Hot switching method and equipment for underwater bionic fish double-control system
A motion control system, dual-control technology, applied in general control systems, control/regulation systems, instruments, etc., can solve problems that affect data interaction, affect the normal operation of the system, and the system cannot work normally, and achieve high reliability and guarantee. The effect of smooth use
Inactive Publication Date: 2020-05-05
BOYA GONGDAO BEIJING ROBOT TECH CO LTD
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Problems solved by technology
[0002] For the safety and reliability of the underwater motion control system, the existing technology usually saves the data at the time of the system failure through backup data when the control system fails, and obtains the saved data after the control system system failure is removed and the control system is restarted. Perform normal work, but during the fault period, the system cannot work normally, thus affecting the data interaction during this period, if there is a large amount of data interaction during the fault period, it will seriously affect the normal operation of the system
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[0034] The principles and features of the present invention will be described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.
[0035] Such as figure 1 As shown, a heat switching method of an underwater bionic fish double control system provided by an embodiment of the present invention, the method includes:
[0036] S1, setting two main control systems with the same function in the underwater motion control system, namely the first main control system and the second main control system;
[0037] S2, start the first main control system and the second main control system; if and only one is in the active state, initially, only one main control system is in the active state, and the second main control system is in the silent monitoring state;
[0038] S3, judging whether the first main control system in the active state is in a fault sta...
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The invention discloses a hot switching method for an underwater bionic fish double-control system, and relates to the field of double-system control. The method comprises the steps: two main controlsystems with the same function are arranged in an underwater motion control system, including a first main control system and a second main control system; starting the first main control system and the second main control system; when only one is in an active state, initially, only one main control system processes in the active state, the second main control system is in a silent monitoring state, whether the first main control system in the active state has a fault state or not is judged, and when the fault state occurs, the second main control system is converted into the active state fromthe silent state to take over the control task of the first main control system. The faulty first main control system in the active state is switched to the second main control system, the second main control system is converted into the active state from the silent state to take over the heartbeat, the control information and the communication information of the whole system, smooth use of the control system during failure is obviously guaranteed and the control system has the effect of higher reliability.
Description
technical field [0001] The invention relates to the field of dual system control, in particular to a heat switching method and equipment for an underwater bionic fish dual control system. Background technique [0002] For the safety and reliability of the underwater motion control system, the existing technology usually saves the data at the time of the system failure through backup data when the control system fails, and obtains the saved data after the control system system failure is removed and the control system is restarted. It works normally, but during the failure period, the system cannot work normally, thus affecting the data interaction during this period. If there is a large amount of data interaction during the failure period, it will seriously affect the normal operation of the system. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide a heat switching method and equipment for an underwater bionic fish...
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IPC IPC(8): G05B9/03
CPCG05B9/03
Inventor 熊明磊刘召斌李朵然
Owner BOYA GONGDAO BEIJING ROBOT TECH CO LTD