CN106950820B - Multi-redundancy arbitration dynamic positioning control system and method - Google Patents
Multi-redundancy arbitration dynamic positioning control system and method Download PDFInfo
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Abstract
The invention discloses a multi-redundancy arbitration dynamic positioning control system and a method, wherein the system comprises a control computer group and a sensor system, the control computer group comprises a plurality of control computers, and the sensor system comprises a plurality of data acquisition units; the sensor system further comprises arbitration units, the arbitration units are electrically connected with one another, the number of the arbitration units is at least two, each control computer in the control computer group is electrically connected with the arbitration units, and each data acquisition unit in the sensor system is electrically connected with the arbitration units. The system of the invention improves the stability of the control system by arranging two independent arbitration units which are respectively connected with all control computers.
Description
Technical Field
The invention belongs to the field of ship and ocean engineering, and particularly relates to a multi-redundancy arbitration multi-redundancy computer control system and method.
Background
Dynamic Positioning (Dynamic Positioning) is a technology for realizing accurate maintenance of offshore operation positions of ships or offshore floating structures by means of a closed-loop control system, and is widely applied to semi-submersible drilling platforms, drilling ships and various auxiliary operation ships. In terms of system composition, the dynamic positioning system comprises four parts: sensor system, control system, thruster system and driving system. In recent years, with the continuous expansion of offshore oil and gas exploration to deep sea areas, International Maritime Organization (IMO) and classification societies of various countries put forward high requirements on the safety and reliability of offshore dynamic positioning operation, and a single controller structure of a dynamic positioning system cannot meet the requirement of uninterrupted operation of an offshore oil and gas platform all the year round.
The literature search shows that the control calculation and the redundancy management described in the patent (201110149060.6) semi-physical simulation method of DP-3 level dynamic positioning are in the same computer, and whether the computer is in fault is judged only by software voting performed inside the computer. The triple redundant control computer system described in the patent 201210458941.0, a triple redundant computer system for dynamic positioning control of a ship, wherein a control subsystem consisting of an arbitration unit and a control computer loses control function when any one of the arbitration unit and the independent control computer connected thereto fails.
In addition, many documents propose monitoring and redundancy switching of the operation conditions of three control computers by an independent arbitration unit, and once the independent arbitration unit fails, the failure of the whole dynamic positioning control system is caused.
Disclosure of Invention
In order to overcome the defects of the prior art, one of the objectives of the present invention is to provide a multi-redundancy arbitration dynamic positioning control system, which can solve the technical problem of stability of the dynamic positioning system.
The second objective of the present invention is to provide a power positioning control method with multiple redundancy arbitration, which can solve the technical problem of stability of the power positioning system.
One of the purposes of the invention is realized by adopting the following technical scheme:
a multi-redundancy arbitration dynamic positioning system comprises a control computer group and a sensor system, wherein the control computer group comprises a plurality of control computers, and the sensor system comprises a plurality of data acquisition units;
the sensor system further comprises at least two arbitration units, the arbitration units are electrically connected with one another, each control computer in the control computer group is electrically connected with the arbitration units, and each data acquisition unit in the sensor system is electrically connected with the arbitration units.
Preferably, the sensor system comprises a position sensor, a heading sensor, an attitude sensor, a wind sensor and an ocean current sensor.
Preferably, the number of arbitration units is two.
The second purpose of the invention is realized by adopting the following technical scheme:
a multi-redundancy arbitration dynamic positioning method applied to the dynamic positioning control system as described in any one of the above items, comprising the following steps:
s1: setting a main arbitration unit and synchronizing the main arbitration unit and a slave arbitration unit;
s2: the main arbitration unit synchronizes the control computer group, and the main control computer is set after synchronization is finished;
s3: the main arbitration unit and the slave arbitration unit synchronously receive the sensor data uploaded by the data acquisition unit and perform input arbitration on the sensor data to obtain control input signals, and the main arbitration unit sends the control input signals to each control computer;
s4: each control computer carries out control resolving on the control input signal sent by the main arbitration unit according to the same control step length, and sends the obtained resolving output result to the main arbitration unit and the slave arbitration unit for output arbitration so as to obtain the control output result output and arbitrated by the main arbitration unit;
s5: and sending the control output result of the main arbitration unit to each control computer to obtain a control instruction, and transmitting the control instruction to the thruster system by the main control computer.
Preferably, between step S1 and step S2, step S11 is further included: by the slave arbitration unit determining whether the master arbitration unit has a failure, if yes, the slave arbitration unit is made the master arbitration unit, and if no, step S2 is performed.
Preferably, the method further comprises the step S21 between the step S2 and the step S3: and judging whether the main control computer is a fault control computer or not through the main arbitration unit, and if so, switching the main control right of the main control computer to any other control computer.
Compared with the prior art, the invention has the beneficial effects that:
the system of the invention improves the stability of the control system by arranging two independent arbitration units which are respectively connected with all control computers.
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FIG. 1 is a block diagram of a multiple redundancy arbitrated dynamic positioning control system of the present invention;
FIG. 2 is a flow chart of a multi-redundancy arbitration dynamic positioning control method according to the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings and the detailed description below:
as shown in fig. 1, the present invention provides a multi-redundancy arbitration dynamic positioning control system, which comprises a control computer group and a sensor system, wherein the control computer group comprises a plurality of control computers, and the sensor system comprises a plurality of data acquisition units; the sensor system further comprises arbitration units, the number of the arbitration units is at least two, the arbitration units are electrically connected, each control computer in the control computer group is electrically connected with the arbitration units, and each data acquisition unit in the sensor system is electrically connected with the arbitration units. Any one of the control computer, the arbitration unit and the data acquisition unit can form a complete dynamic positioning control system, and the redundant design of the control computer, the arbitration unit and the data acquisition unit can ensure the multiple fault-operation capability of the control system; each control computer is respectively connected with the double redundant arbitration units, each data acquisition unit is respectively connected with the double redundant arbitration units, and the arbitration units are controlled and switched through a specific arbitration algorithm.
The control computer, the arbitration unit and the data acquisition unit can be configured according to the power positioning additional mark; taking additional marks DP-2 and DP-3 of China classification society as examples, the DP-2 requires a single movable part or a system to be in fault, and the dynamic positioning system can still automatically keep the position and heading of the ship; DP-3 requires that the dynamic positioning system can still automatically maintain the position and heading under the condition of fire or water immersion of one cabin, so that the main control station and the standby control station of the dynamic positioning system which meet the additional DP-3 mark must have physical isolation, and Chinese Classification Society (CCS) specifications require that the isolation standard of the main control station and the standby control station of the dynamic positioning system is A60 fire-proof standard. Therefore, regardless of whether the control computer of the primary control station is dual, triple, or even quad redundant, the system only complies with the DP-2 additional flag if no backup control station with physical isolation is provided.
If the system architecture of the present invention is not provided with a physically separate standby control station, so that the system architecture only complies with the DP-2 additional flag, but is extended by a corresponding standard, the additional flag of DP-3 can be obtained.
The invention has the advantages that: the system overcomes the defect that the operation conditions of three control computers are monitored and redundantly switched by an independent arbitration unit, and once the arbitration unit fails, the whole ship dynamic positioning system fails; the control subsystem is formed by an independent arbitration unit corresponding to an independent control computer, the plurality of control subsystems are monitored and switched redundantly through the arbitration unit, and when any one of the arbitration unit and the independent control computer connected with the arbitration unit fails, the control subsystem formed by the arbitration unit and the control computer loses the control function.
The working mode of the multiple redundancy control computer group is that each control computer in the redundancy control computer group has the same function, and the system hardware configuration and the software can realize the same function. In terms of hardware, each control computer adopts an industrial-grade design standard, and comprises a power supply module, a CPU (central processing unit), a memory, a hard disk, a bus, an interface and the like, and the control computers are communicated with each other through an Ethernet. The multiple redundant control computers need to keep running in parallel and synchronously execute the software tasks of dynamic positioning control calculation. The main arbitration unit in the double redundancy arbitration unit is responsible for the synchronization of the control computer group, and after the synchronization, the multiple redundancy control computers mutually and continuously send own heartbeat signals at a certain time frequency and receive heartbeat signals of other computers so as to supervise whether the peers always synchronously execute the control resolving task. After receiving the input arbitration result from the main arbitration unit, each synchronous control computer carries out respective solution, and sends the final solution result to the main arbitration unit and the standby arbitration unit for arbitration, and finally the main arbitration unit is responsible for sending the arbitrated control result to the control computer group.
One or only one of the redundant control computers has the master control right, namely the master control computer, and only the master control computer has the right of sending a control instruction to the execution mechanism. The main control right is appointed by the main arbitration unit when the system is started, and when the main control computer fails, the main control right can be automatically switched to another control computer so as to ensure real-time thruster system output.
The dual-redundancy arbitration unit is responsible for arbitrating the control input and the control output of the control computer group and diagnosing the faults of the control computer and the sensor in real time. The software and hardware systems of each arbitration unit are completely the same as the realizable functions, and the arbitration units are designed by adopting high-performance processors, including an FPGA, an ARM, a PowerPC and the like. The dual redundant arbitration mechanism has a master and a slave, only the master arbitration unit has the right to send the arbitration result to the control computer group, and the system has only one master arbitration unit at any time. After the system is powered on, the main control right of the arbitration unit is initially set by the upper computer, if the main arbitration unit fails in the operation process of the system, the main arbitration right can be automatically switched to the standby arbitration unit, and the standby arbitration unit can start to implement the responsibilities of the main arbitration unit. The main arbitration unit and the standby arbitration unit communicate with each other through a field bus, and after synchronization is realized, the main arbitration unit and the standby arbitration unit implement corresponding arbitration functions in parallel.
The data acquisition unit group is composed of data acquisition units with the same function and is mainly responsible for acquiring various sensor information required by dynamic positioning calculation in real time. Each data acquisition unit is provided with extensible data interfaces with the same functions and number, and the extensible data interfaces comprise: DI/DO interface, AI/AO interface, RS232 serial interface, RS485 interface, CAN interface, Ethernet interface, etc. Because the redundant configuration of the sensors can be different according to the requirements of dynamically positioning different additional marks, the sensors connected with the control system described by the invention are not limited to the requirements of the additional marks DP-2 or DP-3, and if the types and the number of the sensors are increased, the data acquisition units can be correspondingly added. As long as each data acquisition unit is ensured to at least acquire data of 1 set of position sensor, 1 set of course sensor, 1 set of attitude sensor, 1 set of wind speed sensor and 1 set of ocean current sensor, the type requirement of the sensor required by dynamic positioning control resolving is at least met.
As shown in fig. 2, the present invention provides a power positioning control method with multiple redundancy arbitration, which is applied to the power positioning control system as described above, and comprises the following steps:
s1: setting a main arbitration unit and synchronizing the main arbitration unit and a slave arbitration unit; between step S1 and step S2, step S11 is further included: judging whether the main arbitration unit has faults or not by the auxiliary arbitration unit, if so, taking the auxiliary arbitration unit as the main arbitration unit, and if not, executing the step S2; when the slave arbitration unit finds that the master arbitration unit is continuously abnormal or has a fault through the joint monitoring and diagnosis of the control computer group and the master arbitration unit, the arbitration right can be switched to the original slave arbitration unit to isolate the original master arbitration unit;
s2: the main arbitration unit synchronizes the control computer group, and the main control computer is set after synchronization is finished;
s3: the main arbitration unit and the slave arbitration unit synchronously receive the sensor data uploaded by the data acquisition unit and perform input arbitration on the sensor data to obtain control input signals, and the main arbitration unit sends the control input signals to each control computer; the input arbitration of the arbitration unit is that the arbitration unit arbitrates various sensor information collected by the data collection units, and the correct sensor input is the premise of calculating the correct control output. Selecting a corresponding arbitration mechanism or algorithm according to the quantity of each sensor, and finally judging control input data entering dynamic positioning calculation to give an alarm for a fault sensor; the arbitration algorithm for the sensor input is determined by combining the type and number of sensors for measuring the same kind of data, which are provided in the actual control system. For example, for measuring heading information of a dynamic positioning ship, if 3 identical sensors are provided, a voting mechanism of three-out-of-two can be adopted for arbitration to determine final sensor input data; if 3 different sensors with different measurement principles are equipped, different trust weights can be given to each sensor according to a certain trust weight and construction experience, and finally, a final judgment value is obtained through weighted average.
Also included between step S2 and step S3 is step S21: judging whether the main control computer is a fault control computer or not through a main arbitration unit, if so, switching the main control right of the main control computer to any other control computer, and if the current main control computer is not the fault control computer and the other control computers have fault computers, isolating the fault computer;
s4: each control computer carries out control resolving on the control input signal sent by the main arbitration unit according to the same control step length, and sends the obtained resolving output result to the main arbitration unit and the slave arbitration unit for output arbitration so as to obtain the control output result output and arbitrated by the main arbitration unit; the output arbitration of the arbitration unit is that the arbitration unit arbitrates the control output solved by each control computer, and needs to select a corresponding arbitration mechanism or algorithm by combining the specific number of the redundant control computers, so as to finally arbitrate a control instruction output to the thruster system and alarm a fault control computer. For the arbitration algorithm output by the controller, the arbitration mechanism needs to be designed by combining the redundancy degree of the actual control system. For example, when the control computer is N-modular redundancy, the control result is output only when at least (N +1)/2 computers reach the agreement result, otherwise, the last control result is output; if the number of times that the (N +1)/2 computers do not reach the consistent result exceeds the limit value, starting a corresponding fault diagnosis program for the corresponding control computer and finding out a possible reason.
S5: and sending the control output result of the main arbitration unit to each control computer to obtain a control instruction, and transmitting the control instruction to the thruster system by the main control computer.
The specific working process of the method comprises the following steps:
and the system is electrified, and the control computer, the arbitration unit and the data acquisition unit respectively complete corresponding initialization programs and self-checking programs. After normal starting, the main arbitration unit is set, after the main arbitration unit and the slave arbitration unit are synchronized, the main arbitration unit implements synchronization to the control computer group, and after the synchronization is completed, the main control computer is set.
The master arbitration unit and the slave arbitration unit synchronously receive the data uploaded by the data acquisition unit, carry out input arbitration on the sensor data, and send the arbitrated control input data to each control computer through the master arbitration unit. Meanwhile, each control computer combines the input data sent by the main arbitration unit according to the same control step length to carry out control resolution, and sends the resolved control result to the main arbitration unit and the slave arbitration unit for arbitration. The control output result decided by the main arbitration unit is sent to each control computer, and finally the main control computer is responsible for transmitting the control instruction to the thruster system.
When the master arbitration unit and the slave arbitration unit work normally, the fault control computer and the fault sensor can be diagnosed respectively through input arbitration and output arbitration, if the fault control computer is just the master control computer, the control right of the master control computer needs to be switched, the control right can be switched to the computer which is set by default by system software, the setting of the master control right can be set to a priority level from the initial time, and therefore a basis is provided for the switching of the master control computer; so that it does not affect the operation of the whole system; if the fault computer is not the main control computer, the current fault computer is isolated, and the operation of the whole system is not influenced.
The dual-redundancy arbitration unit simultaneously monitors and diagnoses the working conditions of the control computer group and the data acquisition unit, and the master arbitration unit and the slave arbitration unit diagnose each other. When the slave arbitration unit finds that the master arbitration unit is continuously abnormal or has a fault through the joint monitoring and diagnosis of the control computer group and the master arbitration unit, the arbitration right can be switched to the original slave arbitration unit, and the original master arbitration unit is isolated.
Various other modifications and changes may be made by those skilled in the art based on the above-described technical solutions and concepts, and all such modifications and changes should fall within the scope of the claims of the present invention.
Claims (6)
1. A multi-redundancy arbitration dynamic positioning control system comprises a control computer group and a sensor system, wherein the control computer group comprises a plurality of control computers, and the sensor system comprises a plurality of data acquisition units;
the sensor system is characterized by further comprising at least two arbitration units, each arbitration unit comprises a main arbitration unit and a slave arbitration unit, only one main arbitration unit is arranged, the arbitration units are electrically connected, each control computer in the control computer group is electrically connected with the main arbitration unit and the slave arbitration unit, each data acquisition unit in the sensor system is electrically connected with the main arbitration unit and the slave arbitration unit, and the arbitration units are used for executing the following steps:
s1: setting a main arbitration unit and synchronizing the main arbitration unit and a slave arbitration unit;
s2: the main arbitration unit synchronizes the control computer group, and after synchronization is completed, a main control computer is set;
s3: the main arbitration unit and the slave arbitration unit synchronously receive the sensor data uploaded by the data acquisition unit and perform input arbitration on the sensor data to obtain control input signals, and the main arbitration unit sends the control input signals to each control computer;
s4: each control computer carries out control resolving on the control input signal sent by the main arbitration unit according to the same control step length, and sends the obtained resolving output result to the main arbitration unit and the slave arbitration unit for output arbitration so as to obtain the control output result output and arbitrated by the main arbitration unit;
s5: and sending the control output result of the main arbitration unit to each control computer to obtain a control instruction, and transmitting the control instruction to the thruster system by the main control computer.
2. The multi-redundant arbitrated dynamic positioning control system of claim 1 wherein the number of arbitration units is two.
3. The multi-redundant arbitrated dynamic positioning control system of claim 1 wherein the sensor system comprises a position sensor, a heading sensor, an attitude sensor, a wind speed sensor and an ocean current sensor.
4. A multi-redundancy arbitration dynamic positioning control method applied to the dynamic positioning control system according to any one of claims 1-3, characterized by comprising the following steps:
s1: setting a main arbitration unit and synchronizing the main arbitration unit and a slave arbitration unit;
s2: the main arbitration unit synchronizes the control computer group, and after synchronization is completed, a main control computer is set;
s3: the main arbitration unit and the slave arbitration unit synchronously receive the sensor data uploaded by the data acquisition unit and perform input arbitration on the sensor data to obtain control input signals, and the main arbitration unit sends the control input signals to each control computer;
s4: each control computer carries out control resolving on the control input signal sent by the main arbitration unit according to the same control step length, and sends the obtained resolving output result to the main arbitration unit and the slave arbitration unit for output arbitration so as to obtain the control output result output and arbitrated by the main arbitration unit;
s5: and sending the control output result of the main arbitration unit to each control computer to obtain a control instruction, and transmitting the control instruction to the thruster system by the main control computer.
5. The multi-redundancy arbitrated dynamic positioning control method according to claim 4, further comprising, between step S1 and step S2, step S11: by the slave arbitration unit determining whether the master arbitration unit has a failure, if yes, the slave arbitration unit is made the master arbitration unit, and if no, step S2 is performed.
6. The multi-redundancy arbitrated dynamic positioning control method according to claim 4, further comprising, between steps S2 and S3, step S21: and judging whether the main control computer is a fault control computer or not through the main arbitration unit, and if so, switching the main control right of the main control computer to any other control computer.
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| CN109386796A (en) * | 2018-11-01 | 2019-02-26 | 天津天元海科技开发有限公司 | Intersect spare navigation mark lamp system each other |
| CN110958073B (en) * | 2019-11-06 | 2021-07-09 | 上海航天控制技术研究所 | Time synchronization voting method based on three sets of 1553B bus redundancy |
| CN112083645B (en) * | 2020-07-30 | 2024-05-03 | 上海航天控制技术研究所 | Method for managing redundant mode of thruster, shielding faults and recovering faults autonomously |
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| CN101833536B (en) * | 2010-04-16 | 2012-02-08 | 北京航空航天大学 | Reconfigurable on-board computer of redundancy arbitration mechanism |
| CN102929157B (en) * | 2012-11-15 | 2015-10-21 | 哈尔滨工程大学 | A kind of dynamic positioning of vessels computer for controlling system of triple redundance |
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