| 摘要 |
A method and apparatus are disclosed for performing timely execution of periodic tasks in a redundant control system. A secondary controller in the redundant system receives a wakeup time array having at least one wakeup time element corresponding to a periodic task as well as a current time value from a primary controller, and schedules a run time for the periodic task at switchover based on the wakeup time element and the current time value from the primary control module. The secondary controller may further receive a task instance corresponding to the periodic task from the primary control module, and schedule a run time for the periodic task at switchover based on the task instance. In addition, the secondary controller may schedule a run time for the periodic task at switchover based on a default period associated with the periodic task, if no task instance and no wakeup time element were received corresponding to the periodic task.
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