三重模块冗余(TMR)是一种硬件容错技术,它使用三个相同的模块并行执行相同的操作。它们的输出被送入一个多数投票电路。如果一个模块发生故障并产生错误输出,投票电路仍然能够根据其他两个模块的输出确定正确的输出,从而掩盖故障并确保系统持续运行。

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三重模块冗余(TMR)是一种硬件容错技术,它使用三个相同的模块并行执行相同的操作。它们的输出被送入一个多数投票电路。如果一个模块发生故障并产生错误输出,投票电路仍然能够根据其他两个模块的输出确定正确的输出,从而掩盖故障并确保系统持续运行。
三重模块冗余(TMR)是N模块冗余的经典示例,其中N=3。其核心思想是复制一个关键组件三次,并让它们同时处理相同的输入。然后,将这三个模块的输出结果传递给一个投票器。投票器实现多数投票功能;如果三个输入中至少有两个相同,则选择相同的值作为最终输出。这种机制有效地掩盖了任何一个模块的故障。例如,如果模块A、B和C分别输出1、1和0,则多数投票器将输出1。
The reliability of the TMR system depends not only on the modules but also on the voter itself. If the voter fails, the entire system fails. Therefore, the voter must be significantly more reliable than the individual modules it is monitoring. In practice, voters are often simpler circuits than the modules they manage, which helps in achieving this higher reliability. The overall system reliability can be modeled mathematically. If the reliability of a single module is [latex]R_m[/latex], the reliability of the TMR system (assuming a perfect voter) is given by the probability that at least two modules work correctly: [latex]R_{TMR} = R_m^3 + 3R_m^2(1-R_m) = 3R_m^2 – 2R_m^3[/latex]. This formula shows that TMR improves reliability only if the individual module reliability [latex]R_m[/latex] is greater than 0.5.
Historically, John von Neumann’s work in the 1950s laid the theoretical groundwork for building reliable systems from unreliable components, which directly led to concepts like TMR. It was first implemented in practice in systems where failure was not an option, such as the Saturn V launch vehicle’s digital computer and early fly-by-wire flight control systems. While TMR increases hardware cost, power consumption, and weight by a factor of more than three (due to the voter), its simplicity and effectiveness in handling single random hardware faults make it a cornerstone of high-availability and safety-critical system design.
三重模块冗余(TMR)
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