual-channel electrically isolated master station communication acquisition unit receives data sent by the two master stations and transmits it to the multi-register data parsing and mapping storage unit for parsing and storage; the control right arbitration management unit determines the control right ownership based on the parsed data and system status; the control domain allocation execution unit establishes control permission relationships according to the control right ownership; the event-driven calculation unit performs calculations on data that meets the conditions; the multi-level mirror latch unit saves the status of the generated control results; and the single-channel isolated output unit outputs the final control result to the lower-level slave device, thereby completing data processing and control output in a multi-master station environment.

[0055] Example 2

[0056] like Figure 2 As shown, this embodiment describes the specific working process of the control arbitration management unit based on embodiment 1.

[0057] The control arbitration management unit is used to determine the control ownership result based on the operating status of multiple master stations. After the multi-register data parsing and mapping storage unit completes register data parsing, it sends the status information of the corresponding master station to the control arbitration management unit.

[0058] The control arbitration management unit establishes status evaluation parameters corresponding to each master station. The status evaluation parameters include online status parameters, communication stability parameters, data continuity parameters, and command validity parameters, and generates corresponding control score values ​​based on each status evaluation parameter.

[0059] The control score (CP) is calculated using the following formula:

[0060] CP=W1×S+W2×C+W3×D+W4×V;

[0061] Where CP represents the control score; S represents the online status parameter; C represents the communication stability parameter; D represents the data continuity parameter; and V represents the command validity parameter.

[0062] W1, W2, W3 and W4 represent the weight coefficients of the corresponding parameters, and W1 + W2 + W3 + W4 = 1.

[0063] The control arbitration management unit calculates the first master station control score CP1 and the second master station control score CP2 respectively, and compares their magnitudes.

[0064] When CP1 is greater than CP2, the first master station is determined as the current control master station;

[0065] When CP2 is greater than CP1, the second master station is determined as the current control master station;

[0066] When the difference between the control score of the first master station and the control score of the second master station is less than the preset control switching threshold T1, the control arbitration management unit does not immediately execute the control switching operation, but enters the arbitration delay stage.

[0067] During the arbitration delay phase, the control arbitration management unit continuously monitors the changes in the control score of the first master station and the control score of the second master station, while maintaining the current control master station unchanged.

[0068] When the arbitration delay time reaches the preset time window T2, and the target master station's control score is consistently higher than the current master station's control score, a control switch operation is performed, and the control attribution result is updated.

[0069] If the target master site control score does not continuously meet the switching conditions, the current control ownership result will remain unchanged.

[0070] After the control arbitration management unit completes the determination of control ownership, it generates corresponding control status information and sends the control status information to the control domain allocation and execution unit to provide a basis for subsequent control authority allocation.

[0071] In this way, the control arbitration management unit can generate a control score by comprehensively considering the operating status of multiple master stations, and reduce the frequent switching of control by using the control switching threshold and arbitration delay mechanism, thereby improving the control stability in multi-master station control scenarios.

[0072] Example 3

[0073] like Figure 3 As shown, this embodiment describes the working process of the control domain allocation execution unit based on Embodiments 1 and 2.

[0074] The control domain allocation execution unit is used to divide the register address space into control domains and allocate control permissions based on the control ownership result generated by the control arbitration management unit.

[0075] The control domain allocation execution unit receives the data mapping relationship established by the multi-register data parsing and mapping storage unit, and establishes a control domain configuration table based on the register address, data type, and control object.

[0076] The control domain configuration table is used to record the control domain information and control permission information corresponding to each register address.

[0077] Different register addresses can belong to the same control domain or to different control domains.

[0078] The control domain allocation execution unit establishes a control domain identifier (CID) based on the control domain configuration table and configures the corresponding control permission status for each control domain.

[0079] After the control arbitration management unit generates the control ownership result, the control domain allocation execution unit allocates execution permissions to each control domain according to the control ownership result.

[0080] For master stations that gain control, their corresponding control domains are granted write and control permissions; for master stations that do not gain control, their corresponding control domains are granted monitoring permissions.

[0081] When the control ownership result changes, the control domain allocation execution unit does not directly perform a unified switch on all register addresses, but adjusts the permissions of the corresponding control domain according to the control domain configuration table.

[0082] The control domain allocation execution unit establishes a control domain status table, which includes at least the control domain identifier, the current control master station identifier, the permission status, and the status update time information.

[0083] When the control arbitration management unit detects that the current control master station is abnormally offline, communication timeout, or change of control ownership, the control domain allocation execution unit reallocates the control permissions of the corresponding control domain according to the control domain status table and updates the control domain status table.

[0084] During the control domain reallocation process, the control domain allocation execution unit keeps control domains with unchanged permissions running continuously, and only performs control permission adjustments for control domains that require permission changes.

[0085] After the control domain allocation and execution unit completes the allocation of control permissions, it sends the corresponding control domain data to the event-driven operation unit, which then performs subsequent data processing.

[0086] In this way, the control domain allocation execution unit converts the register address space into multiple independent control domains and dynamically allocates control permissions based on the control ownership result, enabling different control areas to independently complete permission management and control execution, thereby improving the flexibility and control continuity in multi-master station control scenarios.

[0087] Example 4

[0088] like Figure 4 As shown, this embodiment describes the working process of the event-driven computing unit based on embodiments 1 to 3.

[0089] The event-driven arithmetic unit performs corresponding arithmetic operations based on changes in register data and generates control result data. The event-driven arithmetic unit receives real-time data change information from the multi-register data parsing and mapping storage unit and continuously monitors these data changes.

[0090] The event-driven arithmetic unit sets data change trigger conditions to determine whether the register data meets the arithmetic trigger requirements. The data change trigger conditions are based on a comprehensive judgment of the magnitude and duration of the data change. When the register data change meets the preset trigger conditions, the event-driven arithmetic unit starts the arithmetic process.

[0091] During the operation, the event-driven operation unit performs node-based processing on the register data involved in the operation, maps different register data to corresponding operation nodes, and generates intermediate operation results according to preset operation rules.

[0092] Furthermore, the event-driven computing unit uses a computing node tree structure to organize the computing process. The computing node tree includes input nodes, computing nodes, and output nodes. The input nodes are used to receive register data, the computing nodes are used to execute data processing logic, and the output nodes are used to generate control result data.

[0093] The computing nodes are connected through a preset data flow relationship. Different computing nodes execute corresponding computing tasks according to the control domain permissions assigned by the control domain allocation execution unit, thereby realizing parallel computing processing under multiple control domain conditions.

[0094] When the register data does not meet the triggering condition, the event-driven arithmetic unit maintains the current arithmetic state, does not execute new arithmetic operations, and only continuously monitors data changes.

[0095] Once the register data meets the triggering conditions, the event-driven arithmetic unit executes the node calculation process sequentially and generates the corresponding control result data.

[0096] After the event-driven computing unit completes its calculations, it sends the control result data to the multi-level mirror latch unit for state storage and recording, which is used for subsequent state maintenance and anomaly recovery processing.

[0097] In this way, the event-driven computing unit can trigger the computing process based on data changes, avoiding the problem of repetitive calculations caused by periodic polling, and realize the structured processing of multi-register data through the computing node tree structure, thereby improving data processing efficiency and control response capability.

[0098] Example 5

[0099] like Figure 5 As shown, this embodiment describes the working process of the multi-level mirror latch unit based on embodiments 1 to 4.

[0100] The multi-level mirror latch unit is used to hierarchically store the control results output by the event-driven arithmetic unit and provide a basis for state recovery in the event of changes or anomalies in the system state. After receiving the control result data, the multi-level mirror latch unit records the control results in real time and stores them hierarchically according to different time dimensions or state dimensions.

[0101] The multi-level mirror latch unit includes a real-time mirror layer, a periodic mirror layer, and a recovery mirror layer. The real-time mirror layer is used to record the control output status at the current moment, the periodic mirror layer is used to periodically back up the system control status at preset time intervals, and the recovery mirror layer is used to save the system's key control status information.

[0102] During normal system operation, the multi-level mirror latch unit continuously updates the real-time mirror layer data and periodically synchronizes the real-time mirror layer data to the periodic mirror layer, thereby forming a continuous state recording link.

[0103] When a status change such as a master station communication interruption, system restart, or control switch is detected, the multi-level mirror latch unit selects the most recent valid control state in the mirror layer to restore based on the current status and uses it as the recovery reference.

[0104] During the recovery process, the multi-level mirror latch unit sequentially backfills the state of the periodic mirror layer and the real-time mirror layer, so that the system control state is restored to the most recent stable state, thereby ensuring the continuity of control output.

[0105] After the control state is restored, the multi-level mirror latch unit will resend the restored control result to the single-channel isolation output unit, which will then continue to output control data to the next slave station.

[0106] Through the above methods, the multi-level mirror latch unit can record and restore the control results at multiple levels, maintain the continuity of the control state in the event of system abnormalities or communication interruptions, and reduce the impact of control interruptions on the operation of lower-level execution devices.

[0107] Based on Embodiments 1 to 5, the overall operation flow of an isolated RTU multi-master station computing arbitration module and data processing method of the present invention is as follows.

[0108] After the system is powered on, the dual-channel electrically isolated master station communication acquisition unit first establishes independent communication links with the two upper master stations respectively, isolates and receives the register data sent by each master station, and sends the raw data to the multi-register data parsing and mapping storage unit.

[0109] The multi-register data parsing and mapping storage unit performs format recognition and register parsing on the received data, and maps the data from different master stations to the corresponding data storage areas to form a data structure that can be used for subsequent processing.

[0110] The control arbitration management unit generates a control score based on the parsed master station status information, determines the current control master station and control ownership relationship based on the score result, and outputs the control status information to the control domain allocation execution unit.

[0111] The control domain allocation execution unit divides the register address space into control domains based on the control ownership result and establishes a correspondence between control domains and control permissions, so that different control domains have corresponding read, write or control permissions under the current control status.

[0112] After the control domain permissions are established, the event-driven arithmetic unit continuously monitors the changes in register data. When the data changes meet the preset trigger conditions, the arithmetic process is started, and the data is processed based on the arithmetic node structure to generate the corresponding control results.

[0113] After the control results are generated, they enter the multi-level mirror latch unit for hierarchical storage and status recording. Under normal system operation, real-time mirror and periodic mirror data are formed; in the event of system abnormality or communication interruption, the control status is restored based on the restored mirror data.

[0114] Finally, the control results after latching are standardized and output by the single-channel isolation output unit and transmitted to the lower-level slave device to achieve continuous control of the field actuators.

[0115] Through the above process, the units work together in the order of data acquisition, data parsing, control right determination, control domain allocation, event-driven calculation, state latching and final output to achieve unified data processing and stable control output in a multi-master station environment.

[0116] In summary, the isolated RTU multi-master station operation arbitration module and data processing method of this invention realizes independent communication and isolated acquisition between two master stations through a dual-channel electrically isolated master station communication acquisition unit; generates a control right score value and determines the control right attribution result based on the master station's operating status through a control right arbitration management unit; performs control domain division and dynamic permission allocation on the register address space through a control domain allocation execution unit; triggers calculations based on register data changes and generates control results through an event-driven operation unit; performs hierarchical storage and anomaly recovery processing on the control results through a multi-level mirror latch unit; and finally outputs the final control data to the lower slave station through a single-channel isolated output unit.

[0117] This invention enables unified data processing and control output in a multi-master station environment. During control switching, it reduces frequent control switching through a control scoring mechanism and a control switching threshold. Furthermore, it achieves independent permission management for different control areas through control domain division, ensuring control continuity even when the master station is abnormally offline, communication is interrupted, or the status changes. Simultaneously, it reduces redundant calculations through an event-driven computation mechanism and achieves control status recording and recovery through a multi-level mirror latch mechanism, thereby improving the overall system stability and control continuity.

[0118] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An isolated RTU multi-master station arbitration module and data processing method, characterized in that, include: The system includes a dual-channel electrically isolated master station communication acquisition unit, a multi-register data parsing and mapping storage unit, a control right arbitration management unit, a control domain allocation and execution unit, an event-driven calculation unit, a multi-level mirror latch unit, and a single-channel isolated output unit. in: The dual-channel electrically isolated master station communication acquisition unit is used to independently acquire and output register data from two master stations in isolation. The multi-register data parsing and mapping storage unit is used to parse register data and establish a mapping relationship between data and computing nodes; The control arbitration management unit is used to generate control ownership results based on the main station's operating status. The control domain allocation execution unit is used to divide and allocate the register address space into control domains according to the control ownership result. The event-driven arithmetic unit is used to trigger arithmetic operations based on changes in register data and generate control results. The multi-level mirror latch unit is used for hierarchical storage of control results and anomaly recovery. The single-channel isolation output unit is used to output final control data to the slave station.

2. The isolated RTU multi-master station arbitration module and data processing method according to claim 1, characterized in that, The control arbitration management unit calculates a control score based on the master station's online status, communication stability, data continuity, and command validity, and determines the master station as the master station based on the control score.

3. The isolated RTU multi-master station arbitration module and data processing method according to claim 2, characterized in that, When the difference in control scores between two master stations is less than a preset threshold, a control arbitration delay mechanism is triggered to maintain the current control ownership within a preset time window in order to avoid frequent switching of control.

4. The isolated RTU multi-master station operation arbitration module and data processing method according to claim 1, characterized in that, The control domain allocation execution unit divides the register address space into at least two control domains, each corresponding to a different control parameter type, and allocates them to different master stations for execution based on the control ownership result.

5. The isolated RTU multi-master station arbitration module and data processing method according to claim 1, characterized in that, When the ownership of control changes, the control domain allocation execution unit triggers a control domain migration operation, causing the corresponding control domain to migrate from the current master station to the new master station with control.

6. The isolated RTU multi-master station arbitration module and data processing method according to claim 1, characterized in that, The event-driven operation unit only triggers the operation when the change in register data exceeds a preset change threshold; otherwise, it keeps the result of the previous operation unchanged.

7. The isolated RTU multi-master station arbitration module and data processing method according to claim 6, characterized in that, The event-driven computing unit constructs a tree-like computing structure based on register mapping relationships, performs hierarchical calculations on multiple register input data, and generates control output results.

8. The isolated RTU multi-master station arbitration module and data processing method according to claim 1, characterized in that, The multi-level mirror latch unit includes a real-time mirror layer, a periodic storage layer, and a recovery mirror layer. The real-time mirror layer is used to cache the current running state, the periodic storage layer is used to periodically save the control state, and the recovery mirror layer is used to restore the state in case of abnormal situations.

9. The isolated RTU multi-master station arbitration module and data processing method according to claim 8, characterized in that, When a main station loses connection, communication is interrupted, or a power failure occurs, the multi-level mirror latch unit performs state rollback recovery according to the priority order of the recovery mirror layer, the periodic storage layer, and the real-time mirror layer.

10. The isolated RTU multi-master station arbitration module and data processing method according to claim 1, characterized in that, When outputting control data, the single-channel isolation output unit continuously monitors the master station's control status. When a change in control status is detected, the output data is updated synchronously to ensure the continuous and stable control status of the slave station.

Images