Redundancy refers to the repeated configuration of some components in the system. When the system fails, the redundant components will intervene and take over the work of the faulty components, thereby reducing the downtime of the system. Modular redundancy refers to the use of a dual-module structure in the system composition [1]. When a component fails, it can be automatically or manually reconfigured, and another component will replace the faulty component to work. The system operates at a reduced level, except for the faulty component, the remaining parts still remain in normal operation.