Short-circuit fault identification and protection circuit applied to dual-redundancy rudder system, unmanned aerial vehicle and use method

Abstract

The invention discloses a short-circuit fault identification and protection circuit applied to a dual-redundancy rudder system, an unmanned aerial vehicle and a use method. The circuit comprises a first circuit board and a second circuit board, each of the first circuit board and the second circuit board comprises a power supply port connected with an onboard power supply, and a switching tube Q1, a control circuit with voltage detection, a switching tube Q2 and a driving circuit which are connected with the power supply port in sequence; a current sensor, a resettable fuse and an isolation voltage acquisition circuit are arranged between the switch tube Q1 and the power port. The data output end of the current sensor is connected with the control circuit of the board, the isolation voltage acquisition circuit is connected with the control circuit of the opposite board, the switch control end of the switch tube Q1 is connected with the control circuit of the opposite board, and the switch control end of the switch tube Q2 is connected with the control circuit of the board. According to the invention, the reliability of the dual-redundancy rudder system is realized through an isolation acquisition realization mode, and the switching of the control right of the steering engine can be realized no matter the short circuit point is in the drive circuit or the control circuit.

Description

Technical Field

[0001] The present invention relates to the technical field of electric servo control, and in particular to a short-circuit fault identification and protection circuit applied to a dual-redundancy rudder system, an unmanned aerial vehicle and a use method. Background Art

[0002] With the rapid development of aviation and aerospace technology in recent years, small and long-flight UAVs have developed rapidly. However, the rudder system with single redundancy design cannot guarantee the reliable realization of system functions. Especially for long-flight systems, redundancy technology can effectively improve system reliability while relatively reducing the requirements for components. Therefore, one of the effective ways to improve the reliability of the rudder system is to increase the redundancy of the rudder system. The use of a dual-redundancy rudder system can greatly improve the system reliability.

[0003] The fault detection part plays a very important role in the dual-redundancy control system, and a short-circuit fault is a serious fault that not only affects the normal function of the product, but also affects the onboard power supply of the drone. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a short-circuit fault identification and protection circuit, a UAV and a use method for a dual-redundant rudder system.

[0005] The objective of the present invention is achieved through the following technical solutions:

[0006] A first aspect of the present invention provides a short-circuit fault identification and protection circuit for a dual-redundancy rudder system, comprising a first circuit board and a second circuit board;

[0007] The first circuit board and the second circuit board both include a power port connected to the onboard power supply, and a switch tube Q1, a control circuit including voltage detection, a switch tube Q2 and a drive circuit connected to the power port in sequence; a current sensor, a self-recovery fuse and an isolation voltage acquisition circuit are also provided between the switch tube Q1 and the power port;

[0008] The data output end of the current sensor is connected to the control circuit of this board, the isolated voltage acquisition circuit is connected to the control circuit of the opposite board, the switch control end of the switch tube Q1 is connected to the control circuit of the opposite board, and the switch control end of the switch tube Q2 is connected to the control circuit of this board.

[0009] Furthermore, the isolation voltage acquisition circuit is a voltage divider resistor acquisition circuit.

[0010] Furthermore, the isolated voltage acquisition circuit is connected to the control circuit of the opposite board through the isolated acquisition circuit, and the switch control end of the switch tube Q1 is connected to the control circuit of the opposite board through the isolated drive circuit;

[0011] The switch control terminal of the switch tube Q2 is connected to the control circuit of this board through a high-side drive circuit.

[0012] Furthermore, the first circuit board and the second circuit board also include a short-circuit fault communication circuit connected to the control circuit.

[0013] A second aspect of the present invention provides an unmanned aerial vehicle based on a dual redundant rudder system, comprising:

[0014] Onboard power supply;

[0015] As in the short-circuit fault identification and protection circuit of the first aspect, the onboard power supply supplies power to the short-circuit fault identification and protection circuit;

[0016] The servos are connected to the driving circuit of the first circuit board and the driving circuit of the second circuit board respectively.

[0017] A third aspect of the present invention provides a method for using a drone based on a dual-redundant rudder system as described in the second aspect, comprising a normal operation step, a drive circuit short circuit identification and protection step, and a control circuit short circuit identification and protection step;

[0018] The normal working steps include the following sub-steps:

[0019] In the normal working state, one of the circuit boards is the main board and works normally, that is, the switch tubes Q1 and Q2 are turned on normally, and the other circuit board is the spare board and the control circuit is in hot standby, that is, the switch tube Q1 is turned on and the switch tube Q2 is turned off;

[0020] The drive circuit short circuit identification and protection step includes the following sub-steps:

[0021] When the control circuit of the main board obtains the current I measured by the current sensor of this board 主 If the voltage is greater than the set threshold and meets the time requirement, the control circuit of the main board turns off the switch Q2 of the main board and transfers the control of the servo to the standby board;

[0022] The control circuit short circuit identification and protection step includes the following sub-steps:

[0023] When the control circuit of the standby board obtains the voltage U through the main board isolation voltage collection circuit 主 'The standby board voltage U collected by the standby board control circuit 备 If the difference is greater than the set threshold, the control circuit of the standby board controls to turn off the switch Q1 of the main board and obtains control of the servo.

[0024] Furthermore, when the first circuit board and the second circuit board also include a short-circuit fault communication circuit connected to the control circuit, in the drive circuit short-circuit identification and protection step, fault information is also reported through the short-circuit fault communication circuit when the control right of the servo is handed over to the standby board; at the same time, in the control circuit short-circuit identification and protection step, fault information is also reported through the short-circuit fault communication circuit when the control right of the servo is obtained.

[0025] The beneficial effects of the present invention are:

[0026] In an exemplary embodiment of the present invention, the reliability of the dual-redundancy rudder system is achieved through the implementation of isolated acquisition, and the control right of the rudder can be switched regardless of whether the short-circuit point is in the drive circuit or the control circuit. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of a short-circuit fault identification and protection circuit applied to a dual-redundancy rudder system provided in an exemplary embodiment of the present invention;

[0028] Figure 2 A schematic diagram of a UAV based on a dual-redundant rudder system provided in an exemplary embodiment of the present invention;

[0029] Figure 3 The present invention is a flowchart of a method for using a UAV based on a dual-redundant rudder system provided in an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0030] The technical solution of the present invention is described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] In the description of the present invention, it should be noted that the directions or positional relationships indicated by "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are directions or positional relationships based on the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0032] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0034] See also Figure 1 , Figure 1 A short-circuit fault identification and protection circuit applied to a dual-redundancy rudder system provided in an exemplary embodiment of the present invention is shown, comprising a first circuit board and a second circuit board;

[0035] The first circuit board and the second circuit board both include a power port connected to the onboard power supply, and a switch tube Q1, a control circuit including voltage detection, a switch tube Q2 and a drive circuit connected to the power port in sequence; a current sensor, a self-recovery fuse and an isolation voltage acquisition circuit are also provided between the switch tube Q1 and the power port;

[0036] The data output end of the current sensor is connected to the control circuit of this board, the isolated voltage acquisition circuit is connected to the control circuit of the opposite board, the switch control end of the switch tube Q1 is connected to the control circuit of the opposite board, and the switch control end of the switch tube Q2 is connected to the control circuit of this board.

[0037] Specifically, in this exemplary embodiment, Figure 1 As shown, the dual-redundancy rudder system contains two circuit boards, the main and the backup (the first circuit board and the second circuit board, the main / backup can be set). Under normal conditions, the main board works, the backup board control part is hot backup (together with the main board control part to monitor some system parameters and assist the main board in fault diagnosis), and the drive part is cold backup.

[0038] The main and standby circuit boards share the same set of on-board power supply. To prevent secondary impact caused by a short circuit in one of the circuit boards, a self-recovery fuse - PPTC is connected in series on the power line. The standby (main) board isolates and collects the voltage on the main (standby) board through an isolation voltage collection circuit. In addition, a current sensor is connected in series on the power line of the main and standby boards. When a short circuit fault is detected, the switch tube Q1 and the switch tube Q2 will be turned off in combination with the relevant judgment logic to achieve the purpose of protection.

[0039] Since the switch tube Q1, the control circuit including voltage detection, the switch tube Q2 and the drive circuit are connected in sequence, when the switch tube Q2 is turned off, the drive circuit stops working, and when the switch tube Q1 is turned off, both the control circuit and the drive circuit stop working.

[0040] Under normal working conditions, the main board is working (Q1 and Q2 are normally turned on), and the control part of the standby board is in hot standby (Q1 is turned on and Q2 is turned off). The current values ​​collected by the current sensors on the main and standby boards are I 主 ,I 备 ; The voltage values ​​collected by the control circuit part of the main and standby boards are U 主 , U 备 ; In addition, the voltage value of the mainboard isolation acquisition standby board is U 备 ', the voltage value of the main board is U 主 '.

[0041] The specific short circuit identification and protection methods are as follows (taking the main board short circuit fault as an example, the short circuit fault of the standby board is the same):

[0042] (1) When the short circuit point is in the drive circuit: At this fault point, the control circuit part can work normally. When the mainboard measures I 主 When the value is greater than the set threshold for a certain period of time, the main board turns off the switch tube Q2 through its internal high-side drive circuit, and at the same time hands over the control of the servo to the standby board (the main and standby boards inform each other of their respective status information through inter-board communication). The control part of the main board remains in hot standby (to assist in monitoring other signals) and reports fault information (if any).

[0043] (2) The short circuit point is in the control circuit

[0044] At this fault point, the control circuit part can no longer work normally and can only be protected by the self-resetting fuse (PPTC) connected in series with the line. The principle is that when the current flowing through the self-resetting fuse increases and exceeds the rated current of the material, causing the temperature to rise, the resistance will increase rapidly to the megohm level, similar to the open circuit state, thereby protecting the subsequent circuit. Since the main board is not working properly at this time, the control right cannot be handed over to the backup board, and the short-circuit fault information cannot be reported. However, at this time, the backup board compares the collected U 备 with U 主 '(Because the resistance of the self-recovery fuse PPTC increases abnormally at this time, the collected U 备 Much larger than U 主 ', Normal U 备 with U 主 ' value is close), to determine that a short circuit fault has occurred on the mainboard, and turn off the switch tube Q1 of the mainboard through the isolation drive circuit, obtain the control of the servo, and then report the fault information (if any).

[0045] In summary, in this exemplary embodiment, the reliability of the dual-redundancy rudder system is achieved through the implementation of isolated acquisition, and the switching of the servo control right can be achieved regardless of whether the short-circuit point is in the drive circuit or the control circuit.

[0046] More preferably, in an exemplary embodiment, Figure 1 As shown, the isolation voltage acquisition circuit is a voltage divider resistor acquisition circuit.

[0047] More preferably, in an exemplary embodiment, Figure 1 As shown, the isolated voltage acquisition circuit is connected to the control circuit of the opposite board through the isolated acquisition circuit, and the switch control end of the switch tube Q1 is connected to the control circuit of the opposite board through the isolated drive circuit;

[0048] The switch control terminal of the switch tube Q2 is connected to the control circuit of this board through a high-side drive circuit.

[0049] More preferably, in an exemplary embodiment, Figure 1 As shown, the first circuit board and the second circuit board also include a short-circuit fault communication circuit connected to the control circuit.

[0050] The same inventive concept as the above exemplary embodiment is shown in FIG. Figure 2 , Figure 2 A UAV based on a dual-redundant rudder system provided in another exemplary embodiment of the present invention is shown, comprising:

[0051] Onboard power supply;

[0052] like Figure 1 The short-circuit fault identification and protection circuit shown, the onboard power supply supplies power to the short-circuit fault identification and protection circuit;

[0053] The servos are connected to the driving circuit of the first circuit board and the driving circuit of the second circuit board respectively.

[0054] The same inventive concept as the above exemplary embodiment is shown in FIG. Figure 3 , Figure 3 Another exemplary embodiment of the present invention provides Figure 2 A method for using a UAV based on a dual-redundant rudder system is shown, including a normal working step, a drive circuit short-circuit identification and protection step, and a control circuit short-circuit identification and protection step;

[0055] The normal working steps include the following sub-steps:

[0056] In the normal working state, one of the circuit boards is the main board and works normally, that is, the switch tubes Q1 and Q2 are turned on normally, and the other circuit board is the spare board and the control circuit is in hot standby, that is, the switch tube Q1 is turned on and the switch tube Q2 is turned off;

[0057] The drive circuit short circuit identification and protection step includes the following sub-steps:

[0058] When the control circuit of the main board obtains the current I measured by the current sensor of this board 主 If the voltage is greater than the set threshold and meets the time requirement, the control circuit of the main board turns off the switch Q2 of the main board and transfers the control of the servo to the standby board;

[0059] The control circuit short circuit identification and protection step includes the following sub-steps:

[0060] When the control circuit of the standby board obtains the voltage U through the main board isolation voltage collection circuit 主 'The standby board voltage U collected by the standby board control circuit 备 If the difference is greater than the set threshold, the control circuit of the standby board controls to turn off the switch Q1 of the main board and obtains control of the servo.

[0061] More preferably, in an exemplary embodiment, when the first circuit board and the second circuit board also include a short-circuit fault communication circuit connected to the control circuit, in the drive circuit short-circuit identification and protection step, fault information is also reported through the short-circuit fault communication circuit when the control of the servo is handed over to the standby board; at the same time, in the control circuit short-circuit identification and protection step, fault information is also reported through the short-circuit fault communication circuit when the control of the servo is obtained.

[0062] Obviously, the above embodiments are merely examples for clear explanation, and are not intended to limit the implementation methods. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from them are still within the protection scope of the invention.

Claims

1. A short-circuit fault identification and protection circuit for a dual-redundancy rudder system, characterized in that: comprising a first circuit board and a second circuit board; The first circuit board and the second circuit board both include a power port connected to the onboard power supply, and a switch tube Q1, a control circuit including voltage detection, a switch tube Q2 and a drive circuit connected to the power port in sequence; a current sensor, a self-recovery fuse and an isolation voltage acquisition circuit are also provided between the switch tube Q1 and the power port; The data output end of the current sensor is connected to the control circuit of this board, the isolated voltage acquisition circuit is connected to the control circuit of the opposite board, the switch control end of the switch tube Q1 is connected to the control circuit of the opposite board, and the switch control end of the switch tube Q2 is connected to the control circuit of this board.

2. The short-circuit fault identification and protection circuit for a dual-redundancy rudder system according to claim 1, characterized in that: The isolation voltage acquisition circuit is a voltage-dividing resistor acquisition circuit.

3. The short-circuit fault identification and protection circuit for a dual-redundancy rudder system according to claim 1, characterized in that: The isolated voltage acquisition circuit is connected to the control circuit of the opposite board through the isolated acquisition circuit, and the switch control end of the switch tube Q1 is connected to the control circuit of the opposite board through the isolated drive circuit; The switch control terminal of the switch tube Q2 is connected to the control circuit of this board through a high-side drive circuit.

4. The short-circuit fault identification and protection circuit for a dual-redundancy rudder system according to claim 1, characterized in that: The first circuit board and the second circuit board also include a short-circuit fault communication circuit connected to the control circuit.

5. A UAV based on a dual-redundant rudder system, characterized in that: include: Onboard power supply; The short-circuit fault identification and protection circuit according to any one of claims 1 to 4, wherein the onboard power supply supplies power to the short-circuit fault identification and protection circuit; The servos are connected to the driving circuit of the first circuit board and the driving circuit of the second circuit board respectively.

6. A method for using a UAV based on a dual redundant rudder system as claimed in claim 5, characterized in that: It includes normal working steps, drive circuit short circuit identification and protection steps, and control circuit short circuit identification and protection steps; The normal working steps include the following sub-steps: In the normal working state, one of the circuit boards is the main board and works normally, that is, the switch tubes Q1 and Q2 are turned on normally, and the other circuit board is the spare board and the control circuit is in hot standby, that is, the switch tube Q1 is turned on and the switch tube Q2 is turned off; The drive circuit short circuit identification and protection step includes the following sub-steps: When the control circuit of the main board obtains the current I measured by the current sensor of this board 主 If the voltage is greater than the set threshold and meets the time requirement, the control circuit of the main board turns off the switch Q2 of the main board and transfers the control of the servo to the standby board; The control circuit short circuit identification and protection step includes the following sub-steps: When the control circuit of the standby board obtains the voltage U through the main board isolation voltage collection circuit 主 'The standby board voltage U collected by the standby board control circuit 备 If the difference is greater than the set threshold, the control circuit of the standby board controls to turn off the switch Q1 of the main board and obtains control of the servo.

7. The method for using a UAV based on a dual redundant rudder system according to claim 6, characterized in that: When the first circuit board and the second circuit board also include a short-circuit fault communication circuit connected to the control circuit, in the drive circuit short-circuit identification and protection step, fault information is also reported through the short-circuit fault communication circuit when the control right of the servo is handed over to the standby board; at the same time, in the control circuit short-circuit identification and protection step, fault information is also reported through the short-circuit fault communication circuit when the control right of the servo is obtained.

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