CN106502158A - A kind of novel ship propulsion controlling system based on bottom dual redundant structure - Google Patents
A kind of novel ship propulsion controlling system based on bottom dual redundant structure Download PDFInfo
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- CN106502158A CN106502158A CN201611030663.3A CN201611030663A CN106502158A CN 106502158 A CN106502158 A CN 106502158A CN 201611030663 A CN201611030663 A CN 201611030663A CN 106502158 A CN106502158 A CN 106502158A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Safety Devices In Control Systems (AREA)
Abstract
The invention discloses a kind of novel ship propulsion controlling system based on bottom dual redundant structure, including active and standby control module and I/O modules, active and standby control module includes main control unit and standby control unit, main control unit connects standby control unit, main control unit is also connected with the first parallel CAN and the second CAN, standby control unit also connects the first parallel CAN and the second CAN, and I/O modules connect main control unit and standby control unit respectively.The present invention carries out fully redundance Parallel Design to CAN, improves the reliability of system bottom data interaction；Also, the present invention also carries out hot Redundancy Design to main control unit and standby control unit, and real-time monitoring is carried out by RS232 universal serial bus, improve the real-time switched between main control unit and standby control unit；Additionally, the present invention also adopts the control of main control unit and standby control unit to I/O modules of branch processing modules implement, I/O port circuits are simplified, cost has been saved.
Description
Technical field
The present invention relates to ship optional equipment technical field, more particularly to a kind of based on the new of bottom dual redundant structure
Ship propulsion controlling system.
Background technology
Propulsion controlling system is the important component part of Marine Automation System, with sending out for computer techno-stress technology
Exhibition, increasing advanced technology are applied to shipboard automation field, and current world Ge great classification societies are by fieldbus
Technology is applied to shipboard automation domain variability and achieves significant progress.Existing domestic ship propulsion controlling system adopts PLC
It is controlled, or adopts PROFIBUS buses, and is monopolized by external producer, the mesh with 12 planning of China shipping industry
Mark is not inconsistent completely.Additionally, PLC is mainly used in programming and as input/output module in ship propulsion controlling system, and PLC is true
Positive ladder diagram advantage does not play a role, and PLC modules early investments are larger；Although and PROFIBUS buses programming letter
Single, but later stage system maintenance upgrade price is expensive, so for the monopolization for breaking external product, the present invention is total using double CAN
Line and 232 universal serial bus develop a kind of novel ship propulsion controlling system based on bottom dual redundant structure..
Content of the invention
Goal of the invention：It is an object of the invention to provide a kind of can solve the problem that defect present in prior art based on bottom
The novel ship propulsion controlling system of dual redundant structure.
Technical scheme：For reaching this purpose, the present invention is employed the following technical solutions：
Novel ship propulsion controlling system based on bottom dual redundant structure of the present invention, including active and standby control mould
Block and I/O modules, active and standby control module include main control unit and standby control unit, and the standby control of main control unit connection is single
Unit, main control unit are also connected with the first parallel CAN and the second CAN, and standby control unit also connects parallel
One CAN and the second CAN, I/O modules connect main control unit and standby control unit respectively.
Further, when main control unit normal work, standby control unit be in semidormancy state, a receiving data,
Control instruction is not sent；When main control unit breaks down, standby control unit normal work plays the work(of main control unit
Energy；When main control unit recovers normal from failure, standby control unit returns to semidormancy state.
Further, when the first CAN works, the second CAN is in self-inspection state；When the first CAN occurs
During failure, the second CAN works, the first CAN periodic cycle self-inspection；When the first CAN is just recovered from failure
Chang Shi, the second CAN return to self-inspection state.
Further, the I/O modules include analog input unit, analog output unit, On-off signal unit and
Switch amount output unit.
Further, also include that branch processing module, branch processing module include the first analog input unit, the second simulation
Amount input block, the first analog output unit, the second analog output unit, On-off signal unit and output switch parameter list
Unit；The analog quantity of collection is separately input into the first analog input unit and the second analog input by analog input unit
Unit, and main control unit is sent to by the first analog input unit, it is sent to by the second analog input unit standby
Use control unit；Exported to analog output list from the analog quantity of main control unit output by the first analog output unit
Unit, then exported by analog output unit, pass through the second analog output list from the analog quantity of standby control unit output
Unit is exported to analog output unit, then is exported by analog output unit；The switching value of collection passes through On-off signal
Unit is separately input into main control unit and standby control unit；From the switching value that main control unit and standby control unit are exported
Exported by switch amount output unit.
Further, first analog input unit includes the first analog switch and the first serial spi bus, the second mould
Analog quantity input block includes that the second analog switch and the second serial spi bus, the analog quantity of collection pass through analog input unit
Input, is then input into the first analog switch by the first serial spi bus, is input into second by the second serial spi bus
Analog switch, then be input into main control unit by the first analog switch, it is input into by the second analog switch single to standby control
Unit.
Further, first analog output unit includes the 3rd analog switch and the 3rd serial spi bus, the second mould
Analog quantity output unit includes the 4th analog switch and the 4th serial spi bus, from the analog quantity of main control unit output by the
Three analog switches are exported to the 3rd serial spi bus, and are exported to analog output unit by the 3rd serial spi bus, from
The analog quantity of standby control unit output is exported to the 4th serial spi bus by the 4th analog switch, and passes through the 4th serial
Spi bus are exported to analog output unit.
Further, the On-off signal unit includes that the 5th analog switch, switch amount output unit include the 6th simulation
Switch.
Further, communicated by RS232 universal serial bus between the main control unit and standby control unit.
Further, also include the first isolated transceiver and the first port protection device being connected with the first CAN, and
The second isolated transceiver being connected with the second CAN and second port protection device.
Beneficial effect：The present invention and carries out fully redundance Parallel Design to CAN using CAN come the system of building,
Improve the reliability of system bottom data interaction, it is to avoid because bus physical failure causes the system failure；Also, the present invention is also
Hot Redundancy Design is carried out to main control unit and standby control unit, and real-time monitoring is carried out by RS232 universal serial bus, improve
The real-time switched between main control unit and standby control unit, simplifies switch logic；Additionally, the present invention is also adopted dividing
The control of main control unit and standby control unit to I/O modules of road processing modules implement, simplifies I/O port circuits, saves
About cost.
Description of the drawings
System block diagrams of the Fig. 1 for the specific embodiment of the invention；
Principle of Communication schematic diagrams of the Fig. 2 for the main control unit and standby control unit of the specific embodiment of the invention；
Accessory circuit figures of the Fig. 3 for the two-way CAN of the specific embodiment of the invention；
Fig. 4 is the handover mechanism flow process between the main control unit and standby control unit of the specific embodiment of the invention
Figure；
Handover mechanism flow charts of the Fig. 5 for the two-way CAN of the specific embodiment of the invention.
Specific embodiment
With reference to the accompanying drawings and detailed description technical scheme is further introduced.
This specific embodiment discloses a kind of novel ship propulsion controlling system based on bottom dual redundant structure, bag
Include active and standby control module, I/O modules, branch processing module, two CANs and its accessory circuit.Wherein, active and standby control module
Including main control unit and standby control unit.I/O modules include analog input unit, analog output unit, switching value
Input block and switch amount output unit.Two CAN is respectively the first CAN and the second CAN.First CAN is total
The accessory circuit of line includes the first CAN controller, the first isolated transceiver, first port protection device and first division resistance,
The accessory circuit of the second CAN includes the second CAN controller, the second isolated transceiver, second port protection device and second
Division resistance.Due to ship scene I/O quantity more, and ship narrow space, compact in design, in order to cost-effective, reduce control
Active and standby control module and two CANs are only carried out Redundancy Design, do not do Redundancy Design to I/O modules by the volume of unit processed.
Accordingly, it would be desirable to branch processing module is set between active and standby control module and I/O modules, to prevent I/O module control logics disorderly
Disorderly.Branch processing module include the first analog input unit, the second analog input unit, the first analog output unit,
Second analog output unit, On-off signal unit and switch amount output unit.First analog input unit includes first
Analog switch and the first serial spi bus, the second analog input unit include that the second analog switch and the second serial SPI are total
Line, the first analog output unit include that the 3rd analog switch and the 3rd serial spi bus, the second analog output unit include
4th analog switch and the 4th serial spi bus, On-off signal unit include the 5th analog switch, switch amount output unit bag
Include the 6th analog switch.
As shown in figure 1, the analog quantity of collection is input into analog-to-digital conversion module by analog input unit, turned by modulus
Mold changing block carries out analog digital conversion, and output is divided into two-way, and output all the way is delivered to the first simulation by the first serial spi bus and opened
Close, then main control unit is delivered to by the first analog switch, another road output delivers to the second simulation by the second serial spi bus
Switch, then standby control unit is delivered to by the second analog switch.The analog quantity of main control unit output is opened by the 3rd simulation
Output is closed to the 3rd serial spi bus, then is transmitted to D/A converter module by the 3rd serial spi bus, finally by simulation
Amount output unit output.The analog quantity of standby control unit output is exported to the 4th serial spi bus by the 4th analog switch,
Transmitted to D/A converter module by the 4th serial spi bus again, exported finally by analog output unit.The switch of collection
Amount is transmitted separately to main control unit and standby control unit by the 5th analog switch.Main control unit output switching value and
The switching value of standby control unit output is exported to switch amount output unit by the 6th analog switch respectively.Main control unit with
Communicated by RS232 universal serial bus between standby control unit, as shown in Fig. 2 main control unit and standby control unit
Arm processor can be adopted.Main control unit is also connected with the first parallel CAN and the second CAN, standby control list
Unit also connects the first parallel CAN and the second CAN.
When main control unit normal work, standby control unit is in semidormancy state, and a receiving data does not send control
System instruction；When main control unit breaks down, standby control unit normal work plays the function of main control unit；Work as master
When control unit recovers normal from failure, standby control unit returns to semidormancy state.Node redundancy typically passes through CAN at present
Bus mode is realized, i.e., continuous to other control units transmission checking informations, this mode in CAN in main control unit
Logic is comparatively laborious, and takes bus resource, for the larger ship control system of quantity of information unsuitable for.Therefore of the invention
In order to improve the requirement of real-time of node switching, node switching is carried out using RS232 universal serial bus, point of contact switching flow figure is as schemed
Shown in 4.
When the first CAN works, the second CAN is in self-inspection state；When the first CAN breaks down,
Second CAN works, the first CAN periodic cycle self-inspection；When the first CAN recovers normal from failure, the
Two CANs return to self-inspection state, as shown in Figure 5.
As shown in figure 3, main control unit and standby control unit employ STM32F407 processors, a CAN is controlled
Device and the second CAN controller are integrated in STM32F407 processors.First CAN controller connects the first isolated transceiver, the
One isolated transceiver connects first port protection device, and first port protection device connects first division resistance, first division electricity
Resistance the first CAN of connection.Second CAN controller connects the second isolated transceiver, and the second isolated transceiver connects second port
Protection device, second port protection device connection second divide resistance, and the second division resistance connects the second CAN.
First analog switch, the second analog switch, the 3rd analog switch, the 4th analog switch, the 5th analog switch and
Six analog switches are switched using ADG619.Analog-to-digital conversion module adopts ADS8332 chips, D/A converter module to adopt AD420
Chip.
Claims (10)
1. a kind of novel ship propulsion controlling system based on bottom dual redundant structure, it is characterised in that：Including active and standby control
Module and I/O modules, active and standby control module include that main control unit and standby control unit, main control unit connect standby control
Unit, main control unit are also connected with the first parallel CAN and the second CAN, and standby control unit also connects parallel
First CAN and the second CAN, I/O modules connect main control unit and standby control unit respectively.
2. the novel ship propulsion controlling system based on bottom dual redundant structure according to claim 1, its feature exist
In：When main control unit normal work, standby control unit is in semidormancy state, and a receiving data does not send control and refers to
Order；When main control unit breaks down, standby control unit normal work plays the function of main control unit；Work as main control
When unit recovers normal from failure, standby control unit returns to semidormancy state.
3. the novel ship propulsion controlling system based on bottom dual redundant structure according to claim 1, its feature exist
In：When the first CAN works, the second CAN is in self-inspection state；When the first CAN breaks down, second
CAN works, the first CAN periodic cycle self-inspection；When the first CAN recovers normal from failure, the 2nd CAN
Bus returns to self-inspection state.
4. the novel ship propulsion controlling system based on bottom dual redundant structure according to claim 1, its feature exist
In：The I/O modules include analog input unit, analog output unit, On-off signal unit and output switch parameter list
Unit.
5. the novel ship propulsion controlling system based on bottom dual redundant structure according to claim 4, its feature exist
In：Also include branch processing module, branch processing module include the first analog input unit, the second analog input unit,
First analog output unit, the second analog output unit, On-off signal unit and switch amount output unit；The mould of collection
Analog quantity is separately input into the first analog input unit and the second analog input unit by analog input unit, and passes through
First analog input unit is sent to main control unit, is sent to standby control unit by the second analog input unit；
Exported to analog output unit from the analog quantity of main control unit output by the first analog output unit, then by analog quantity
Output unit is exported, and is exported to analog quantity from the analog quantity of standby control unit output by the second analog output unit
Output unit, then exported by analog output unit；The switching value of collection is separately input into by On-off signal unit
Main control unit and standby control unit；The switching value exported from main control unit and standby control unit passes through output switch parameter
Unit is exported.
6. the novel ship propulsion controlling system based on bottom dual redundant structure according to claim 5, its feature exist
In：First analog input unit includes the first analog switch and the first serial spi bus, the second analog input unit
Including the second analog switch and the second serial spi bus, the analog quantity of collection is input into by analog input unit, is then passed through
First serial spi bus are input into the first analog switch, are input into the second analog switch by the second serial spi bus, then are led to
Cross the first analog switch to be input into main control unit, be input into standby control unit by the second analog switch.
7. the novel ship propulsion controlling system based on bottom dual redundant structure according to claim 5, its feature exist
In：First analog output unit includes the 3rd analog switch and the 3rd serial spi bus, the second analog output unit
Including the 4th analog switch and the 4th serial spi bus, the analog quantity from main control unit output is defeated by the 3rd analog switch
Go out to the 3rd serial spi bus, and exported to analog output unit by the 3rd serial spi bus, from standby control unit
The analog quantity of output by the 4th analog switch export to the 4th serial spi bus, and by the 4th serial spi bus export to
Analog output unit.
8. the novel ship propulsion controlling system based on bottom dual redundant structure according to claim 5, its feature exist
In：The On-off signal unit includes that the 5th analog switch, switch amount output unit include the 6th analog switch.
9. the novel ship propulsion controlling system based on bottom dual redundant structure according to claim 1, its feature exist
In：Communicated by RS232 universal serial bus between the main control unit and standby control unit.
10. the novel ship propulsion controlling system based on bottom dual redundant structure according to claim 1, its feature exist
In：Also include the first isolated transceiver and the first port protection device being connected with the first CAN, and total with the 2nd CAN
Second isolated transceiver and second port protection device of line connection.
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| CN201611030663.3A CN106502158A (en) | 2016-11-16 | 2016-11-16 | A kind of novel ship propulsion controlling system based on bottom dual redundant structure |
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| CN201611030663.3A CN106502158A (en) | 2016-11-16 | 2016-11-16 | A kind of novel ship propulsion controlling system based on bottom dual redundant structure |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107024889A (en) * | 2017-06-13 | 2017-08-08 | 无锡瑞风船用推进器有限公司 | All-direction propeller dual redundant control system peculiar to vessel |
| CN107357162A (en) * | 2017-06-30 | 2017-11-17 | 镇江赛尔尼柯自动化有限公司 | Universal water inlet detecting and warning system |
| CN107942820A (en) * | 2017-12-19 | 2018-04-20 | 卡斯柯信号有限公司 | The analog quantity redundant output device and method of a kind of high reliability |
| CN109976358A (en) * | 2019-05-08 | 2019-07-05 | 佛山职业技术学院 | A kind of work system based on photovoltaic automatic cruising marine whaleboat |
| CN111090606A (en) * | 2019-11-13 | 2020-05-01 | 北京空间机电研究所 | System of topological type circuit architecture and bus switching method |
| WO2022110834A1 (en) * | 2020-11-26 | 2022-06-02 | 中船动力研究院有限公司 | Electric control system and method for ship |
| CN115174303A (en) * | 2022-06-23 | 2022-10-11 | 上海伊控动力***有限公司 | Pure electric ship propulsion redundancy system based on CAN communication |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107024889A (en) * | 2017-06-13 | 2017-08-08 | 无锡瑞风船用推进器有限公司 | All-direction propeller dual redundant control system peculiar to vessel |
| CN107024889B (en) * | 2017-06-13 | 2023-08-08 | 无锡瑞风船用动力***有限公司 | Dual-redundancy control system of marine full-rotation propeller |
| CN107357162A (en) * | 2017-06-30 | 2017-11-17 | 镇江赛尔尼柯自动化有限公司 | Universal water inlet detecting and warning system |
| CN107942820A (en) * | 2017-12-19 | 2018-04-20 | 卡斯柯信号有限公司 | The analog quantity redundant output device and method of a kind of high reliability |
| CN107942820B (en) * | 2017-12-19 | 2024-03-29 | 卡斯柯信号有限公司 | High-reliability analog quantity redundant output device and method |
| CN109976358A (en) * | 2019-05-08 | 2019-07-05 | 佛山职业技术学院 | A kind of work system based on photovoltaic automatic cruising marine whaleboat |
| CN111090606A (en) * | 2019-11-13 | 2020-05-01 | 北京空间机电研究所 | System of topological type circuit architecture and bus switching method |
| WO2022110834A1 (en) * | 2020-11-26 | 2022-06-02 | 中船动力研究院有限公司 | Electric control system and method for ship |
| CN115174303A (en) * | 2022-06-23 | 2022-10-11 | 上海伊控动力***有限公司 | Pure electric ship propulsion redundancy system based on CAN communication |
| CN115174303B (en) * | 2022-06-23 | 2024-05-31 | 上海伊控动力***有限公司 | Pure electric ship propulsion redundant system based on CAN communication |
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Application publication date: 20170315 |