Patent ID: 6449732
Filing Date: 2002-09-10
Classification: G05B,G06F,H04L

Abstract:
A controller for executing an application program to process control information related to control elements comprising:a plurality of main processor modules each of which runs the application program; at least one input/output module for receiving and sending control information to said control elements, communicating with each main processor module; at least one communication module communicating external signals to said plurality of main processor modules; a time synchronizing system for synchronizing the time clocks of said main processor modules; a voting system which exchanges information between selected ones of said main processor modules of said plurality of main processor modules and compares the information in each main processor module with the information in other selected ones of said main processor modules; apparatus for sending a rendezvous signal to all other main processor modules; apparatus for receiving a rendezvous signal from all other main processor modules; a system for determining the clocking midpoint of all processor signals; a clock update apparatus which sends update signals to the clock to increase the clock rate if slower than the clocking midpoint; a clock update apparatus which sends update signals to the clock to decrease the clock rate if faster than the clocking midpoint; and a plurality of separate housings for enclosing electronic circuit boards representing said modules, having a common physical characteristics for receiving said electronic circuit boards and providing housing electrical connectors.