Control system of propeller and clock synchronization method thereof
By integrating control modules and TSN communication networks, and dynamically replacing main control programs and functional units, the high cost problem caused by the independent design of the onboard electrical system controller was solved, realizing the unified design of the controller and reducing maintenance costs.
Patent Information
- Application Number
- CN202511483462.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-16
- Publication Date
- 2026-01-16
AI Technical Summary
In the existing technology, the independent design of the controller for the onboard electrical system leads to excessively high development and maintenance costs. How can we achieve a standardized design of the controller to reduce costs?
An integrated control module is adopted, including a main control unit and detachable functional units. The module communicates with each other through the TSN communication protocol, and the main control program and functional units are dynamically replaced based on functional requirements. A TSN communication network is built to support clock hot backup.
The controller design was standardized, reducing development and maintenance costs, and clock synchronization ensured normal operation of the thrusters in the event of separation.
Smart Images
Figure CN121348812A_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of controller technology, and more particularly to a control system for a thruster and a clock synchronization method thereof. Background Technology
[0002] Controllers are a crucial component of the rocket's electrical system, typically including engine controllers, flight controller groups, primary integrated controllers, secondary integrated controllers, and servo drive controllers. In conventional technologies, each controller is usually designed independently, resulting in excessively long development and maintenance cycles and high costs. Therefore, unifying the design of each controller and reducing development and maintenance costs has become a pressing technical problem for those skilled in the art. Summary of the Invention
[0003] To solve the above-mentioned technical problems, or at least partially solve them, this disclosure provides a control system for a thruster and a clock synchronization method thereof, which can realize the design standardization of the controller and reduce the development and maintenance costs of the controller.
[0004] This disclosure provides a control system for a thruster, including: multiple integrated control modules; The integrated control module includes a main control unit and multiple detachable functional units. The main control unit is used to store the corresponding functional programs according to the functional requirements of the thruster; the various integrated control modules are connected to each other. The integrated control module is used to access the corresponding functional units based on the functional requirements of the thruster, and to control the functional units to implement the corresponding functions according to the functional programs stored in the main control unit.
[0005] Optionally, the multiple integrated control modules include multiple first integrated control modules and multiple second integrated control modules; Multiple first integrated control modules are installed in the first-stage thruster. The first integrated control modules are used to control the first-stage functions of the thruster. Multiple second integrated control modules are installed in the second-stage thruster, and the second integrated control modules are used to control the second-stage functions of the thruster; In the case where the first-stage thruster and the second-stage thruster are not separated, one of the multiple integrated control modules is the master clock source, and the remaining first integrated control module and the second integrated control module are synchronized with the master clock source. When the master clock source is the first integrated control module and the first-stage thruster and the second-stage thruster are separated, one of the multiple second integrated control modules is replaced by the second-stage master clock source, and the remaining second integrated control modules are clocked in sync with the second-stage master clock source.
[0006] Optionally, the control system may also include a first network switch and a second network switch; The first network switch is connected to multiple first integrated control modules via the TSN communication protocol, the second network switch is connected to multiple second integrated control modules via the TSN communication protocol, and the first network switch is connected to the second network switch via the TSN communication protocol.
[0007] Optionally, if the main control unit of any integrated control module has timing control requirements, one of the multiple functional units may include a timing function unit. The timing function unit is used to output the corresponding timing signal when it receives the timing control signal from the main control unit.
[0008] Optionally, the integrated control modules may also include a power management unit; When the main control unit of any integrated control module has power distribution control requirements, one of the multiple functional units includes a power distribution unit; The power distribution unit is used to provide a first power distribution voltage to the power management unit of each integrated control module and a second power distribution voltage to some functional units when it receives the power distribution control signal from the main control unit. The power management unit is used to convert the first distribution voltage into the power supply voltage for each functional unit.
[0009] Optionally, if the main control unit of any integrated control module has data acquisition and control requirements, one of the multiple functional units may include a data acquisition functional unit. The data acquisition unit is used to collect data from various sensors of the thruster and send it to the main control unit.
[0010] This disclosure also provides a clock synchronization method for a control system, applied to any of the control systems described above, the method comprising: Based on the clock parameters of each integrated control module, the master clock source is determined from multiple integrated control modules; Obtain the communication delay between the clock source of each remaining integrated control module and the main clock source; Based on communication delay, the corresponding clock source is controlled to synchronize with the master clock source.
[0011] Optionally, determining the master clock source from multiple integrated control modules based on the clock parameters of each integrated control module includes: Obtain the connection relationships between the integrated control module and other integrated control modules, and determine the connection quantity parameter for each integrated control module; where the connection quantity parameter is the number of other integrated control modules connected to the integrated control module; The integrated control module with the most connected parameters is determined to be the master clock source.
[0012] Optionally, obtain the communication delay between the clock source of each remaining integrated control module and the main clock source, including: With the clock sources of the remaining integrated control modules communicating with the main clock source, multiple first communication time nodes of the clock source are obtained; Based on multiple first communication time nodes, the frequency ratio corresponding to the clock source of each remaining integrated control module is calculated and determined; With the clock sources of the remaining integrated control modules communicating with the main clock source, multiple second communication time nodes of the clock source are obtained; Based on multiple second communication time nodes and frequency ratios, the communication delay between the clock source of each remaining integrated control module and the main clock source is calculated and determined.
[0013] Optionally, the control system includes multiple integrated control modules and multiple switches, with the multiple integrated control modules connected to the corresponding switches via the TSN communication protocol; Clock synchronization methods also include: Given that each integrated control module sends data sequentially, determine the first time sequence in which the switch receives the corresponding data; Based on the weight information corresponding to each integrated control module and the first time sequence, the second time sequence of the data sent by the switch is determined.
[0014] This disclosure provides a control system for a thruster and a clock synchronization method thereof. The control system includes multiple integrated control modules, each including a main control unit. The integrated control module can store different functional programs into each main control unit according to different control requirements of the thruster, enabling the integrated control module to control the corresponding thruster functions through the main control unit. Furthermore, the integrated control module also includes multiple detachable functional units. Based on different functional requirements of the thruster, the required functional units are connected to the integrated control module, allowing the main control unit to control the functional units. Therefore, in the integrated control module provided by this disclosure, the internal program of the main control unit can be replaced according to actual functional requirements, and the integrated control module can install corresponding functional units according to actual functional requirements. This allows all control functions of the thruster to uniformly adopt the integrated control module provided by this disclosure, eliminating the need to design separate controllers for each control function. Only the control program of the main control unit and the functional units need to be replaced as needed, thus achieving a unified controller design and reducing the development and maintenance costs of the controller. Attached Figure Description
[0015] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0016] Figure 1 This is a schematic diagram of the structure of a thruster control system provided in an embodiment of the present disclosure.
[0017] Figure 2 This is a schematic diagram of the structure of an integrated control module provided in an embodiment of the present disclosure.
[0018] Figure 3 This is a schematic diagram of the control system of another thruster provided in an embodiment of the present disclosure.
[0019] Figure 4 This is a schematic diagram of the structure of another integrated control module provided in an embodiment of the present disclosure.
[0020] Figure 5 This is a flowchart illustrating a clock synchronization method for a control system provided in an embodiment of the present disclosure.
[0021] Figure 6 This is a flowchart illustrating another clock synchronization method for a control system provided in an embodiment of the present disclosure. Detailed Implementation
[0022] The features and exemplary embodiments of various aspects of this application will now be described in detail. Numerous specific details are set forth in the following detailed description in order to provide a comprehensive understanding of this application. However, it will be apparent to those skilled in the art that this application can be implemented without some of these specific details. The following description of embodiments is merely intended to provide a better understanding of this application by illustrating examples thereof.
[0023] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The embodiments will now be described in detail with reference to the accompanying drawings.
[0024] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.
[0025] It should be understood that when describing the structure of a component, when referring to a layer or region as being "above" or "on top of" another layer or region, it can mean that it is directly above the other layer or region, or that it contains other layers or regions between it and the other layer or region. Furthermore, if the component is flipped over, that layer or region will be located "below" or "under" the other layer or region.
[0026] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.
[0027] In the embodiments of this application, the term "electrical connection" can refer to a direct electrical connection between two components, or it can refer to an electrical connection between two components via one or more other components.
[0028] In the embodiments of this application, the first node, the second node, and the third node are defined only for the convenience of describing the circuit structure, and the first node, the second node, and the third node are not actual circuit units.
[0029] Various modifications and variations can be made to this application without departing from its spirit or scope, which will be apparent to those skilled in the art. Therefore, this application is intended to cover modifications and variations falling within the scope of the corresponding claims (the claimed technical solutions) and their equivalents. It should be noted that the implementation methods provided in the embodiments of this application can be combined with each other without contradiction.
[0030] Controllers are a crucial component of the rocket's electrical system, typically including engine controllers, flight controller groups, primary integrated controllers, secondary integrated controllers, and servo drive controllers. In conventional technologies, each controller is usually designed independently, resulting in excessively long development and maintenance cycles and high costs. Therefore, unifying the design of each controller and reducing development and maintenance costs has become a pressing technical problem for those skilled in the art.
[0031] To solve the above-mentioned technical problems, this disclosure provides a control system for a thruster. Figure 1 This is a schematic diagram of the structure of a thruster control system provided in an embodiment of the present disclosure, as shown below. Figure 1 As shown, the control system includes: multiple integrated control modules 100.
[0032] The integrated control module 100 includes a main control unit 110 and multiple detachable functional units 120. The main control unit 110 is used to store corresponding functional programs according to the functional requirements of the thruster. The integrated control modules 100 are connected to each other.
[0033] The integrated control module 100 is used to access the corresponding functional unit 120 based on the functional requirements of the thruster, and to control the functional unit 120 to implement the corresponding functions according to the functional program stored in the main control unit 110.
[0034] For example, Figure 1In each integrated control module 100, as exemplarily shown, the main control unit 110 is connected to at least one functional unit 120. The integrated control modules 100 are connected via, for example, a TSN communication network. The integrated control module 100 can store different functional programs into each main control unit 110 according to different control requirements of the thruster, enabling the integrated control module 100 to control the corresponding thruster function through the main control unit 110. For example, if the thruster requires power distribution, a functional unit 120 with power distribution function is installed in the integrated control module 100, connected to the main control unit 110, and the main control unit 110 stores the functional program for controlling the power distribution function. Therefore, the main control unit 110 can control the functional unit 120 with power distribution function, enabling the integrated control module 100 to control the power distribution of other integrated control modules 100. If the thruster needs to implement data acquisition, a functional unit 120 with data acquisition function is installed in the integrated control module 100, and the functional unit 120 with data acquisition function is connected to the main control unit 110. The main control unit 110 should store a function program to implement the control acquisition function and be able to process the acquired data. Therefore, the functional unit 120 with data acquisition function can be controlled by the main control unit 110, so that the integrated control module 100 can receive the data collected by each sensor in the thruster, and the main control unit 110 can further process the acquired data.
[0035] Therefore, in the integrated control module 100 provided by this disclosure, the internal program of the main control unit 110 can be replaced according to the actual functional requirements of the thruster, and the integrated control module 100 can install the corresponding functional unit 120 according to the actual functional requirements, so that all control functions of the thruster can uniformly adopt the integrated control module 100 provided by this disclosure, without the need to design a separate controller for each control function. It is only necessary to replace the control program of the main control unit 110 and install or remove the corresponding functional unit 120 as needed. Thus, the design of the controller is standardized, and the development and maintenance costs of the controller are reduced.
[0036] It should be noted that, Figure 1 The drawing of the main control unit 110 connected to a functional unit 120 is merely an example and is not intended to impose any specific limitations.
[0037] It should be noted that the communication connection between the various integrated control modules 100 via, for example, a TSN communication network is only an example. Communication protocols can also be used for connection, and no specific limitation is made here.
[0038] Figure 2 This is a schematic diagram of the structure of an integrated control module provided in an embodiment of the present disclosure, as shown below. Figure 2As shown, the integrated control module includes a housing frame 101, a front panel 102, a rear panel 103, a back plate 104, a main control unit 110, and corresponding boards for each functional unit 120.
[0039] The main control unit 110 and the corresponding boards of each functional unit 120 can be directly mounted and fixed on the housing frame 101. Depending on the functional requirements of the thruster, the boards corresponding to each functional unit 120 can be directly mounted to or removed from the housing frame 101. Multiple first interfaces 1041 are provided on the back panel 104, and the boards corresponding to the main control unit 110 connect to the boards corresponding to other functional units 120 through the first interfaces 1041 on the back panel 104. Multiple first openings 1021 are provided on the front panel 102, and the boards corresponding to the main control unit 110 and other functional units 120 can connect to other integrated control modules or other modules on the thruster through the first openings 1021.
[0040] The housing frame 101 is mainly made of aluminum alloy. The housing frame 101, front panel 102, rear panel 103, and back panel 104 all have a sealed structure, which provides a certain degree of waterproofing after the entire assembly is completed. Furthermore, the main control unit 110 and the corresponding boards of each functional unit 120 are all fixed through slots provided in the housing frame 101 to prevent damage to the integrated control module due to vibration or impact overload during use.
[0041] In some embodiments, Figure 3 A schematic diagram of the control system of another thruster provided in this disclosure embodiment is shown below. Figure 3 As shown, the multiple integrated control modules include multiple first integrated control modules 1001 and multiple second integrated control modules 1002.
[0042] Multiple first integrated control modules 1001 are disposed on the first stage thruster, and the first integrated control modules 1001 are used to control the first stage functions of the thruster.
[0043] Multiple second integrated control modules 1002 are disposed on the second-stage thruster, and the second integrated control modules 1002 are used to control the second-stage functions of the thruster.
[0044] In the case where the first-stage thruster and the second-stage thruster are not separated, one of the multiple integrated control modules is the master clock source, and the remaining first integrated control module 1001 and second integrated control module 1002 are synchronized with the master clock source.
[0045] When the master clock source is the first integrated control module 1001 and the first-stage thruster is separated from the second-stage thruster, one of the multiple second integrated control modules 1002 is replaced by the second-stage master clock source, and the remaining second integrated control modules 1002 are clocked in sync with the second-stage master clock source.
[0046] For example, the thruster can be, for instance, a rocket, with the first-stage thruster being a first-stage rocket and the second-stage thruster being a second-stage rocket. When the first-stage and second-stage thrusters are not separated, one of the multiple integrated control modules is designated as the master clock source. This integrated control module can be either the first integrated control module 1001 or the second integrated control module 1002. The remaining first integrated control module 1001 and second integrated control module 1002 are synchronized with the master clock source. During liftoff, the first-stage and second-stage thrusters may separate. If the master clock source is the second integrated control module 1002, it can continue to be used as the master clock source even after separation. If the master clock source is the first integrated control module 1001, the master clock source will be lost after the first-stage thruster separates from the second-stage thruster. At this time, one of the multiple second integrated control modules 1002 is selected as the second-stage master clock source, and the remaining second integrated control modules 1002 synchronize with the second-stage master clock source so that the multiple second integrated control modules 1002 can continue to work normally.
[0047] In some embodiments, see continue to see Figure 3 The control system also includes a first network switch 210 and a second network switch 220.
[0048] The first network switch 210 is connected to multiple first integrated control modules 1001 via the TSN communication protocol, the second network switch 220 is connected to multiple second integrated control modules 1002 via the TSN communication protocol, and the first network switch 210 and the second network switch 220 are connected via the TSN communication protocol.
[0049] Specifically, the control system also includes multiple first switches 231 and multiple second switches 232. A first network switch 210 is connected to the multiple first switches 231 via the TSN communication protocol, and a second network switch 220 is connected to the multiple second switches 232 via the TSN communication protocol. The multiple first switches 231 and multiple second switches 232 are correspondingly connected via the TSN communication protocol. Multiple first integrated control modules 1001 sequentially send data to the first network switch 210, and multiple second integrated control modules 1002 sequentially send data to the second network switch 220. The first network switches 210 and second network switches 220 rearrange the data according to the time order of receipt and the weight information of each data point, and then transmit the received signals sequentially according to the rearranged order. Furthermore, all modules provided in this disclosure communicate with each other via the TSN communication protocol, constructing a TSN communication network. The use of the TSN communication protocol for communication between modules, compared to the 1553B bus method used in the prior art, increases the number of communication nodes and communication bandwidth, and also reduces development costs. The TSN communication protocol also supports hot backup of the master clock. Therefore, when the master clock source is the first integrated control module 1001 and the first-stage thruster is separated from the second-stage thruster, the hot backup function of the master clock can be used to select one of the multiple second integrated control modules 1002 as the secondary master clock source, thereby ensuring that the thruster can continue to work after separation.
[0050] In some embodiments, when the main control unit of any integrated control module has timing control requirements, one of the multiple functional units includes a timing function unit; the timing function unit is used to output the corresponding timing when it receives the timing control signal from the main control unit.
[0051] For example, the thruster needs to include an integrated control module with timing control functionality. Therefore, the relevant timing control function program needs to be written into the main control unit of any integrated control module. The timing function units from multiple functional units are then installed within the integrated control module, connected to the main control unit. This allows the timing function units, when powered and receiving timing control signals from the main control unit, to output corresponding timing signals to control the various modules within the thruster to turn on or off according to the timing control signals. Furthermore, each timing function unit includes a timing monitor to monitor the output status of the timing control signals.
[0052] In some embodiments, the multiple integrated control modules further include a power management unit; when the main control unit of any integrated control module has power distribution control requirements, one of the multiple functional units includes a power distribution unit.
[0053] The power distribution unit is used to provide a first power distribution voltage to the power management unit of each integrated control module and a second power distribution voltage to some functional units when it receives the power distribution control signal from the main control unit; the power management unit is used to convert the first power distribution voltage into the power supply voltage of each functional unit.
[0054] For example, the thruster needs to include an integrated control module with power distribution control functionality. Therefore, relevant power distribution control programs need to be written into the main control unit of any integrated control module. Power distribution units from multiple functional units are installed within the integrated control module, and these units are connected to the main control unit. Upon receiving a power distribution control signal from the main control unit, the power distribution unit provides a first power distribution voltage to the power management unit of each integrated control module. Each integrated control module includes a power management unit, which can boost or buck the first power distribution voltage provided by the power distribution unit, converting it into the power supply voltage for the functional unit. Furthermore, some functional units require different power supply voltages than those provided by the power management unit. Therefore, a second power distribution voltage can be directly provided to these functional units through the power distribution unit to meet the power needs of different functional units. A power distribution monitor is also installed within the power distribution unit to monitor for any abnormalities in the power distribution voltage provided. A power management unit also includes a power monitoring device to monitor for any abnormalities in the power supply voltage provided.
[0055] In some embodiments, when the main control unit of any integrated control module has a data acquisition and control requirement, one of the multiple functional units includes a data acquisition functional unit; the data acquisition functional unit is used to acquire data information from each sensor of the thruster and send it to the main control unit.
[0056] For example, the thruster needs to include an integrated control module with data acquisition capabilities. Therefore, data acquisition-related functional programs need to be written into the main control unit of any integrated control module, and the acquisition function units from multiple functional units are installed within the integrated control module. These acquisition function units are then connected to the main control unit, enabling them to send data received from various sensors, such as pressure, temperature, vibration, and rotational speed, to the main control unit. The main control unit can then further process this data to monitor various thruster data.
[0057] Figure 4 This is a schematic diagram of the structure of another integrated control module provided in an embodiment of the present disclosure, as shown below. Figure 4 As shown, the integrated control module includes a main control unit 110, a timing function unit 121, a power distribution unit 122, a power management unit 123, and a data acquisition function unit 124.
[0058] The main control unit 110 includes a first processor minimum system 111, an Ethernet interface circuit 112, a discrete quantity interface circuit 113, and a CAN interface circuit 114. The Ethernet interface circuit 112, discrete quantity interface circuit 113, and CAN interface circuit 114 are all used to interact with other integrated control modules via the TSN communication network. The first processor minimum system 111 can store functional programs capable of controlling different functional units, and the internal program of the first processor minimum system 111 can be replaced according to the actual functional requirements of the thruster.
[0059] The timing function unit 121 includes a timing monitoring circuit 1211, a timing switch circuit 1212, and a timing output circuit 1213. The timing switch circuit 1212, upon receiving a timing control signal from the first processor minimum system 111, causes the timing output circuit 1213 to output a corresponding timing sequence, thereby controlling the activation or deactivation of each module within the thruster according to the timing control signal. The timing monitoring circuit 1211 monitors the output status of the timing control signal.
[0060] The power distribution unit 122 includes a power distribution monitoring circuit 1221, a first power distribution output circuit 1222, and a second power distribution output circuit 1223. An external power source supplies power to the power distribution unit 122. The first power distribution output circuit 1222 outputs the voltage provided by the external power source to both the power management unit 123 and the second power distribution output circuit 1223. The second power distribution output circuit 1223 then provides the received power distribution voltage to functional units with high voltage power requirements. The power distribution monitoring circuit 1221 monitors whether there are any abnormalities in the power distribution voltage provided by the power distribution unit 122 and provides any detected abnormalities to the first processor minimum system 111.
[0061] The power management unit 123 includes a protection filter circuit 1231, a power conversion circuit 1232, and a power monitoring circuit 1233. The power distribution voltage provided by the first power distribution output circuit 1222 is output to the power conversion circuit 1232 through the protection filter circuit 1231. The protection filter circuit 1231 filters the power distribution voltage and protects the power conversion circuit 1232 from damage due to excessive power distribution voltage. The power conversion circuit 1232 boosts or bucks the power distribution voltage to power some functional units and the main control unit 110. The power monitoring circuit 1233 monitors whether there are any abnormalities in the voltage provided by the power management unit 123. The data acquisition unit 124 includes a second processor minimum system 1241, a data acquisition input circuit 1242, and an interface circuit 1243. The data acquisition input circuit 1242 acquires data from various sensors and outputs it to the second processor minimum system 1241. The second processor minimum system 1241 processes this data and then sends it to the main control unit 110 or other modules via the interface circuit 1243. The main control unit 110 can further process this data to monitor various thruster data.
[0062] It should be noted that, Figure 4 The connection between the functional units is shown as an example. The specific selection of functional units needs to be set according to the actual situation, and no specific limitation is made here.
[0063] Figure 5 This is a flowchart illustrating a clock synchronization method for a control system provided in an embodiment of this disclosure. The clock synchronization method is applied to the control system provided in any of the above embodiments, such as... Figure 5 The clock synchronization method includes: S310-S330.
[0064] S310. Based on the clock parameters of each integrated control module, determine the master clock source from multiple integrated control modules.
[0065] S320: Obtain the communication delay between the clock source and the main clock source of each remaining integrated control module.
[0066] S330: Based on communication delay, control the corresponding clock source to synchronize with the master clock source.
[0067] Specifically, the clock parameters of each integrated control module are compared, and one integrated control module is selected as the master clock source. The remaining integrated control modules communicate with the corresponding integrated control module of the master clock source to determine the communication delay between their respective clock sources and the master clock source. Based on the communication delay, the corresponding clock source is synchronized with the master clock source. The synchronized integrated control module then interacts and synchronizes with the integrated control module corresponding to the master clock source again. After multiple clock synchronizations, all integrated control modules operate simultaneously, ensuring the real-time performance of the communication network formed by the integrated control modules.
[0068] In some embodiments, determining the master clock source from multiple integrated control modules based on the clock parameters of each integrated control module includes: Obtain the connection relationships between the integrated control module and other integrated control modules, and determine the connection quantity parameter for each integrated control module; where the connection quantity parameter is the number of other integrated control modules connected to the integrated control module.
[0069] The integrated control module with the most connected parameters is determined to be the master clock source.
[0070] Specifically, some integrated control modules are interconnected. The more other integrated control modules a module is connected to, the more modules it can directly communicate with, and the fewer modules it can indirectly communicate with, thus making clock synchronization easier. The connection status of all integrated control modules is acquired to determine the connection quantity parameter for each module. By comparing the connection quantity parameters of all integrated control modules, the module with the highest value is identified as having the most connections to other integrated control modules. This module can then be designated as the master clock, making clock synchronization easier.
[0071] In some embodiments, obtaining the communication delay between the clock source of each of the remaining integrated control modules and the main clock source includes: With the clock sources of the remaining integrated control modules communicating with the main clock source, multiple first communication time nodes of the clock source are obtained.
[0072] Based on multiple first communication time nodes, the frequency ratio corresponding to the clock source of each remaining integrated control module is calculated and determined.
[0073] Specifically, the clock sources of the remaining integrated control modules communicate with the master clock source to obtain the time node T1 when the clock source of the integrated control module sends the request information, and the time node T2 when the master clock source receives the request information. The clock source of the integrated control module continues to send request information and records the time node T3, as well as the time node T4 when the master clock source receives the request information again.
[0074] According to the formula: RR = (T4 - T2) / (T3 - T1) The frequency ratio RR corresponding to the clock source of each of the remaining integrated control modules is calculated.
[0075] With the clock sources of the remaining integrated control modules communicating with the main clock source, multiple second communication time nodes of the clock source are obtained.
[0076] Based on multiple second communication time nodes and frequency ratios, the communication delay between the clock source of each remaining integrated control module and the main clock source is calculated and determined.
[0077] Specifically, the clock source of the integrated control module sends the request information at time T5, and the master clock source receives the request information at time T6. Subsequently, the master clock source sends the recorded time T6 to the clock source of the integrated control module, and records the sending time T7 again. The clock source of the integrated control module receives the request information at time T8.
[0078] According to the formula: D=(RR(T8-T5)+(T7-T6)) / 2 The communication delay D between the clock source of each remaining integrated control module and the main clock source is calculated.
[0079] Figure 6 This is a flowchart illustrating another clock synchronization method for a control system provided in an embodiment of the present disclosure. The control system includes multiple integrated control modules and multiple switches. The multiple integrated control modules are connected to the corresponding switches via the TSN communication protocol. like Figure 6 As shown, the clock synchronization method also includes S410 and S420.
[0080] S410. When each integrated control module sends data sequentially, determine the first time sequence in which the switch receives the corresponding data.
[0081] S420: Based on the weight information corresponding to each integrated control module and the first time sequence, determine the second time sequence in which the switch sends each data.
[0082] For example, after clock synchronization, each integrated control module sequentially sends data to its corresponding switch within a cycle based on the synchronized time delay. The switch records the time when it receives data from each integrated control module and sorts them in chronological order to determine the first time sequence of the received data. The data sent by each integrated control module also includes weight information corresponding to that module, indicating the priority of data transmission and reception. First, based on the weight information of each integrated control module, the first-level data information that needs to be sent first, such as cross-LAN messages, is determined and arranged in the first time sequence. Then, based on the weight information of the remaining integrated control modules, the second-level data information to be sent after the first-level data information is determined and arranged in the first time sequence, until all data is arranged. The rearranged order of the data from each integrated control module that the switch needs to send is determined as the second time sequence.
[0083] In some embodiments, the clock synchronization method further includes: Based on the actual signal transmission and reception requirements and the second time sequence, the third time sequence for the switch to send each data is determined.
[0084] Specifically, in practical applications, the signal transmission and reception requirements of some integrated control modules may change according to actual needs, but the original weight information stored in these integrated control modules remains unchanged. Therefore, after the switch completes the second time order determination of the data to be sent, it still needs to adjust the transmission order of each data according to the actual signal transmission and reception requirements, so as to determine the third time order of the data to be sent by the switch.
[0085] In some embodiments, the clock synchronization method further includes: According to the third time sequence, blank nodes are set between the data sending nodes.
[0086] For example, during signal transmission and reception, if a thruster malfunctions, non-periodic fault data will be generated. Since the generation of fault data is unpredictable, it is impossible to set corresponding fault nodes between the data transmission nodes that periodically send data to each integrated control module. This disclosure addresses this by setting blank nodes between the data transmission nodes, allowing signal transmission and reception to occur during the time specified by the blank node when fault data is generated. Therefore, during normal thruster operation, data from each integrated control module can be transmitted and received sequentially. When a thruster malfunctions, fault data can be transmitted and received through the blank node, ensuring that neither the transmission and reception of periodic data nor non-periodic data is affected.
[0087] The above are merely specific embodiments of this disclosure, enabling those skilled in the art to understand or implement this disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to these embodiments, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A control system for a thruster, characterized in that, include: Multiple integrated control modules are included, each comprising a main control unit and multiple detachable functional units. The main control unit stores corresponding functional programs according to the functional requirements of the thruster. The integrated control modules are interconnected. The integrated control module is used to access the corresponding functional units based on the functional requirements of the thruster, and to control the functional units to perform the corresponding functions according to the functional programs stored in the main control unit.
2. The control system according to claim 1, characterized in that, The plurality of integrated control modules include a plurality of first integrated control modules and a plurality of second integrated control modules; Multiple first integrated control modules are disposed on the first stage thruster, and the first integrated control modules are used to control the first stage functions of the thruster; Multiple second integrated control modules are disposed on the second-stage thruster, and the second integrated control modules are used to control the second-stage functions of the thruster; In the case where the first-stage thruster and the second-stage thruster are not separated, one of the multiple integrated control modules is the master clock source, and the remaining first integrated control module and the second integrated control module are synchronized with the master clock source. When the master clock source is the first integrated control module and the first-stage thruster is separated from the second-stage thruster, one of the multiple second integrated control modules is replaced by the second-stage master clock source, and the remaining second integrated control modules are clocked in sync with the second-stage master clock source.
3. The control system according to claim 2, characterized in that, The control system also includes a first network switch and a second network switch; The first network switch is connected to multiple first integrated control modules via the TSN communication protocol, the second network switch is connected to multiple second integrated control modules via the TSN communication protocol, and the first network switch is connected to the second network switch via the TSN communication protocol.
4. The control system according to any one of claims 1-3, characterized in that, When the main control unit of any of the integrated control modules has timing control requirements, one of the plurality of functional units includes a timing function unit; The timing function unit is used to output the corresponding timing signal when it receives the timing control signal from the main control unit.
5. The control system according to any one of claims 1-3, characterized in that, The multiple integrated control modules also include a power management unit; When the main control unit of any of the integrated control modules has power distribution control requirements, one of the plurality of functional units includes a power distribution unit; The power distribution unit is used to provide a first power distribution voltage to the power management unit of each integrated control module and a second power distribution voltage to some of the functional units when it receives the power distribution control signal from the main control unit. The power management unit is used to convert the first power distribution voltage into the power supply voltage for each functional unit.
6. The control system according to any one of claims 1-3, characterized in that, When the main control unit of any of the integrated control modules has a data acquisition and control requirement, one of the plurality of functional units includes a data acquisition functional unit; The data acquisition unit is used to collect data from each sensor of the thruster and send it to the main control unit.
7. A clock synchronization method for a control system, characterized in that, Applied to the control system as described in any one of claims 1-6, the method comprises: Based on the clock parameters of each integrated control module, the master clock source is determined from multiple integrated control modules; Obtain the communication delay between the clock source of each remaining integrated control module and the main clock source; Based on the communication delay, the corresponding clock source is controlled to synchronize with the master clock source.
8. The clock synchronization method according to claim 7, characterized in that, The process of determining the master clock source from multiple integrated control modules based on the clock parameters of each integrated control module includes: Obtain the connection relationships between the integrated control module and other integrated control modules, and determine the connection quantity parameter for each integrated control module; wherein, the connection quantity parameter is the number of other integrated control modules connected to the integrated control module; The integrated control module with the most connection parameters is determined to be the master clock source.
9. The clock synchronization method according to claim 7, characterized in that, The step of obtaining the communication delay between the clock sources of the remaining integrated control modules and the main clock source includes: With the clock sources of the remaining integrated control modules communicating with the main clock source, multiple first communication time nodes of the clock source are obtained; Based on multiple first communication time nodes, calculate and determine the frequency ratio corresponding to the clock source of each remaining integrated control module; With the clock sources of the remaining integrated control modules communicating with the main clock source, multiple second communication time nodes of the clock source are obtained; Based on multiple second communication time nodes and the frequency ratio, the communication delay between the clock source of each remaining integrated control module and the main clock source is calculated and determined.
10. The clock synchronization method according to claim 7, characterized in that, The control system includes multiple integrated control modules and multiple switches, and the multiple integrated control modules are connected to the corresponding switches through the TSN communication protocol. The method further includes: Given that each integrated control module sends data sequentially, determine the first time sequence in which the switch receives the corresponding data; Based on the weight information corresponding to each integrated control module and the first time sequence, the second time sequence of the data sent by the switch is determined.