| 摘要 |
A control system architecture suitably includes sufficient computation redundancy and control command management to isolate and recover a faulted processor and/or to recover all processing units in the redundant system without adverse effects. Computational redundancy may be provided with multiple processors and/or processing units within computers or computing platforms. In addition to isolating and recovering from internal faults, various embodiments allow computing units to detect faults in other system elements such as sensors, adaptors, actuators and/or effectors. Further embodiments may also include one or more actuator adaptor units that detect faults in other system components and issue discrete instructions to trigger a recovery. In some embodiments, the recovery is performed within one or two computing frames, or otherwise in a short enough time period so as to have only minimal affects, if any, on system performance or redundancy.
|
