Start control system execution combination device based on dual-redundancy CAN bus and working method of launch control system execution combination device

Abstract

The invention discloses a launch control system execution combination device based on a dual-redundancy CAN bus and a working method of the launch control system execution combination device. The launch control system execution combination device comprises a control module, an execution module, a signal adapter plate and an execution combination case. The control module and the execution module are connected with the execution combination case; the control module is a node in the CAN bus, communicates with the management combination by adopting the dual-redundancy CAN bus, receives an instruction of the management combination, and feeds back an instruction execution result to the management combination; and the signal adapter plate is used for realizing the bus topology of the two CAN buses and realizing the switching of the power supply voltage. Effective division of functional modules in the execution combination is realized, and meanwhile, a communication mode of a dual-redundancy CAN bus is adopted, so that the task reliability of the system is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of ground-based launch technology, and more specifically, to a launch control system execution combination device based on a dual-redundant CAN bus and its operating method. Background Technology

[0002] The execution unit of the transmission control system is an important component of the transmission control system. Its main functions include executing power supply and transmission commands and reporting the results back to the management unit. The management unit and the execution unit typically communicate reliably via a CAN bus.

[0003] Existing control systems typically use a single controller to control multiple channels. If the controller fails, the entire control unit will be unavailable. The control unit communicates with the management unit via a single CAN bus, which presents a single point of failure. If a CAN communication failure occurs, the control unit will be unable to receive commands, affecting the workflow. The control unit has a closed structure design, which requires opening the control unit cover for maintenance, making operation inconvenient.

[0004] Patent document CN106054700A discloses a single-channel launch control system execution control module. Under the control of the main controller, the control signal output circuit completes the power-on, power-off, and launch ignition control of the missile. The signal acquisition circuit collects the missile's position signal, the onboard thermal battery activation return signal, and the missile's movement signal. The address identification circuit provides an address identification code for the main controller to confirm the communication ID address. The launch timing monitoring circuit completes the ignition timing of each pyrotechnic component and the missile's reported electrical status after the missile launch command. A two-stage DC / DC circuit provides the working power for the single-channel launch control system execution control module. A dual-redundant CAN bus communication circuit realizes data communication between the main controller and the upper-level control unit and data monitoring unit.

[0005] However, patent document CN106054700A uses imported DSP chips and imported CAN transceiver chips to complete control and CAN communication functions, but does not explain the specific implementation method of dual redundant CAN bus communication, uses a two-stage DC / DC circuit which increases the complexity of the system, and sets up control circuit boards and function circuit boards which increase component and production costs. Summary of the Invention

[0006] In view of the deficiencies in the prior art, the purpose of this invention is to provide a combined device for the execution of a transmission and control system based on a dual-redundant CAN bus and its working method.

[0007] According to the present invention, a control system execution combination device based on a dual-redundant CAN bus includes: a control module, an execution module, a signal adapter board, and an execution combination chassis;

[0008] The control module and execution module are connected to the execution assembly chassis;

[0009] The control module is a node in the CAN bus. It uses a dual-redundant CAN bus to communicate with the management unit, receives instructions from the management unit, and feeds back the instruction execution results to the management unit.

[0010] The signal adapter board is used to implement a bus topology for two CAN buses and to switch the power supply voltage.

[0011] Preferably, the control module and the execution module are connected to the execution assembly chassis using floating connectors and non-detachable screws.

[0012] Preferably, the number of control modules is the same as the number of execution modules, and one control module and one execution module constitute a control execution channel, with each control module containing one independent controller.

[0013] Preferably, each execution module is connected to the control module and provides power supply voltage according to the control of the control module.

[0014] Preferably, the signal adapter board is used for CAN communication networking, configuring terminal matching resistors, and simultaneously transferring the power supply voltage to each execution module.

[0015] Preferably, each control module includes a node processor, two bus controllers, and two bus transceivers;

[0016] At any given time, communication with the management unit is conducted through only one bus. When a communication error occurs on the bus, the bus is restored through the automatic bus recovery function. If the current bus cannot be restored within the specified time, the communication is switched to another bus according to the management unit's instructions.

[0017] Preferably, the control module uses a DSP chip as the main controller and two CAN chips as CAN bus transceivers.

[0018] Preferably, the execution module consists of a relay group, and the control module uses an optical MOS relay to drive the execution module relay.

[0019] According to the present invention, a method for operating a combined device using a dual-redundant CAN bus-based transmission and control system includes:

[0020] The control module is a node in the CAN bus. It uses a dual-redundant CAN bus to communicate with the management unit, receive instructions from the management unit, and feed back the instruction execution results to the management unit.

[0021] When the control module receives a management combination command, it outputs a control signal through the GPIO port to control the execution module to provide power supply voltage to the outside.

[0022] The signal adapter board is used to implement a bus topology for two CAN buses and to switch the power supply voltage.

[0023] Preferably, it includes:

[0024] When initializing the two CAN bus controllers, setting the automatic bus connection position in the main control register CANMC to 1 enables the automatic bus recovery function of the CAN bus. When the transmit error counter value of one bus controller exceeds 255, this node will be offline. When an offline node receives 128 consecutive 11-bit recessive bits, the bus connection will be automatically restored, and the transmit error counter and receive counter will be set to 0 at the same time.

[0025] After each control module is powered on, it receives the heartbeat message from the management combination via the CAN_A bus. If no message from the management combination is received for 6 consecutive cycles, the CAN_A bus communication is considered to be faulty. The module waits for the broadcast command from the management combination and switches the four control modules of the execution combination to the CAN_B bus for communication.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. This invention achieves effective division of internal functional modules of the execution combination, and at the same time adopts a dual-redundant CAN bus communication method, which greatly improves the task reliability of the system.

[0028] 2. The control module and execution module of this invention are connected to the execution assembly chassis using floating connectors and non-detachable screws, which makes plugging and unplugging convenient and facilitates user maintenance and repair. Attached Figure Description

[0029] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0030] Figure 1 This is a schematic block diagram of the execution combination device of the power control system of the present invention;

[0031] Figure 2 This is the output control circuit of the control module of the combined device of the power control system of the present invention;

[0032] Figure 3 This is a schematic diagram of the structure of the control system execution assembly of the present invention;

[0033] Figure 4This is a CAN bus circuit diagram of the control module in the generator control system execution combination device of the present invention. Detailed Implementation

[0034] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0035] This invention uses domestically produced DSP chips and CAN transceiver chips to complete control and CAN communication functions. Specifically, it describes the implementation method of dual-redundant CAN bus communication. The control module does not have a DC / DC circuit and directly uses external power supply. Internally, it uses a single circuit board to reduce components and production costs.

[0036] According to the present invention, a combined execution device for a transmission and control system based on a dual-redundant CAN bus is provided, such as... Figure 1 and Figure 3 As shown, it includes: a control module, an execution module, a signal adapter board, and an execution assembly chassis. The control module and execution module are connected to the execution assembly chassis using floating connectors and lock-on screws, allowing for easy insertion and removal. The control module is a node in the CAN bus, using a dual-redundant CAN bus to communicate with the management assembly, receiving commands from the management assembly and feeding back the command execution results. The signal adapter board is used to implement a bus topology for two CAN buses and to switch the power supply voltage.

[0037] The number of control modules is the same as the number of execution modules. One control module and one execution module constitute a control execution channel, and each control module contains one independent controller. For example, four control modules and four execution modules, or one control module and one execution module, form one control execution channel. The multiple control modules are networked in a bus topology through a signal adapter board. Each execution module is connected to one of the corresponding control modules, providing power supply voltage according to the control module's control. That is, the first control module is connected to the first execution module, the second control module is connected to the second execution module, and so on. The signal adapter board is used for CAN communication networking, configuring terminal matching resistors, and simultaneously transferring the power supply voltage to each execution module.

[0038] Each control module contains one node processor, two bus controllers, and two bus transceivers. It communicates with the management assembly via only one bus at a time. When a communication error occurs on the bus, an automatic bus recovery function restores the bus. If the current bus cannot be restored within a specified time, communication is switched to another bus according to the management assembly's instructions. It also features an automatic CAN bus recovery function. When the transmission error count in the CAN error counter register exceeds 255, the node enters a bus-off state. The CAN bus controller in the control module automatically restores communication after detecting a valid recessive bit. If the bus fails to recover within the specified time, communication is switched to another bus according to the management assembly's instructions. Figure 4 The diagram shown is a block diagram of the CAN communication principle of the control module of the present invention. The control module uses the JDSPF28335DSP chip as the main controller. The JDSPF28335 chip has two CAN bus controllers inside and uses two SM65HVD230D chips as CAN bus transceivers.

[0039] When initializing the two CAN bus controllers, setting the automatic bus connection bit in the CANMC master control register to 1 enables the automatic bus recovery function. When the transmit error counter value of one bus controller exceeds 255, that node will be offline. When an offline node receives 128 consecutive 11-bit recessive bits, it will automatically restore the bus connection and simultaneously set both the transmit error counter and receive counter to 0.

[0040] After each control module of the generator-control-execution combination is powered on, it receives the heartbeat message from the management combination via the CAN_A bus. If no message is received from the management combination for 6 consecutive cycles, it is considered that the CAN_A bus communication is faulty, and it waits for the broadcast command from the management combination to switch the four control modules of the execution combination to the CAN_B bus for communication.

[0041] After entering the workflow, the management group sends instructions to the execution group of the generator control system via the CAN_A bus. If no instruction reception confirmation message is received from the execution group within the specified time, the group switches to the CAN_B bus and broadcasts a notification to each control module of the generator control system execution group to switch to the CAN_B bus. At the same time, the group resends instruction messages to the corresponding control modules. If an instruction reception confirmation message is received from the execution group, it indicates that communication with the generator control system execution group has returned to normal.

[0042] The execution module consists of a group of relays, which, based on the output control of the control module, provide power supply voltage, etc. Figure 2As shown, the relay coil of the execution module generally requires a drive current of about 50mA. The use of an opto-MOS relay in the control module to drive the relay coil of the execution module solves the coupling of digital signals while ensuring the current driving capability.

[0043] like Figure 3 The diagram shows the installation of the control module and the execution module. The modules are installed using a plug-in method for easy disassembly. The modules are secured to the execution assembly housing with rivet nuts and captive screws.

[0044] According to the present invention, a method for operating a control system execution combination device based on a dual-redundant CAN bus includes: a control module and an execution module constituting a control execution channel; the number of control modules and execution modules is equal, and there are several of each, corresponding to form multiple control execution channels. The control module is a node in the CAN bus, communicating with the management combination using a dual-redundant CAN bus, receiving instructions from the management combination, and feeding back the instruction execution results to the management combination; when the control module receives an instruction from the management combination, it outputs a control signal through a GPIO port to control the execution module to provide power supply voltage. A signal adapter board is used to implement a bus topology of two CAN buses and to convert the power supply voltage.

[0045] This invention aims to solve problems such as: a single controller controlling multiple channels renders the entire execution assembly unusable if the controller fails; communication with the management assembly uses a single CAN bus, resulting in a lack of redundant communication buses; and the inconvenience of maintaining the generator control system's execution assembly.

[0046] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, making the system and its various devices, modules, and units of this invention function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0047] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A control system execution combination device based on a dual-redundant CAN bus, characterized in that, include: Control module, execution module, signal adapter board, and execution assembly chassis; The control module and execution module are connected to the execution assembly chassis; The control module is a node in the CAN bus. It uses a dual-redundant CAN bus to communicate with the management unit, receives instructions from the management unit, and feeds back the instruction execution results to the management unit. The signal adapter board is used to implement a bus topology for two CAN buses and to switch the power supply voltage.

2. The control system execution combination device based on a dual-redundant CAN bus according to claim 1, characterized in that, The control module and the execution module are connected to the execution assembly chassis using floating connectors and non-detachable screws.

3. The control system execution combination device based on a dual-redundant CAN bus according to claim 1, characterized in that, The number of control modules is the same as the number of execution modules. One control module and one execution module constitute a control execution channel. Each control module contains one independent controller.

4. The control system execution combination device based on a dual-redundant CAN bus according to claim 1, characterized in that, Each execution module is connected to the control module and provides power supply voltage according to the control of the control module.

5. The control system execution combination device based on a dual-redundant CAN bus according to claim 1, characterized in that, The signal adapter board is used for CAN communication networking, configuring terminal matching resistors, and simultaneously transferring the power supply voltage to each execution module.

6. The control system execution combination device based on a dual-redundant CAN bus according to claim 1, characterized in that, Each control module includes one node processor, two bus controllers, and two bus transceivers; At any given time, communication with the management unit is conducted through only one bus. When a communication error occurs on the bus, the bus is restored through the automatic bus recovery function. If the current bus cannot be restored within the specified time, the communication is switched to another bus according to the management unit's instructions.

7. The control system execution combination device based on a dual-redundant CAN bus according to claim 6, characterized in that, The control module uses a DSP chip as the main controller and two CAN chips as CAN bus transceivers.

8. The control system execution combination device based on a dual-redundant CAN bus according to claim 1, characterized in that, The execution module consists of a relay group, and the control module uses optical MOS relays to drive the execution module relays.

9. A method for operating a combined device for a transmission and control system based on a dual-redundant CAN bus as described in any one of claims 1-8, comprising: The control module is a node in the CAN bus. It uses a dual-redundant CAN bus to communicate with the management unit, receive instructions from the management unit, and feed back the instruction execution results to the management unit. When the control module receives a management combination command, it outputs a control signal through the GPIO port to control the execution module to provide power supply voltage to the outside. The signal adapter board is used to implement a bus topology for two CAN buses and to switch the power supply voltage.

10. The operating method of the combined device for executing the transmission and control system based on a dual-redundant CAN bus according to claim 9, characterized in that, include: When initializing the two CAN bus controllers, setting the automatic bus connection position in the main control register CANMC to 1 enables the automatic bus recovery function of the CAN bus. When the transmit error counter value of one bus controller exceeds 255, this node will be offline. When an offline node receives 128 consecutive 11-bit recessive bits, the bus connection will be automatically restored, and the transmit error counter and receive counter will be set to 0 at the same time. After each control module is powered on, it receives the heartbeat message from the management combination via the CAN_A bus. If no message from the management combination is received for 6 consecutive cycles, the CAN_A bus communication is considered to be faulty. The module waits for the broadcast command from the management combination and switches the four control modules of the execution combination to the CAN_B bus for communication.

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