Method for synchronizing data utilized in redundant, closed loop control systems
First Claim
1. A method for synchronizing data utilized in a redundant, closed-loop feedback control system, the method comprising:
- configuring a plurality of control nodes within the control system, each of said plurality of control nodes transmitting and receiving data through a common communication bus;
at each of said plurality of control nodes, during a given control loop time T=N, verifying the receipt of externally generated data with respect to each control node, said externally generated data having been generated during a preceding control loop time T=N−
1; and
at each of said plurality of control nodes, during said given control loop time T=N, calculating output control data using said externally generated data;
wherein, during said given control loop time T=N, said calculated output control data from each individual control node is further transmitted over said communication bus to be later utilized by other control nodes coupled to said communication bus during a subsequent control loop time T=N+1.
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Abstract
A method for synchronizing data utilized in a redundant, closed-loop feedback control system is disclosed. In an exemplary embodiment, the method includes configuring a plurality of control nodes within the control system, with each of the plurality of control nodes transmitting and receiving data through a common communication bus. At each of the plurality of control nodes during a given control loop time T=N, the receipt of externally generated data with respect to each control node is verified, the externally generated data having been generated during a preceding control loop time T=N−1. At each of the plurality of control nodes during the given control loop time T=N, output control data is calculated using the externally generated data. During the given control loop time T=N, the calculated output control data from each individual control node is further transmitted over the communication bus to be later utilized by other control nodes during a subsequent control loop time T=N+1.
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Citations
32 Claims
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1. A method for synchronizing data utilized in a redundant, closed-loop feedback control system, the method comprising:
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configuring a plurality of control nodes within the control system, each of said plurality of control nodes transmitting and receiving data through a common communication bus; at each of said plurality of control nodes, during a given control loop time T=N, verifying the receipt of externally generated data with respect to each control node, said externally generated data having been generated during a preceding control loop time T=N−
1; andat each of said plurality of control nodes, during said given control loop time T=N, calculating output control data using said externally generated data; wherein, during said given control loop time T=N, said calculated output control data from each individual control node is further transmitted over said communication bus to be later utilized by other control nodes coupled to said communication bus during a subsequent control loop time T=N+1. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for synchronizing data utilized in a redundant, closed-loop feedback control system, the method comprising:
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configuring a first control node to control a first actuator, said first actuator producing a first actuator output; configuring a second control node to control a second actuator, said second actuator producing a second actuator output, said first and second actuator outputs further being combined to control a plant; configuring a communication bus for transmitting data signals to and from said first and second control nodes; at both of said first and second control nodes, during a given control loop time T=N, verifying the receipt of externally generated data with respect to each of said first and second control nodes, said externally generated data having been generated during a preceding control loop time T=N−
1; andat both of said first and second control nodes, during said given control loop time T=N, calculating output control data using said externally generated data; wherein, during said given control loop time T=N, said calculated output control data from said first and second control nodes is further transmitted over said communication bus to be utilized during a subsequent control loop time T=N+1. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A redundant, closed loop feedback control system, comprising:
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a first control node coupled to a first actuator, said first actuator producing a first actuator output; a second control node coupled to a second actuator, said second actuator producing a second actuator output, said first and second actuator outputs further being combined to control a plant; a communication bus for transmitting data signals to and from said first and second control nodes; said first control node receiving a primary reference input signal and a primary feedback signal, said primary reference input signal and said primary feedback signal being generated locally with respect to said first control node, said second control node also receiving, through said communication bus, both said primary reference input and said primary feedback signal; said second control node receiving a secondary reference input signal and a secondary feedback signal, said secondary reference input signal and said secondary feedback signal being generated locally with respect to said second control node, said first control node also receiving, through said communication bus, both said secondary reference input and said secondary feedback signal; and means for synchronizing, within a given control loop time T=N, a selected set of reference input signals and feedback signals to be used in producing said first and second actuator outputs; wherein said selected set of reference input signals and feedback signals used in producing said first and second actuator outputs are generated during a previous control loop T=N−
1. - View Dependent Claims (22, 23, 24, 25, 26, 27)
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28. A storage medium, comprising:
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a machine readable computer program code for synchronizing data utilized in a redundant, closed-loop feedback control system; and instructions for causing a computer to implement a method, the method further comprising; during a given control loop time T=N, verifying the receipt of externally generated data with respect to each of a plurality of control nodes configured within the control system, said externally generated data having been generated during a preceding control loop time T=N−
1; andat each of said plurality of control nodes, during said given control loop time T=N, calculating output control data using said externally generated data; wherein, during said given control loop time T=N, said calculated output control data from each individual control node is further transmitted over a common communication bus to be later utilized by other control nodes coupled to said communication bus during a subsequent control loop time T=N+1. - View Dependent Claims (29, 30, 31, 32)
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Specification