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Dual redundant control device and method based on distributed system master-slave mutual conversion

A distributed system and control device technology, applied in program control, computer control, general control system, etc., can solve problems such as damage, control system crash, unmanned equipment unsuitable, etc., to prevent problems and increase reliability. Effect

Active Publication Date: 2019-12-17
CHINA SHIP SCIENTIFIC RESEARCH CENTER (THE 702 INSTITUTE OF CHINA SHIPBUILDING INDUSTRY CORPORATION)
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the face of complex marine environments and long-term alternating cold and heat, it is inevitable that the control system may crash or be damaged.
[0004] At present, the watchdog circuit can be used to prevent the occurrence of crashes, but after the program crashes, the circuit is only a mechanical reset program to make the program run from the beginning, which is not suitable for continuous operation of unmanned equipment

Method used

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  • Dual redundant control device and method based on distributed system master-slave mutual conversion
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  • Dual redundant control device and method based on distributed system master-slave mutual conversion

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Embodiment Construction

[0032] The device described in the present invention is developed based on the CAN bus, utilizes the multi-master control feature of the CAN bus, and can easily replace the main control CPU. The communication and positioning system, the attitude adjustment system, the main motion control system and the bottom auxiliary control system of the glider are respectively connected to the CAN bus.

[0033] figure 1 It is a system block diagram of the device of the present invention.

[0034] Such as figure 1 As shown, the control device of the present invention is based on dual-CPU control, including a motion main control CPU and a bottom-level auxiliary control CPU. The motion main control CPU collects the parameter values ​​of each sensor of the underwater glider, stores the parameter values ​​in its own SD card module, and at the same time performs motion logic algorithms to output the motion control commands required by the underwater glider. The underlying auxiliary control CP...

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Abstract

The invention discloses a master-slave interchangeable double-redundancy control device based on a distributed system and a method thereof, wherein the control device is used for an underwater glider.According to the device, a distributed CAN bus is used as a hardware architecture; devices such as a double-CPU common storage area, a power supply mutual control device and a double-switch signal triggering device are respectively established. According to the method, through hardware designing, a foundation of a master-slave interchangeable control right is established, and then CPU crash statemutual determining is performed through a continuous pulse hardware scanning method. Then an appropriate hardware restarting operation is performed. According to the master-slave interchangeable double-redundancy control device, the master-slave interchangeable CPU is used for preventing a condition of single central controller problem in a designing method of stripping a master control right, thereby improving system reliability.

Description

technical field [0001] The invention relates to an underwater glider, in particular to a master-slave mutual-rotation dual-redundancy control device and method suitable for an underwater glider based on a distributed system. Background technique [0002] With the continuous development of ocean monitoring equipment technology, underwater glider, as a new type of underwater unmanned submersible with low power consumption and long endurance, has rich advantages. Its endurance can reach several months, its cruising range can reach thousands of kilometers, and its diving depth can reach several kilometers. This kind of unmanned underwater vehicle will face the test of complex ocean environment during the long-term movement. And its central control system serves as the brain of the entire submersible, and its ability to operate normally is directly related to the reliability of the entire submersible. [0003] In order to improve the reliability of the submarine control system,...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/042
CPCG05B19/0421G05B2219/2231G05B2219/2237
Inventor 王健张安通徐令令朱建良张波张华
Owner CHINA SHIP SCIENTIFIC RESEARCH CENTER (THE 702 INSTITUTE OF CHINA SHIPBUILDING INDUSTRY CORPORATION)