Double-PLC fault-tolerant switching control system and method for full-revolving propeller

Abstract

A double-PLC fault-tolerant switching control system for a full-rotation propeller comprises a receiving module used for receiving a control instruction of a user, analyzing the control instruction to obtain a rotation speed instruction and a direction instruction of the full-rotation propeller, and sending the rotation speed instruction and the direction instruction to a first PLC control module; the first PLC control module is used for receiving a rotating speed instruction and a direction instruction, and the first monitoring module is used for obtaining the real-time rotating speed and the real-time steering angle of the full-rotation propeller after the first PLC control module receives the control instruction for a specified time and sending the real-time rotating speed and the real-time steering angle to the first judgment module; the use frequency of the second PLC control module is small, the influence of the environment on the second PLC control module can be avoided to a certain degree, the control precision of the second PLC control module is high, even if the first PLC control module fails, adjustment can be conducted through the second PLC control module, and therefore the error-tolerant rate of the full-rotation propeller in the control process is greatly increased, and the control reliability of the full-rotation propeller is improved. And full-automatic control of the full-rotation propeller is realized.

Description

Technical Field

[0001] The present invention relates to the field of ship technology, and in particular to a dual PLC fault-tolerant switching control system and method for an omni-rotating propeller. Background Art

[0002] The full-rotating propeller (a propeller device that integrates the functions of rudder and propeller into one, replacing the conventional rudder and propeller) is increasingly used in my country. Its excellent maneuverability, easy operation, maintenance, energy saving and other advantages are welcomed by ship owners.

[0003] The PLCs of fully rotating propellers currently in use on the market often experience temporary failures or damage due to the turbulence of the ship's waves, strong electromagnetic interference during operation, corrosion from humid air, and operator errors. Once a PLC fails in an emergency during navigation, if the failure cannot be eliminated in time, it may lead to significant economic losses and safety accidents. Therefore, a control system that can improve the safety performance of fully rotating propellers during application is urgently needed. Summary of the invention

[0004] In view of the above-mentioned defects, the purpose of the present invention is to propose a dual PLC fault-tolerant switching control system and method for a fully rotating propeller, so as to solve the problem that a single PLC temporarily fails or is damaged, resulting in the inability to effectively control the ship.

[0005] To achieve this purpose, the present invention adopts the following technical solution: a full-rotation propeller dual PLC fault-tolerant switching control system, comprising:

[0006] A receiving module, the receiving module is used to receive a control instruction from a user, parse the control instruction, obtain a speed instruction and a direction instruction of the azimuth propeller, and send the speed instruction and the direction instruction to the first PLC control module;

[0007] The first PLC control module is used to receive a speed command and a direction command, and adjust the azimuth propeller according to the speed command and the direction command so that the speed and direction of the azimuth propeller reach a target speed and a target steering angle;

[0008] A first monitoring module, wherein the first monitoring module is used to obtain the real-time rotation speed and the real-time steering angle of the azimuth propeller after the first PLC control module receives the control instruction for a specified time, and send the real-time rotation speed and the real-time steering angle to the first judgment module;

[0009] The first judgment module is used to judge whether the real-time speed is consistent with the target speed, the real-time steering angle is consistent with the target steering angle, and if they are inconsistent, the adjustment module is triggered;

[0010] The adjustment module is used to obtain the difference between the real-time speed and the target speed as the first difference, obtain the difference between the real-time steering angle and the target steering angle as the second difference, generate a speed adjustment instruction and a direction adjustment instruction according to the first difference and the second difference, and send the speed adjustment instruction and the direction adjustment instruction to the second PLC control module, canceling the adjustment authority of the first PLC control module;

[0011] The second PLC control module is used to receive a speed adjustment instruction and a direction adjustment instruction, and adjust the azimuth propeller according to the speed adjustment instruction and the direction adjustment instruction so that the speed and direction of the azimuth propeller reach a target speed and a target steering angle.

[0012] Preferably, it further includes a second monitoring module, which is used to obtain the real-time rotation speed and real-time steering angle of the full-rotation propeller after the second PLC control module is called, and send the real-time rotation speed and real-time steering angle to the second judgment module;

[0013] The second judgment module is used to judge whether the real-time speed is consistent with the target speed, the real-time steering angle is consistent with the target steering angle, and if they are inconsistent, the manual module is triggered;

[0014] The manual module is used to shut down the first PLC control module and the second PLC control module, and switch the control of the azimuth propeller to a manual mode.

[0015] Preferably, before calling the second PLC control module, it is also necessary to call the fault judgment module;

[0016] The fault judgment module is used to judge the relationship between the first difference and the second difference.

[0017] If the first difference is greater than the first threshold and the second difference is less than the second threshold, or the second difference is greater than the second threshold and the first difference is less than the first threshold, the fault judgment module shuts down the first PLC control module;

[0018] If the first difference is less than the first threshold and the second difference is less than the second threshold, or the first difference is greater than the first threshold and the second difference is greater than the second threshold, a self-checking module is called, and the self-checking module is used to check the network communication of the first PLC control module.

[0019] Preferably, the self-check module is used to receive the confirmation instruction, and after receiving the confirmation instruction, send a detection instruction to the first PLC control module;

[0020] After receiving the detection instruction, the first PLC control module sends a RR packet to the self-test module;

[0021] The self-check module parses the RR packet, obtains the current link loop time, and determines whether the link loop time is greater than the first time threshold. If it is greater than the first time threshold, the manual module is triggered. If it is less than the first time threshold, it determines whether the link loop time is greater than the second time threshold. If it is greater than the second time threshold, the specified time is increased. If it is less than the second time threshold, the first PLC control module is closed.

[0022] Preferably, it also includes a modification check submodule, which is used to record the number of modifications of the specified time when the specified time is increased, and to determine whether the number of modifications is greater than a threshold value. If so, the first PLC control module is closed.

[0023] A method for controlling a dual PLC fault-tolerant switching of a fully rotating propeller, using the dual PLC fault-tolerant switching control system of a fully rotating propeller, comprises the following steps:

[0024] Receive the user's control command, and analyze the control command to obtain the speed command and direction command of the full-rotation propeller;

[0025] The first PLC control module adjusts the azimuth propeller according to the speed command and the direction command so that the speed and direction of the azimuth propeller reach the target speed and the target steering angle;

[0026] After a specified time, the real-time rotation speed and the real-time steering angle of the full-rotation propeller are obtained, and it is determined whether the real-time rotation speed is consistent with the target rotation speed, and the real-time steering angle is consistent with the target steering angle. If they are inconsistent, the difference between the real-time rotation speed and the target rotation speed is obtained as the first difference, and the difference between the real-time steering angle and the target steering angle is obtained as the second difference, and a rotation speed adjustment instruction and a direction adjustment instruction are generated according to the first difference and the second difference;

[0027] The second PLC control module adjusts the azimuth propeller according to the speed adjustment instruction and the direction adjustment instruction, so that the speed and direction of the azimuth propeller reach the target speed and the target steering angle.

[0028] Preferably, after the azimuth propeller is adjusted according to the speed adjustment instruction and the direction adjustment instruction, the following steps need to be performed:

[0029] Obtain the real-time rotation speed and real-time steering angle of the full-rotation propeller, and determine whether the real-time rotation speed is consistent with the target rotation speed, and the real-time steering angle is consistent with the target steering angle. If not, turn off the first PLC control module and the second PLC control module, and switch the control of the full-rotation propeller to manual mode.

[0030] Preferably, before calling the second PLC control module, the following steps need to be performed:

[0031] Determine the relationship between the first difference and the second difference,

[0032] If the first difference is greater than the first threshold and the second difference is less than the second threshold, or the second difference is greater than the second threshold and the first difference is less than the first threshold, the fault judgment module shuts down the first PLC control module;

[0033] If the first difference is smaller than the first threshold and the second difference is smaller than the second threshold, or the first difference is larger than the first threshold and the second difference is larger than the second threshold, the network communication of the first PLC control module is checked.

[0034] Preferably, the steps of checking the network communication of the first PLC control module are as follows:

[0035] Sending a detection instruction to the first PLC control module;

[0036] After receiving the detection instruction, the first PLC control module feeds back a RR packet;

[0037] Parse the RR packet to obtain the current link loop time, and determine whether the link loop time is greater than the first time threshold. If it is greater than the first time threshold, trigger the manual module. If it is less than the first time threshold, determine whether the link loop time is greater than the second time threshold. If it is greater than the second time threshold, increase the specified time. If it is less than the second time threshold, close the first PLC control module.

[0038] Preferably, the method further comprises the following steps:

[0039] When the specified time is increased, the number of modifications of the specified time is recorded, and it is determined whether the number of modifications is greater than a threshold value. If so, the first PLC control mode is closed.

[0040] One of the above technical solutions has the following advantages or beneficial effects: the second PLC control module is used less frequently, and can avoid the influence of the environment on it to a certain extent, so that the control accuracy of the second PLC control module is higher. Even after the first PLC control module fails, it can still be adjusted through the second PLC control module, thereby greatly increasing the fault tolerance of the control of the full-rotation propeller and realizing fully automatic control of the full-rotation propeller. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the structure of an embodiment of the system of the present invention.

[0042] Figure 2 is a flow chart of an embodiment of the method of the present invention. DETAILED DESCRIPTION

[0043] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0044] In the description of the embodiments of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0045] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] like Figures 1-2 As shown, a full-rotation propeller dual PLC fault-tolerant switching control system includes:

[0047] A receiving module, the receiving module is used to receive a control instruction from a user, parse the control instruction, obtain a speed instruction and a direction instruction of the azimuth propeller, and send the speed instruction and the direction instruction to the first PLC control module;

[0048] The first PLC control module is used to receive a speed command and a direction command, and adjust the azimuth propeller according to the speed command and the direction command so that the speed and direction of the azimuth propeller reach a target speed and a target steering angle;

[0049] A first monitoring module, wherein the first monitoring module is used to obtain the real-time rotation speed and the real-time steering angle of the azimuth propeller after the first PLC control module receives the control instruction for a specified time, and send the real-time rotation speed and the real-time steering angle to the first judgment module;

[0050] The first judgment module is used to judge whether the real-time speed is consistent with the target speed, the real-time steering angle is consistent with the target steering angle, and if they are inconsistent, the adjustment module is triggered;

[0051] The adjustment module is used to obtain the difference between the real-time speed and the target speed as the first difference, obtain the difference between the real-time steering angle and the target steering angle as the second difference, generate a speed adjustment instruction and a direction adjustment instruction according to the first difference and the second difference, and send the speed adjustment instruction and the direction adjustment instruction to the second PLC control module, canceling the adjustment authority of the first PLC control module;

[0052] The second PLC control module is used to receive a speed adjustment instruction and a direction adjustment instruction, and adjust the azimuth propeller according to the speed adjustment instruction and the direction adjustment instruction so that the speed and direction of the azimuth propeller reach a target speed and a target steering angle.

[0053] In the invention, two PLC control modules are provided, namely, a first PLC control module and a second PLC control module, wherein the first PLC control module is a common module, and the second PLC control module is a spare module. Since the first PLC control module may be damaged due to environmental influences during long-term use, a spare second PLC control module is provided for fault-tolerant control, and when the first PLC control module fails, the second PLC control module is called for auxiliary use.

[0054] When performing detection, the present invention obtains the key parameters of the full-rotation propeller: rotation speed and rotation direction, respectively, after receiving the control instruction. The receiving module parses the receiving module and obtains independent rotation speed instructions and direction instructions respectively. The first PLC control module can adjust the full-rotation propeller according to the rotation speed instruction and direction instruction, so that the full-rotation propeller reaches the target rotation speed and target steering angle under normal circumstances to meet the user's control needs. However, the first PLC control module may have an error, and the rotation speed or angle cannot reach the target rotation speed or target steering angle, which will affect the control of the ship. Therefore, the first monitoring module is also provided in the present invention. Since the adjustment takes some time, the first monitoring module detects the rotation speed and steering angle after the first PLC control module receives the specified time of the control instruction. When the real-time rotation speed is inconsistent with the target rotation speed, or the real-time steering angle is inconsistent with the target steering angle, coordination of the adjustment module is required. At this time, the adjustment module will obtain the first difference and the second difference, and send the first difference and the second difference to the second PLC control module. The second PLC control module will be awakened at this time, and then adjusted according to the first difference and the second difference, so that the speed and direction of the full-rotation propeller reach the target speed and target steering angle. Since the second PLC control module is used less frequently, it can avoid the influence of the environment on it to a certain extent, so that the control accuracy of the second PLC control module is higher. Even after the first PLC control module fails, it can still be adjusted through the second PLC control module, thereby greatly increasing the fault tolerance of the full-rotation propeller in control and realizing full-automatic control of the full-rotation propeller.

[0055] Preferably, it further includes a second monitoring module, which is used to obtain the real-time rotation speed and real-time steering angle of the full-rotation propeller after the second PLC control module is called, and send the real-time rotation speed and real-time steering angle to the second judgment module;

[0056] The second judgment module is used to judge whether the real-time speed is consistent with the target speed, the real-time steering angle is consistent with the target steering angle, and if they are inconsistent, the manual module is triggered;

[0057] The manual module is used to shut down the first PLC control module and the second PLC control module, and switch the control of the azimuth propeller to a manual mode.

[0058] In order to avoid errors in the second PLC control module, a second monitoring module is provided in the present invention, and the real-time rotation speed and the real-time steering angle after adjustment by the second PLC control module are monitored by the second monitoring module. Whether the real-time rotation speed is consistent with the target rotation speed, and the real-time steering angle is consistent with the target steering angle, if not, it means that there may be problems with the second PLC control module. At this time, if the PLC control module is continued to be used for automatic control, it will affect the safety of the ship form, so a manual module is provided. After being triggered, the manual module will turn off the first PLC control module and the second PLC control module, and switch to manual mode at the same time, and manually control the full-rotation propeller.

[0059] Preferably, before calling the second PLC control module, it is also necessary to call the fault judgment module;

[0060] The fault judgment module is used to judge the relationship between the first difference and the second difference.

[0061] If the first difference is greater than the first threshold and the second difference is less than the second threshold, or the second difference is greater than the second threshold and the first difference is less than the first threshold, the fault judgment module shuts down the first PLC control module;

[0062] If the first difference is less than the first threshold and the second difference is less than the second threshold, or the first difference is greater than the first threshold and the second difference is greater than the second threshold, a self-checking module is called, and the self-checking module is used to check the network communication of the first PLC control module.

[0063] Since commands are transmitted between modules through network signals, poor signal transmission may occur when sailing to a certain place, which may cause a delay in the first PLC control module receiving commands, resulting in the failure to make the real-time speed reach the target speed and the real-time steering angle reach the target steering angle after the specified time. In this case, it is only due to signal problems, not the failure of the first PLC control module.

[0064] In order to be able to distinguish whether the real-time speed and the real-time steering angle cannot reach the target speed and the target steering angle after the specified time due to signal problems. The fault judgment module is provided in the present invention. Since the speed command and the direction command are sent at the same time, the first PLC control module adjusts the speed and the steering angle at the same time. If the first difference is greater than the first threshold and the second difference is less than the second threshold, or the second difference is greater than the second threshold and the first difference is less than the first threshold, it means that the adjustment of one of them is close to the target value, but the other has not been adjusted to approach the target value. At this time, it is not the cause of the signal, so the first PLC control module can be turned off at this time. When the first difference is less than the first threshold and the second difference is less than the second threshold, or the first difference is greater than the first threshold and the second difference is greater than the second threshold, the problem may be caused by the network, so the network communication of the first PLC control module is checked by the self-check module at this time. Determine whether the first PLC control module continues to be available.

[0065] It is worth mentioning that the first threshold is a threshold for setting the rotation speed, and the second threshold is a threshold for setting the angle. When the first PLC control module is turned off, and the second PLC control module is not turned off. When a new control instruction is inserted, the receiving module will send the rotation speed instruction and the direction instruction to the second PLC control module, and use the second PLC control module to control the full-rotation propeller.

[0066] Preferably, the self-check module is used to receive the confirmation instruction, and after receiving the confirmation instruction, send a detection instruction to the first PLC control module;

[0067] After receiving the detection instruction, the first PLC control module sends a RR packet to the self-test module;

[0068] The self-check module parses the RR packet, obtains the current link loop time, and determines whether the link loop time is greater than the first time threshold. If it is greater than the first time threshold, the manual module is triggered. If it is less than the first time threshold, it determines whether the link loop time is greater than the second time threshold. If it is greater than the second time threshold, the specified time is increased. If it is less than the second time threshold, the first PLC control module is closed.

[0069] In the present invention, the self-check module determines the network delay by the link loop time in the RR packet fed back by the first PLC control module. When the link loop time is greater than the first time threshold, it indicates that the current network delay is large and the PLC control module cannot respond to the control in time, so the manual module needs to be triggered. When the link loop time is less than the first time threshold and greater than the second time threshold, it indicates that there is a certain delay at present. If there is no problem with the first PLC control module, it only needs to increase the specified time so that the first PLC control module can complete the control of the speed and steering angle within the specified time. When it is less than the second time threshold, it means that there is no network problem at present. The reason why the first PLC control module cannot complete the control within the specified time is not due to network reasons, but because there is a problem with the first PLC control module, so the first PLC control module needs to be shut down at this time.

[0070] Preferably, it also includes a modification check submodule, which is used to record the number of modifications of the specified time when the specified time is increased, and to determine whether the number of modifications is greater than a threshold value. If so, the first PLC control module is closed.

[0071] When the link loop time is less than the first time threshold and greater than the second time threshold, the first PLC control module cannot complete the adjustment. This may be due to a network problem or the first PLC control module itself. In order to further distinguish this problem, a modification check submodule is also provided in the present invention, and the number of modifications is recorded by the modification check submodule. If the duration of the specified time is increased multiple times, and the first PLC control module still fails to complete the adjustment task within the specified time, it is not a network problem, but a problem with the first PLC control module, resulting in the inability to accurately control, so the first PLC control module needs to be shut down at this time.

[0072] A method for controlling a dual PLC fault-tolerant switching of a fully rotating propeller, using the dual PLC fault-tolerant switching control system of a fully rotating propeller, comprises the following steps:

[0073] Receive the user's control command, and analyze the control command to obtain the speed command and direction command of the full-rotation propeller;

[0074] The first PLC control module adjusts the azimuth propeller according to the speed command and the direction command so that the speed and direction of the azimuth propeller reach the target speed and the target steering angle;

[0075] After a specified time, the real-time rotation speed and the real-time steering angle of the full-rotation propeller are obtained, and it is determined whether the real-time rotation speed is consistent with the target rotation speed, and the real-time steering angle is consistent with the target steering angle. If they are inconsistent, the difference between the real-time rotation speed and the target rotation speed is obtained as the first difference, and the difference between the real-time steering angle and the target steering angle is obtained as the second difference, and a rotation speed adjustment instruction and a direction adjustment instruction are generated according to the first difference and the second difference;

[0076] The second PLC control module adjusts the azimuth propeller according to the speed adjustment instruction and the direction adjustment instruction, so that the speed and direction of the azimuth propeller reach the target speed and the target steering angle.

[0077] Preferably, after the azimuth propeller is adjusted according to the speed adjustment instruction and the direction adjustment instruction, the following steps need to be performed:

[0078] Obtain the real-time rotation speed and real-time steering angle of the full-rotation propeller, and determine whether the real-time rotation speed is consistent with the target rotation speed, and the real-time steering angle is consistent with the target steering angle. If not, turn off the first PLC control module and the second PLC control module, and switch the control of the full-rotation propeller to manual mode.

[0079] Preferably, before calling the second PLC control module, the following steps need to be performed:

[0080] Determine the relationship between the first difference and the second difference,

[0081] If the first difference is greater than the first threshold and the second difference is less than the second threshold, or the second difference is greater than the second threshold and the first difference is less than the first threshold, the fault judgment module shuts down the first PLC control module;

[0082] If the first difference is smaller than the first threshold and the second difference is smaller than the second threshold, or the first difference is larger than the first threshold and the second difference is larger than the second threshold, the network communication of the first PLC control module is checked.

[0083] Preferably, the steps of checking the network communication of the first PLC control module are as follows:

[0084] Sending a detection instruction to the first PLC control module;

[0085] After receiving the detection instruction, the first PLC control module feeds back a RR packet;

[0086] Parse the RR packet to obtain the current link loop time, and determine whether the link loop time is greater than the first time threshold. If it is greater than the first time threshold, trigger the manual module. If it is less than the first time threshold, determine whether the link loop time is greater than the second time threshold. If it is greater than the second time threshold, increase the specified time. If it is less than the second time threshold, close the first PLC control module.

[0087] Preferably, the method further comprises the following steps:

[0088] When the specified time is increased, the number of modifications of the specified time is recorded, and it is determined whether the number of modifications is greater than a threshold value. If so, the first PLC control mode is closed.

[0089] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0090] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A dual PLC fault-tolerant switching control system for a fully rotating propeller, characterized in that: include: A receiving module, the receiving module is used to receive a control instruction from a user, parse the control instruction, obtain a speed instruction and a direction instruction of the azimuth propeller, and send the speed instruction and the direction instruction to the first PLC control module; The first PLC control module is used to receive a speed command and a direction command, and adjust the azimuth propeller according to the speed command and the direction command so that the speed and direction of the azimuth propeller reach a target speed and a target steering angle; A first monitoring module, wherein the first monitoring module is used to obtain the real-time rotation speed and the real-time steering angle of the azimuth propeller after the first PLC control module receives the control instruction for a specified time, and send the real-time rotation speed and the real-time steering angle to the first judgment module; The first judgment module is used to judge whether the real-time speed is consistent with the target speed, the real-time steering angle is consistent with the target steering angle, and if they are inconsistent, the adjustment module is triggered; The adjustment module is used to obtain the difference between the real-time speed and the target speed as the first difference, obtain the difference between the real-time steering angle and the target steering angle as the second difference, generate a speed adjustment instruction and a direction adjustment instruction according to the first difference and the second difference, and send the speed adjustment instruction and the direction adjustment instruction to the second PLC control module, canceling the adjustment authority of the first PLC control module; The second PLC control module is used to receive a speed adjustment instruction and a direction adjustment instruction, and adjust the azimuth propeller according to the speed adjustment instruction and the direction adjustment instruction so that the speed and direction of the azimuth propeller reach a target speed and a target steering angle.

2. A dual PLC fault-tolerant switching control system for a fully rotating propeller according to claim 1, characterized in that: It also includes a second monitoring module, which is used to obtain the real-time rotation speed and real-time steering angle of the full-rotation propeller after the second PLC control module is called, and send the real-time rotation speed and real-time steering angle to the second judgment module; The second judgment module is used to judge whether the real-time speed is consistent with the target speed, the real-time steering angle is consistent with the target steering angle, and if they are inconsistent, the manual module is triggered; The manual module is used to shut down the first PLC control module and the second PLC control module, and switch the control of the azimuth propeller to a manual mode.

3. The dual PLC fault-tolerant switching control system for a fully rotating propeller according to claim 1 is characterized in that: Before calling the second PLC control module, it is also necessary to call the fault judgment module; The fault judgment module is used to judge the relationship between the first difference and the second difference. If the first difference is greater than the first threshold and the second difference is less than the second threshold, or the second difference is greater than the second threshold and the first difference is less than the first threshold, the fault judgment module shuts down the first PLC control module; If the first difference is less than the first threshold and the second difference is less than the second threshold, or the first difference is greater than the first threshold and the second difference is greater than the second threshold, a self-checking module is called, and the self-checking module is used to check the network communication of the first PLC control module.

4. A dual PLC fault-tolerant switching control system for a fully rotating propeller according to claim 3, characterized in that: The self-check module is used to receive the confirmation instruction, and after receiving the confirmation instruction, send a detection instruction to the first PLC control module; After receiving the detection instruction, the first PLC control module sends a RR packet to the self-test module; The self-check module parses the RR packet, obtains the current link loop time, and determines whether the link loop time is greater than the first time threshold. If it is greater than the first time threshold, the manual module is triggered. If it is less than the first time threshold, it determines whether the link loop time is greater than the second time threshold. If it is greater than the second time threshold, the specified time is increased. If it is less than the second time threshold, the first PLC control module is closed.

5. The dual PLC fault-tolerant switching control system for full-rotation propellers according to claim 3 is characterized in that: It also includes a modification check submodule, which is used to record the number of modifications of the specified time when the specified time is increased, and to determine whether the number of modifications is greater than a threshold value. If so, the first PLC control module is closed.

6. A dual PLC fault-tolerant switching control method for a full-rotation propeller, characterized in that: Using the dual PLC fault-tolerant switching control system of a fully rotating propeller as described in any one of claims 1 to 5 comprises the following steps: Receive the user's control command, and analyze the control command to obtain the speed command and direction command of the full-rotation propeller; The first PLC control module adjusts the azimuth propeller according to the speed command and the direction command so that the speed and direction of the azimuth propeller reach the target speed and the target steering angle; After a specified time, the real-time rotation speed and the real-time steering angle of the full-rotation propeller are obtained, and it is determined whether the real-time rotation speed is consistent with the target rotation speed, and the real-time steering angle is consistent with the target steering angle. If they are inconsistent, the difference between the real-time rotation speed and the target rotation speed is obtained as the first difference, and the difference between the real-time steering angle and the target steering angle is obtained as the second difference, and a rotation speed adjustment instruction and a direction adjustment instruction are generated according to the first difference and the second difference; The second PLC control module adjusts the azimuth propeller according to the speed adjustment instruction and the direction adjustment instruction, so that the speed and direction of the azimuth propeller reach the target speed and the target steering angle.

7. A dual PLC fault-tolerant switching control method for full-rotation propellers according to claim 6, characterized in that: After adjusting the azimuth propeller according to the speed adjustment command and the direction adjustment command, the following steps need to be performed: Obtain the real-time rotation speed and real-time steering angle of the full-rotation propeller, and determine whether the real-time rotation speed is consistent with the target rotation speed, and the real-time steering angle is consistent with the target steering angle. If not, turn off the first PLC control module and the second PLC control module, and switch the control of the full-rotation propeller to manual mode.

8. A dual PLC fault-tolerant switching control method for full-rotation propellers according to claim 6, characterized in that: Before calling the second PLC control module, you also need to perform the following steps: Determine the relationship between the first difference and the second difference, If the first difference is greater than the first threshold and the second difference is less than the second threshold, or the second difference is greater than the second threshold and the first difference is less than the first threshold, the fault judgment module shuts down the first PLC control module; If the first difference is smaller than the first threshold and the second difference is smaller than the second threshold, or the first difference is larger than the first threshold and the second difference is larger than the second threshold, the network communication of the first PLC control module is checked.

9. A dual PLC fault-tolerant switching control method for full-rotation propellers according to claim 8, characterized in that: The steps to check the network communication of the first PLC control module are as follows: Sending a detection instruction to the first PLC control module; After receiving the detection instruction, the first PLC control module feeds back a RR packet; Parse the RR packet to obtain the current link loop time, and determine whether the link loop time is greater than the first time threshold. If it is greater than the first time threshold, trigger the manual module. If it is less than the first time threshold, determine whether the link loop time is greater than the second time threshold. If it is greater than the second time threshold, increase the specified time. If it is less than the second time threshold, close the first PLC control module.

10. A dual PLC fault-tolerant switching control method for full-rotation propellers according to claim 9, characterized in that: The following steps are also included: When the specified time is increased, the number of modifications of the specified time is recorded, and it is determined whether the number of modifications is greater than a threshold value. If so, the first PLC control mode is closed.

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