CN106567420A - Triple-redundancy software control system of electrical transmission control excavator - Google Patents
Triple-redundancy software control system of electrical transmission control excavator Download PDFInfo
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- CN106567420A CN106567420A CN201610595032.XA CN201610595032A CN106567420A CN 106567420 A CN106567420 A CN 106567420A CN 201610595032 A CN201610595032 A CN 201610595032A CN 106567420 A CN106567420 A CN 106567420A
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- control
- excavator
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention belongs to electrical transmission control systems of excavators and provides a triple-redundancy software control system based on an electrical transmission control excavator. According to the triple-redundancy software control system based on the electrical transmission control excavator, a central controller, a multi-way valve, an electromagnetic valve and other execution components are adopted and cooperate so that mechanical operation can be achieved. The triple-redundancy software control system is applied to the electrical transmission intelligent excavator. Operations of a driver are all converted into electrical signals, the electrical signals are processed by the controller, and then the whole mechanical transmission component is controlled; and in this way, digitalization, informatization and intelligence of the excavator are achieved. Two-redundancy configuration is applied to a driver operation instruction sensor and the electrical control multi-way valve, and non-redundancy configuration is applied to a loading pressure sensor, the control electrical valve and the like. Relationships between internal modules of the software system are shown in attached figures of the specifications. Electrical transmission operation of the excavator is achieved through redundancy control. Meanwhile, the safety and the robustness are improved, and the purpose that under the condition of a fault, the excavator can continuously work is achieved.
Description
Technical field
The invention belongs to excavator Flying by wire technology, and in particular to a kind of excavation based on triplex redundance Redundant Control scheme
Machine software control system.
Background technology
Excavator Flying by wire system is based on a kind of new excavator control system, using central controller and multichannel
The mode of the execution units such as valve, electromagnetic valve cooperation realizes the operation to machinery.Produce when operator joystick, walking pedal
Raw is the signal of telecommunication, and the signal of telecommunication produces the control instruction of control hydraulic buttery valve by the calculating of central controller, in control
End is realized the driving to associated actuator part by hydraulic buttery valve, and then completes the operation to whole machine.Based on teletype signal
Control, you can complete the correlation function of conventional excavators, and feature is controlled with informationization, automatization etc..By related logical
Letter link, is capable of achieving unmanned manipulation or remote control, and by connecting the subsystems such as electric-control motor, control terminal, it is right to be capable of achieving
The overall-in-one control schema of whole machine.In the case where operating mode is severe, the demand such as reliability, robustness, maintainability is to excavator fax
Control system it is also proposed new requirement.
The content of the invention
This patent is directed to a kind of triplex redundance software control system of fax intelligent excavator Demand Design, by the operation of driver
It is wholly converted into signal of telecommunication via controller and processes and then control whole mechanical transmission component, realizes the digitized of excavator, letter
Breathization, intellectuality.Operator instruction sensor, electric control multi-way valve adopt two remainings, load pressure sensor and control electricity
Magnet valve etc. is using without redundant configurations.The remaining number of each component units of system, and between system each unit redundancy architecture configuration see
Following table.Realize that the fax to excavator is operated by Redundant Control, while improving safety and robustness, reaching primary fault can
The purpose for working on.
The technical scheme that the present invention takes is：
A kind of Flying by wire excavator triplex redundance software control system, it is characterised in that including input and output processing module,
It is synchronous to declare module, control law with Cross transfer module, redundancy management monitoring module, voting and signal processing, state and failure
Module, active-standby switch logic module is safeguarded and BIT modules；Wherein, input and output processing module completes hardware signal and outside is defeated
The collection for entering, needs to have using the module of input signal：It is synchronous with Cross transfer module, redundancy management monitoring module, voting with
Signal processing module, state and failure declare module, safeguard and BIT modules that output function is by active-standby switch logic module, control
System rule, state and failure declare the result output of module to hardware；It is synchronous to be believed by input and output hardware with Cross transfer module
The simultaneously operating of three remaining execution steps number is completed, the operation of software in each remaining is made in consistent state, it is total by CAN
Line Cross transfer completes the transmission of remaining data, sends out the latest data comprising other remainings in each remaining, synchronized result
Deliver to redundancy management monitoring module to use for monitoring；Redundancy management monitoring module realizes the monitoring of input signal, synchronized result, prison
Whether control signal is in effective status, and signal fault word is delivered to voting with signal processing as reference, and malfunction is delivered to
Active-standby switch logic module, system fault condition delivers to state and declares module with failure；Voting realizes three with signal processing module
The voting of remaining signal, is input into from redundancy management monitoring, input and output processing module；State declares module by system with failure
Fault message is exported in real time present in running status and running, is shown to by externally connected with display screen, handheld terminal
User, is input into and processes three modules from voting and signal processing, redundancy management monitoring, input and output, gps data, comprehensive aobvious aobvious
Show, the Jing input and output processing modules implement such as system state data is uploaded；Control law module, control law is calculated is decided by vote based on remaining
Correct signal out, for the operation signal of telecommunication request by user to equipment such as handles corresponding solenoid valve control life is converted into
Order, and then the control to parts such as big arm of digger, forearms is realized, it is input into from voting and signal processing, result of calculation Jing peace
Full property is exported after processing by input and output processing module；Active-standby switch logic module, decides by vote when remaining and is found with monitoring
Main service aisle completes the switching of main service aisle by active-standby switch logic when having abnormal, make original standby service aisle complete
Into main output control function, it is input into from redundancy management monitoring module, is switched in passage by input and output processing module
Signal delivers to hardware；Safeguard and BIT modules, complete test, the detection function of controller for excavators internal signal, it is defeated by being input into
Go out processing module and receive long-range maintenance command, implementing result Jing state is declared module and realizes output with failure.
The present invention is configured using triplex redundance, and respectively three passages, automatically controlled software is separately operable on three processors, presses
Corresponding function is performed respectively according to active and standby, monitoring Three role.Each remaining is respectively completed each component sensors signal of excavator
The function such as collection, intersection data transfer, signal voting and monitoring, primary channel switching, but synchronization only one of which remaining
(main channel) can complete the control of the electromagnetic valve execution unit to excavator by signal output, other remaining (standby passage, prisons
Control passage) complete signal voting and monitor.By the cycle of operation that the frequency partition of execution task is different, servo control in each passage
Task processed completes the closed loop control of the valve displacement command such as scraper bowl, revolution, large arm, and process cycle of operation is 1ms, and servo valve loop is supervised
Control completes the monitoring of valve electric current, and process cycle of operation is 5ms, and remaining voting and main control rule are calculated as 50ms.
The innovative point of this programme is as follows：
1st, core innovative point, is controlled using triplex redundance software, respectively with main service aisle, standby service aisle, monitoring work
The mode of passage is run, and realizes condition monitoring in running and the switching of active and standby service aisle, the safety of lift system and
Robustness, makes system remain able to work on when wherein a passage goes wrong.
2nd, secondary innovative point 1, built-in power-on self-test examination function (PUBIT), by power-on self-test, each part of analysis system
Working condition, realizes the detection to system self-operating state, beneficial to system maintenance.
3rd, secondary innovative point 2, comprising signal voting and processing function, realizes to the remaining of electrical equipment two or the table of triplex redundance signal
Certainly, remove go wrong or exception signal, allow system to work on beneficial to the advantage of redundant configuration in case of a fault.
4th, secondary innovative point 3, comprising active and standby work-based logic handoff functionality, when main service aisle goes wrong, can be certainly
The dynamic switching for realizing active and standby service aisle, by control of the standby service aisle adapter to system, makes system work on, in addition upper
When electrically activating, the conversion work of active and standby service aisle is automatically obtained, makes two service aisles under normal circumstances in turn to system
It is controlled, it is to avoid the inconsistent situation of system loss that one of passage life-time service is caused.
5, secondary innovative point 4 supports the real-time switching of remote control and local control, both can be realized to machine by remote terminal
The operation of device, also can in real time switch back into driver's cabin and operating right is returned to into driver, in the situation that operating mode is poor, relatively hazardous
Under, improve the safety of operator.
The present invention has the advantage that and beneficial effect：Triplex redundance excavator Flying by wire system is by Redundant Control and system
State monitoring raising system reliability and robustness, Flying by wire also enable a system to achieve operating process informationization,
Automatization, can provide powerful support for the new application scenarios such as Based Intelligent Control and multi-machine collaborative.
Description of the drawings
Fig. 1 triplex redundance excavator Flying by wire system connects；
Fig. 2 triplex redundance excavator Flying by wire software configurations；
Fig. 3 input interface management and dispatching schematic diagrams；
Fig. 4 output interface management and dispatching schematic diagrams；
Fig. 5 control law performance data streams；
Fig. 6 remainings are decided by vote and control function management and dispatching；
Specific embodiment
It is described below based on the automatically controlled excavator triplex redundance software control system of MPC5644A processors.Wherein system is discrete
Amount signals collecting passes through eTPU modules by GPIO modules, analog signalses collection by eQADC modules, PWM outputs.Software system
System is shown in Fig. 1 with outside annexation, and the relation in technical scheme between input/output signal and software inhouse module is shown in Fig. 2.
Step 1)：System electrification is initialized, and system clock is configured to 120MHz, make each sensor signal and redundancy management,
The states such as system monitoring are default security state, while completing the registration and initialization of each periodic duty, complete the same of triplex redundance
Step, makes each passage in consistent running status, subsequently into periodic duty；
Step 2)：1ms servo task processes are：(1) input signal is processed, and completes line solenoid valve displacement transducer letter
Number collection, force motor electric current, pump swash plate electric current and pump swash plate positions collecting sensor signal；(2) obtain main control rule to calculate
Banked direction control valves force motor driving instruction, pump swash plate driving current instruction；(3) SERVO CONTROL rule is called to be controlled calculating；(4) it is defeated
Go out signal processing, obtain the corresponding force motor control signals of valve such as scraper bowl, revolution, large arm and exported by PWM, obtain pump swash plate
Control signal is simultaneously exported by PWM, completes the closed loop control of servo.
The handling process of wherein 1ms, 5ms, 50ms input/output signal is shown in Fig. 3, Fig. 4.Input signal, output signal and control
The data flow relation of system rule module is shown in Fig. 5.
Step 3)：The process of 5ms tasks mainly completes the monitoring of electric control multi-way valve servo loop and hydraulic pump servo loop prison
Control function.The monitoring of electric control multi-way valve servo loop is mainly comprising DDV2 position feedback transducers and value monitoring, force motor electric current prison
Control, the monitoring of spool position Model Monitoring, electromagnetic valve current, servo integrated logic, the reseting logic of electric control multi-way valve, automatically controlled multichannel
The active/standby work switch logic of valve servo.Hydraulic pump servo loop control function is mainly comprising swashplate position feedback sensor from prison
Control, proportional solenoid current monitoring, hydraulic pump servo integrated logic, the reseting logic of hydraulic pump, the active/standby work switching of hydraulic pump
Logic.Also need to carry out the synchronization between triple channel in 5ms tasks to shake hands, it is ensured that control the concordance for calculating between passage.
Step 4)：50ms tasks complete sensor signal on operator handle electric signal, car, valve pressure signal
Collection and process.Simultaneously the sensor signal of this passage and vehicle body status information are carried out intersection data transfer by each passage, are made
The data that each passage obtains other two passages are obtained, the data of triplex redundance are formed.Next monitored into redundancy management
Journey, is shown in Fig. 6.Judge whether the signal of each passage is normal by contrasting the data difference and threshold value of each signal triplex redundance,
Take normal signal simultaneously to use as next step calculating.If some sensor signal whole failures, export phase inductive sensing
The maintenance request information of device.
Step 5)：Using redundancy management and the voting result of monitoring as input, the control law task of 50ms, control law are performed
It is broadly divided into 5 moulds such as banked direction control valves control, pump swash plate swinging angle control, control of engine speed, solenoid valve control, SERVO CONTROL
Block.The output that control law is calculated is banked direction control valves force motor driving instruction, pump swash plate driving current is instructed, engine speed is instructed,
Each solenoid valve control instruction.Wherein engine speed instruction Jing CANs in 5ms tasks are sent to ECU, each solenoid valve control
Instruction is exported in 50ms periodic duties by PWM.
Claims (1)
1. three modules are processed with signal processing, redundancy management monitoring, input and output from voting, gps data, comprehensive display, be
The Jing input and output processing modules implements such as system status data are uploaded；
Control law module, control law calculates the correct signal deciding by vote out based on remaining, for by user to equipment such as handles
Operation signal of telecommunication request is converted into corresponding solenoid valve control order, and then realizes the control to parts such as big arm of digger, forearms
System, is input into from voting and signal processing, and result of calculation is exported Jing after safety process by input and output processing module；
Active-standby switch logic module, when remaining is decided by vote finds that main service aisle has abnormal with monitoring active-standby switch logic is passed through
The switching of main service aisle is completed, makes original standby service aisle complete main output control function, be input into from remaining pipe
Reason monitoring module, hardware is delivered to by input and output processing module by channel switching signal；
Safeguard and BIT modules, complete the functions such as test, the detection of controller for excavators internal signal, processed by input and output
Module receives long-range maintenance command, and implementing result Jing state is declared module and realizes output with failure.
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| CN201610595032.XA CN106567420A (en) | 2016-07-26 | 2016-07-26 | Triple-redundancy software control system of electrical transmission control excavator |
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| CN201610595032.XA CN106567420A (en) | 2016-07-26 | 2016-07-26 | Triple-redundancy software control system of electrical transmission control excavator |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109062027A (en) * | 2018-08-02 | 2018-12-21 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of active and standby work switching method of CAN bus of double redundancy control mode |
| CN109240074A (en) * | 2018-08-02 | 2019-01-18 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of active and standby work switching method of actuator of double redundancy control mode |
| CN110716543A (en) * | 2019-10-15 | 2020-01-21 | 中国船舶重工集团公司第七0七研究所九江分部 | Ship redundancy control technical scheme |
| CN113970008A (en) * | 2021-10-16 | 2022-01-25 | 山东锐凯工程机械有限公司 | Automatic control method and system for multi-way valve for hydraulic excavator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109062027A (en) * | 2018-08-02 | 2018-12-21 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of active and standby work switching method of CAN bus of double redundancy control mode |
| CN109240074A (en) * | 2018-08-02 | 2019-01-18 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of active and standby work switching method of actuator of double redundancy control mode |
| CN109240074B (en) * | 2018-08-02 | 2021-07-16 | 中国航空工业集团公司西安飞行自动控制研究所 | Method for switching main and standby work of actuator in dual-redundancy control mode |
| CN110716543A (en) * | 2019-10-15 | 2020-01-21 | 中国船舶重工集团公司第七0七研究所九江分部 | Ship redundancy control technical scheme |
| CN113970008A (en) * | 2021-10-16 | 2022-01-25 | 山东锐凯工程机械有限公司 | Automatic control method and system for multi-way valve for hydraulic excavator |
| CN113970008B (en) * | 2021-10-16 | 2024-02-27 | 山东锐凯工程机械有限公司 | Automatic control method and system for multi-way valve for hydraulic excavator |
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