6KA9902/EL1/621,6KA9902/EL1/621,6KA9902/EL1/621

6KA9902/EL1/621,6KA9902/EL1/621,6KA9902/EL1/621

厦门兴锐达自动化设备有限公司

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控制系统冗余的关键技术

  　  冗余是一种高级的可靠性设计技术，1:1热冗余也就是所谓的双重化，是其中一种有效的冗余方式，但它并不是两个部件简单的并联运行，而是需要硬件、软件、通讯等协同工作来实现。将互为冗余的两个部件构成一个有机的整体，通常包括以下多个技术要点：

   　 1）信息同步技术

   　 它是工作、备用部件之间实现无扰动（Bumpless）切换技术的前提，只有按控制实时性要求进行高速有效的信息同步，保证工作、备用部件步调一致地工作，才能实现冗余部件之间的无扰动切换。

    　在热备用工作方式下，其中一块处于工作状态（工作卡），实现系统的数据采集、运算、控制输出、网络通讯等功能；而另一块处于备用状态（备用卡），它实时跟踪工作卡的内部控制状态（即状态同步）。工作/备用卡件之间的正/负逻辑是互斥的，即一个为工作卡，另一个必定是备用卡；而且它们之间有冗余控制电路（又称工作/备用控制电路）和信息通讯电路，以协调两块卡件同时而且有序地运行，保证对外输入输出特性的同一性，即对于用户使用而言，可以认为只有一个部件。一般在设计中，工作、备用部件之间通过高速的冗余通讯通道（串行或并行）实现运行状态互检和控制状态的同步（如组态信息、输出阀位、控制参数等）。

   　 2）故障检测技术

    　为了保证系统在出现故障时及时将冗余部分投入工作，必须有高精确的在线故障检测技术，实现故障发现、故障定位、故障隔离和故障报警。故障检测包括电源、微处理器、数据通讯链路、数据总线及I/O状态等。其中故障诊断包括故障自诊断和故障互检（工作、备用卡件之间的相互检查）

     3）故障仲裁技术和切换技术

   　 精确及时地发现故障后，还需要及时确定故障的部位、分析故障的严重性，依赖前文提到的冗余控制电路，对工作、备用故障状态进行分析、比较和仲裁，以判定是否需要进行工作/备用之间的状态切换。控制权切换到冗余备用部件还必须保证快速、安全、无扰动。当处于工作状态的部件出现故障（断电、复位、软件故障、硬件故障等）或者工作部件的故障较备用部件严重时，备用部件必须快速地无扰动地接替工作部件的所有控制任务，对现场控制不造成任何影响。同时要求切换时间应为毫秒级，甚至是微秒级，这样就不会因为该部件的故障而造成外部控制对象的失控或检测信息失效等等。另外，还需要尽快通过网络通讯或就地LED显示进行报警，通知用户出现故障的部件和故障情况，以便进行及时维护。

  　  4）热插拔技术

   　 为了保证容错系统具有高可靠性，必须尽量减少系统的平均修复时间MTBR。要做到这一点，在设计上应努力提高单元的独立性、可修复性、故障可维护性。实现故障部件的在线维护和更换也是冗余技术的重要组成部分，它是实现控制系统故障部件快速修复技术的关键。部件的热插拔功能可以在不中断系统正常控制功能的情况下增加或更换组件，使系统平稳地运行

 　   5）故障隔离技术

    　冗余设计时，必须考虑工作、备用部件之间的故障应该做到尽可能互不影响或影响的概率相当小（0.01%），即可认为故障是隔离的。这样可以保证：处于备用状态的部件发生故障时，不会影响冗余工作部件或其他关联部件的正常运行，保证冗余的有效性。

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Beckhoff KL5101 
Beckhoff M1400.004 
Beckhoff CP6901-0001
Beckhoff BK3100 
Beckhoff DB01088 DB 01 088 2MB 
Beckhoff CP6822 
Beckhoff C1300-000 
Beckhoff CP7002 0001
Beckhoff KL9290-0000
Beckhoff LC5200
Beckhoff FC5101
Beckhoff CP6002-0001
Beckhoff CP9030
Beckhoff C6330 0020 
Beckhoff AX2523 伺服驱动器
Beckhoff C3220TP HS6237 V2.2B
Beckhoff CP6401-100-0030 
Beckhoff C3350 
Beckhoff CP6003-1001
Beckhoff AX2516-B200-0000 伺服驱动器
Beckhoff CP7021-0001 CP7021
Beckhoff FC2002 
Beckhoff AX2523 AX2523-B750 伺服驱动器
Beckhoff AX2006 伺服驱动器
Beckhoff CP7010 1002 
Beckhoff CP7011 1002 
Beckhoff CP6822-0002-0010
Beckhoff BK9100

Total Control QPI31200C2P-A 
Total Control QPI11100S2P
Total Control QPI11100S2P OPI-ABR-001
Total Control QPI21100E2P 
Total Control QPI211VOC2P
Total Control QP131200E2P-B
Total Control QPI21100E2P 
Total Control QPI-ABR-201
Total Control QPI-ABR-201 
Total Control MPK2D100L2P-A 
Total Control 3R23 
Total Control QPI-ABR-201 
Total Control 2880045-01 
Total Control QPI2D100S2P 
Total Control CQPI3D200C2P-A 
Total Control QPJ2D100L2P #35723
Total Control QPI-ABR-201 #6072LR 
Total Control QPKZD100LZP
Total Control QP131200S2P-B 
Total Control OPM2D100L2P
Total Control QPJ-GEG-201-G

XYCOM 9465 KPM 9465-219114103500-U
XYCOM PS3710A-TA2-1G-SU/PS3710A-T42-?PA1 
XYCOM 9450-27B1318010000 
XYCOM 112471-099 112471099 112471-099B 115107
XYCOM 112595-001 8000-SKM 
XYCOM 110551 10330-00800 70244-703 Y 1.1E
XYCOM 124007 101331-133 101331-097 B
XYCOM 1500-02P2140031000 150002P2140031000
XYCOM 1507-0142110001000 
XYCOM 3115T-8850256-2K
XYCOM 3406 KPT 3406-0000010000001 HMI-SH316-PE
XYCOM 3200AC 
XYCOM 3535 KPM 3535-E3S434003500L 
XYCOM 3115T 8850256-NT 
XYCOM 3515KPM 3515-KPM 
XYCOM 3510-KP
XYCOM 4150B
XYCOM 4117-0000000002001
XYCOM 4117T 4117-0000000002001 
XYCOM 4615KPMT
XYCOM 4810ER 
XYCOM 4810SM 
XYCOM 5017T
XYCOM 70566-001 
XYCOM 70530-001 70530001 XVME-530 
XYCOM 70240-001
XYCOM 8320/94321-002 
XYCOM 8450 
XYCOM 81600EA 82088-004/R
XYCOM 83382CA
XYCOM 81626FA 81862-008/R
XYCOM 86863BA 86864-003/B
XYCOM 9450-0446614010000 38-K42IMA-01
XYCOM 9450-2881318010000 
XYCOM 9485/3334-T 
XYCOM 9460-0102140011002
XYCOM 99142-025 
XYCOM XT1502T
XYCOM XVME-977 
XYCOM XVME-682 70682-101
XYCOM XVME-660 XVME 660 XVME660
XYCOM XVME-660 处理器模块 
XYCOM XVME-244 ADEPT 70211-703 
XYCOM XVME-688 P/N: 70688-011
XYCOM XVME-566 
XYCOM XVME-244 数字量输入输出模块
XYCOM XVME-401
XYCOM XVME-500/4 
XYCOM XVME-505/2 
XYCOM XVME-566 XVME566 PM101323 
XYCOM XVME-590/3 模拟量输出模块
XYCOM XVME-290 数字量输入输出板
XYCOM XVME-560 70560-001 模拟量输入板
XYCOM XVME-566 
XYCOM XVME-224 
XYCOM XVME-113 
XYCOM XVME-260 70260-001 继电器输出板
XYCOM XVME-678 处理器模块
XYCOM XVME-674 处理器模块
XYCOM XVME-200
XYCOM XVME-531 模拟量输出模块
XYCOM XVME-230 
XYCOM XVME-560 模拟量输入模块
XYCOM XVME-113 存储模块

 
ABB DSQC239 
ABB DSQC300 - 3HAB22010-1
ABB DSQC224 - YB560103
ABB DSQC335 - 3HAB6182-1
ABB DSQC223 - YB560103
ABB DSQC 208A - YB560103
ABB 3HAA3573-AJA DSQC307 
ABB 3HAA3573-ACA DSQC 302 
ABB 3HAB 2214-1/1 DSQC 315 
ABB 3HAB2242-1 CPU Robot 
ABB S4C/S4C+ 3HNE 00311-1 3HNE00311-1示教器
ABB S2 YB161 100-DP YB161100-DP 示教器
ABB S3 YB560 100 EA YB560100EA
ABB S4C 3HNE 00314-1 3HNE00314-1 示教器
ABB 6240BP10421A-E
ABB 6240BP10421B-G 
ABB APGIC03
ABB APSAF03
ABB DSQC-230 
ABB DSQC-236A 
ABB DSQC-236C
ABB DSQC-249A 
ABB GS1.2 电源
ABB IOC-01 
ABB IOP-05
ABB IOS-01 
ABB PCU-02 
Advantech IPC-6806-BP-B
AEG 91-01538-01 
AEG Schneider Automation MM-PMC1400C
AEG Schneider Automation TSX17ACC7 适配器模块
Allen Bradley 150-F317NBD 
NM 100 ABN 69-334-285 伺服驱动器
Kuka 3psi5-67i art 69-327-921 
KUKA 6fc51110 
KUKA 6fx1122 
KUKA 6fx1123 
KUKA 6fx1125 
KUKA FE001 69-223-650 
Kuka FE002 69-223-652 
Kuka FE003 69-157-010 
KUKA FE005 69-157-017 
KUKA KRC32 
KUKA 6FR2490-0AH12 示教器
KUKA KS30-135i 99-327-923 
KUKA 6RR1460-2UN 示教器
Kuka 6EV3054-0GC 6EV 3054-0GC 
KUKA 6FR1460-7UR 示教器
KUKA KSD1-32 00-105-351 伺服驱动器
KUKA KPS-600/2-REL 00-107-545 电源
KUKA KSD1-08 00-105-925 伺服驱动器
KUKA KSD1-16 00-105-350 伺服驱动器
KUKA 00-118-966 
KUKA 00-104-196 
KUKA CP5614 C79039-A8000-E077-02-SA 
KUKA 6ES7182-0AA01-0XA0/A00 
KUKA 00-110-947 
KUKA 71-039-271 
KUKA KSD1-48 00-105-351 伺服驱动器
KUKA KPS-600-20 00-104-606 
KUKA 69-000-365 
KUKA 71-039-276 
KUKA 71-052-214 
KUKA 71-039-272 
KUKA 00-103-806 
KUKA 00-104-196 
KUKA 00-103-499 
KUKA 00-103-494 
MOTOMAN JZRCR-NTU02-1 
MOTOMAN SGDR-COA250A01B 
MOTOMAN JZNC-NRK01-1 
MOTOMAN SGDR-SDA140A01B 
MOTOMAN SGDR-SDA350A01BY28 伺服驱动器
MOTOMAN JZNC-XIU01 
MOTOMAN JANCD-XCP01 
MOTOMAN CPS-150F 控制电源
MOTOMAN JASP-WRCA01 
MOTOMAN CACR-SV3AAA 伺服放大器
MOTOMAN JUSP-RCP01AAC 
MOTOMAN SARCR-XFB01 
MOTOMAN JANCD-XCP02B-2 
MOTOMAN CACR-IR 010101F B 伺服驱动器
MOTOMAN JZNC-MPP22E 示教器
MOTOMAN JUSP-ACP15GA 伺服控制器 
MOTOMAN SGDC-050505ARA 伺服控制器
MOTOMAN SGDC-010101ARA 伺服控制器
MOTOMAN 341902 
MOTOMAN JANCD-MSP02 
KAWASAKI 50999-1320R03 控制板
KAWASAKI 50999-1569R10 控制板
KAWASAKI 50607-1069R01 控制板
KAWASAKI 50607-1048R03 控制板
KAWASAKI 50999-1190R00 控制板
KAWASAKI 50818-1013R00 键盘
KAWASAKI 50999-2238R00 
KAWASAKI 50999-2269R02 控制板
KAWASAKI 50817-1298 示教器
KAWASAKI 50999-2146R10 控制板
KAWASAKI 50999-2217R22 控制板
KAWASAKI 50817-1220R05 示教器
KAWASAKI 50817-1327 
KAWASAKI 50999-1549 
KAWASAKI 50630-1049 电源