An output drive system and method

Abstract

The application discloses an output driving system and method, and belongs to the technical field of underwater Christmas tree electric control systems. The output driving system comprises a transmission module, a control module and a driving module. The transmission module, the control module and the driving module are communicatively connected to receive external control signals, process the control signals and output driving signals, and drive the action of an actuator. In the application, the transmission module receives a first signal as a control signal, transmits the first signal to the control module, and the control module outputs a second signal according to the first signal, turns on the corresponding driving module, and the driving module generates a third signal with a low voltage. A power supply in the transmission module provides an amplification voltage for the third signal, amplifies the voltage of the third signal, obtains a fourth signal capable of driving the action of the actuator, drives the action of the actuator through the fourth signal, and realizes the driving control of the underwater Christmas tree actuator in a harsh oil well environment.

Description

Technical Field

[0001] This application relates to the technical field of subsea production tree electrical control systems, specifically to an output drive system and method. Background Technology

[0002] Safety controllers are a key technology in subsea wellheads. They provide safety protection for equipment during startup, shutdown, process disturbances, and normal maintenance operations. In the event of a dangerous situation, the safety controller can react immediately and output the correct signal to bring the equipment to a safe state or shut it down. They are widely used in various industrial manufacturing sectors.

[0003] However, the harsh environment of subsea oil wells greatly reduces the reliability of the safety controller, making it impossible to directly connect the drive signal of the safety controller to the actuator of the subsea production tree. Summary of the Invention

[0004] Purpose of the invention: The purpose of this application is to provide an output drive system and method to solve the technical problem that the safety controller has low reliability and cannot directly drive the actuator of the subsea production tree in harsh underwater oil well environments.

[0005] Technical solution: In a first aspect, embodiments of this application provide an output driving system, including:

[0006] A transmission module, the transmission module including a signal receiving unit, the signal receiving unit being configured to receive a first signal;

[0007] A control module, which is communicatively connected to the transmission module, is configured to output a second signal based on the first signal;

[0008] A drive module, which is communicatively connected to the control module, is configured to generate a third signal based on the second signal;

[0009] The transmission module further includes a power supply connected to the drive module. The power supply is configured to provide an amplified voltage to the drive module to amplify the voltage of the third signal to obtain a fourth signal for driving the actuator.

[0010] In some embodiments, the output driving system further includes multiple communication modules, which are redundant with each other;

[0011] The communication module is communicatively connected to the signal receiving unit and to the control module. The communication module is configured to send the first signal received by the signal receiving unit to the control module.

[0012] In some embodiments, the communication module includes an isolated power supply and a communication port component, the isolated power supply being connected to the communication port component and configured to provide an isolated voltage to the communication port component.

[0013] In some embodiments, the output drive system further includes a power management module connected to the control module and the power supply. The power management module is configured to convert the supply voltage of the power supply and input it to the control module.

[0014] In some embodiments, the power management module includes a primary transformer and a secondary transformer group; the primary transformer is connected to the power supply and is configured to perform a first voltage conversion on the supply voltage of the power supply; the secondary transformer group is connected to the primary transformer and connected to the control module, and is configured to perform a second voltage conversion on the electrical signal from the first voltage conversion and input it to the control module to supply power to the control module.

[0015] In some embodiments, the output drive system further includes a voltage monitoring module; the voltage monitoring module is connected to the power management module and the control module; the voltage monitoring module is configured to monitor the power supply voltage from the power management module to the control module.

[0016] In some embodiments, the power supply is provided in multiple ways, and the multiple power supplies are redundant to each other;

[0017] The power supply is connected to the power management module, and the power supply is configured to supply power to the power management module.

[0018] In some embodiments, the driving module includes multiple output driving channels, and the multiple output driving channels are redundant output driving channels.

[0019] In some embodiments, the driving module includes an output driving channel, which includes a first isolated driving submodule and a second isolated driving submodule; the first isolated driving submodule is connected to the control module and is configured to be turned on based on the second signal; the second isolated driving submodule is connected to the control module and is configured to be turned on based on the second signal.

[0020] The first isolation driver submodule and the second isolation driver submodule are connected, and the first isolation driver submodule and the second isolation driver submodule are configured to generate a third signal.

[0021] In some embodiments, the power supply is connected to the first isolated drive submodule.

[0022] In some embodiments, the first isolation driving submodule includes a first field-effect transistor, and the second isolation driving submodule includes a second field-effect transistor;

[0023] Both the first field-effect transistor and the second field-effect transistor are common-emitter configurations.

[0024] In some embodiments, the secondary transformer bank includes:

[0025] The first and second stage transformers are connected to the processor core of the control module and are configured to supply power to the processor core.

[0026] The second secondary transformer is connected to the input / output terminals of the control module and is configured to supply power to the input / output terminals.

[0027] The third secondary transformer is connected to the communication terminal of the control module and is configured to supply power to the communication terminal.

[0028] A fourth secondary transformer, which is connected to an input / output device and configured to supply power to the input / output device;

[0029] The fifth secondary transformer is connected to the analog-to-digital converter of the control module and is configured to supply power to the analog-to-digital converter.

[0030] In a second aspect, this application provides an output driving method for an output driving system according to any one of the first aspects, comprising the following steps:

[0031] The first signal is acquired and input into the control module to obtain the second signal;

[0032] The second signal is input into the driver module to obtain the third signal;

[0033] The voltage of the third signal is amplified to obtain the fourth signal;

[0034] The actuator is driven to move based on the fourth signal.

[0035] In some embodiments, the output driving method further includes:

[0036] In response to the voltage of the processor core of the control module and the input / output terminals of the control module being less than a preset threshold, the control module logic is reset;

[0037] In response to the voltage of the processor core and the input / output terminals of the control module being less than a preset threshold, the analog-to-digital converter of the control module monitors the voltage of the processor core, the voltage of the input / output terminals of the control module, and the voltage of the communication terminals of the control module.

[0038] Beneficial Effects: Compared with the prior art, the embodiments of this application provide an output drive system. The output drive system of this application includes a transmission module, a control module, and a drive module. The transmission module, control module, and drive module are communicatively connected to receive external control signals, process them, and output drive signals to drive the actuator. In this application, the transmission module receives a first signal as a control signal and transmits the first signal to the control module. The control module outputs a second signal based on the first signal, turns on the corresponding drive module, and the drive module generates a third signal with a lower voltage. The power supply in the transmission module provides an amplified voltage for the third signal, and the voltage of the third signal is amplified to obtain a fourth signal that can drive the actuator. In the harsh underwater oil well environment, this assists the safety controller in realizing the output of drive signals to the underwater production tree actuator.

[0039] This application provides an output driving method. After receiving a first signal as a control signal, the method processes it through a control module to obtain a corresponding second signal. The second signal is used to control the output driving channel of the driving module to be turned on. The output driving channel generates a corresponding third signal. Then, by amplifying the voltage of the third signal, a fourth signal that can drive the actuator is obtained. The actuator is driven by the fourth signal. In the harsh underwater oil well environment, this method assists the safety controller in outputting a drive signal to the underwater production tree actuator. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This application provides a schematic diagram of the module connection of an output driving system according to an embodiment of the present application.

[0042] Figure 2 A schematic diagram of a driver module in an output driver system provided for an embodiment of this application;

[0043] Figure 3 A schematic diagram of a communication module in an output driving system provided for an embodiment of this application;

[0044] Figure 4 A schematic diagram of a power management module in an output drive system provided for an embodiment of this application;

[0045] Figure 5 A schematic diagram of a control module and a voltage monitoring module in an output drive system provided for embodiments of this application;

[0046] Figure 6 A flowchart of an output driving method provided in an embodiment of this application;

[0047] Reference numerals: 100, Transmission module; 110, Signal receiving unit; 120, Power supply; 200, Control module; 300, Drive module; 310, Output drive channel; 311, First isolation drive submodule; 312, Second isolation drive submodule; 400, Communication module; 410, Isolation power supply; 420, Communication port assembly; 500, Power management module; 510, Primary transformer; 520, Secondary transformer group; 521, First and Secondary transformers; 522, Secondary and Secondary transformers; 523, Third and Secondary transformers; 524, Fourth and Secondary transformers; 525, Fifth and Fifth secondary transformers; 600, Voltage monitoring module. Detailed Implementation

[0048] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0049] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0050] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0051] Please see Figures 1 to 5This application provides an output drive system, including a transmission module 100, a control module 200, and a drive module 300. The transmission module 100, control module 200, and drive module 300 are communicatively connected to receive external control signals, process them, and output drive signals to drive the actuator. In this application, the transmission module 100 receives a first signal as a control signal and transmits the first signal to the control module 200. The control module 200 outputs a second signal based on the first signal, which turns on the corresponding drive module 300. The drive module 300 generates a third signal with a lower voltage. The power supply 120 in the transmission module 100 provides an amplified voltage for the third signal. The third signal is amplified to obtain a fourth signal that can drive the actuator, thereby realizing the drive control of the subsea production tree actuator in the harsh environment of oil wells.

[0052] In some embodiments, the external control signals are mostly analog signals. Before signal processing using the apparatus of this application, the received analog signals are first converted into digital signals by sensors, encoders or other electronic devices for processing.

[0053] Please see Figure 1 In some embodiments, the transmission module 100 includes a signal receiving unit 110 for receiving the first signal after analog-to-digital conversion. In this application, the signal receiving unit 110 includes two independently configured CAN interfaces (Controller Area Network interfaces), namely CAN1 and CAN2. To improve system security and stability, CAN1 and CAN2 simultaneously receive the first signal, and CAN1 and CAN2 are redundant interfaces.

[0054] Please see Figure 1 and Figure 3 In some embodiments, to transmit the first signal to the control module 200, this application provides two communication modules 400. One end of each communication module 400 is connected to the CAN1 and CAN2 interfaces respectively, and the other end is connected to the SPI1 and SPI2 interfaces (SPI interface, Serial Peripheral Interface) of the control module 200 to transmit the first signal to the control module 200. The two communication modules 400 are redundant communication modules and jointly transmit the first signal. In this application, the communication module 400 is a CAN-FD communication module (CAN Flexible Data Rate communication module), which supports communication baud rates of 500kbps, 800kbps, 1Mbps, 2Mbps, and 2.5Mbps. Above the redundant two physical communication layers of the CAN-FD communication module, there is a unified protocol link layer. When one of the communication channels fails, it does not affect the protocol link layer communication status and communication link between the signal receiving unit 110 and the control module 200.

[0055] Please see Figure 3 In some embodiments, the communication module 400 includes an isolation power supply 410 and a communication port assembly 420. The isolation power supply 410 is connected to the communication port assembly 420 and is configured to provide an isolation voltage to the communication port assembly 420. In this application, the communication ports of the two communication modules 400 respectively include a CAN-FD-1 communication port and a CAN-FD-2 communication port. The isolation power supply 410 meets the 1.5KV isolation voltage requirement, and the communication port assembly 420 uses an independent isolation power supply, which can reduce the coupling between the communication modules 400.

[0056] Please see Figure 1 and Figure 3 In some embodiments, the control module 200 is communicatively connected to the signal receiving unit 110 of the communication module 400 and the transmission module 100. After receiving the first signal transmitted by the communication module 400, the control module 200 outputs a second signal based on the first signal to control the operation of the drive module 300 through the second signal.

[0057] Please see Figure 1In some embodiments, in addition to having a CPU (processor core) for data processing, the control module 200 also includes multiple peripheral interface circuits to facilitate signal reception and output. These peripheral interface circuits are communicatively connected to the CPU (processor core) for data interaction. The multiple peripheral interface circuits may include: SPI interface (Serial Peripheral Interface), GPIO driver interface (General Purpose Input / Output), GPIO detection interface, GPIO interface, SCI interface (Serial Communication Interface), and I2C interface (Inter-Integrated Circuit, also known as IIC, two-wire serial interface), etc. The connection and application of SPI (Serial Peripheral Interface) have been discussed above; the GPIO driver interface (General Purpose Input / Output) is used to connect to the driver module 300 and send a second signal to the driver module 300 to control the driver module 300 to generate a third signal; the GPIO detection interface is used to connect to the driver module 300 and detect the working status of the driver module 300; the GPIO interface is configured with two paths, one connected to an external LED indicator to reflect the working status of the control module 200, and the other connected to CAN-ID for marking the board; the SCI interface (Serial Communication Interface) is used to connect to the debug interface; the I2C interface (Inter-Integrated Circuit, also known as IIC, two-wire serial interface) is used to connect to an external temperature monitor for temperature data exchange.

[0058] Please see Figure 1In some embodiments, the driver module 300 is configured with 10 channels, and the 10 driver modules 300 are independent of each other. Each driver module 300 includes two output driver channels 310, which adopt a 1001D architecture. The two output driver channels 310 are redundant and operate synchronously. In the event of a failure in one output driver channel 310, the other redundant output driver channel can continue to operate, effectively improving the stability and security of the system. The input terminals of the two output driver channels 310 are connected to the control module 200 to receive a second signal and generate a third signal. In this application, the two output driver channels 310 are designated as Output Driver-1 and Output Driver-2, and two GPIO driver interfaces are configured as GPIO Driver 1 and GPIO Driver 2. GPIO Driver 1 is connected to Output Driver-2, and GPIO Driver 2 is connected to Output Driver-1.

[0059] Please see Figure 1 and Figure 2 In some embodiments, the output drive channel 310 includes an isolation drive module 300, which includes two isolation drive sub-modules: a first isolation drive sub-module 311 and a second isolation drive sub-module 312. Both the first and second isolation drive sub-modules are individually connected to the control module 200, and are activated by receiving a second signal from the control module 200. Simultaneously, the first and second isolation drive sub-modules are connected; that is, when each is activated, they form a drive signal transmission channel and generate a third signal. In this application, the first isolation drive sub-module 311 is isolation drive-1, including a first field-effect transistor, and the second isolation drive sub-module 312 is isolation drive-2, including a second field-effect transistor. After receiving the second signal, both the first and second field-effect transistors are activated, and a third signal is generated. Specifically, both the first field-effect transistor and the second field-effect transistor are configured with common emitter, meaning that both the first field-effect transistor and the second field-effect transistor are source-type MOSFET outputs, which are turned off in a safe state.

[0060] Please see Figure 1 and Figure 2In some embodiments, since the third signal is a control signal with relatively small current and voltage, it cannot drive the actuator. Therefore, the third voltage needs to be amplified to increase the current and voltage of the third signal, resulting in a fourth signal that can drive the actuator. In view of this, the transmission module 100 of the output drive system of this application also includes a power supply 120, which is connected to the drive module 300 and used to provide an amplified voltage to the third signal. In this application, the power supply 120 provides a 24VIN DC voltage input, and is connected to isolation driver-1. Isolation driver-1 is connected to isolation driver-2, and isolation driver-2 is connected to an external actuator to be driven. Isolation driver-2 outputs a DRV-OUT drive signal to the actuator, and the other end of the actuator (24-GND) is grounded, completing the drive control process for the actuator. Specifically, isolation driver-1 is connected to the GPIO-DRV1 interface of the control module 200, and isolation driver-2 is connected to the GPIO-DRV2 interface of the control module 200, used to receive the conduction signal from the control module 200 to complete the conduction.

[0061] Please see Figure 2 In some embodiments, the output drive channel 310 further includes a detection and acquisition module. The detection and acquisition module is connected to the isolated output drive channel 310 and the control module 200, and is used to dynamically acquire the operating status of the isolated output drive channel 310. In this application, the detection and acquisition module includes two acquisition circuits and one detection power supply 120. The two acquisition circuits are acquisition-1 and acquisition-2. Acquisition-1 is connected to isolated drive-1 and is used to acquire the operating status of isolated drive-1; acquisition-2 is connected to isolated drive-2 and is used to acquire the operating status of isolated drive-2. The detection power supply 120 is connected to acquisition-1 and acquisition-2 respectively, providing the acquisition detection voltage for acquisition-1 and acquisition-2, and cooperating with acquisition-1 and acquisition-2 to complete the detection and acquisition. Specifically, the sampling-1 is connected to the GPIO-IN1 interface of the control module 200, and transmits the detection sampling signal of the isolation driver-1 to the control module 200 through the GPIO-IN1 interface; the sampling-2 is connected to the GPIO-IN2 interface of the control module 200, and transmits the detection sampling signal of the isolation driver-2 to the control module 200 through the GPIO-IN2 interface, so that the control module 200 can determine whether the drive channel is normal.

[0062] Please see Figure 2 In some embodiments, the output drive channel 310 further includes an output sampling module, which is connected to the 24-GND terminal of the actuator and the DRV-OUT output terminal of the second isolation drive submodule 312 to detect whether the final output result of the actuator is consistent with the fourth signal.

[0063] Please see Figure 1In some embodiments, for convenient power supply, the power supply 120 of this application is located in the transmission module 100. Two power supplies 120 are provided, both being 24VDC power sources. The input range of the power supplies 120 is 16.8V-32V. The two power supplies 120 are redundant, providing synchronous power to the control module 200. Even if one power supply 120 fails, the other power supply 120 ensures stable system operation. In this application, the power supply 120 has a fuse to prevent short circuits from damaging the equipment.

[0064] Please see Figure 1 In some embodiments, to facilitate the management of the power supply 120, the output drive system of this application further includes a power management module 500. The power management module 500 is connected to the control module 200 and the power supply 120. The power management module 500 is configured to convert the supply voltage of the power supply 120 and input it to the control module 200. Specifically, according to the power supply requirements of each power supply interface, the power supply signal of the power supply 120 is transformed and split so that it flows to different external circuits of the control module 200 to supply power.

[0065] Please see Figure 1 and Figure 4In some embodiments, the power management module 500 includes a primary transformer 510 and a secondary transformer group 520; the primary transformer 510 is connected to the power supply 120 and is configured to perform a first voltage conversion on the supply voltage of the power supply 120; specifically, the primary transformer 510 is an isolation 2412 used to convert 24V voltage to 12V voltage. The secondary transformer group 520 is connected to the primary transformer 510 and to the control module 200. The secondary transformer group 520 is configured to perform a second voltage conversion on the electrical signal from the first voltage conversion and input it to the control module 200 to power the control module 200. Specifically, the secondary transformer group 520 includes: a first secondary transformer 521, which is connected to the CPU-CORE of the control module 200 and configured to supply power to the CPU-CORE at a voltage of 1.2V; and a second secondary transformer 522, which is connected to the CPU-IO input / output terminals of the control module 200 and configured to supply power to the input / output terminals at a voltage of [missing value]. 3.3V; Third-stage transformer 523, which is connected to the CAN communication terminal of control module 200 and configured to supply power to the communication terminal, with a supply voltage of 5V; Fourth-stage transformer 524, which is specifically isolated at 120V and connected to the input / output device IO, configured to supply power to the input / output device, with a supply voltage of 5V; Fifth-stage transformer 525, which serves as the reference voltage for the ADC (analog-to-digital converter) of control module 200, is connected to the CPU-ADC of control module 200 and configured to supply power to the ADC, with a supply voltage of 3.3V.

[0066] Please see Figure 1 , Figure 2 , Figure 3 and Figure 5 In some embodiments, the output drive system further includes a voltage monitoring module 600; the voltage monitoring module 600 is connected to the power management module 500 and the control module 200; the voltage monitoring module 600 is configured to monitor the power supply voltage from the power management module 500 to the control module 200. Specifically, it performs undervoltage monitoring on the 3.3V and 1.2V voltages of the control module 200, and when the monitored voltage is lower than the threshold, the monitoring chip outputs a reset signal to perform a logic reset. Simultaneously, the control module 200 acquires the 3.3V, 1.2V, and 5V power supplies 120 via an ADC and performs overvoltage / undervoltage monitoring.

[0067] Please see Figure 6In some embodiments, based on the output driving system provided in this application, this application also provides an output driving method, including:

[0068] Step 1: Obtain the first signal and input it into the control module 200 to obtain the second signal;

[0069] Step 2: Input the second signal into the driver module 300 to obtain the third signal;

[0070] Step 3: Amplify the voltage of the third signal to obtain the fourth signal;

[0071] Step 4: Drive the actuator to move based on the fourth signal.

[0072] Step 5: In response to the voltage of the processor core of the control module 200 and the input / output terminals of the control module 200 being less than a preset threshold, the control module 200 is logically reset.

[0073] Step 6: In response to the voltage of the processor core of the control module 200 and the input / output terminals of the control module 200 being less than a preset threshold, the analog-to-digital converter of the control module 200 monitors the voltage of the processor core, the voltage of the input / output terminals of the control module 200, and the voltage of the communication terminals of the control module 200.

[0074] This application has provided a detailed description of an output driving system and method provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. An output drive system, characterized in that, Used to drive actuator actions, including: A transmission module (100) includes a signal receiving unit (110) configured to receive a first signal; A control module (200) is communicatively connected to the transmission module (100), and the control module (200) is configured to output a second signal based on the first signal; A drive module (300) is communicatively connected to the control module (200). The drive module (300) is configured to generate a third signal based on a second signal. The drive module (300) includes multiple output drive channels (310), which are redundant. Each output drive channel (310) includes a first isolation drive submodule (311) and a second isolation drive submodule (312). The first isolation drive submodule (311) is connected to the control module (200) and is configured to conduct based on the second signal. The second isolation drive submodule (312) is connected to the control module (200) and is configured to conduct based on the second signal. The first isolation drive submodule (311) and the second isolation drive submodule (312) are connected and configured to generate the third signal. The transmission module (100) further includes a power supply (120), which is connected to the drive module (300). The power supply (120) is configured to provide an amplified voltage to the drive module (300) to amplify the voltage of the third signal to obtain a fourth signal for driving the actuator.

2. The output drive system according to claim 1, characterized in that, The output drive system also includes multiple communication modules (400), and the multiple communication modules (400) are redundant communication modules; The communication module (400) is communicatively connected to the signal receiving unit (110) and the control module (200). The communication module (400) is configured to send the first signal received by the signal receiving unit (110) to the control module (200).

3. The output drive system according to claim 2, characterized in that, The communication module (400) includes an isolation power supply (410) and a communication port component (420), the isolation power supply (410) being connected to the communication port component (420) and the isolation power supply (410) being configured to provide an isolation voltage to the communication port component (420).

4. The output drive system according to claim 1, characterized in that, The output drive system further includes a power management module (500), which is connected to the control module (200) and the power supply (120). The power management module (500) is configured to convert the supply voltage of the power supply (120) and input it to the control module (200).

5. The output drive system according to claim 4, characterized in that, The power management module (500) includes a primary transformer (510) and a secondary transformer group (520); the primary transformer (510) is connected to the power supply (120), and the primary transformer (510) is configured to perform a first voltage conversion on the supply voltage of the power supply (120); the secondary transformer group (520) is connected to the primary transformer (510), and the secondary transformer group (520) is connected to the control module (200), and the secondary transformer group (520) is configured to perform a second voltage conversion on the electrical signal of the first voltage conversion and input it to the control module (200) to supply power to the control module (200).

6. The output drive system according to claim 4, characterized in that, The output drive system further includes a voltage monitoring module (600); the voltage monitoring module (600) is connected to the power management module (500) and the control module (200); the voltage monitoring module (600) is configured to monitor the power supply voltage from the power management module (500) to the control module (200).

7. The output drive system according to claim 4, characterized in that, The power supply (120) is configured with multiple channels, and the multiple power supplies (120) are redundant to each other; The power supply (120) is connected to the power management module (500), and the power supply (120) is configured to supply power to the power management module (500).

8. The output drive system according to claim 1, characterized in that, The power supply (120) is connected to the first isolated drive submodule (311).

9. The output drive system according to claim 1, characterized in that, The first isolation driving submodule (311) includes a first field-effect transistor, and the second isolation driving submodule (312) includes a second field-effect transistor; Both the first field-effect transistor and the second field-effect transistor are common-emitter configurations.

10. The output drive system according to claim 5, characterized in that, The secondary transformer group (520) includes: A first secondary transformer (521) is connected to the processor core of the control module (200) and is configured to supply power to the processor core. A second secondary transformer (522) is connected to the input / output terminals of the control module (200) and is configured to supply power to the input / output terminals; A third secondary transformer (523) is connected to the communication terminal of the control module (200) and is configured to supply power to the communication terminal. A fourth secondary transformer (524) is connected to an input / output device and is configured to supply power to the input / output device; A fifth secondary transformer (525) is connected to the analog-to-digital converter of the control module (200) and is configured to supply power to the analog-to-digital converter.

11. The output driving method of the output driving system according to any one of claims 1-10, characterized in that, Includes the following steps: The first signal is acquired and input into the control module (200) to obtain the second signal; The second signal is input to the driving module (300) to obtain the third signal; The voltage of the third signal is amplified to obtain the fourth signal; The actuator is driven to move based on the fourth signal.

12. The output driving method according to claim 11, characterized in that, The output driving method further includes: In response to the voltage of the processor core of the control module (200) and the input / output terminals of the control module (200) being less than a preset threshold, the control module (200) is logically reset; In response to the voltage of the processor core of the control module (200) and the input / output terminals of the control module (200) being less than a preset threshold, the analog-to-digital converter of the control module (200) monitors the voltage of the processor core, the voltage of the input / output terminals of the control module (200), and the voltage of the communication terminals of the control module (200).

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