Wave generator control system and control method supporting fault tolerance mechanism

Abstract

This invention relates to the field of wave simulation systems in marine and ocean engineering laboratories, specifically to a wave generator control system and method with a fault-tolerant mechanism. The control system of this invention comprises a wave generator control terminal, a motion controller, a backup motion controller, a power supply module one, a motion control multiplexer module, drivers 1-28, backup drivers, a power supply module two, drive multiplexer modules 1-28, servo motors 1-28, linear motion units 1-28, wave generator plates 1-28, and an LED screen. Technical advantages: When any driver or motion controller in the wave generator control system experiences a hardware failure, it can automatically switch to the backup driver or motion controller, allowing the wave generator control system to operate normally; it can identify the fault point, facilitating subsequent replacement of damaged components by maintenance personnel; and with only a slight increase in cost, it adds a fault-tolerant mechanism to components with high failure rates, significantly reducing the impact of wave generator control system failures on experiments.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of ship and ocean engineering laboratory wave simulation system, in particular, to a wave maker control system supporting fault-tolerant mechanism and a control method. BACKGROUND

[0002] In the field of coast, offshore or ocean engineering, wave is a kind of key hydrodynamic load. In the laboratory, wave is simulated by wave making, which is an important experimental technology. Wave maker as an important laboratory device occupies an important position in the field of ship, port, coastal engineering, ocean engineering, etc. Wave maker is a kind of infrastructure matched with ship model test tank, which functions to make waves of different wavelengths and wave heights in the test tank to simulate the influence of actual waves on ships or buildings, etc. to measure various technical data to provide basis for relevant design. The generation of physical waves in the laboratory by wave maker is an important experimental method for studying wave propagation, breaking characteristics and interaction with marine structures.

[0003] The wave maker control system has mainly experienced three stages: the first stage is mechanical motion control system, which uses DC motor to drive crank connecting rod to generate waves, and can only simulate simple regular waves, which has been eliminated; the second stage is electro-hydraulic servo motion control system, which uses hydraulic system to execute electronic signal to generate waves, and can simulate regular waves and irregular waves, but has problems of liquid leakage, high maintenance difficulty and low control precision; the third stage is network-based servo motion control system, which can simulate regular waves and irregular waves through synchronous high-precision motion control of servo motor through network, and using network-based servo motion control system as wave maker control system has become the mainstream way.

[0004] The wave maker control system of the ship model test tank laboratory adopts a typical network-based servo motion control system architecture. The harbor pool is 35 meters long, 14.5 meters wide, and has a maximum working water depth of 1 meter. The harbor pool wave maker is mainly composed of 7 supports, 28 linear motion units, 28 motors, 28 wave making boards, 7 control boxes, a transformer and a movable operating platform. The drive in the control box adopts imported Elmo drive, and the movable operating platform is equipped with an industrial computer, a motion controller and a set of wave making control software. Due to the full teaching and scientific research tasks, the use frequency of the wave maker is very high, but after years of use, the failure frequency of the wave maker is also getting higher and higher. Each time a fault occurs, the teaching and scientific research test has to be terminated, and then the after-sales maintenance personnel are contacted for on-site maintenance. The maintenance personnel have to be waited from outside to detect the fault, if it is a hardware problem, the replacement parts need to be ordered, and then installed and debugged. The maintenance cycle is one week at least, and several months at most, which has caused great hindrance to the normal development of the test. Moreover, after years of use, it is summarized that most of the hardware failure conditions are caused by the drive, followed by the motion controller.

[0005] How to design a wave maker control system and control method supporting fault-tolerant mechanism according to the characteristics of the hardware failure rate of the wave maker of the ship model test tank laboratory is a problem worth exploring. SUMMARY

[0006] The purpose of the present application is to design a wave maker control system and control method supporting fault-tolerant mechanism according to the characteristics of the hardware failure rate of the wave maker of the ship model test tank laboratory.

[0007] The present application can automatically switch to the standby drive or motion controller when any one of the drive or motion controller of the wave maker control system fails, so that the wave maker control system can operate normally; at the same time, the fault point is identified, which is convenient for maintenance personnel to replace the damaged parts later.

[0008] In order to achieve the above purpose, the present application adopts the following technical solutions:

[0009] A wave maker control system supporting fault-tolerant mechanism, comprising a wave maker control terminal, a motion controller, a standby motion controller, a power module one, a motion control multiplexer module, a drive 1~28, a standby drive, a power module two, a drive multiplexer module 1~28, a servo motor 1~28, a linear motion unit 1~28, a wave making board 1~28, and an LED screen.

[0010] The wave generator control terminal is connected with the motion controller and the backup motion controller, and is used for sending wave parameters to the motion controller and the backup motion controller; the wave generator control terminal is connected with the motion control multiplexer module and the driving multiplexer module 1-28, and is used for sending address selection signals; the wave generator control terminal is connected with the power module one and the power module two, and is used for sending control signals for controlling power switches.

[0011] The motion controller and the backup motion controller are connected with the input end of the motion control multiplexer module, and are used for sending motion control signals to the drivers 1-28.

[0012] The power module one is connected with the backup motion controller, and is used for supplying power to the backup motion controller.

[0013] The output end of the motion control multiplexer module is connected with the drivers 1-28 and the backup driver, and is used for transmitting the motion control signals sent to the drivers 1-28.

[0014] The drivers 1-28 are respectively connected with the driving multiplexer modules 1-28 in correspondence, and are used as one-way signal inputs of the driving multiplexer modules 1-28.

[0015] The backup driver is connected with the driving multiplexer modules 1-28 in one-to-one correspondence, and is used as another-way signal input of the driving multiplexer modules 1-28.

[0016] The power module two is connected with the backup driver, and is used for supplying power to the backup driver.

[0017] The signal output end of the driving multiplexer modules 1-28 is connected with the servo motors 1-28 in correspondence, and is used for transmitting control signals to the servo motors 1-28.

[0018] The servo motors 1-28 are connected with the linear motion units 1-28 in correspondence, so that the linear motion units 1-28 move according to a predetermined program.

[0019] The wave plates 1-28 are rigidly connected with the linear motion units 1-28 in correspondence, and move forward and backward with the linear motion units 1-28 to generate waves.

[0020] The LED screen is connected with the wave generator control terminal, and is used for receiving display information sent by the wave generator control terminal.

[0021] The application further provides a control method of the wave generator control system supporting the fault-tolerant mechanism.

[0022] Normal mode:

[0023] Step one: the user inputs wave making parameters through the wave maker control terminal, and starts wave making; the wave maker control terminal sends the wave making parameters to the motion controller;

[0024] Step two: the motion controller calculates motion data according to the wave making parameters, and sends corresponding control instructions to the motion control multiplexer module;

[0025] Step three: the wave maker control terminal sends address selection signals to the motion control multiplexer module to enable the signals of the motion controller;

[0026] Step four: the output end of the motion control multiplexer module transmits control instructions to the driver 1~28;

[0027] Step five: after receiving the control instructions of the motion controller, the driver 1~28 executes and sends driving signals to the driving multiplexer module 1~28;

[0028] Step six: the wave maker control terminal sends address selection signals to the driving multiplexer module 1~28 to enable the signals of the driver 1~28;

[0029] Step seven: the output end of the driving multiplexer module 1~28 transmits driving signal groups to the servo motors 1~28 to drive the servo motors 1~28 to operate;

[0030] Step eight: the driving servo motors 1~28 drive the linear motion units 1~28 to make reciprocating linear motion, and drive the wave making plates 1~28 to move forward and backward to make waves.

[0031] After the normal mode is started, if the response time of the wave maker exceeds the set time threshold, the wave maker automatically enters the fault-tolerant mode.

[0032] Fault-tolerant mode:

[0033] Step one: if the wave maker control terminal does not receive the feedback signal of the motion controller, it sends a control signal to the power module one to turn on the power module one to supply power to the standby motion controller; if the wave maker control terminal receives the feedback signal of the motion controller, it enters step three;

[0034] Step two: the wave maker control terminal sends the wave making parameters input by the user last time to the standby motion controller, and enters step four;

[0035] Step three: the wave maker control terminal re-sends the wave making parameters input by the user last time to the motion controller, and enters step five;

[0036] Step four: the wave maker control terminal sends address selection signals to the motion control multiplexer module to enable the signals of the standby motion controller, and enters step six;

[0037] Step five: the wave generator control terminal sends address selection signal to the motion control multiplexer module, and the signal of the motion controller is selected;

[0038] Step six: if the wave generator control terminal receives the feedback signal of the motion controller, the driver N (1≤N≤28) is informed that it may be in a fault state (the motion controller does not receive the feedback signal of the driver N or the received feedback signal is incorrect), and the control signal is sent to the power module two to open the power module two to supply power to the standby driver; if the wave generator control terminal does not receive the feedback signal of the motion controller, step eight is entered;

[0039] Step seven: the output end of the motion control multiplexer module transmits the control instruction to the drivers 1~28 and the standby driver, and step nine is entered;

[0040] Step eight: the output end of the motion control multiplexer module transmits the control instruction to the drivers 1~28, and step ten is entered;

[0041] Step nine: the wave generator control terminal sends address selection signal to the drive multiplexer module 1~28 and the standby driver, selects the signal of the drivers 1~28 except the driver N, and selects the signal of the standby driver, and step eleven is entered;

[0042] Step ten: the wave generator control terminal sends address selection signal to the drive multiplexer module 1~28, and selects the signal of the drivers 1~28;

[0043] Step eleven: the output end of the drive multiplexer module 1~28 transmits the drive signal group to the servo motors 1~28, and drives the servo motors 1~28 to operate;

[0044] Step twelve: the drive servo motors 1~28 drive the linear motion units 1~28 to make reciprocating linear motion, and drive the wave plates 1~28 to move forward and backward, and generate waves;

[0045] Step thirteen: if the wave generator control terminal receives the feedback signal of the motion controller that the wave generation is successful, the number N of the fault driver is sent to the LED screen to display; if the wave generator control terminal receives the feedback signal of the standby motion controller that the wave generation is successful and does not receive the notification information of the fault driver, the motion driver fault information is sent to the LED screen to display; if the wave generator control terminal receives the feedback signal of the standby motion controller that the wave generation is successful and receives the notification information of the fault driver, the motion driver fault information and the number N of the fault driver are sent to the LED screen to display; if the wave generator control terminal does not receive the feedback signal that the wave generation is successful within the set time threshold, the standby state is returned, and the unknown fault information is sent to the LED screen to display.

[0046] The characteristics and beneficial effects of the present application relative to the prior art are mainly:

[0047] 1. When any one driver or motion controller of the wave maker control system has a hardware failure, the system can automatically switch to the standby driver or motion controller, so that the wave maker control system can run normally.

[0048] 2. If the fault-tolerant mode is successfully run, the fault point can be identified, which facilitates the maintenance personnel to replace the damaged components subsequently.

[0049] 3. With little increase in cost, the fault-tolerant mechanism is added to the components with high failure rate, which greatly reduces the influence of the wave maker control system failure on the test. BRIEF DESCRIPTION OF DRAWINGS

[0050] Figure 1 is a schematic block diagram of a wave maker control system supporting a fault-tolerant mechanism;

[0051] Figure 2 is a control method flow chart of a wave maker control system supporting a fault-tolerant mechanism. DETAILED DESCRIPTION

[0052] The wave maker control system and control method supporting a fault-tolerant mechanism will be further described below in combination with the drawings and specific embodiments. The present application can also be described or implemented in other different specific embodiments, and any equivalent changes made by any person skilled in the art within the scope of the claims shall fall within the protection scope of the present application.

[0053] As shown in Figure 1 , a wave maker control system supporting a fault-tolerant mechanism includes a wave maker control terminal 101, a motion controller 102, a standby motion controller 103, a power module one 104, a motion control multiplexer module 105, drivers 1-28 106, a standby driver 107, a power module two 108, drive multiplexer modules 1-28 109, servo motors 1-28 110, linear motion units 1-28 111, wave plates 1-28 112, and an LED screen 113.

[0054] The wave maker control terminal 101 is connected with the motion controller 102 and the standby motion controller 103, and is used to send wave parameters to the motion controller 102 and the standby motion controller 103; is connected with the motion control multiplexer module 105 and the drive multiplexer modules 1-28 109, and is used to send address selection signals; is connected with the power module one 104 and the power module two 108, and is used to send control signals for controlling power switches;

[0055] The aforementioned motion controller 102 and backup motion controller 103 are connected to the input terminal of the motion control multiplexer module 105 and are used to send motion control signals to the drivers 1~28 106;

[0056] The aforementioned power module 104 is connected to the backup motion controller 103 and is used to supply power to the backup motion controller 103;

[0057] The output of the motion control multiplexer module 105 is connected to the drivers 1~28 106 and the backup driver 107, and is used to transmit motion control signals sent to the drivers 1~28 106;

[0058] The aforementioned drivers 1~28 106 are respectively connected to drive multiplexer modules 1~28 109, serving as one signal input for drive multiplexer modules 1~28 109;

[0059] The aforementioned backup driver 107 is connected one-to-one with the drive multiplexer modules 1~28 109, serving as another signal input for the drive multiplexer modules 1~28 109;

[0060] The aforementioned power module 2 108 is connected to the backup driver 107 and is used to supply power to the backup driver 107;

[0061] The signal output terminals of the aforementioned drive multiplexer modules 1~28 109 are connected to the servo motors 1~28 110 respectively, and are used to transmit control signals to the servo motors 1~28 110.

[0062] The aforementioned servo motors 1~28 110 are connected to linear motion units 1~28 111 respectively, so that the linear motion units 1~28 111 move according to a predetermined program;

[0063] The wave-generating plates 1~28 112 are rigidly connected to the linear motion units 1~28 111 and follow the linear motion units 1~28 111 to make back-and-forth linear motion to create waves;

[0064] The aforementioned LED screen 113 is connected to the wave generator control terminal 101 and is used to receive display information sent by the wave generator control terminal 101.

[0065] In this embodiment, the wave generator control terminal 101 is an industrial control computer system equipped with the corresponding program modules of the wave generator control system. The motion controller 102 and the backup motion controller 103 are preferably Elmo Gold Maestro series motion controllers, and the drivers 1~28 106 and the backup driver 107 are preferably Elmo Gold Trombone series drivers. The specific implementation process is as follows:

[0066] Normal mode:

[0067] Step 1: The user inputs wave generation parameters through the wave generator control terminal 101 and starts wave generation; the wave generator control terminal 101 sends the wave generation parameters to the motion controller 102;

[0068] Step 2: The motion controller 102 calculates the motion data based on the wave generation parameters and sends the corresponding control commands to the motion control multiplexer module 105;

[0069] Step 3: The wave generator control terminal 101 sends an address selection signal to the motion control multiplexer module 105 to select the signal of the motion controller 102;

[0070] Step 4: The output of the motion control multiplexer module 105 transmits control commands to drivers 1~28 and 106;

[0071] Step 5: After receiving the control command from the motion controller 102, the drivers 1~28 106 execute the command and send drive signals to the drive multiplexer modules 1~28 109;

[0072] Step 6: The wave generator control terminal 101 sends an address selection signal to the drive multiplexer modules 1~28 109 to select the signals of the drivers 1~28 106;

[0073] Step 7: The output terminals of drive multiplexer modules 1~28 109 transmit drive signal groups to servo motors 1~28 110, driving servo motors 1~28 110 to run;

[0074] Step 8: Drive servo motors 1~28 110 to drive linear motion units 1~28 111 to perform reciprocating linear motion, while simultaneously driving wave-making plates 1~28 112 to move back and forth to create waves.

[0075] If the wave generator does not respond for a set time threshold after starting in normal mode, it will automatically enter fault-tolerant mode.

[0076] Fault tolerance mode:

[0077] Step 1: If the wave generator control terminal 101 does not receive a feedback signal from the motion controller 102, it sends a control signal to the power module 104 and turns on the power module 104 to supply power to the backup motion controller 103; if the wave generator control terminal 101 receives a feedback signal from the motion controller 102, it proceeds to step 3.

[0078] Step 2: The wave generator control terminal 101 sends the wave generation parameters previously input by the user to the backup motion controller 103, and proceeds to step 4;

[0079] Step 3: The wave generator control terminal 101 resends the wave generation parameters previously input by the user to the motion controller 102, and proceeds to step 5;

[0080] Step 4: The wave generator control terminal 101 sends an address selection signal to the motion control multiplexer module 105, selects the signal of the backup motion controller 103, and proceeds to step 6;

[0081] Step 5: The wave generator control terminal 101 sends an address selection signal to the motion control multiplexer module 105 to select the signal of the motion controller 102;

[0082] Step Six: If the wave generator control terminal 101 receives a feedback signal from the motion controller 102, it notifies the driver N (1≤N≤28) that it may be in a fault state (the motion controller 102 has not received a feedback signal from the driver N or the received feedback signal is incorrect). Then, it sends a control signal to the power module 108 to turn on the power module 108 to supply power to the backup driver 107. If the wave generator control terminal 101 does not receive a feedback signal from the motion controller 102, it proceeds to Step Eight.

[0083] Step 7: The output of the motion control multiplexer module 105 transmits control commands to drivers 1~28 106 and the standby driver 107, and proceeds to step 9;

[0084] Step 8: The output of the motion control multiplexer module 105 transmits control commands to drivers 1~28 and 106, proceeding to step 10;

[0085] Step 9: The wave generator control terminal 101 sends an address selection signal to the drive multiplexer modules 1~28 109 and the backup driver 107, selects the signal of the backup driver 107 from the drivers 1~28 106 except for the driver N, and then proceeds to step 11;

[0086] Step 10: The wave generator control terminal 101 sends an address selection signal to the drive multiplexer modules 1~28 109 to select the signals of the drivers 1~28 106;

[0087] Step 11: The output terminals of drive multiplexer modules 1~28 109 transmit drive signal groups to servo motors 1~28 110, driving servo motors 1~28 110 to operate;

[0088] Step 12: Drive servo motors 1~28 110 to drive linear motion units 1~28 111 to perform reciprocating linear motion, while simultaneously driving wave-making plates 1~28 112 to move back and forth to create waves;

[0089] Step 13: If the wave generator control terminal 101 receives a feedback signal indicating successful wave generation from the motion controller 102, it sends the fault driver number N to the LED screen 113 for display. If the wave generator control terminal 101 receives a feedback signal indicating successful wave generation from the backup motion controller 103 but does not receive a notification from the fault driver, it sends motion driver fault information to the LED screen 113 for display. If the wave generator control terminal 101 receives a feedback signal indicating successful wave generation from the backup motion controller 103 and receives a notification from the fault driver, it sends motion driver fault information and the fault driver number N to the LED screen 113 for display. If the wave generator control terminal 101 does not receive a feedback signal indicating successful wave generation within the set time threshold, it returns to standby mode and sends unknown fault information to the LED screen 113 for display.

Claims

1. A control method for a wave generator control system supporting a fault-tolerant mechanism, characterized in that: The wave generator control system with fault-tolerant mechanism comprises a wave generator control terminal, a motion controller, a backup motion controller, a power supply module one, a motion control multiplexer module, drivers 1-28, a backup driver, a power supply module two, driver multiplexer modules 1-28, servo motors 1-28, linear motion units 1-28, wave generator boards 1-28, and an LED screen. The wave generator control terminal is connected to the motion controller and the backup motion controller, and is used to send wave generation parameters to the motion controller and the backup motion controller; it is connected to the motion control multiplexer module and the drive multiplexer modules 1 to 28, and is used to send address selection signals; it is connected to power module 1 and power module 2, and is used to send control signals to control the power switch. The motion controller and the backup motion controller are connected to the input terminal of the motion control multiplexer module and are used to send motion control signals to the drivers 1 to 28. The power module is connected to the backup motion controller and is used to supply power to the backup motion controller; The output of the motion control multiplexer module is connected to drivers 1-28 and the backup driver, and is used to transmit motion control signals sent to drivers 1-28. The drivers 1 to 28 are respectively connected to the drive multiplexer modules 1 to 28, serving as one signal input of the drive multiplexer modules 1 to 28; The backup driver is connected to each of the drive multiplexer modules 1-28, serving as another signal input for the drive multiplexer modules 1-28; The second power module is connected to the backup driver and is used to supply power to the backup driver; The signal output terminals of the drive multiplexer modules 1-28 are connected to the servo motors 1-28 respectively, and are used to transmit control signals to the servo motors 1-28. The servo motors 1-28 are connected to the linear motion units 1-28 respectively, so that the linear motion units 1-28 move according to a predetermined program. The wave-generating plates 1-28 are rigidly connected to the linear motion units 1-28 and follow the linear motion units 1-28 to make back-and-forth linear motion to create waves. The LED screen is connected to the wave generator control terminal and is used to receive display information sent by the wave generator control terminal. The control method includes the following steps: Normal mode: Step 1: The user inputs wave generation parameters through the wave generator control terminal to start wave generation; the wave generator control terminal sends the wave generation parameters to the motion controller; Step 2: The motion controller calculates motion data based on the wave generation parameters and sends corresponding control commands to the motion control multiplexer module; Step 3: The wave generator control terminal sends an address selection signal to the motion control multiplexer module to select the signal of the motion controller; Step 4: The output of the motion control multiplexer module transmits control commands to drivers 1~28; Step 5: After receiving the control command from the motion controller, the drivers 1~28 execute it and send drive signals to the drive multiplexer modules 1~28; Step 6: The wave generator control terminal sends an address selection signal to the drive multiplexer modules 1-28 to select the signals of drivers 1-28; Step 7: The output terminals of the drive multiplexer modules 1-28 transmit drive signal groups to the servo motors 1-28, driving the servo motors 1-28 to run; Step 8: Drive servo motors 1-28 to drive linear motion units 1-28 to perform reciprocating linear motion, while simultaneously driving wave-making plates 1-28 to move back and forth to create waves; If the wave generator does not respond for a set time threshold after starting in normal mode, it will automatically enter fault-tolerant mode. Fault tolerance mode: Step 1: If the wave generator control terminal does not receive a feedback signal from the motion controller, it sends a control signal to power module 1 to turn on power module 1 and supply power to the backup motion controller; if the wave generator control terminal receives a feedback signal from the motion controller, it proceeds to step 3. Step 2: The wave generator control terminal sends the wave generation parameters previously input by the user to the backup motion controller, proceeding to Step 4; Step 3: The wave generator control terminal resends the wave generation parameters previously input by the user to the motion controller, and proceeds to Step 5; Step 4: The wave generator control terminal sends an address selection signal to the motion control multiplexer module to select the signal of the backup motion controller, and then proceeds to Step 6; Step 5: The wave generator control terminal sends an address selection signal to the motion control multiplexer module to select the signal of the motion controller; Step 6: If the wave generator control terminal receives a feedback signal from the motion controller, notifying the driver N that it may be in a fault state (1≤N≤28), then a control signal is sent to power module 2 to turn on power module 2 to supply power to the backup driver; if the wave generator control terminal does not receive a feedback signal from the motion controller, then proceed to step 8. Step 7: The output of the motion control multiplexer module transmits control commands to drivers 1~28 and the spare driver, then proceeds to step 9; Step 8: The output of the motion control multiplexer module transmits control commands to drivers 1~28, proceeding to step 10; Step 9: The wave generator control terminal sends an address selection signal to the drive multiplexer modules 1-28 and the backup driver, selects the signal of the backup driver except for driver N in drivers 1-28, and proceeds to step 11; Step 10: The wave generator control terminal sends an address selection signal to the drive multiplexer modules 1-28 to select the signals of drivers 1-28; Step 11: The output terminals of drive multiplexer modules 1-28 transmit drive signal groups to servo motors 1-28, driving servo motors 1-28 to run; Step 12: Drive servo motors 1-28 to drive linear motion units 1-28 to perform reciprocating linear motion, while simultaneously driving wave-making plates 1-28 to move back and forth to create waves; Step 13: If the wave generator control terminal receives a feedback signal indicating successful wave generation from the motion controller, it sends the fault driver number N to the LED screen for display. If the wave generator control terminal receives a feedback signal indicating successful wave generation from the backup motion controller but does not receive a notification from the fault driver, it sends motion controller fault information to the LED screen for display. If the wave generator control terminal receives a feedback signal indicating successful wave generation from the backup motion controller and receives a notification from the fault driver, it sends motion controller fault information and the fault driver number N to the LED screen for display. If the wave generator control terminal does not receive a feedback signal indicating successful wave generation within the set time threshold, it returns to standby mode and sends unknown fault information to the LED screen for display.

2. The control method according to claim 1, characterized in that, The wave generator control terminal is an industrial control computer system that has installed the corresponding program modules of the wave generator control system.

3. The control method according to claim 1, characterized in that, The motion controller mentioned is the Elmo GoldMaestro series motion controller.

4. The control method according to claim 1, characterized in that, The backup motion controller is an Elmo GoldMaestro series motion controller.

5. The control method according to claim 1, characterized in that, The drivers 1 to 28 mentioned are Elmo GoldTrombone series drivers.

6. The control method according to claim 1, characterized in that, The spare drive is an Elmo GoldTrombone series drive.

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