Cluster type monitoring system for high-speed linear motor

Abstract

The invention discloses a cluster type monitoring system for a high-speed linear motor, and belongs to the technical field of electronic equipment control. The cluster type monitoring system for the high-speed linear motor is composed of a measurement and control layer, a data processing layer, a server layer and a client layer. Wherein the data processing layer is composed of cluster type data processing units; the server layer is composed of a data server, a synchronous controller and Beidou timing equipment; the client layer is composed of a plurality of workstations. The system ensures that data acquisition and data storage between cluster devices can reach a microsecond level.

Description

Technical Field

[0001] The invention belongs to the technical field of electronic equipment control, and in particular relates to a cluster monitoring system for high-speed linear motors. Background Art

[0002] High-speed linear motors are a type of electromechanical conversion device that uses the electromagnetic force generated by linear motors to propel carriers to high-speed operation. They have the advantages of good controllability, reusability, and high launch efficiency, and have wide application value in various fields. In the civilian field, high-speed electromagnetic propulsion systems can achieve long-distance, large-volume passenger and cargo transportation of more than 1000km / h in the future. In the aerospace field, rocket launch orbit booster technology based on electromagnetic propulsion is expected to propel the rocket to more than 1000km / h before ignition and launch, which can effectively reduce the cost of rocket launch. In some special fields, electromagnetic propulsion high-speed scientific research and test facilities (electromagnetic sleds) based on linear motors can significantly improve the testing capabilities and technical level of ground test facilities for new aircraft.

[0003] Since high-speed linear motors are composed of many distributed devices such as power supplies, segmented power supply switching switches, laser sensor arrays, stators, and movers, the data collection of many high-speed linear motor devices will have the following problems: (1) Data quality problems. Due to the large number of devices, data loss or data redundancy may occur; (2) Data asynchrony problems. Since device nodes are usually distributed in different locations and upload data independently, their data upload times may be different. Summary of the invention

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] A cluster monitoring system for high-speed linear motors, comprising: a client layer, a server layer, a data processing layer, and a measurement and control layer;

[0006] The measurement and control layer is used to collect real-time data of each subsystem of the high-speed linear motor, including motor device data, power supply device data, speed measurement device data, and switch device data;

[0007] The data processing layer is used to collect data from the measurement and control layer at a fixed sampling frequency, upload the collected data to the server layer and store it;

[0008] The server layer is used to collect, fuse, and store data from the data processing layer in a multi-process and multi-threaded manner, and upload the fused data to the client layer;

[0009] The client layer is used to view, analyze and store data of each subsystem of the high-speed linear motor.

[0010] Beneficial effects of the present invention:

[0011] The present invention provides a cluster monitoring system for high-speed linear motors, which meets the large-scale data collection needs of numerous distributed devices and avoids data loss or data redundancy. Aiming at the distributed characteristics of the cluster monitoring system, a microsecond-level time synchronization method is proposed to solve the data asynchrony problem of large-scale distributed systems and realize synchronous data collection and synchronous data analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural diagram of a cluster monitoring system for high-speed linear motors according to the present invention;

[0013] Figure 2 is a structural diagram of a data processing unit of the present invention;

[0014] Figure 3 It is a schematic diagram of the data processing method of the data server of the present invention;

[0015] Figure 4 It is a schematic diagram of the synchronous triggering method of the present invention;

[0016] Figure 5 It is a schematic diagram of the time synchronization method of the present invention;

[0017] Figure 6 A frame format diagram of a data synchronization frame of the present invention;

[0018] Figure 7 This is an example diagram of the steady-state heartbeat recording data of the monitoring switch measurement and control unit of the present invention;

[0019] Figure 8 This is an example diagram of the heartbeat transient recording data of the monitoring switch measurement and control unit of the present invention;

[0020] Fig. 9 This is an example diagram of synchronous recording data monitored by the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0022] The high-speed linear motor consists of a power supply system, a switching switch, a laser sensor, a motor stator segment, and a mover.

[0023] The present invention provides a cluster monitoring system for high-speed linear motors. Figure 1 , Figure 1The present invention is a structural diagram of a cluster monitoring system for high-speed linear motors, which includes a client layer, a server layer, a data processing layer, and a measurement and control layer. The measurement and control layer of the high-speed linear motor includes a motor system measurement and control unit, a power measurement and control unit, a speed measurement and control unit, and a switch measurement and control unit.

[0024] The measurement and control layer is used to collect real-time data of each subsystem of the high-speed linear motor, including motor device data, power supply device data, speed measurement device data, and switch device data; the data processing layer is used to collect measurement and control layer data at a fixed sampling frequency, upload the collected data to the server layer and store it; the server layer is used to collect, fuse, and store data from the data processing layer in a multi-process and multi-threaded manner, and upload the fused data to the client layer; the client layer is used to view, analyze, and store data from each subsystem of the high-speed linear motor.

[0025] The measurement and control layer consists of the motor system measurement and control unit, the power supply measurement and control unit, the speed measurement and control unit, the switch measurement and control unit, etc. Among them, the motor system measurement and control unit is used as the core algorithm control unit of the high-speed linear motor, and collects the motor device data in real time; the power supply measurement and control unit is used as the core control unit for controlling the real-time conversion of the voltage and current of the converter of the high-speed linear motor, and collects the power supply device data at the same time; the speed measurement and control unit is used to collect the speed measurement device data of the high-speed linear motor in real time; the switch measurement and control unit is used as the control unit for managing the closure of the switching switch of the high-speed linear motor, and collects the switch device data in real time. Among them, the motor device data includes current given data, current feedback data, and voltage reference data; the power supply device data includes output voltage data, output current data, and knife switch status data; the speed measurement device data includes the mover position, mover speed, and mover acceleration; the speed measurement device data includes the mover position, mover speed, and mover acceleration; the switch device data includes the switching switch closure status data and the switching switch fault word data.

[0026] The measurement and control layer in the embodiment of the present invention includes 1 motor system measurement and control unit, 2 power supply measurement and control units, N speed measurement and control units, N switch measurement and control units, etc.

[0027] The data processing layer collects data from the motor system measurement and control unit, the power supply measurement and control unit, the speed measurement and control unit, and the switch measurement and control unit, and uploads the data to the data server through the second switch.

[0028] The server layer includes synchronization controller, Beidou timing equipment and data server. The synchronization controller receives the IRIG-B code timing signal from Beidou timing equipment through optical fiber, and sends synchronization signal data to the data processing unit and measurement and control unit through optical fiber. The data server monitors the data of the data processing unit through Ethernet.

[0029] The client layer includes several workstations. The workstations run data display and feature analysis software, issue control commands to the data server through the first switch, and collect all system data of the data server.

[0030] The core computer board of the data processing unit is as follows Figure 2 As shown, Figure 2 The structure diagram of the data processing unit of the present invention; the core computer board uses OMAPL138EZWT chip and XC7A75T-2FFG676I chip, and the two use EMIF bus communication. The OMAPL138EZWT chip is responsible for controlling the data storage module and Ethernet communication; the XC7A75T-2FFG676I chip is responsible for controlling the optical fiber communication, the switch quantity acquisition module, and the switch control module. Among them, the OMAPL138EZWT chip and the data storage module use the MSATA interface for communication.

[0031] Figure 3 It is a schematic diagram of a data processing method for a data server of the present invention. The data processing method for a data server includes a real-time data processing method, a steady-state data processing method, and a transient data processing method.

[0032] The real-time data processing method is used to display the data changes of each subsystem of the high-speed linear motor in real time at a sampling frequency of 1KSPS; the steady-state data processing method is used to store the data changes of each subsystem of the high-speed linear motor at a sampling frequency of 1KSPS, and can also be used for long-term historical data analysis; the transient data processing method is used to store the data changes of each subsystem of the high-speed linear motor at a sampling frequency of 10KSPS, and can also be used for historical data analysis of instantaneous working conditions.

[0033] The real-time data processing method is:

[0034] Whenever a data processing unit is connected to the first Ethernet interface, the data server generates a UDP client process and a steady-state data storage area;

[0035] The UDP client process obtains data in real time through the first Ethernet interface and generates a topic at the same time;

[0036] Whenever a host computer requests a connection to the UDP server, the UDP server will generate a UDP communication thread and an uplink data service;

[0037] The uplink data service subscribes to the topic according to the request of the host computer, thereby obtaining data according to the message-subscription mechanism.

[0038] Method for processing steady-state data:

[0039] The UDP client process stores the data in real time to the steady-state data storage area at a sampling frequency of 1KSPS, and generates a steady-state historical data file every 1 minute. The steady-state historical data file is named after the current time, and the naming rule is: w+current timestamp.bin;

[0040] Whenever the host computer requests a link from the HTTP server, the HTTP server generates a steady-state data fusion service;

[0041] The steady-state data fusion service cuts and merges the steady-state historical data files in the steady-state data area into a steady-state data file no longer than 3 minutes according to the requirements of the host computer, and uploads the steady-state data file to the host computer through the HTTP server.

[0042] Transient data processing method: Whenever a data processing unit is connected to the first Ethernet interface, the data server generates an FTP client process and a transient data storage area;

[0043] Whenever the host computer requests a link from the HTTP server, the HTTP server generates a transient data fusion service;

[0044] The FTP client process downloads the high-speed recording file in the data processing unit to the transient data storage area according to the requirements of the host computer, forming a transient historical data file. The transient historical data file is named after the current time, and the naming rule is: z+current timestamp.bin;

[0045] The transient data fusion service cuts and fuses the transient historical data files in the transient data area into a transient data file no longer than 1 minute according to the requirements of the host computer, and uploads the transient data file to the host computer through the HTTP server.

[0046] The host computer is connected to the data server via the second Ethernet interface.

[0047] The data processing units of the data processing layer of the present invention adopt a microsecond time synchronization method to achieve data synchronization of the data processing units of the data processing layer. The method includes a synchronization trigger method and a time synchronization method.

[0048] Figure 4 The schematic diagram of the synchronous triggering method of the present invention is as follows: the motor system measurement and control unit sends a start command to the first data processing unit through the time system monitoring data communication optical fiber;

[0049] After the first data processing unit receives the start command, it sends a square wave pulse signal with a rising edge first and then a falling edge to the switch quantity acquisition ports of other data processing units through the switch controller port. At this time, all data processing units simultaneously start the transient recording function, with a recording sampling frequency of 10KSPS and a recording time of 10s.

[0050] Figure 5 This is a schematic diagram of the time synchronization method of the present invention:

[0051] The synchronization controller sends synchronization data frames to all data processing units of the data processing layer and all measurement and control units of the measurement and control layer through optical fibers with a timing period of 100us. Figure 6 This is the frame format diagram of the data synchronization frame of the present invention. Each frame of data consists of a frame header, frame content, and frame tail. The frame header is a fixed value of 0x0564; the frame content consists of a synchronization signal and time; the frame tail is a CRC check bit, which consists of 2 bytes, and the byte order is high 8 bits first and low 8 bits later.

[0052] All data processing units and all measurement and control units immediately clear the clock counters after receiving the synchronization data frame, so as to ensure that all actions in the system are executed synchronously within a timing cycle of 100us.

[0053] The system functions are divided into real-time data display function, steady-state recording function, and transient recording function.

[0054] Real-time data display test: The real-time data display function can display up to 20 coordinate systems at the same time, and each coordinate system supports up to 6 channels of data.

[0055] Steady-state recording and transient recording test: The switch measurement and control unit sends a packet of heartbeat data every 100us. The heartbeat data range is 0-240. The oscilloscope monitors the heartbeat waveform output by the switch measurement and control unit board. Turn on the steady-state recording and transient recording functions respectively to monitor the heartbeat data of the switch measurement and control unit. Figure 7 As shown, Figure 7 This is an example diagram of the steady-state recording data of the heartbeat of the monitoring switch measurement and control unit of the present invention. The steady-state recording function monitoring switch measurement and control unit heartbeat data interval is 1000us, and the heartbeat data range is 0-240; Figure 8 As shown, Figure 8 This is an example diagram of the heartbeat transient recording data of the monitoring switch measurement and control unit of the present invention. The heartbeat data interval of the transient recording function monitoring switch measurement and control unit is 100us, and the heartbeat data range is 0-240.

[0056] Time synchronization function test: The motor system measurement and control unit sends a trigger command to the power measurement and control unit and the speed measurement and control unit through the motor control communication optical fiber, and at the same time sends a start recording command to the first data processing unit through the time system monitoring data communication optical fiber. Fig. 9 , Fig. 9This is an example diagram of synchronous recording data monitoring of the present invention. At time t1, the trigger command of the motor system measurement and control unit, the feedback trigger command of the power measurement and control unit, and the feedback trigger command of the speed measurement and control unit all change from Y1=4369 to Y2=21845; at time t2, the trigger command of the motor system measurement and control unit, the feedback trigger command of the power measurement and control unit, and the feedback trigger command of the speed measurement and control unit all change from Y2=21845 to Y1=4369, where Y1 refers to the collected command value: 4369; and Y2 refers to the collected command value: 21845. The waveform timing is consistent, meeting the microsecond synchronization accuracy requirement.

[0057] The terms "first", "second", etc. are used to distinguish similar objects rather than to describe or indicate a particular order or sequence.

[0058] The term "comprise" or any other similar term is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus / device that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus / device.

[0059] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A cluster monitoring system for high-speed linear motors, characterized in that: Includes client layer, server layer, data processing layer, and measurement and control layer; The measurement and control layer is used to collect real-time data of each subsystem of the high-speed linear motor, including motor device data, power supply device data, speed measurement device data, and switch device data; The data processing layer is used to collect data from the measurement and control layer at a fixed sampling frequency, upload the collected data to the server layer and store it; The server layer is used to collect, fuse, and store data from the data processing layer in a multi-process and multi-threaded manner, and upload the fused data to the client layer; The client layer is used to view, analyze and store data of each subsystem of the high-speed linear motor.

2. A cluster monitoring system for high-speed linear motors according to claim 1, characterized in that: The measurement and control layer consists of the motor system measurement and control unit, power supply measurement and control unit, speed measurement and control unit, switch measurement and control unit, etc. The motor system measurement and control unit serves as the core algorithm control unit of the high-speed linear motor and collects motor device data in real time; The power measurement and control unit serves as the core control unit for controlling the real-time conversion of the voltage and current of the converter of the high-speed linear motor, and collects the data of the power supply device at the same time; The speed measurement and control unit is used to collect the speed measurement device data of the high-speed linear motor in real time; The switch measurement and control unit serves as a control unit for managing the closure of the high-speed linear motor switching switch and simultaneously collects switch device data in real time.

3. A cluster monitoring system for high-speed linear motors according to claim 2, characterized in that: The motor device data includes current given data, current feedback data, and voltage reference data; the power supply device data includes output voltage data, output current data, and switch status data; the speed measuring device data includes mover position, mover speed, and mover acceleration; the switch device data includes switching switch closing status data and switching switch fault word data.

4. The cluster monitoring system for high-speed linear motors according to claim 1, characterized in that: The data processing layer includes several data processing units, which respectively collect data from the motor system measurement and control unit, the power supply measurement and control unit, the speed measurement and control unit, and the switch measurement and control unit, and upload the data to the data server.

5. The cluster monitoring system for high-speed linear motors according to claim 1, characterized in that: The server layer includes a synchronization controller, Beidou timing equipment and a data server. The synchronization controller receives the IRIG-B code timing signal from the Beidou timing equipment, and sends synchronization signal data to several data processing units in the data processing layer and the measurement and control units in the measurement and control layer. The data server monitors the data of the data processing unit through Ethernet.

6. The cluster monitoring system for high-speed linear motors according to claim 1, characterized in that: The client layer includes several workstations, which issue control commands to the data server and collect all system data of the data server.

7. The cluster monitoring system for high-speed linear motors according to claim 4 or 5, characterized in that: The data processing unit adopts OMAPL138EZWT chip and XC7A75T-2FFG676I chip, and the two use EMIF bus communication; OMAPL138EZWT chip is used for data storage module and Ethernet communication; XC7A75T-2FFG676I chip is used to control optical fiber communication, switch quantity acquisition module, and switch control module; wherein, OMAPL138EZWT chip and data storage module use MSATA interface communication.

8. The cluster monitoring system for high-speed linear motors according to claim 5, characterized in that: The data processing method of the data server includes a real-time data processing method, a steady-state data processing method, and a transient data processing method; The real-time data processing method is used to display the data changes of each subsystem of the high-speed linear motor in real time at a sampling frequency of 1KSPS; The steady-state data processing method is used to store the data changes of each subsystem of the high-speed linear motor at a sampling frequency of 1KSPS, and can also be used for long-term historical data analysis; The transient data processing method is used to store the data changes of each subsystem of the high-speed linear motor at a sampling frequency of 10KSPS, and can also be used for historical data analysis of transient working conditions.

9. The cluster monitoring system for high-speed linear motors according to claim 8, characterized in that: The real-time data processing method is: The UDP client process obtains data in real time through the first Ethernet interface and generates a topic at the same time; Whenever a host computer requests a connection to the UDP server, the UDP server generates a UDP communication thread and an uplink data service; The uplink data service subscribes to topics based on the host computer's request, thereby obtaining data based on the message-subscription mechanism.

10. The cluster monitoring system for high-speed linear motors according to claim 8, characterized in that: The steady-state data processing method is: The UDP client process stores the data in real time to the steady-state data storage area at a sampling frequency of 1KSPS, and generates a steady-state historical data file every 1 minute. The steady-state historical data file is named after the current time, and the naming rule is: w+current timestamp.bin; Whenever the host computer requests a link from the HTTP server, the HTTP server generates a steady-state data fusion service; The steady-state data fusion service cuts and merges the steady-state historical data files in the steady-state data area into a steady-state data file no longer than 3 minutes according to the requirements of the host computer, and uploads the steady-state data file to the host computer through the HTTP server.

11. The cluster monitoring system for high-speed linear motors according to claim 8, characterized in that: The transient data processing method is: The FTP client process downloads the high-speed recording file in the data processing unit to the transient data storage area according to the requirements of the host computer, forming a transient historical data file; the transient historical data file is named after the current time, and the naming rule is: z+current timestamp.bin; The transient data fusion service cuts and merges the transient historical data files in the transient data area into a transient data file no longer than 1 minute according to the requirements of the host computer, and uploads the transient data file to the host computer through the HTTP server.

12. The cluster monitoring system for high-speed linear motors according to claim 4, characterized in that: The data processing units of the data processing layer adopt a microsecond time synchronization method to achieve data synchronization of the data processing units of the data processing layer; the microsecond time synchronization method includes a synchronization trigger method and a time synchronization method.

13. The cluster monitoring system for high-speed linear motors according to claim 12, characterized in that: The synchronous triggering method comprises: The motor system measurement and control unit sends a start command to the first data processing unit through the time system monitoring data communication optical fiber; After the first data processing unit receives the start command, it sends a square wave pulse signal with a rising edge first and then a falling edge to the switch quantity acquisition ports of other data processing units through the switch controller port. At this time, all data processing units simultaneously start the transient recording function, with a recording sampling frequency of 10KSPS and a recording time of 10s.

14. The cluster monitoring system for high-speed linear motors according to claim 12, characterized in that: The time synchronization method comprises: The synchronization controller sends synchronization data frames to all data processing units in the data processing layer and all measurement and control units in the measurement and control layer through optical fiber with a timing cycle of 100us; each frame of data consists of a frame header, frame content, and frame tail; the frame header is a fixed value of 0x0564, and the frame content consists of a synchronization signal and time; the frame tail is a CRC check bit, which consists of 2 bytes, and the byte order is high 8 bits first and low 8 bits later; All data processing units and all measurement and control units immediately clear the clock counters after receiving the synchronization data frame, so as to ensure that all actions in the system are executed synchronously within a timing cycle of 100us.

15. The cluster monitoring system for high-speed linear motors according to claim 1, characterized in that: The high-speed linear motor is composed of a power supply system, a switching switch, a laser sensor, a motor stator segment, and a mover.

16. The cluster monitoring system for high-speed linear motors according to claim 8, 9 or 10, characterized in that: The host computer is connected to the data server via a second Ethernet interface.

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