Electrical control device for underwater vehicle

Abstract

The invention relates to the field of electrical control, and discloses electrical control equipment for an underwater vehicle, which comprises a first switching power supply module, a second switching power supply module, a first PLC (Programmable Logic Controller) power supply module, a first control module, a second PLC power supply module and a second control module. The input ends of the two switching power supply modules and the input ends of the two PLC power supply modules are connected with input voltage, and the output ends of the first switching power supply module and the second switching power supply module are also connected with the input and output module. The output end of the first PLC power supply module is connected with the first control module and is also connected with the second control module; the output end of the second PLC power supply module is connected with the first control module and is also connected with the second control module; the first control module and the second control module are also connected with the input and output module; and two data transmission loops are arranged in the input and output module. Therefore, through the design of full redundancy configuration, the stability and the reliability of the electrical control equipment for the underwater vehicle are ensured.

Description

Technical Field

[0001] The present application relates to the field of electrical control, and in particular to an electrical control device for an underwater vehicle. Background Art

[0002] Due to its special application scenarios, underwater vehicles have high requirements for equipment reliability, stability and testability. As the core component of underwater vehicles, the electrical control box is responsible for power distribution, signal processing and command execution, so its performance directly determines the operating efficiency and safety of underwater vehicles. However, the electrical control equipment in related technologies still has limitations, and its reliability and stability need to be further improved. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems in the related art to a certain extent. To this end, the present application proposes an electrical control device for an underwater vehicle. The main technical solutions adopted in the present application include:

[0004] An embodiment of the present application provides an electrical control device for an underwater vehicle, the electrical control device comprising a first switching power supply module, a second switching power supply module, a first backplane, a second backplane and an input-output module; wherein the second backplane and the first backplane are mutually redundantly configured; a first PLC power supply module and a first control module are arranged on the first backplane; a second PLC power supply module and a second control module are arranged on the second backplane; an input end of the first switching power supply module is connected to an input voltage, and an output end of the first switching power supply module is connected to the input-output module; an input end of the second switching power supply module is also connected to the input voltage, and an output end of the second switching power supply module is also connected to the input-output module; an input end of the first PLC power supply module is connected to an input voltage, and an output end of the first PLC power supply module is connected to the first control module and also to the second control module; an input end of the second PLC power supply module is connected to an input voltage, and an output end of the second PLC power supply module is connected to the first control module and also to the second control module; the first control module is connected to the input-output module, and the second control module is also connected to the input-output module; two parallel data transmission loops are arranged in the input-output module.

[0005] In one embodiment, the electrical control device also includes a first filter and a second filter; the first filter is connected to the input end of the first switching power module and the input end of the first PLC power module; the second filter is also connected to the input end of the second switching power module and the input end of the second PLC power module.

[0006] In one embodiment, the input voltage includes a first input voltage and a second input voltage; the output end of the first filter is connected to one end of the first switch, and the other end is connected to the first switch power supply module; the output end of the second filter is connected to one end of the second switch, and the other end is connected to the second switch power supply module; the input end of the first filter is connected to the first input voltage, and the input end of the second filter is connected to the second input voltage; the second input voltage is equal to the first input voltage, and the second input voltage and the first input voltage work simultaneously, and supply power to the first switch power supply module, the second switch power supply module, the first PLC power supply module, and the second PLC power supply module simultaneously.

[0007] In one embodiment, the first control module and the second control module are redundantly configured with each other; the electrical control device also includes a coupling module, which serves as a data communication intermediate station between the first control module and the input-output module, and also serves as a data communication intermediate station between the second control module and the input-output module.

[0008] In one of the embodiments, the first control module and the second control module communicate with each other through an Ethernet port to complete data communication and data backup between the first control module and the second control module; when one of the first control module and the second control module fails, it automatically switches to the other operation and uses the Ethernet port for communication.

[0009] In one embodiment, the communication interface of the coupling module includes a first Ethernet port, a second Ethernet port, a third Ethernet port and a fourth Ethernet port; wherein the first Ethernet port and the second Ethernet port are respectively used to connect the first control module and the second control module, and the third Ethernet port and the fourth Ethernet port are respectively used to connect two data transmission loops in the input and output modules.

[0010] In one embodiment, the electrical control device also includes a fault monitoring module and a host computer, the host computer is communicatively connected to the first control module and the second control module respectively; the fault monitoring module is used to determine the fault function module corresponding to the error signal when the host computer detects an error signal, and stop the fault function module and switch to the redundant configuration module corresponding to the fault function module.

[0011] In one of the embodiments, the fault monitoring module is used for system fault detection, bus fault detection and runtime fault detection; the first control module is used to send fault information to the second control module through a diagnostic callback function when a preset fault occurs in the first control module; the second control module is used to determine the fault level based on the fault information, and determine whether to perform redundant switching according to the fault level.

[0012] In one of the embodiments, it is characterized in that the input and output modules include two switch quantity input modules connected in parallel, two switch quantity output modules connected in parallel, two analog quantity input modules connected in series, and two analog quantity output modules connected in parallel.

[0013] In one embodiment, the electrical control device has a shell, and the electrical control device is arranged inside the shell; and a water cooling plate is arranged at the bottom of the shell; the water cooling plate is arranged adjacent to the first switching power module and the second switching power module to dissipate heat for the first switching power module and the second switching power module.

[0014] In the above embodiment, for such an extreme application environment as underwater, first, a first switch power module, a second switch power module and two groups of PLC power modules are used to realize redundant configuration of input power supply, so as to provide stable and reliable power for the entire electrical control device. At the same time, hot standby redundancy is performed through the first control module and the second control module. When one of them fails, the other module can be used to seamlessly take over the control, thereby improving the fault tolerance and continuous working ability of the electrical control device of the entire underwater vehicle. Similarly, two data transmission loops are also designed in the input and output modules. Even if one of the data transmission loops fails, it can be removed without power outage without affecting the normal operation of the other module. So far, the stability and reliability of the electrical control equipment for underwater vehicles in their typical use scenarios are ensured through the design of full redundant configuration. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 A structural block diagram of an electrical control device provided according to an embodiment of the present application;

[0017] Figure 2 A structural block diagram of an electrical control device provided according to another embodiment of the present application;

[0018] Figure 3 A circuit schematic diagram of a switch control module provided according to an embodiment of the present application;

[0019] Figure 4 A structural block diagram of an electrical control device provided according to another embodiment of the present application;

[0020] Figure 5A structural block diagram of an electrical control device provided according to another embodiment of the present application;

[0021] Figure 6a A circuit schematic diagram of a switch input module provided according to an embodiment of the present application;

[0022] Figure 6b A circuit schematic diagram of two-way switch input provided according to an embodiment of the present application;

[0023] Figure 6c A circuit schematic diagram of a switch output module provided according to an embodiment of the present application;

[0024] Figure 6d A schematic diagram of a circuit for two-way switch output according to an embodiment of the present application;

[0025] Figure 7 The present invention is a schematic diagram of the structure of an electrical control device provided according to one embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0027] Underwater vehicles operate in deep-sea high-pressure, low-temperature, highly corrosive and complex underwater environments. Therefore, in this special application scenario, there are high requirements for the reliability, stability and testability of the equipment. The electrical control box is responsible for the key functions of the entire vehicle, such as power distribution, signal processing and command execution. As a core component of the underwater vehicle, its performance directly determines the operating efficiency and safety of the underwater vehicle. Therefore, the design and manufacture of the electrical control box must take into account the adaptability to extreme environments, as well as the rapid response and self-repair capabilities in the face of sudden failures, to ensure that the vehicle can complete its mission safely and efficiently under various challenging conditions.

[0028] However, there are some deficiencies in the electrical control equipment of underwater vehicles, which are mainly reflected in two aspects:

[0029] 1. These devices often lack backup systems to take over critical tasks, which means that once a core component fails, the entire system may be paralyzed.

[0030] 2. When facing the high pressure, low temperature and highly corrosive underwater environment, the reliability of the equipment is crucial. Since it is difficult to carry out maintenance and intervention in the underwater environment, once the equipment fails, it may cause the underwater vehicle to lose control, thus affecting the execution of the mission and the safety of the vehicle.

[0031] Based on this, according to an embodiment of the present application, an embodiment of an electrical control device for an underwater vehicle is provided, such as Figure 1 As shown, the electrical control device 100 for an underwater vehicle includes a first switch power module 110, a second switch power module 120, a first backplane 130, a second backplane 140 and an input / output module 150. The second backplane 140 and the first backplane 130 are mutually redundant.

[0032] Among them, the first switching power supply module 110 and the second switching power supply module 120 can both refer to power conversion modules that convert external input power into low-voltage direct current power suitable for use by the device. Specifically, the input end of the first switching power supply module 110 is connected to an input voltage, and the output end of the first switching power supply module 110 is connected to the input-output module 150; the input end of the second switching power supply module 120 is connected to another input voltage, and the output end of the second switching power supply module 120 is also connected to the input-output module 150, so as to convert the external input AC high-voltage power supply voltage into a DC low-voltage working voltage suitable for use by the device. Further, the first switching power supply module 110 and the second switching power supply module 120 also have input undervoltage protection for detecting input voltage lower than a certain threshold, input overvoltage protection for detecting input voltage higher than a certain threshold, output short-circuit protection for detecting output circuit short circuit inside the module, output overcurrent protection for detecting output circuit current inside the module greater than the rated current, output overheat protection for detecting module temperature higher than a certain threshold, and a grounding point for grounding the module.

[0033] Optionally, the first switching power supply module 110 and the second switching power supply module 120 may also include an input switching circuit, which can be applied to a wide range DC power supply, and convert the wide range DC power supply into the low voltage DC power required by the electrical control device. Specifically, when the input voltage of the external input is greater than the low voltage DC power required by the electrical control device, the step-down DC-DC loop can be connected through the input switching circuit to step down the input voltage of the external input, and when the input voltage of the external input is less than the low voltage DC power required by the electrical control device, the step-up DC-DC loop can be connected through the input switching circuit to step up the input voltage of the external input. Exemplarily, if the input voltage used is DC 5V to 50V, the input switching circuit built into the first switching power supply module 110 and the second switching power supply module 120 can be used, and based on the voltage value relationship between the input voltage and the target voltage required by the electrical control device, the working state of the switching power supply module is switched and selected to convert the input voltage of the external input DC 5V to 50V into the low voltage DC 24V voltage required by the electrical control device.

[0034] The first backplane 130 and the second backplane 140 can both be frames or motherboards for mounting and connecting various circuit boards, which provide a central connection point for the electrical control device so that each module can perform corresponding communication and power distribution through them. It can be understood that the first backplane 130 and the second backplane 140 are also redundant configurations for each other, regardless of primary and secondary, and serve as backup for each other.

[0035] Specifically, a first PLC power module 131 and a first control module 133 are disposed on the first backplane 130 . A second PLC power module 141 and a second control module 143 are disposed on the second backplane 140 .

[0036] Among them, the first PLC power module 131 and the second PLC power module 141 can both be circuit components that ensure that the PLC and its related modules can operate stably under appropriate voltage and current to provide power for the PLC system. Exemplarily, the rated voltage allowed to be input by the first PLC power module 131 and the second PLC power module 141 can be AC220V. But they can also support a wider range of voltage input. That is, the first PLC power module 131 and the second PLC power module can well resist the fluctuation of the input voltage within a certain range, and the minimum input voltage allowed can be as low as AC176V, and the maximum input voltage allowed can be as high as AC264V. It can be understood that the first PLC power module 131 and the second PLC power module can be connected in parallel, with mutual redundant configuration, and the input voltage can be converted to output 2 DC24V power supplies. And the maximum output current is 5A, which can provide a stable power input to the control module and the input output module connected to the next level, and also has undervoltage, overvoltage, overcurrent, short circuit and overtemperature protection functions.

[0037] Further, the input end of the first PLC power module 131 is connected to the input voltage, and the output end of the first PLC power module 131 is connected to the first control module 133, and is also connected to the second control module 143. The input end of the second PLC power module 141 is connected to the input voltage, and the output end of the second PLC power module 141 is connected to the first control module 133, and is also connected to the second control module 143.

[0038] Among them, the first control module 133 and the second control module 143 can both be circuit components modules including a processor and a memory for processing input signals, executing control logic and outputting control commands. Similarly, the first control module 133 and the second control module 143 can be redundantly configured with each other, regardless of primary and secondary, and serve as backup for each other. Specifically, the first control module 133 and the second control module 143 each include a CPU module, and the two groups of CPU modules are hot standby redundant, which can realize the simultaneous execution of a PLC program without power failure and synchronization.

[0039] Exemplarily, the communication interfaces of the two groups of CPU modules may include an Ethernet port, an EtherCAT port, a redundant communication port, and a DB9 port. Among them, the Ethernet port may be a 2-way external RJ45 physical port with a communication rate of 10 / 100 / 1000Mb / s adaptive; the EtherCAT port may also be a 2-way internal RJ45 physical port coupling port with a communication rate of 10 / 100 / 1000Mb / s adaptive, responsible for data communication between the coupling modules; the redundant communication port may be a 2-way single-mode optical fiber port with a communication rate of 10 / 100 / 1000Mb / s adaptive, responsible for communication between the two redundant CPU modules; the DB9 port may be a 1-way serial port debugging port used as a debugging port, using UART (RS232) communication, supporting 485 master / slave mode, and capable of external RS485 communication.

[0040] It is understandable that the first control module 133 and the second control module 143 are data synchronized, application synchronized, task synchronized and clock synchronized, and they jointly implement a runtime redundant architecture system to achieve the most optimized redundant switching logic and the minimum redundant switching disturbance. Exemplarily, the CPU module in the first control module 133 is used as the main controller as an example for explanation. When the main working controller fails, the CPU module in the second control module 143 will correspondingly switch from the redundant controller to the main controller, take over the control logic of the failed controller, and avoid the entire control system from crashing.

[0041] Furthermore, the first control module 131 is connected to the input-output module 150 , and the second control module 141 is also connected to the input-output module 150 .

[0042] Among them, the input-output module 150 can be an I / O module for connecting external sensors and actuators and converting their signals into signals that can be understood by the PLC. Specifically, the input module processes sensor signals (such as buttons, switches, etc.), while the output module controls actuators (such as relays, motors, etc.). Similarly, two parallel data transmission loops are provided in the input-output module 150. These two independent data transmission paths can work in parallel. If one of the paths fails, the other path can still continue to transmit data to improve the redundancy and reliability of data transmission, thereby ensuring the continuous operation of the electrical control equipment.

[0043] Optionally, the electrical control device may also include a CAN communication module, which is mainly responsible for the communication between the field instruments and the electrical control device. Exemplarily, the CAN communication module can provide 1-way CAN communication, and the CAN communication module has its own isolated CAN bus, can provide initialization configuration, and supports configuration of terminal resistance; the paths are electrically isolated. And the CAN communication module supports the CAN2.0B protocol, and its communication rate can be selected and flexibly adjusted within "10Kbps, 50Kbps, 125Kbps, 250Kbps, 500Kbps, 1Mbps".

[0044] In the above implementation, for such an extreme application environment as underwater, firstly, a first switch power module, a second switch power module and two groups of PLC power modules are used to realize redundant configuration of input power supply, so as to provide stable and reliable power for the entire electrical control device. At the same time, hot standby redundancy is performed through the first control module and the second control module. When one of them fails, the other module can be used to seamlessly take over the control, thereby improving the fault tolerance and continuous working ability of the electrical control device of the entire underwater vehicle. Similarly, two data transmission loops are also designed in the input and output modules. Even if one of the data transmission loops fails, it can be removed without power outage, without affecting the normal operation of the other module. So far, the stability and reliability of the electrical control equipment for underwater vehicles in their typical use scenarios are ensured through the design of full redundant configuration.

[0045] In some embodiments, see Figure 2 The electrical control device 100 further includes a first filter 210 and a second filter 220 .

[0046] Among them, the first filter 210 and the second filter 220 can be circuit components for smoothing the fluctuation of the power supply voltage, reducing electromagnetic interference (EMI) and radio frequency interference (RFI), and improving the stability and purity of the power supply. Specifically, the first filter 210 is connected to the input end of the first switching power supply module 110 and the input end of the first PLC power supply module 131; the second filter 220 is also connected to the input end of the second switching power supply module 120 and the input end of the second PLC power supply module 143. The first filter 210 can be used to provide clean and stable power for the first switching power supply module 110 and the first PLC power supply module 131, and protect the two power supply modules from voltage fluctuations and external electromagnetic interference by reducing noise and interference in the input voltage. Similarly, the second filter 220 can also be used to provide clean and stable power for the second switching power supply module 120 and the second PLC power supply module 143, ensure the power quality of the input voltage of the second switching power supply module 120 and the second PLC power supply module 143, and reduce the noise and interference on their input voltage power lines.

[0047] In the above embodiment, the first filter 210 and the second filter 220 are used to provide redundancy and an additional layer of protection, ensuring that even if one filter fails, the other one can still continue to work, thereby improving the fault tolerance and power quality of the entire system, thereby ensuring the high reliability and anti-interference ability of the electrical control equipment.

[0048] In some embodiments, the input voltage includes a first input voltage 310 and a second input voltage 320 .

[0049] Among them, the first input voltage 310 and the second input voltage 320 can refer to two independent power input paths that provide the necessary power for the system. It is understandable that the electrical control device can use 2 redundant power supplies as input voltages, regardless of primary and secondary, and serve as backup for each other. Under normal working conditions, one is used for application and the other is used as backup. The second input voltage 320 is equal to the first input voltage 310, and the second input voltage 320 and the first input voltage 310 work simultaneously, and supply power to the first switch power module 110, the second switch power module 120, the first PLC power module 133, and the second PLC power module 143 at the same time.

[0050] For example, please refer to Figure 3, the electrical control equipment can use 2 AC220V to power the electrical control equipment at the same time. Under normal working conditions, that is, when both power supplies are powered, the 2 AC220V supplies power to a group of switch power modules respectively. Taking the first switch power module 110 as an example, if the AC220V power supply 1 is used as the main input voltage, then the first switch power module 110 corresponds to the main switch power module. At this time, the AC220V power supply 2 and the corresponding second switch power module 120 are used as redundant backup input voltage and backup switch power modules. When the AC220V power supply 1 loses power, since the 2 AC220V power supplies work at the same time, there is no problem of redundant switching, and the power failure of one power supply does not affect the operation of the entire system. Therefore, at this time, the AC220V power supply 2 can still supply power normally, which can also ensure the normal operation of the electrical control equipment.

[0051] For further information, please refer to Figure 3 , the electrical control device may further include a first switch 301 and a second switch 303. The first switch 301 and the second switch 303 may be responsible for controlling the on and off of the current in the circuit, allowing or preventing the current from flowing. Specifically, the output end of the first filter 210 is connected to one end of the first switch 301, and the other end is connected to the first switch power module 110. Similarly, the output end of the second filter 220 is connected to one end of the second switch 303, and the other end is connected to the second switch power module 120. The input end of the first filter 210 is connected to the first input voltage 310, and the input end of the second filter 220 is connected to the second input voltage 320. It can be understood that the first switch 301 and the second switch 303 can be used as a safety device in the electrical control device. When an overload, short circuit or other abnormal conditions are detected, the first switch 301 and the second switch 303 can be immediately controlled by sending a control signal to open the switch, cut off the abnormal current, and protect the circuit and the device from damage. Optionally, each power supply circuit is also respectively configured with a circuit breaker, which is connected between the power switch and the filter in each circuit and can cooperate with the switch to provide overload, overcurrent, short circuit or other protection for each circuit.

[0052] In the above implementation, by adopting a dual redundant power input configuration, a high reliability and high stability power supply is achieved. Under normal working conditions, two input voltages simultaneously power the device, one as the main power supply and the other as a backup, ensuring that when any power supply fails, the other can take over seamlessly to maintain the normal operation of the device. In addition, by configuring the first switch 301 and the second switch 303 and the corresponding circuit breaker, the device can quickly cut off the current when an overload, short circuit or other abnormal situation is detected, protecting the circuit and the device from damage, thereby greatly improving the safety and reliability of the system.

[0053] In some embodiments, see Figure 4 The first control module 131 and the second control module 141 are configured redundantly with each other. The electrical control device 100 also includes a coupling module 410, which is used as a data communication intermediate station between the first control module 131 and the input / output module 150, and is also used as a data communication intermediate station between the second control module 141 and the input / output module 150.

[0054] Among them, the coupling module 410 can be an intermediate circuit module that connects different modules or devices and realizes data communication and signal processing in the electrical control device. Exemplarily, the coupling module 410 can have 4 Ethernet ports to realize data communication between different modules. Two of the Ethernet ports are used to communicate with the two control modules; the other two Ethernet ports are used to communicate with the input and output module 150 of the next level. Optionally, its physical interface can be RJ45, and the communication rate can be 10 / 100Mb / s adaptive. The communication protocol can be ECN-E. Further, the coupling module 410 also supports a variety of communication media such as optical fiber or network cable, and its communication rate can reach 10 / 100 / 1000Mb / s adaptive. And it supports a variety of connection modes such as star, bus and ring to realize the system structure of redundant ring network. Exemplarily, in multi-level connection, the coupling module 410 can also have 4 Ethernet ports to realize data communication, in which case two of the Ethernet ports can be used to communicate with the previous coupling module or control module, and the other two Ethernet ports are used to communicate with the coupling module of the next level.

[0055] In the above embodiment, the coupling module 410 realizes efficient and flexible data communication and signal processing between different modules in the electrical control device through the design of its four Ethernet ports, two of which are connected to the control module to realize the main control function, and the other two Ethernet ports are connected to the input and output modules to realize the collection and control of field data. It supports multiple communication media and rates, as well as multiple network topologies, thereby enhancing the redundancy and reliability of the system, ensuring the continuity and stability of data communication, and improving the flexibility and scalability of the entire electrical control device.

[0056] In some embodiments, the first control module 131 and the second control module 141 communicate with each other through an Ethernet port to complete data communication and data backup between the first control module 131 and the second control module 141. When one of the first control module 131 and the second control module 141 fails, it automatically switches to the other and communicates through the Ethernet port.

[0057] Among them, the Ethernet port can refer to an Ethernet interface that uses different materials as the transmission medium to transmit data. It is understandable that for extreme underwater application scenarios, the Ethernet port chooses an Ethernet optical port that uses optical fiber as the transmission medium. Since its transmission medium is optical fiber, its transmission is not affected by electromagnetic interference and is more suitable for application scenarios with complex electromagnetic environments and high reliability requirements.

[0058] Exemplarily, the redundant communication interface of the first control module 131 and the second control module 141 can be a 2-way, adaptive single-mode optical fiber interface with a communication rate of 10 / 100 / 1000Mb / s. Specifically, firstly, a redundant communication optical fiber can be used to establish a communication link between the first control module 131 and the second control module 141, and the two control modules are configured with network parameters such as IP address, subnet mask, default gateway, etc. to ensure that they are in the same network segment and can communicate with each other. Then configure the communication protocol according to the system requirements, such as MODBUS, TCP / IP, UDP, ECN-E, etc., to ensure that the two modules can understand and process the transmitted data. And through the synchronous interface, data support including IEC61131-3 task data, IO real-time data, real-time clock and timer, and PLC user program data is realized between the first control module 131 and the second control module 141.

[0059] Specifically, taking the first control module 131 as the main control module as an example, the synchronization interface may include a task synchronization interface, through which the first control module 131 sends the time information of the task being executed to the standby control module, that is, the second control module 141, in real time, to ensure that the two modules are synchronized in task scheduling and execution, and to achieve consistency in task rhythm. The synchronization interface may also include a data synchronization interface, which is responsible for synchronizing the IO data between the two modules and the internal data of the PLC project, including real-time data such as %I, %Q, %M, as well as global variables and symbol table variable data. In this way, even when the main module fails and switches to the standby module, the continuity and consistency of data processing can be ensured. The synchronization interface may also include a clock synchronization interface, which is used to synchronize the operating clocks of the CPUs in the two control modules, ensuring that the clock frequencies of the two modules are consistent when processing task synchronization and timer modules (such as ton / tof). The synchronization interface may also include an application synchronization interface, which ensures that the user program codes of the CPUs in the two modules are synchronized. If the user program data of the CPUs in the main and standby modules are detected to be inconsistent, the system will automatically synchronize the user program update of the main module CPU to the standby module CPU, ensuring that the control task can be seamlessly taken over at any time.

[0060] In the above embodiment, by using the Ethernet optical port with optical fiber as the transmission medium, the communication between the first control module 131 and the second control module 141 achieves high reliability and anti-interference, ensuring the continuity of data communication and backup in extreme underwater environments. This redundant configuration not only improves the fault tolerance of the system, but also ensures the consistency of task execution, data processing, clock and application programs through the synchronization interface, so that the control task can be seamlessly taken over when switching between the main and standby modules, thereby ensuring the stability and reliability of the entire electrical control device.

[0061] In some embodiments, the communication interface of the coupling module includes a first Ethernet port, a second Ethernet port, a third Ethernet port, and a fourth Ethernet port, wherein the first Ethernet port and the second Ethernet port are respectively used to connect the first control module and the second control module, and the third Ethernet port and the fourth Ethernet port are respectively used to connect two data transmission loops in the input and output modules.

[0062] Specifically, the first Ethernet port can be used to transmit the data, instructions and status information of the first control module to the coupling module, and also receive data and requests from the coupling module to realize communication and data transmission between the first control module. Similarly, the second Ethernet port is similar to the first Ethernet port, and is used to ensure that the data and instructions of the second control module can be transmitted to the coupling module, and receive data from the coupling module to realize communication and data transmission between the second control module. Further, the third Ethernet port is responsible for communicating with a data transmission path in the input and output module, and is used to collect data from the field sensor and send the control command output from the control module to control the first data transmission loop in the input and output module to work normally. Similarly, the fourth Ethernet port is similar to the third Ethernet port, and is used to collect data from the field sensor and send the control command output from the control module to control the second data transmission loop in the input and output module to work normally.

[0063] In the above embodiment, by configuring the four Ethernet ports of the coupling module, efficient and stable communication between the first control module and the second control module and the two data transmission loops in the input and output modules is achieved. The first and second Ethernet ports ensure seamless transmission of data and instructions between the control modules, while the third and fourth Ethernet ports provide redundant data transmission paths for the input and output modules, enhancing the fault tolerance and reliability of the system. This design not only improves the efficiency and accuracy of data transmission, but also ensures that in the face of module failure or communication interruption, the system can quickly switch to the backup path and maintain continuous operation, thereby significantly improving the stability and anti-interference ability of the entire electrical control equipment.

[0064] In some embodiments, see Figure 5The electrical control device further includes a fault monitoring module 510 and a host computer 520 , and the host computer 520 is communicatively connected to the first control module 133 and the second control module 143 .

[0065] The fault monitoring module 510 can be used to determine the faulty function module corresponding to the error signal when the host computer 520 detects an error signal, stop the faulty function module, and switch to the redundant configuration module corresponding to the faulty function module.

[0066] It is understandable that since each functional module of the electrical control equipment is redundantly configured, when a failure occurs in one of the functional modules, the functional module with the failure can be immediately stopped, and its redundant configuration module can immediately take over its task and continue to complete the corresponding operation, ensuring that the continuous operation of the system will not be interrupted by the failure of a single module.

[0067] Exemplarily, if both control modules are used for data communication with the host computer through the communication interface, the first control module 133 is also used as the main control module for example. Under normal working conditions, the CPU in the first control module 133 can be set to send a communication heartbeat signal to the host computer 520 in real time according to a certain time rule. When the host computer 520 background system receives a communication heartbeat signal with a time rule, it is proved that the data transmission and communication link of the first control module 133 are working normally at this time. When the host computer 520 detects that the heartbeat signal from the main control module (the first control module 133) disappears suddenly, it indicates that the communication link of the first control module 133 may have a fault or interruption. In this case, the host computer 520 will issue a control signal, and the fault function module corresponding to the error signal is determined by the fault monitoring module 510. That is, the heartbeat signal disappears, and the communication link corresponding to the first control module 133 is stopped using the fault monitoring module 510, and the redundant configuration module corresponding to the fault function module is switched to. That is, in the event of a failure in the first control module 133, the system switches to the second control module 143 to automatically and quickly switch to the backup communication channel, and further begins to receive and process data from the backup control module, ensuring that the control logic and data flow of the entire system will not be interrupted due to problems with the main communication link.

[0068] In the above implementation, by integrating the fault monitoring module and communicating with the integrated display and control machine (host computer), real-time monitoring of the status and performance of each functional module is achieved, ensuring the high reliability and continuous operation of the equipment. When a functional module fails, the host computer can quickly identify the fault situation based on the signal sent back, and send a control signal to control the fault monitoring module 510 to make a corresponding response operation according to the fault situation, and switch the ongoing work operation of the faulty functional module to the corresponding redundant configuration module, thereby ensuring the uninterrupted data transmission and control logic, so that the entire electrical control equipment can maintain stable operation even in the face of a single module failure, significantly improving the fault tolerance and risk resistance.

[0069] In some implementations, the fault monitoring module is used for system fault detection, bus fault detection, and runtime fault detection.

[0070] Specifically, the fault monitoring module can perform fault diagnosis on the entire electrical control device through fault detection. Fault detection methods may include system fault detection, bus fault detection, and runtime fault detection, wherein system fault detection may refer to a fault detection method that monitors the health of the entire control system to identify any problems that may affect the normal operation of the system, which may include hardware faults, software errors, or other system-level problems. Bus fault detection may refer to a fault detection method that monitors the data bus in the system to ensure that data can be correctly and reliably transmitted between modules, and can identify data transmission errors, bus interruptions, or other communication problems. Runtime fault detection may refer to a fault detection method that monitors the execution status of a software program during system operation, and can detect errors, anomalies, or crashes that may occur when the program is running.

[0071] It should be understood that the fault monitoring module can execute the corresponding fault handling program according to the control instructions issued by the host computer. At the same time, the fault monitoring module can also start the fault detection of the electrical control equipment according to these instructions, and analyze the fault information generated by the fault detection operation to determine whether the control module has a fault. In addition, since the first control module and the second control module also include a redundant state control system, through the coordinated work of the first control module and the second control module, it is also possible to determine whether the control module has a fault based on the fault information generated by the fault detection operation.

[0072] Specifically, the first control module is used to send fault information to the second control module through a diagnostic callback function when a preset fault occurs in the first control module. The second control module is used to determine the fault level based on the fault information and determine whether to perform redundancy switching according to the fault level.

[0073] Among them, the preset fault may refer to any one of the above-mentioned system faults, bus faults, runtime faults or other fault modes. The diagnostic callback function may refer to a function passed as a parameter to another function. When certain conditions are met, the other function will call this callback function. Specifically, when a fault occurs in a control module, that is, when a diagnostic request or response event occurs, the diagnostic callback function in the control program pre-burned in the control module will be triggered, and the corresponding processing logic will be executed, and the fault information, log or other information data will be sent to the redundant state control system in another control module, so that it can be analyzed based on these fault information and determine whether redundant switching is required. That is, the redundant state control system built into the first control module and the second control module can receive the fault information sent by the diagnostic callback function, and manage the working state and switching logic of the first control module and the second control module according to the fault information.

[0074] It should be understood that, taking the first control module as the main control module for explanation, when the first control module has system failures such as hardware failure, driver failure, embedded operating system failure, etc.; when bus failures such as abnormal bus dual ring network status, abnormal network path, abnormal real-time communication speed, etc. occur; when runtime failures such as runtime task crash, dead loop, host computer communication interruption due to internal logic or external communication reasons occur, the corresponding diagnostic callback function request will be triggered. And the fault information is sent to the redundant state machine through the diagnostic callback function. After receiving this information, the redundant state machine will determine whether it is necessary to switch between the main and standby control modules according to the severity of the fault and the redundancy strategy of the system to ensure the continuous operation of the system and timely response to the fault.

[0075] The redundancy strategy of the system, that is, the switching trigger of the redundant state control system, will determine whether and how the control module switches from one state to another according to different working states and trigger conditions. Specifically, the working state can include four states: startup state, waiting state, negotiation state, main operation state and backup operation state. The redundant state control system can determine whether it is necessary to switch from the startup state to the waiting state, from the waiting state to the main operation or backup operation state, or between the main operation and backup operation states by monitoring the initialization results, timeouts or communication message reception conditions, so as to ensure the high availability and fault recovery capability of the system.

[0076] For example, in the startup state, if the main control module is successfully initialized, it enters the waiting state, and if the main control module fails to be initialized, it enters the fault state.

[0077] In the waiting state, if no message is received after waiting for 10 seconds, the corresponding control enters the main operation state; if the main synchronization message is received, the corresponding control enters the standby operation state; if the waiting message is received, it enters the negotiation state.

[0078] In the negotiation state, if a negotiation message is received, the redundant state control system decides to enter the main operation state or the backup operation state according to the message content; if no message is received after waiting for 5 seconds, it returns to the waiting state again.

[0079] In the main operation state, if the main control module is found to have a fault (such as flash, memory, Ethernet or runtime problems) based on the fault information, the redundant state control system will switch to the standby operation state; similarly, if the main control module field bus link is interrupted (physical disconnection) or the communication is timed out (communication is not smooth) based on the fault information, the redundant state control system will also switch to the standby operation state; if the received master station message shows that the other party (main control module) has a smaller IP, that is, the main control module is not suitable for work at this time, then the redundant state control system will also switch to the standby operation state. In addition, if the APP check of the standby synchronization response message is inconsistent, the redundant state control system will enter the main synchronization APP state.

[0080] Similarly, in the standby operation state, if the main operation exit message is received, the redundant state control system will switch to the main operation state; if the redundant line link is disconnected and the bus communication is timed out based on the fault information, the redundant state control system will also switch to the main operation state; if the redundant line link is normal but the bus communication is timed out based on the fault information, the redundant state control system will also switch to the main operation state. In addition, if the APP check of the main synchronization message is inconsistent, the redundant state control system will enter the standby synchronization APP state.

[0081] In the above implementation, by detecting and evaluating the detected fault information, it is determined whether it is necessary to switch between the first control module and the second control module. Furthermore, there are four different working states, and when to switch the state is determined according to the fault information and the preset strategy. Ultimately, once the main control module fails, it can automatically switch to the standby control module, thereby ensuring the continuity of operation and the stability of the system.

[0082] In some embodiments, the input-output module includes two switch quantity input modules connected in parallel, two switch quantity output modules connected in parallel, two analog quantity input modules connected in series, and two analog quantity output modules connected in parallel.

[0083] Specifically, the switch input module can meet the requirements of multiple switch inputs with an input voltage range of DC5V to 24V, and its logic level parameters include logic 1 with a voltage range of 15V to 24V and logic 0 with a voltage range of -3V to 5V. Figure 6a When there is a signal input to the switch input module, the current flows from the input end into the optocoupler, passes through the optocoupler, flows out from the common end, and flows back to the negative pole of the power supply. When the input is 15V~24VDC, the light-emitting diode side of the optocoupler is turned on, and the output through the trigger is a high level, and the logic is 1; when the input voltage is less than or equal to 5VDC, the diode is cut off, the trigger output is a low level, and the logic is 0. Furthermore, the switch input module is provided with a redundant configuration, and a loop with the same structure can be connected in parallel, and the signals of both loops can be connected to the module at the same time. Although the signals of both loops will be collected, the module will only process one of the signals, and the other signal will be used as a backup to ensure seamless switching when there is a problem with the main signal. For example, taking a DI0 channel as an example, please refer to Figure 6b When the DI0 channel inputs a high-level signal, the DI0 channel loops of the two modules are connected in parallel, and the input signals of the channel are collected at the same time. The system automatically identifies the main and standby modules. When the signals collected by the two channels are normal, the system will read the signal collected by the main module as the channel signal; when the main module channel fails, the system will read the collected signal of the standby module as the channel signal and give an alarm message. When one of the redundant modules fails, it can be unplugged without powering off, and it will not affect the normal operation of the other module.

[0084] The switch output module can provide a transistor source output, and the single output capacity is DC24V / 0.6A, and the maximum total current of the output end is 5A. For example, please refer to Figure 6c , the common terminal of the PLC is connected to the positive pole of the DC24V power supply, and the output signal is high level. One end of the load is connected to the negative pole of the power supply, and the other end is connected to the switch output module. After the MOSFET electronic switch is closed, the current flowing out of the switch is supplied to the load through the solid-state power relay chip. Similarly, the switch output module is also equipped with a redundant configuration. The two channels are connected together in parallel. When an output command is issued, the two channels will respond and output signals at the same time. When one channel is working normally, the other channel is used as a backup, and the two serve as backups for each other to ensure seamless switching when there is a problem with the main signal. Taking a DO1 channel as an example, please refer to Figure 6d, when the DO1 channel has an output signal, the DO1 channels of the two modules are connected in parallel, and the two channels have output signals at the same time, and the system automatically identifies the main and standby modules. When the output signals of the two channels are normal, the two output channels supply power to the external load at the same time; when one of the redundant output channels fails, the system will shield the output of the faulty channel and give an alarm message, and the other channel will output normally. Similarly, when one of the redundant modules fails, it can be unplugged without powering off, and it will not affect the normal operation of the other module.

[0085] Similarly, the analog input module can meet the multi-channel analog input with an input signal of 4 to 20mA, and its input type is an active two-wire current type. Through different wiring methods, it can collect two-wire, three-wire and four-wire 4 to 20mA signals. When the analog input module is configured redundantly, its two redundant channels can be connected in series, that is, the information is collected into the module processor at the same time, and used for health status information scoring statistics, and then the range switching, data processing and other tasks are performed, and finally the healthier module is marked as the main module. When the analog acquisition channel inputs a 4 to 20mA signal, the acquisition 1 and acquisition 2 loops in the analog acquisition channel are connected in series. When the signals collected by the two channels are normal, the system will read the main module acquisition signal as the channel signal; when the main module channel fails, the system will read the signal of the standby module as the channel signal and give an alarm message. When one of the redundant modules fails, it can be unplugged without power failure, and it will not affect the normal operation of the other module.

[0086] Similarly, the analog output module can also support multiple outputs with output signals of 4 to 20mA. The output channels of the analog output module can also be designed as redundant output channels, and the channels are connected in parallel. When two adjacent analog output modules are configured in redundant mode, the control module will rotate and detect the online information and channel return information of the two modules, and use them to score and count the health status information, and then control the healthier module to output the processing work of the standby module. Two analog output loops are connected in parallel. When the analog output channel needs to output a 4 to 20mA signal, because the current signal will be superimposed, one of the outputs is assumed to be the main signal, and only this output will correspond to the output current signal, and the other output channel will not output current as a backup. When the channel fails, the system will drive the other channel to output a 4 to 20mA signal and give an alarm message. Similarly, when one of the redundant modules fails, it can be unplugged without power failure, and it will not affect the normal operation of the other module.

[0087] In the above implementation, the switch input module and output module adopt parallel redundancy, which can seamlessly switch to the backup path when there is a problem with the main signal path, ensuring the continuity of the control logic. The analog input and output modules adopt a series redundancy configuration, which selects the healthier signal as the main signal by comparing the signals of the two channels, thereby enhancing the accuracy of the signal and the stability of the system. This design not only improves the fault tolerance of the system, but also allows the maintenance and replacement of the faulty module without power outage, thereby reducing downtime and improving the operating efficiency and safety of the entire system.

[0088] In some embodiments, see Figure 7 The electrical control device 100 has a housing 710 , the electrical control device 100 is disposed inside the housing 710 , and a water cooling plate 720 is disposed at the bottom of the housing 710 .

[0089] The water cooling plate 720 is disposed adjacent to the first switching power module 110 and the second switching power module 120 to dissipate heat for the first switching power module 110 and the second switching power module 120 .

[0090] It is understandable that, for underwater sealed environments, since the effect of air heat dissipation is not ideal, a water cooling system can be added to the original forced air cooling system to improve the heat dissipation efficiency. It is understandable that in electrical control equipment, the power module needs special attention due to its large heat generation. In order to avoid failures caused by overheating, a water cooling plate 720 is provided below the first switching power module 110 and the second switching power module 120 to effectively cool these two key parts. At the same time, since the electrical control equipment is exposed to the outside air, its housing 710 can be directly in contact with the outside air, so air heat dissipation can be used to deal with the heat generated by other modules inside the equipment.

[0091] Specifically, in terms of design, the first filter and the second filter can be placed at the bottom of the housing, and close to the power input interface of the first switching power module and the second switching power module, so as to reduce the distance between the power interface and the filter, thereby improving the performance of the filter. At the same time, other functional modules are arranged at the upper part of the housing, which not only ensures their heat dissipation effect during operation, but also maintains the good performance of the entire system.

[0092] In the above implementation, by reasonably arranging the specific layout of each module in the electrical control device, the heat dissipation efficiency of the device is guaranteed, and its testability and maintainability are also ensured. Through this design, the electrical control device can work stably for a long time in an underwater environment, effectively avoiding failures caused by overheating, thereby improving its reliability and stability.

[0093] It should be understood that in this embodiment, an electrical control device for an underwater vehicle is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions. The various modules of the electrical control device for an underwater vehicle can be implemented in whole or in part by software, hardware, and a combination thereof. The above modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to the above modules.

[0094] The electrical control device for underwater vehicles described in the above embodiments can be implemented by a computer chip or entity, or by a product with a certain function. A typical implementation device is a computer. Specifically, the computer can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0095] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0096] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0097] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1A device that provides the functions specified in a block or multiple blocks.

[0098] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", 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 application. 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.

[0099] 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 at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0100] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0101] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. Since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0102] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

[0103] Although the embodiments of the present application are described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. An electrical control device for an underwater vehicle, characterized in that: The electrical control device comprises a first switching power supply module, a second switching power supply module, a first backplane, a second backplane and an input / output module; wherein the second backplane and the first backplane are mutually redundant; The first backplane is provided with a first PLC power module and a first control module; the second backplane is provided with a second PLC power module and a second control module; The input end of the first switch power module is connected to the input voltage, and the output end of the first switch power module is connected to the input-output module; the input end of the second switch power module is also connected to the input voltage, and the output end of the second switch power module is also connected to the input-output module; The input end of the first PLC power module is connected to the input voltage, and the output end of the first PLC power module is connected to the first control module and also connected to the second control module; The input end of the second PLC power module is connected to the input voltage, and the output end of the second PLC power module is connected to the first control module and also connected to the second control module; The first control module is connected to the input-output module, and the second control module is also connected to the input-output module; two parallel data transmission loops are provided in the input-output module.

2. The electrical control device according to claim 1, characterized in that: The electrical control device also includes a first filter and a second filter; The first filter is connected to the input end of the first switch power supply module and the input end of the first PLC power supply module; The second filter is also connected to the input end of the second switch power module and the input end of the second PLC power module.

3. The electrical control device according to claim 2, characterized in that: The input voltage includes a first input voltage and a second input voltage; The output end of the first filter is connected to one end of the first switch, and the other end is connected to the first switch power supply module; The output end of the second filter is connected to one end of the second switch, and the other end is connected to the second switch power supply module; The input end of the first filter is connected to the first input voltage, The input end of the second filter is connected to the second input voltage; the second input voltage is equal to the first input voltage, and the second input voltage and the first input voltage work simultaneously, providing power to the first switching power supply module, the second switching power supply module, the first PLC power supply module, and the second PLC power supply module simultaneously.

4. The electrical control device according to claim 1, characterized in that: The first control module and the second control module are configured as redundancy to each other; The electrical control device also includes a coupling module, and serves as an intermediate station for data communication between the first control module and the input-output module, and also serves as an intermediate station for data communication between the second control module and the input-output module.

5. The electrical control device according to claim 4, characterized in that: The first control module communicates with the second control module via an Ethernet port to complete data communication and data backup between the first control module and the second control module; When one of the first control module and the second control module fails, the operation is automatically switched to the other one and the Ethernet port is used for communication.

6. The electrical control device according to claim 4, characterized in that: The communication interface of the coupling module includes a first Ethernet port, a second Ethernet port, a third Ethernet port and a fourth Ethernet port; wherein the first Ethernet port and the second Ethernet port are respectively used to connect the first control module and the second control module, and the third Ethernet port and the fourth Ethernet port are respectively used to connect the two data transmission loops in the input-output module.

7. The electrical control device according to claim 1, characterized in that: The electrical control device further comprises a fault monitoring module and a host computer, wherein the host computer is communicatively connected with the first control module and the second control module respectively; The fault monitoring module is used to determine the faulty function module corresponding to the error signal when the host computer detects the error signal, stop the faulty function module, and switch to the redundant configuration module corresponding to the faulty function module.

8. The electrical control device according to claim 7, characterized in that: The fault monitoring module is used for system fault detection, bus fault detection and runtime fault detection; The first control module is used to send fault information to the second control module through a diagnostic callback function when a preset fault occurs in the first control module; The second control module is used to determine a fault level based on the fault information, and determine whether to perform redundancy switching according to the fault level.

9. The electrical control device according to any one of claims 1 to 8, characterized in that: The input and output modules include two-way switch quantity input modules connected in parallel, two-way switch quantity output modules connected in parallel, two-way analog quantity input modules connected in series, and two-way analog quantity output modules connected in parallel.

10. The electrical control device according to any one of claims 1 to 8, characterized in that: The electrical control device has a housing, and the electrical control device is arranged inside the housing; and a water cooling plate is arranged at the bottom of the housing; The water cooling plate is disposed adjacent to the first switching power module and the second switching power module to dissipate heat for the first switching power module and the second switching power module.

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