CN102929157B - A kind of dynamic positioning of vessels computer for controlling system of triple redundance - Google Patents
A kind of dynamic positioning of vessels computer for controlling system of triple redundance Download PDFInfo
- Publication number
- CN102929157B CN102929157B CN201210458941.0A CN201210458941A CN102929157B CN 102929157 B CN102929157 B CN 102929157B CN 201210458941 A CN201210458941 A CN 201210458941A CN 102929157 B CN102929157 B CN 102929157B
- Authority
- CN
- China
- Prior art keywords
- computer
- modules
- redundancy
- arbitration modules
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000004891 communication Methods 0.000 claims abstract description 16
- 238000000034 method Methods 0.000 claims description 32
- 230000008569 process Effects 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 11
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 4
- 238000012856 packing Methods 0.000 claims description 4
- 230000006798 recombination Effects 0.000 claims description 2
- 238000005215 recombination Methods 0.000 claims description 2
- 238000012360 testing method Methods 0.000 claims description 2
- 230000007547 defect Effects 0.000 abstract description 2
- 238000007689 inspection Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 8
- 238000013461 design Methods 0.000 description 5
- 238000004422 calculation algorithm Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 241001269238 Data Species 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 2
- 238000006731 degradation reaction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000013332 literature search Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Safety Devices In Control Systems (AREA)
- Hardware Redundancy (AREA)
Abstract
A dynamic positioning of vessels computer for controlling system for triple redundance, the present invention relates to a kind of Ship Dynamic Positioning Systems Based, is specifically related to the dynamic positioning of vessels computer for controlling system that a kind of redundancy is arranged.Which overcome by one independently the ruuning situation of arbitration unit to three computing machines monitor and redundancy switch, arbitration unit will form the defect of whole Ship Dynamic Positioning Systems Based fault once break down.It comprises sensor group (3) and identical three control subsystem, it is characterized in that each control subsystem comprises a computer module (1) and a redundancy arbitration modules (2) be attached thereto, form structure interconnected between two between the communication port of three redundancy arbitration modules (2), the data output end of sensor group (3) is connected to the data input pin of the computer module (1) of each control subsystem.
Description
Technical field
The present invention relates to a kind of Ship Dynamic Positioning Systems Based, be specifically related to the dynamic positioning of vessels computer for controlling system that a kind of redundancy is arranged.
Background technology
Dynamic positioning of vessels (Dynamic Positioning, DP) system refer to when wind, wave, drain off disturb, utilize the impeller system opposing marine environment power interference of boats and ships self, dynamically control boats and ships and be parked in certain closed-loop control system determined position or run along certain preset flight path.Its advantage is that location cost can not increase along with the depth of water and increase, and easy to operate.The ship trajectory that dynamic positioning of vessels technology can also carry out boats and ships except the Fixed Point Operation for boats and ships or ocean platform controls, and therefore it is also applied to the laying of subsea cable and pipeline, ocean expedition, marine salvage, dredging operation, shuttle tanker, platform supply, conventional ship manipulation etc.The dynamic positioning system of ocean platform is very high to the requirement of its reliability.If dynamic positioning system breaks down, ocean platform will be caused to locate out of hand, cause serious economic loss and environmental disaster.Therefore the power-positioning control system of ocean platform requires that meeting classification society DP-3 indicates, requires to have three independently dynamically positioning automatic control systems, when a control system fault, can automatically switch to another control system.
Triple redundance computer system adopts the mode of computer redundancy to reach fault-tolerant object, namely allow a computer failure even two computer failures time, system still can retentive control function not lost.Triplication redundancy structure is the redundancy structure of highly reliable a, high security, therefore in the Dynamic Positioning Control System of deep-sea oil drilling platform and oil exploitation platform, obtains application.The DP-3 power-positioning control system of complete set comprises: redundant sensor system, triple redundance computer for controlling system, three redundancy manipulation platforms, Redundant Ethernet network system, propeller control stations etc.Triple redundance computer for controlling system is the core of DP-3 power-positioning control system, and its major function is the data acquisition of redundant sensor, the execution of Dynamic Positioning Control System algorithm and exporting angle of rake thrust command.Due to the requirement of redundancy, the Dual-Ethernet interface that triple redundance computer for controlling system contains the identical computer system of three covers, the serial communication interface be connected with sensor and is connected with impeller system with control stand.
Kind of sensor and the number of DP-3 dynamic positioning system are more, comprising: wind sensor, gyro compass, attitude motion sensor, position reference system.Such sensor has 3 covers, and quantity is generally more than 12.If sensor to be directly connected to the situation that every platform computing machine can cause Computer interface circuit complexity.
Through finding existing literature search, (application number: 201110149060.6) devise a dynamically positioning semi-matter simulating system have employed three computing machines and calculates simultaneously patent " its method of hardware-in-the-loop simulation of DP-3 level dynamically positioning ".This system and difference of the present invention are: this system does not have arbitration body, and the voting result only relying on computer-internal to carry out is to judge whether computing machine has fault.
A lot of document is had to propose the method for designing of triplication redundancy computer system, all have an independently arbitration unit outside three computing machines, for monitoring the ruuning situation of three computing machines and redundancy switching, and thinking that arbitration unit is highly reliable, there will not be fault.But arbitration unit will form a Single Point of Faliure once break down, and whole system just can not normally be run.
Summary of the invention
The object of this invention is to provide a kind of dynamic positioning of vessels computer for controlling system of triple redundance, with overcome by one independently the ruuning situation of arbitration unit to three computing machines monitor and redundancy switch, arbitration unit will form the defect of whole Ship Dynamic Positioning Systems Based fault once break down.
It comprises sensor group 3 and identical three control subsystem, each control subsystem comprises a computer module 1 and a redundancy arbitration modules 2 be attached thereto, form structure interconnected between two between the communication port of three redundancy arbitration modules 2, the data output end of sensor group 3 is connected to the data input pin of the computer module 1 of each control subsystem.
The invention provides a kind of dynamic positioning system meeting DP-3 mark, each computer module 1 is a complete independently computer system, comprises independently power supply, CPU, internal memory, hard disk, bus, interface logic etc.Three control subsystem adopt loose synchronization mode to carry out synchronously, performing identical control task.Redundancy feature realizes primarily of redundancy arbitration modules 2, and while computer module 1 performs control task, it can carry out redundancy process concurrently.All wrong judgment mechanism and processing policy in three redundancy arbitration modules 2.Owing to having enough redundant resources, under the guarantee of redundancy scheme, system still can run without interruption when breaking down.Redundancy computer system adopts dynamically can recombination structure, the voting mechanism utilizing redundancy arbitration modules and communication interface etc. to form and respective algorithms, put to the vote to voting point sensor data, thrust output data, the heartbeat signal of supervisory control comuter module 1 timed sending simultaneously carrys out the fault of detection computations machine module 1.System not only can when single control subsystem breaks down, be downgraded to two redundant system, safeguards system can normally be run, and when two control subsystem successively break down, system degradation is that single-mode system still can normally retentive control function.
System of the present invention adopts modular design, and adopts three identical redundancy arbitration modules 2 to be connected with three computer modules 1 respectively, three control subsystem of formation isomorphism, realize the fault detect of system, system degradation, system reconfiguration and data voting.Based on the distributed triplication redundancy structure of high-speed communication, each computer module is independently computer system, has independently power supply, and being intercomed mutually by communication bus, to realize task level synchronous.Advantage of the present invention: (1) adopts modular design.The control subsystem of three isomorphisms, each control subsystem comprises a computer module and a redundancy arbitration modules.Computer module and redundancy arbitration modules can be made on one piece of circuit board physically, realize miniaturization and modular design, improve system reliability and maintenanceability.Find that there is module to be out of order, change this module.The design of (2) three arbitration modules eliminates the Single Point of Faliure of arbitration modules, improves system reliability.Can detection failure mutually between three arbitration modules.Redundancy arbitration modules designs based on FPGA, and reliability is high.Redundancy arbitration modules obtains the data needing to carry out arbitrating by the communication interface of interconnection, use arbitration algorithm to carry out data voting.Voting algorithm is configured in FPGA, can be modified by software as required.(3) system can carry out redundant state conversion between three moulds, bimodulus, single mode.The status information of the computing machine be attached thereto is transmitted by the cable of interconnection, to judge the redundant system state of work at present between redundancy arbitration modules.When triplication redundancy, detecting that computing machine breaks down, then switched to duplication redundancy by triplication redundancy, when there being computing machine to break down again, having switched to single mode operation state.After having the computing machine of reparation to add system, System recover is bimodulus or triplication redundancy state.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention, and Fig. 2 is the structural representation of the sensor group 3 that redundancy is arranged, and Fig. 3 is workflow schematic diagram of the present invention.
Embodiment
Embodiment one: illustrate present embodiment below in conjunction with Fig. 1.Present embodiment comprises sensor group 3 and identical three control subsystem, each control subsystem comprises a computer module 1 and a redundancy arbitration modules 2 be attached thereto, form structure interconnected between two between the communication port of three redundancy arbitration modules 2, complete the transmission of synchronizing information transmission between arbitration modules and heartbeat signal.The data output end of sensor group 3 is connected to the data input pin of the computer module 1 of each control subsystem.Three computer modules 1 are connected by communication bus with three redundancy arbitration modules 2 respectively.
Redundancy arbitration modules 2 judges the failure condition of computer module 1 by the heartbeat signal of monitoring computer module 1, is ensured the synchronous operation of three computer module 1 programs by the transmission of synchronizing information.Three redundancy arbitration modules 2 realize the functions such as master slave relation transmission, heartbeat signal monitoring, synchronizing information exchange by the communication bus between three.Three data collecting module collected 6 gather the data of three cover sensors.Often overlap sensor to comprise: each one of wind sensor, gyro compass, attitude motion sensor and position reference system, wherein position reference system has two kinds: acoustic positioning system and differential GPS.The data of collection are sent to three computer modules 1 by each data acquisition module 6 simultaneously.In three computer modules 1, only have the computer module 1 be connected with main arbitration modules can export to impeller system.Three redundancy arbitration modules 2 acquiescences only have a redundancy arbitration modules 2 to be in master control status, when master control arbitration modules breaks down, upgrade to main control module by the redundancy arbitration modules 2 of next priority, complete synchronous, voting function.Set the priority of three redundancy arbitration modules 2 by toggle switch, when initially powering on, the redundancy arbitration modules 2 that priority is the highest is main arbitration modules, and the computer module 1 be attached thereto is main control computer.By the communication bus of main control computer by redundancy arbitration modules 2, send synch command frame to another two computer modules 1, realize the synchronous acquisition of three computer modules 1, synchro control calculates.Exported by main control computer and control result to impeller system, control impeller system and produce the thrust needed, carry out Dynamic Positioning Control System.
Three computer modules 1 run identical control program, and control program runs under real time operating system, adopt the method programming of multi-process.Process comprises: control process, data acquisition process, heartbeat signal process.Control process realizes controlling resolving, with the function such as exchanges data, redundancy reconstruct of arbitration modules 2; The data of the three cover sensors that data acquisition process real-time reception sends from data acquisition module 6; Heartbeat signal process contains the heartbeat signal of computer self-test information to redundancy arbitration modules 2 timed sending, and three processes are run simultaneously, ensures the real-time of each function of system.Three processes exchange data by Inter-Process Communication.
Each data acquisition module 6 gathers the data of four different types of sensors, and the packing of the data of collection is sent to three computer modules 1 respectively by Ethernet interface.Advantage is a simplified sensor data acquisition interface circuit.Each data collecting module collected four different types of sensing datas, and data packing is issued three computer modules 1 respectively by three Ethernet interfaces.Each like this computer module 1 need have three Ethernet interfaces just can receive the data of three covers totally 12 sensors.
Redundancy switching principle: triplication redundancy computer system can in three moulds, bimodulus and unit duty flexible conversion state model.Three computer modules 1 pass through self-checking function, the internal state information reading self judges the duty of the machine, the heartbeat signal comprising local state information is issued the redundancy arbitration modules 2 be attached thereto, this heartbeat signal is sent to two adjacent redundancy arbitration modules 2 by redundancy arbitration modules 2.When wherein a computer module 1 breaks down, the redundancy arbitration modules 2 of other two computer for controlling modules 1 receives failure message or does not receive the heartbeat signal of this computer module 1 in a certain time interval, then think that this computer module 1 breaks down, thus change operational mode, enter duplication redundancy state.Simultaneously fault alarm information is sent to dynamically positioning control stand by redundant network and carries out fault alarm by main control computer module.
Detailed redundancy switching flow is shown in following description:
1), after system electrification, when three computer modules 1 are working properly, the redundancy arbitration modules that the priority selected by toggle switch is the highest enters arbitration duty, and the computer module A be attached thereto is main control computer;
2) three computer modules 1 send the self-inspection information of self separately to other two computer modules 1 with identical frequency by interconnection;
3) computer module 1 is by detecting the self-inspection information of other two computer modules 1 or detecting other two computer modules 1 in certain hour and whether send self-inspection information, judges whether other two computer modules 1 are in normal operating conditions;
4) if computer module A fault:
If a) computer module part A interface fault, computer module A the machine forbids that each interface sends data outward;
If the b) cpu fault of computer module A, computer module A can not send data outward;
C) computer module B receives in the self-inspection information of computer module A fault or certain hour the self-inspection information not receiving computer module A and send, computer module B changes pattern, take over the work of computer module A, become synchronous and main control computer that redundancy is arbitrated;
D) computer module C receives in the self-inspection information of computer module A fault or certain hour the self-inspection information not receiving computer module A and send, and computer module C changes pattern, the synchrodata of receiving computer module B transmission;
E) computer system changes Duplex redundancy state into by triplication redundancy;
5) if computer module B or C fault:
If a) computer module B or C part of interface fault, computer module B or C the machine forbid that each interface sends data outward;
If the b) cpu fault of computer module B or C, computer module B or C paralyses, and can not send data outward;
C) computer module A receives in the self-inspection information of computer module B or C fault or certain hour the self-inspection information not receiving computer module B or C and send, and computer module A changes pattern, only toward a computing machine working properly transmission synchrodata;
D) computer system changes duplication redundancy state into by triplication redundancy.
6), during duplication redundancy, computer failure is had again
A) during duplication redundancy, two computer module 1 medium priorities higher as main control computer, send synchronic command by this computer module 1;
B) when breaking down from computer for controlling module, computer system changes single mode into by duplication redundancy;
C) when main control computer module breaks down, remaining from computer for controlling module change pattern, become main control computer, computer system changes single mode into by duplication redundancy.
7) system cloud gray model is when single mode, when a faulty computer module is after repairing and discharging fault, rejoins system.System is converted to concurrent state from single mode, but main control computer state is constant.
8) system cloud gray model is when concurrent state, when another faulty computer module is after repairing and discharging fault, rejoins system.System is converted to three mould states from concurrent state, but main control computer state is constant.
Synchronously with voting principle:
The computing machine be connected with master control redundancy arbitration modules is main control computer module 1.In the beginning of each control cycle, main control computer is to the redundancy arbitration modules 2(be attached thereto i.e. main arbitration modules) export synch command frame, after main arbitration modules receives this frame, export synch command frame to three computer modules 1 simultaneously, when three computer modules 1 receive synch command frame, the sensing data sent from data acquisition module 6 is sent to main arbitration modules, by main arbitration modules, these three data are put to the vote process, then the data after having decided by vote are sent to three computer modules 1.Voted data comprises four inhomogeneous sensing datas.The three number certificates of putting to the vote, a from main computer module, another two parts by other two arbitration modules by bus transmission.Said process ensure that three computer modules 1 are the data gathered at synchronization for deciding by vote sensing data.Three computer modules 1 carry out controlling calculation by these data after receiving the sensing data after voting, then result of calculation are sent to main arbitration modules.The controlling calculation result of main arbitration modules to three computer modules 1 is carried out three and is selected two votings, and the result after voting is sent it back three computer modules.Only have main control computer that controlling calculation result is outputted to propeller control system, control thruster and produce corresponding thrust.Main control computer sends the synchronic command in next cycle, enters next control cycle.
Embodiment two: illustrate present embodiment below in conjunction with Fig. 2.Present embodiment relative to the improvements of embodiment one is: sensor group 3 comprises three identical data acquisition modules 6 and identical three cover sensors; The signal output part often overlapping sensor is connected to the signal input part of a data acquisition module 6, and three data output ends of each data acquisition module 6 are connected on the data input pin of computer module 1 of a control subsystem.
Redundant sensor data acquisition principle:
The sensor of Ship Dynamic Positioning Systems Based has: wind sensor, for measuring wind wind direction; Attitude sensor, for measuring attitude of ship, comprises pitching, rolling, heave; Gyro compass, for measure ship bow to; Differential GPS, for measuring boats and ships absolute position; Acoustic positioning system, for measuring the relative position of boats and ships.DP-3 level dynamic positioning system requires three and overlaps independently sensing system, and wherein position measurement requires the position reference system of two cover different operating principles.The number of sensors of triple redundance dynamic positioning system is more, and generally more than 12, control system computing machine will gather the data of these sensors simultaneously, and interface quantity is many, causes system complexity to increase.In order to reduced data Acquisition Circuit, improve system reliability.Data acquisition system (DAS) of the present invention has three data acquisition modules 6.Data acquisition module 6 Shang You tetra-road RS422 serial communication interface is for connecting four inhomogeneous sensors, and three road Ethernet interfaces are for connecting three computer modules 1.The data packing that four serial ports receive by data acquisition module 6, converts Ethernet network interface data to and sends to computer module 1.The communication baud rate of serial ports is 2400 ~ 115200bps, and Ethernet bandwidth be 10,100Mbps, so an Ethernet interface can transmit multi-channel serial port data simultaneously.Data acquisition module 6 can realize the conversion between serial link and ethernet link, after the sensing data of four serial ports from serial link one side is converted into ICP/IP protocol data stream, by three network interfaces of ethernet link, send to three computer modules 1 respectively.
In sum, the workflow of whole triple redundance system is as shown in Figure 3:
(1) after system electrification, computer module 1 runs initialize routine, and the program of three processes brings into operation.Heartbeat signal process starts timing and sends heartbeat signal to the redundancy arbitration modules 2 be attached thereto.Data acquisition process constantly receives the data of the sensing system sent from data acquisition module 6.
(2) each redundancy arbitration modules 2 reads toggle switch setting, and the redundancy arbitration modules 2 that priority is the highest becomes main arbitration modules, and main arbitration modules sends principal and subordinate's information to main computer module and adjacent two redundancy arbitration modules 2.After computer module 1 receives principal and subordinate's information, the master slave relation of certainty annuity.And the sensing data collected is sent to main arbitration modules.
(3) main arbitration modules carries out to the sensing data of four kinds that three computer modules 1 gather the voting that three select two respectively.Voting result is as judging the foundation whether these sensors normally work, if the data of certain sensor and other two same type of sensor are always inconsistent, can think this sensor fault, system carries out alert process.
(4) result of sensor voting sends to three computer modules 1, and computer module 1 it can be used as the sensing data of Dynamic Positioning Control System device to input, and carries out controlling calculation.
The result of controlling calculation is sent to main arbitration modules by (5) three computer modules 1, and the control result of main arbitration modules to three computer modules carries out the voting that three select two.Voting result can as judging the foundation whether computer module 1 normally works, if the output of the control result that certain computer module 1 exports and other two computer modules is always inconsistent, can think this computer failure, system is reported to the police, and carries out fault handling and redundancy reconstruct.
Claims (1)
1. the dynamic positioning of vessels computer for controlling system of a triple redundance, it comprises sensor group (3) and identical three control subsystem, it is characterized in that each control subsystem comprises a computer module (1) and a redundancy arbitration modules (2) be attached thereto, form structure interconnected between two between the communication port of three redundancy arbitration modules (2), the data output end of sensor group (3) is connected to the data input pin of the computer module (1) of each control subsystem;
Three computer modules (1) are connected by communication bus with respective redundancy arbitration modules (2) respectively, realize master slave relation transmission, heartbeat signal monitoring and synchronizing information and exchange;
Completed the transmission of synchronizing information transmission between arbitration modules and heartbeat signal by structure interconnected between two between three redundancy arbitration modules (2); Redundancy arbitration modules (2) judges the failure condition of computing machine (1) by the heartbeat signal of monitoring computer (1), is ensured the synchronous operation of three computing machine (1) programs by the transmission of synchronizing information;
Sensor group (3) comprises three identical data acquisition modules (6) and identical three cover sensors; The signal output part often overlapping sensor is connected to the signal input part of a data acquisition module (6), and three data output ends of each data acquisition module (6) are connected on the data input pin of computer module (1) of three control subsystem;
The computer module be connected with master control redundancy arbitration modules is main control computer, main control computer exports synch command frame, after master control arbitration modules receives this synch command frame, export synch command frame to three computer modules (1) simultaneously, when three computer modules (1) receive synch command frame, the sensing data collected is sent to master control redundancy arbitration modules, the data of master control redundancy arbitration modules to three cover sensors are put to the vote process, and the data after having decided by vote are sent to three computer modules (1); After three computer modules (1) receive these data, start controlling calculation;
According to the fault state of three computer modules (1), switch under three moulds, bimodulus and single mode; Three computer modules (1) pass through self-checking function, the internal state information reading self judges the duty of the machine, the heartbeat signal comprising local state information is issued the redundancy arbitration modules (2) be attached thereto, this heartbeat signal is sent to two adjacent redundancy arbitration modules (2) by redundancy arbitration modules (2); When wherein a computer module (1) is broken down, the redundancy arbitration modules (2) of other two computer for controlling modules (1) receives failure message or does not receive the heartbeat signal of this computer module in a certain time interval, then think that this computer module breaks down, thus change operational mode, enter duplication redundancy state;
In three redundancy arbitration modules (2), acquiescence only has a redundancy arbitration modules (2) to be in master control status, when master control redundancy arbitration modules breaks down, upgrade to main control module by the redundancy arbitration modules (2) of next priority, complete synchronous, voting function; In three redundancy arbitration modules (2), by the difference of toggle switch position, setting priority relationship, when initially powering on, what priority was the highest is master control redundancy arbitration modules;
Three computer modules (1) run identical control program, and control program runs under real time operating system, adopt the method programming of multi-process; Process comprises: control process, data acquisition process, heartbeat signal process; Control process realize control resolve, with the exchanges data of redundancy arbitration modules (2) and redundancy recombination function; The data of the three cover sensors that data acquisition process real-time reception sends from data acquisition module (6); Heartbeat signal process contains the heartbeat signal of computer self-test information to redundancy arbitration modules (2) timed sending; Three processes are run simultaneously, ensure the real-time of each function of system;
Sensor in sensor group (3) has: wind sensor, attitude sensor, gyro compass, differential GPS and acoustic positioning system;
Three control subsystem adopt loose synchronization mode to carry out synchronously, performing identical control task; In the beginning of each control cycle, main control computer exports synch command frame to the redundancy arbitration modules (2) be attached thereto; Three computer modules (1) are carried out controlling calculation by these data, then result of calculation are sent to main arbitration modules after receiving the sensing data after voting; The controlling calculation result of main arbitration modules to three computer modules (1) is carried out three and is selected two votings, and the result after voting is sent it back three computer modules; Only have main control computer that controlling calculation result is outputted to propeller control system, control thruster and produce corresponding thrust; Main control computer sends the synchronic command in next cycle, enters next control cycle;
Each data acquisition module (6) gathers the data of four different types of sensors, and the packing of the data of collection is sent to three computer modules (1) respectively by Ethernet interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210458941.0A CN102929157B (en) | 2012-11-15 | 2012-11-15 | A kind of dynamic positioning of vessels computer for controlling system of triple redundance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210458941.0A CN102929157B (en) | 2012-11-15 | 2012-11-15 | A kind of dynamic positioning of vessels computer for controlling system of triple redundance |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102929157A CN102929157A (en) | 2013-02-13 |
| CN102929157B true CN102929157B (en) | 2015-10-21 |
Family
ID=47643986
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210458941.0A Expired - Fee Related CN102929157B (en) | 2012-11-15 | 2012-11-15 | A kind of dynamic positioning of vessels computer for controlling system of triple redundance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102929157B (en) |
Families Citing this family (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103466067B (en) * | 2013-09-11 | 2015-09-30 | 哈尔滨工程大学 | A kind of boats and ships redundant power position fixing system dedicated manipulator |
| CN103935505B (en) * | 2014-03-06 | 2016-11-23 | 哈尔滨工程大学 | A kind of portable handheld box of Ship Dynamic Positioning Systems Based |
| CN104111622B (en) * | 2014-06-16 | 2017-06-20 | 福建睿能科技股份有限公司 | Weaving device and its operating case |
| CN104111621B (en) * | 2014-06-16 | 2017-02-01 | 福建睿能科技股份有限公司 | Automation equipment and control system thereof, and control device |
| CN104090523B (en) * | 2014-06-16 | 2017-02-01 | 福建睿能科技股份有限公司 | Automatic equipment and control system and control device of automatic equipment |
| CN105045164A (en) * | 2015-05-28 | 2015-11-11 | 谭龙飞 | Degradable triple-redundant synchronous voting computer control system and method |
| CN105005232A (en) * | 2015-05-28 | 2015-10-28 | 孙军 | Degradable triple redundancy synchronous voting computer control system and method |
| CN105807761B (en) * | 2015-09-02 | 2019-07-12 | 南京乐朋电子科技有限公司 | A kind of control system of bionic intelligence machine fish |
| CN105334747B (en) * | 2015-09-24 | 2018-08-17 | 哈尔滨工程大学 | A kind of dynamic positioning of vessels triple redundance computer data voting synchronous method |
| CN105301955A (en) * | 2015-10-19 | 2016-02-03 | 中国航空无线电电子研究所 | System-level reconstruction management application software master-slave switching method |
| CN105676841B (en) * | 2016-03-04 | 2018-11-30 | 武汉理工大学 | The method for ensureing positioning operation is realized by DP-3 grades of dynamic positioning systems |
| US10037016B2 (en) * | 2016-03-23 | 2018-07-31 | GM Global Technology Operations LLC | Hybrid dual-duplex fail-operational pattern and generalization to arbitrary number of failures |
| CN106647500A (en) * | 2016-12-26 | 2017-05-10 | 上海振华重工电气有限公司 | ARM and FPGA based ship power positioning control system |
| CN106950820B (en) * | 2017-04-17 | 2020-03-31 | 杭州电子科技大学 | Multi-redundancy arbitration dynamic positioning control system and method |
| CN106950942A (en) * | 2017-04-17 | 2017-07-14 | 杭州电子科技大学 | A kind of analysis method for reliability of 3 grades of power-positioning control systems of DP |
| CN107092211A (en) * | 2017-05-27 | 2017-08-25 | 浙江大学 | A kind of dual redundant unmanned boat onboard control system and method based on ARM |
| US11654957B2 (en) | 2017-08-30 | 2023-05-23 | Thyssenkrupp Presta Ag | Multichannel electronic control unit architecture for electromechanical power steering systems |
| CN108345254B (en) * | 2018-04-08 | 2020-10-23 | 上海航天计算机技术研究所 | Triple redundancy control method and system |
| CN109491238B (en) * | 2018-12-12 | 2022-06-03 | 南京工程学院 | Redundancy method for controller of subway platform door control system |
| CN109634097A (en) * | 2018-12-12 | 2019-04-16 | 上海航天控制技术研究所 | A kind of triple redundance interface circuit and synchronous method |
| CN109683467A (en) * | 2018-12-24 | 2019-04-26 | 浙江欧佩亚海洋工程有限公司 | A kind of Dynamic Positioning Control System voting system and its method |
| CN110716423B (en) * | 2019-11-18 | 2021-08-31 | 南京科远智慧科技集团股份有限公司 | Automatic inspection method applied to triple redundant overspeed protection device |
| CN111443593A (en) * | 2020-04-08 | 2020-07-24 | 中国人民解放军国防科技大学 | Networked redundant aircraft control system |
| CN112147928B (en) * | 2020-09-15 | 2022-02-25 | 北京神州飞航科技有限责任公司 | Dual-CAN-bus multi-redundancy hot backup flight control computer system and method |
| CN112282934A (en) * | 2020-10-20 | 2021-01-29 | 哈尔滨工程大学 | Triple-redundancy control method for electric control system of marine engine |
| CN112327682B (en) * | 2020-10-21 | 2022-07-15 | 浙江吉利控股集团有限公司 | Complete machine controller system, control method and electric aircraft |
| CN113075447B (en) * | 2021-02-04 | 2024-06-18 | 浙江华云信息科技有限公司 | 400V low-voltage distribution network intelligent detection device and method |
| CN113264162B (en) * | 2021-03-31 | 2022-10-04 | 招商局金陵船舶(南京)有限公司 | Safety control system for returning passenger ship to port |
| CN114200855A (en) * | 2021-11-05 | 2022-03-18 | 河北汉光重工有限责任公司 | Centerless arbitration redundancy control system |
| CN115140239A (en) * | 2022-08-04 | 2022-10-04 | 上海船舶研究设计院（中国船舶工业集团公司第六0四研究院） | Ship engine room arrangement of DP-3 dynamic positioning system |
| CN117478502B (en) * | 2023-12-27 | 2024-03-19 | 中国石油集团东方地球物理勘探有限责任公司 | Dual positioning system and method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5339404A (en) * | 1991-05-28 | 1994-08-16 | International Business Machines Corporation | Asynchronous TMR processing system |
| CN1602455A (en) * | 2001-12-11 | 2005-03-30 | 大陆-特韦斯贸易合伙股份公司及两合公司 | Multi-core redundant control computer system, computer network for applications that are critical with regard to safety in motor vehicles, and use thereof |
| CN1710499A (en) * | 2005-07-07 | 2005-12-21 | 上海交通大学 | Ship power-positioning control system based on fuzzy self-adaption algorithm |
| CN101145894A (en) * | 2007-10-29 | 2008-03-19 | 哈尔滨工业大学 | High-reliability arbitration device for highly available dual host fault tolerance system |
| CN102323757A (en) * | 2011-06-03 | 2012-01-18 | 哈尔滨工程大学 | Semi-physical simulation method for DP-3-level dynamic positioning |
| CN102393624A (en) * | 2011-04-29 | 2012-03-28 | 上海交通大学 | Dredge dynamic positioning control system based on ring network redundant structure |
| CN102724083A (en) * | 2012-05-25 | 2012-10-10 | 哈尔滨工程大学 | Degradable triple-modular redundancy computer system based on software synchronization |
-
2012
- 2012-11-15 CN CN201210458941.0A patent/CN102929157B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5339404A (en) * | 1991-05-28 | 1994-08-16 | International Business Machines Corporation | Asynchronous TMR processing system |
| CN1602455A (en) * | 2001-12-11 | 2005-03-30 | 大陆-特韦斯贸易合伙股份公司及两合公司 | Multi-core redundant control computer system, computer network for applications that are critical with regard to safety in motor vehicles, and use thereof |
| CN1710499A (en) * | 2005-07-07 | 2005-12-21 | 上海交通大学 | Ship power-positioning control system based on fuzzy self-adaption algorithm |
| CN101145894A (en) * | 2007-10-29 | 2008-03-19 | 哈尔滨工业大学 | High-reliability arbitration device for highly available dual host fault tolerance system |
| CN102393624A (en) * | 2011-04-29 | 2012-03-28 | 上海交通大学 | Dredge dynamic positioning control system based on ring network redundant structure |
| CN102323757A (en) * | 2011-06-03 | 2012-01-18 | 哈尔滨工程大学 | Semi-physical simulation method for DP-3-level dynamic positioning |
| CN102724083A (en) * | 2012-05-25 | 2012-10-10 | 哈尔滨工程大学 | Degradable triple-modular redundancy computer system based on software synchronization |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102929157A (en) | 2013-02-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102929157B (en) | A kind of dynamic positioning of vessels computer for controlling system of triple redundance | |
| CN110361979B (en) | Safety computer platform in railway signal field | |
| CN110376876B (en) | Double-system synchronous safety computer platform | |
| CN103647781B (en) | Mixed redundancy programmable control system based on equipment redundancy and network redundancy | |
| CN102724083A (en) | Degradable triple-modular redundancy computer system based on software synchronization | |
| CN105045164A (en) | Degradable triple-redundant synchronous voting computer control system and method | |
| CN104238435B (en) | Triple-redundancy control computer and fault-tolerant control system | |
| CN101807076B (en) | Duplication redundancy fault-tolerant high-reliability control system having synergistic warm standby function based on PROFIBUS field bus | |
| CN111614502B (en) | Intelligent ship comprehensive information redundancy monitoring system | |
| CN110351174B (en) | Module redundancy safety computer platform | |
| CN102055633B (en) | Satellite-borne double-CAN (Controller Area Network) bus node failure self-restoration system | |
| CN107390511A (en) | For the method for the automated system for running redundancy | |
| CN110427283B (en) | Dual-redundancy fuel management computer system | |
| CN101281483A (en) | Double-machine redundant tolerant system and redundant switching method thereof | |
| US20160048434A1 (en) | Control and data transmission system, process device, and method for redundant process control with decentralized redundancy | |
| CN105005232A (en) | Degradable triple redundancy synchronous voting computer control system and method | |
| CN106740992B (en) | It is a kind of to multiply the two five-wire system turnout drive systems for taking two frameworks based on two | |
| CN205068032U (en) | Computer control system is decided by vote to synchronization that can demote | |
| CN102323757B (en) | Semi-physical simulation method for DP-3-level dynamic positioning | |
| CN106950820B (en) | Multi-redundancy arbitration dynamic positioning control system and method | |
| CN110488630A (en) | A kind of control increases steady flight control computer test macro and test method | |
| CN110716543A (en) | Ship redundancy control technical scheme | |
| CN109188895A (en) | A kind of servo-control system based on Redundancy Design | |
| CN104184146A (en) | Ship power station reliability real-time online evaluating system and evaluating method | |
| CN209813737U (en) | Magnetic-levitation train and levitation control system and controller thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151021 |