실시간 운영체제 환경하에서 이중화된 제어시스템을 위한 소프트웨어의 구현

Implementation of a software for a control system with dual structure under the real-time operating system

In this paper, a method for implementing software for the control system with dual structure in processor module is proposed and implemented to enhance its reliability. In this implementation the multi-tasking function which is provided by a real-time operating system is applied. The overall softwre is divided into five tasks and is performed in each of the dual processor module, independently. By this, the processor module with dual structure can achieve a control objective and fault diagnostics effectively. An experimental result shows that the backup processor module can be substituted for the primary processor module immediately when it happens to fail, because data relating the failure information are exchanged continuously done via shared memories.