Implementation method of automatic control system of selectable distributed storage system

Abstract

The invention provides an implementation method of an automatic control system of a selectable distributed storage system, which is characterized in that a main controller and a parameter memory in the automatic control system are in communication connection by adopting a serial interface, and the parameter memory and an airborne parameter memory of the main control system adopt the same-structure pluggable modular design. The two modules are identical in structure and can be freely interchanged to access the system; the automatic control system comprises a main control system and an airborne plug-in parameter memory module system, the main control system comprises a CPU and a built-in plug-in parameter memory module, and the module comprises a ferroelectric memory chip, an electronic gating switch, a level setting resistor and a quick-plug connector core component. According to the invention, the detection and calibration efficiency in the production and teaching process can be greatly improved, the calibration action in the test process can be reduced, and particularly, the complicated process of calibrating and acquiring parameters can be omitted when the main control system is replaced.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and in particular to a method for realizing an automation control system of an optional distributed storage system. Background Art

[0002] For various application scenarios of automated control systems, especially in drone control, the working principle of flight control determines that the sensor must be calibrated when debugging different drone bodies, and the calibrated parameters must be stored in the storage unit of the flight control, so that the flight control can correctly call the corresponding parameters for flight adjustment operations during flight.

[0003] However, the prior art has the following problems in drone control: 1. During the batch production test process, a large number of flight controllers need to be calibrated and tested. After calibration, standard data such as magnetic compass data, accelerometer data, gyroscope data, and other parameters such as PID must be stored in the parameter memory before they can fly safely. The general market generally adopts a design that integrates the parameter memory with the main control system. When the main controller is replaced, the calibration and control parameters will disappear together, and the new flight control needs to be recalibrated and debugged, which will bring a lot of workload. 2. In the teaching of the composition and debugging of drone flight control, when explaining the composition structure of the flight control and the calibration and parameter debugging of the flight control, it is difficult to intuitively show its importance and the flight control state when the parameters are wrong or the retrieval fails. 3. The prior art generally adopts a control storage integrated structure, and after adjusting and replacing the main control system, the body needs to be re-calibrated and debugged. For example, drone equipment, especially heavy-duty and transport drones, are generally large in size and weight, and the difficulty and complexity of calibration and debugging are high. In the application process of batch testing, maintenance replacement, teaching explanation, etc., there will be application scenarios where the main controller is frequently replaced. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a method for realizing an automated control system of an optional distributed storage system to solve the problems raised in the above-mentioned background technology. The present invention greatly improves the detection and calibration efficiency in the production and teaching processes, reduces the calibration actions in the testing process, and especially avoids the complicated calibration parameter acquisition process when replacing the main control system.

[0005] In order to achieve the above-mentioned purpose, the present invention is realized through the following technical scheme: an implementation method of an automatic control system with an optional distributed storage system, in which the main controller and the parameter memory in the automatic control system are mostly connected by a serial interface for communication, the CPU on the main control system and the built-in parameter memory and the onboard parameter memory are connected by a serial bus, the built-in parameter memory of the main control system and the onboard parameter memory adopt the same pluggable modular design, and the two modules are completely identical in structure and can be arbitrarily interchangeably connected to the system; the automatic control system realized by the method includes a main control system and an onboard pluggable parameter memory module system, wherein the main control system includes a CPU, a built-in pluggable parameter memory module, and the module includes a ferroelectric memory chip, an electronic selection switch, a level setting resistor, and a core component of a fast pluggable connector.

[0006] Furthermore, the self-contained plug-in parameter memory module is completely identical to the onboard plug-in parameter memory module.

[0007] Furthermore, the optional distributed storage system is realized by adopting a design scheme of interlocking the chip select signals of the storage chips on the storage module, so that when plugged into the main control system, it becomes a master module, and when plugged into the body, it becomes a slave module, and the two modules are automatically hardware interlocked.

[0008] Furthermore, the parameter memory of the main control system is interlocked with the chip select signal of the storage chip in the onboard parameter memory to prevent the user from plugging two modules at the same time, which may cause abnormal system operation or even threaten the chip safety.

[0009] Furthermore, the module inserted into the main control system is a master module, and the onboard module is a slave module.

[0010] Furthermore, when both the master module and the slave module are plugged in, the CPU of the main control system only connects to the memory on the master module and disconnects the memory on the slave module.

[0011] Furthermore, when only the onboard parameter memory module is plugged in, the main control system will store the acquired accurate data in the onboard parameter memory after receiving the calibration data sent back by the sensor.

[0012] Furthermore, the main control system directly uses the parameters in the onboard parameter storage to achieve replacement of the main control system and complete the process of production, teaching, and maintenance.

[0013] Furthermore, the main control system core CPU and parameter memory communicate using an SPI bus.

[0014] Furthermore, the chip select signal output by the main control system CPU is connected to the chip select CS ports of the storage chips of the two modules respectively through two controlled electronic switches.

[0015] Beneficial effects of the present invention:

[0016] 1. This method adopts a design scheme that separates the parameter memory from the main control system. While keeping the original system containing the parameter memory in the main control system unchanged, a group of parameter memories is added on the fuselage side. This group of added parameter memories is solidified with the fuselage to become an onboard parameter memory. The main control system uses a selection switch to flexibly choose to use the controller's own parameter memory or the onboard memory.

[0017] 2. This method greatly improves the detection and calibration efficiency in the production and teaching process. In the process of large-scale body calibration testing, the standard parameter data can be pre-burned into the parameter memory, thereby reducing the calibration actions during the test process, especially when replacing the main control system, it can avoid the complicated calibration parameter acquisition process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of a method for realizing an automatic control system of an optional distributed storage system of the present invention. DETAILED DESCRIPTION

[0019] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0020] See also Figure 1 The present invention provides the following technical solutions: a method for realizing an automatic control system with an optional distributed storage system, which adopts a design scheme of separating the parameter memory from the main control system, and adds a group of parameter memories on the machine body side while keeping the original system containing the parameter memory in the main control system unchanged. The added group of parameter memories and the machine body are solidified into an onboard parameter memory. The main control system adopts a selection switch to flexibly choose to use the controller's own parameter memory or onboard memory. Because the data communication path between the onboard memory and the main control system becomes longer, a bus driver will be designed in the path to ensure the reliability and high speed of data communication in order to ensure its data reliability. The invention will greatly improve the detection and calibration efficiency in the production and teaching process. In the process of mass machine calibration testing, standard parameter data can be pre-burned into the parameter memory, thereby reducing the calibration action during the test process, especially when replacing the main control system, it can avoid the complicated calibration parameter acquisition process.

[0021] In this embodiment, the main controller and the parameter memory in the automation control system are mostly connected by serial interfaces (the serial bus interface is only one of them, and other interface modes are also included). There are many types and models of parameter memories, and this embodiment uses ferroelectric memory FM25V01 as a representative for explanation.

[0022] In this embodiment, the CPU of the main control system is connected to the built-in parameter memory and the onboard parameter memory by a serial bus. At the same time, the built-in parameter memory of the main control system and the onboard parameter memory adopt the same pluggable modular design. The two modules have the same structure and can be interchangeably connected to the system at will. In order to prevent the user from plugging in two modules at the same time, which may cause the system to work abnormally or even threaten the chip safety, we have made a special interlocking design for the chip select signal of the memory chip on the module, and defined the module plugged in the main control system (i.e., built-in) as the main module and the onboard module as the slave module. Even if both modules are plugged in, the CPU of the main control system will only connect to the memory on the main module and disconnect the memory on the slave module, thereby avoiding the risk of two modules being connected to the system at the same time.

[0023] This embodiment also provides the following specific cases for further explaining the implementation scheme of the system: the automated control system includes a main control system and an onboard plug-in parameter memory module system, the main control system includes a CPU and a built-in plug-in parameter memory module, the built-in plug-in parameter memory module is exactly the same as the onboard plug-in parameter memory module, the module includes a ferroelectric memory chip, an electronic selection switch, a level setting resistor and a core component of a fast plug-in connector, the optional distributed storage system is implemented by adopting a design scheme of interlocking the chip select signal of the storage chip on the storage module, so as to realize that when it is plugged into the main control system, it becomes a master module, and when it is plugged into the body, it becomes a slave module, and the two modules are automatically hardware interlocked.

[0024] The specific implementation process is as follows:

[0025] 1. The main control system core CPU and parameter memory use SPI bus for communication.

[0026] 2. The SPI bus of the main control system CPU, namely SCLK, SDWI, and SDWO, will directly connect the SCLK, SDWI, and SDWO ports of the memory chip of the built-in module and the memory chip of the onboard module.

[0027] 3. The chip select signal output by the main control system CPU is connected to the chip select CS ports of the memory chips of the two modules through two controlled electronic switches.

[0028] 4. The controlled electronic switch and storage chip are designed on the module. The controlled end is connected to the pull-up resistor. At the same time, a wire A1 is led out to the B1 end of the airborne module. The B1 end of the airborne module will be connected to a pull-down resistor, and the pull-down resistor is much smaller than the resistance of the pull-up resistor.

[0029] 5. When the main control system's built-in module and the airborne module exist at the same time, the pull-down resistor (B1 port) on the main control module pulls down the control end of the controlled electronic switch on the airborne module, causing the electronic switch to be turned off, causing the chip select end of the storage chip on the airborne module to be disconnected from the chip select signal of the main control CPU and exit work. At this time, only the chip select port of the storage chip on the main control module can be normally connected to the chip select signal of the CPU to work normally, achieving the high priority working effect of the main module.

[0030] When the module that comes with the main control end is removed and only the onboard storage module is inserted, the chip select end of the storage chip will be connected to the chip select signal port of the main control CPU, thereby realizing the normal operation of the slave module, because the control end of the controlled electronic switch on the module has a pull-up resistor and is not clamped by the pull-down resistor of another module, it can be turned on normally.

[0031] When only the onboard parameter memory module is plugged in, the main control system will store accurate data obtained through various calculations after receiving the calibration data sent back by the sensor, such as magnetic compass calibration data, accelerometer calibration data, gyroscope calibration data, PID data, etc. At this time, if the main control system needs to be replaced to complete production, teaching, maintenance and other operations, the main control system will call the parameters in the onboard parameter memory and use them directly, eliminating the tedious calibration process, thereby greatly improving the efficiency of production, testing and teaching.

[0032] The basic principles and main features of the present invention and the advantages of the present invention are shown and described above. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention.

[0033] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A method for realizing an automatic control system of an optional distributed storage system, characterized in that: The method adopts a serial interface to communicate between a main controller and a parameter memory in an automated control system, a serial bus is used to connect a CPU on a main control system with a built-in parameter memory and an onboard parameter memory, the built-in parameter memory of the main control system and the onboard parameter memory adopt a pluggable modular design with the same structure, and the two modules have completely the same structure and can be arbitrarily interchangeably connected to the system; the automated control system implemented by the method comprises a main control system and an onboard pluggable parameter memory module system, wherein the main control system comprises a CPU, a built-in pluggable parameter memory module, and the module comprises a ferroelectric memory chip, an electronic selection switch, a level setting resistor, and a core component of a fast pluggable connector.

2. The method for implementing an automatic control system of a selectable distributed storage system according to claim 1, characterized in that: The self-contained plug-in parameter memory module is identical to the onboard plug-in parameter memory module.

3. The method for implementing an automatic control system of a selectable distributed storage system according to claim 1, characterized in that: The optional distributed storage system is implemented by using a design that interlocks the chip select signals of the storage chips on the storage module, so that when it is plugged into the main control system, it becomes a master module, and when it is plugged into the body, it becomes a slave module. The two modules are automatically hardware interlocked.

4. The method for implementing an automatic control system of a selectable distributed storage system according to claim 2, characterized in that: The main control system's own parameter memory is interlocked with the chip select signal of the storage chip in the onboard parameter memory to prevent the user from plugging two modules at the same time, which may cause system abnormality or even threaten chip safety.

5. The method for realizing an automatic control system of a selectable distributed storage system according to claim 4, characterized in that: The module plugged into the main control system is the master module, and the onboard module is the slave module.

6. The method for realizing an automatic control system of a selectable distributed storage system according to claim 5, characterized in that: When both the master module and the slave module are plugged in, the CPU of the main control system only connects to the memory on the master module and disconnects the memory on the slave module.

7. The method for implementing an automatic control system of a selectable distributed storage system according to claim 1, characterized in that: When only the onboard parameter memory module is plugged in, the main control system will store the acquired accurate data in the onboard parameter memory after receiving the calibration data sent back by the sensor.

8. The method for realizing an automatic control system of a selectable distributed storage system according to claim 1, characterized in that: The main control system directly uses the parameters in the onboard parameter storage to achieve replacement of the main control system and complete the process of production, teaching and maintenance.

9. The method for realizing an automatic control system of a selectable distributed storage system according to claim 1, characterized in that: The main control system core CPU and parameter memory communicate using the SPI bus.

10. The method for realizing an automatic control system of a selectable distributed storage system according to claim 9, characterized in that: The chip selection signal output by the main control system CPU is connected to the chip selection CS ports of the storage chips of the two modules respectively through two controlled electronic switches.

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