CN108375899A - high reliability wave glider control system - Google Patents
high reliability wave glider control system Download PDFInfo
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- CN108375899A CN108375899A CN201810085117.2A CN201810085117A CN108375899A CN 108375899 A CN108375899 A CN 108375899A CN 201810085117 A CN201810085117 A CN 201810085117A CN 108375899 A CN108375899 A CN 108375899A
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B9/00—Safety arrangements
- G05B9/02—Safety arrangements electric
- G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
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Abstract
A kind of high reliability wave glider control system, including main control computer, redundant computer, handover module, peripheral equipment, belong to wave glider control field.There is communication connection between main control computer and redundant computer.Control system has two kinds of operating modes of main control computer tupe and redundant computer tupe, is automatically switched whether normal operation according to main control computer by redundant computer.The control system also has integrated weather station GPS position information fault diagnosis and alternative functions, is diagnosed and is substituted automatically according to integrated weather station GPS navigational speed informations by current control computer.High reliability wave glider control system provided by the invention has reliability height, simple in structure, the advantages of being easy to develop, can effectively improve wave glider vitality, reduce its lost contact, missing risk.
Description
Technical field
The present invention relates to high reliability wave glider control systems, utilize the parallel connection of main control computer and redundant computer
System, when any control computer breaks down, control system can still be run, and utilize integrated weather station GPS position information failure
Diagnosis improves the confidence level of wave glider location information feedback with alternative functions, belongs to wave glider control field.
Background technology
Wave glider is novel marine observation platform, it by absorbing the wave energy in ocean, be translated into from
The power of body navigation is converted solar energy into electrical energy and is powered for equipment of itself by solar panels.It has cruising ability strong,
Operation cost is cheap, adaptable under severe sea condition, running noises are small, many merits such as pollution-free, is all kinds of marine informations
Observation provides new way with research, has been widely used in the detection of long-time marine environment, biology migrates research, weather information
The numerous areas such as forecast.
Wave glider is designed for long-term unmanned sail, and long operational time, maritime environment is severe, and human intervention is tired
Difficulty, a series of this unfavorable factor all propose the control system of wave glider harsh requirement.
In general, wave glider control system using embedded computer as control computer, with sensor, hold
Row device, communication apparatus carry out information exchange, and sensor obtains environmental information, and including location information etc., control computer acquires simultaneously
Sensor information is parsed, on the one hand actuator is driven to carry out motion control, monitoring client is on the other hand sent to by communication apparatus.
The core of control computer system in order to control, once control computer breaks down, then control system is collapsed completely, this is for wave
Unrestrained glider is fatal.
The location information of wave glider is typically derived from integrated weather station, however the GPS positioning information that weather station provides
It sometimes appear that offset outlier, range of drift may be very big, and as in typhoon in rugged environment, integrated weather station can suffer from
Damage, in these cases, even if control system other parts completely normal wave glider if fed back without normal direction monitoring client it is accurate
True location information can not also be recycled, this is also fatal for wave glider.
Build what ground English one et al. proposed《Duplex system and processor switching method》(publication number：CN101122877A it is adopted in)
With the scheme of operation processor and backup processor parallel connection, when it is main execute the operation arithmetic unit calculated and backup processor it
Between the method that data is relayed using cache memory of switching, this uses relay group with handover module in the present invention
Method And Principle it is different.The structure of handover module of the present invention is more simple and reliable, is more applicable for marine unmanned vehicles insertion
Formula control system.
What Li Dong Chun proposed《Duplex apparatus in large scale system and its method》In, it is provided with the first similar list of structure
Member and second unit, include processor and memory in first unit and second unit, and first unit and second unit are cut
Change the structure using one duplex channel of setting and duplexing control logic part.The duplex channel and first unit and second are single
Member is connection, and handover module uses single-pole double-throw relay group in the present invention, is all only handled with one all the time
Device is connected to and is disconnected with another processor, and the two principle is different.The structure of handover module of the present invention is more simple and reliable, more
Suitable for marine unmanned vehicles embedded control system.
What yellow Rong Hui et al. was proposed《Multi-rotor unmanned aerial vehicle communicates and safety monitoring system》(publication number：CN105824318A)
In use " command mode " of iridium communication module for transmitting information, only simply used comet system, this and this
According to integrating, weather station GPS navigational speed informations carry out fault diagnosis and the operating mode for automatically switching iridium satellite has essence not in invention
Together.
High reliability wave glider control system proposed by the present invention, using main control computer and redundant computer and
Contact system, when any control computer breaks down, control system can still be run, and handover module uses single-pole double-throw relay
The design of group, simple in structure, at low cost, reliable and stable, main control computer is similar to redundant computer internal processes, development difficulty
It is low, improve wave glider location information feedback using integrated weather station GPS position information fault diagnosis and alternative functions
Confidence level.The control system has high reliability, and significantly reducing control system failure causes wave glider missing
Risk.
Invention content
The present invention provides a kind of high reliability wave glider control systems, it is therefore intended that so that wave glider is in master
Control computer or integrated weather station GPS when breaking down remain to that control system is made to continue to run with, and credible to monitoring client feedback
Spend higher GPS positioning information.
The object of the present invention is achieved like this：The high reliability wave glider control system includes that master control calculates
Machine, redundant computer, handover module, peripheral equipment.The handover module is single-pole double-throw relay group.The peripheral equipment packet
Communication subsystem, sensor subsystem and actuator subsystem are included, wherein communication subsystem includes iridium communication module and the Big Dipper
Communication module, sensor subsystem include that integrated weather station provides GPS location and the GPS speed of a ship or plane, and actuator subsystem includes steering engine.
The iridium communication module includes iridium satellite processor, iridium satellite antenna and GPS antenna.
Each communication line is connect with the common pin of each relay in handover module in peripheral equipment.Main control computer
Each communications pins are connect with the normally closed port of each relay in handover module.Each communications pins of redundant computer with cut
Change the mold the normally opened port connection of each relay in block.Each relay controlling switch is in parallel in handover module, and with spare meter
Calculation machine GPIO pin connects.One communication port of main control computer and a communication port of redundant computer connect.
Wherein, the interface of the main control computer and redundant computer configures, and handles data capability and computing capability is suitable,
Can complete independently whole peripheral system communication and control, including acquire and handle sensor subsystem and communication subsystem
The calculating tasks such as data, completion path planning motion control, control steering engine etc..
Main control computer, redundant computer are parallel-connection structures, are both connected with peripheral equipment by relay group, and
It is indirect to carry out data interaction with peripheral equipment.There is communication connection between main control computer and redundant computer.
Control system has two kinds of operating modes of main control computer tupe and redundant computer tupe.Described two
Kind operating mode is automatically switched by redundant computer according to main control computer whether normal operation.In main control computer processing
Under pattern, monitoring computer transmission data of the main control computer according to communication protocol as defined in elder generation into redundant computer is spare
Just whether the monitoring computer in computer judge master control system working condition according to the case where reading data in the time of regulation
Often.The case where when monitoring computer in redundant computer reads data at the appointed time includes：(1) it reads less than data；
(2) data are read, but data do not meet communication protocol requirements；(3) data are read, but data are lasting constant；(4) it reads
Data, and data are normal.When persistently appearance (1)-(3) situation is arbitrary or several at the appointed time, in redundant computer
Monitoring computer thinks master control system exception, into redundant computer tupe.Into after redundant computer tupe,
Occur situation (4) in stipulated time and continue for some time, the monitoring computer in redundant computer thinks master control system just
Often, into main control computer tupe.
The handoff procedure of main control computer tupe and redundant computer tupe is：
The first step：Main control computer is according to communication protocol as defined in prior to redundant computer transmission data, spare calculating
Machine in real time according to read data the case where judge whether main control computer operating status normal, if redundant computer monitors to lead
It is normal to control computer single data, then enables frequency of abnormity record variable n in redundant computer reset, as redundant computer monitors
Main control computer single is abnormal, then frequency of abnormity record variable n is enabled to increase by 1.
Second step：It is maximum abnormal that redundant computer judges whether main control computer frequency of abnormity record variable n is more than or equal to
Number m.If n<M, the then repeatedly first step；If n is more than or equal to m, then it is assumed that master control system failure, redundant computer is by wave
Glider operational mode switches to redundant computer tupe, and enters third and walk.
Third walks：Into after redundant computer tupe, redundant computer substitutes main control computer and peripheral equipment number
According to interaction, and the case where continuing in real time according to read data, judges whether main control computer operating status is normal.If spare meter
Calculation machine monitors that main control computer single data are normal, then the main control computer stored in redundant computer is enabled to restore normal number
Record variable u increases by 1, if redundant computer monitors that main control computer single is abnormal, then main control computer is enabled to restore normal time
Number record variable u is reset.
4th step：Redundant computer judges that main control computer restores whether number record variable u is more than or equal to recovery waiting
Number w.If u<W, then repeatedly third walks；If u is more than or equal to w, then it is assumed that master control system restores normal, and redundant computer will
Wave glider operational mode switches to main control computer tupe, and enters the first step.
Any time receives monitoring client END instruction or wave glider judgement completion task dispatching feelings when wave glider
When can shut down procedure operation under condition, which can terminate.
It is spare in main control computer tupe in two kinds of operating modes possessed by wave glider control system
GPIO pin is low level by computer, and the normally closed port of each relay is closed in handover module, and normally opened port disconnects, periphery
Each communication line carries out information exchange with firmly computer in equipment, and redundant computer monitors main control computer operating status in real time；
In redundant computer tupe, GPIO pin is high level by redundant computer, and each relay is normal in handover module
Closed end mouth disconnects, and normally opened port is closed, and each communication line carries out information exchange, spare calculating with redundant computer in peripheral equipment
Machine is calculated with main control computer under peripheral device information Processing Algorithm and main control computer tupe and peripheral device information processing
Method is completely the same, and redundant computer monitors main control computer operating status in real time.
High reliability wave glider control system provided by the invention also has integrated weather station GPS position information event
Barrier diagnosis and alternative functions.In main control computer tupe and redundant computer tupe, current control computer is adopted
Collection integrates the GPS navigational speed informations that weather station is beamed back, if the GPS speed of a ship or plane is more than the expection maximum speed of setting and continues for some time,
Then think that integrated weather station GPS position information breaks down, current control computer sends operating mode to iridium satellite processor and cuts
Instruction is changed, so that iridium communication module is entered " tracking pattern ", iridium communication module is beamed back to monitoring client by being taken on iridium satellite processor
The GPS position information that the GPS antenna of load obtains, while Beidou communication module is beamed back in detail by with the communication protocol that monitoring client is reached an agreement on
Wave glider status information；Current control computer acquisition integrates the GPS navigational speed informations that weather station is beamed back, such as the GPS speed of a ship or plane
It in the expection maximum speed of setting and continues for some time, then it is assumed that integrated weather station GPS position information is normal, current to control
Computer sends operating mode switching command to iridium satellite processor, so that iridium communication module is entered " command mode ", iridium communication
Module beams back detailed wave glider status information with Beidou communication module by with the communication protocol that monitoring client is reached an agreement on.Its
In, it is contemplated that maximum speed is empirically chosen, such as is taken as 5m/s.
The operational process of the integrated weather station GPS position information fault diagnosis and alternative functions is：
The first step：In main control computer tupe or redundant computer tupe, as integrated weather station is beamed back
The GPS speed of a ship or plane is less than the expection maximum speed of setting, then resets weather station GPS data frequency of abnormity record variable p, such as integrated gas
The GPS speed of a ship or plane beamed back as station is less than the expection maximum speed of setting, then increases weather station GPS data frequency of abnormity record variable p
Add 1.
Second step：Current control computer judges whether weather station GPS data frequency of abnormity record variable p is more than or equal to most
Main Meteorological Office GPS data frequency of abnormity q.If p<Q, the then repeatedly first step；If p is more than or equal to q, then it is assumed that weather station GPS
Wave glider iridium communication template pattern is switched to " tracking pattern ", iridium communication by the system failure, current control computer
Module beams back the GPS position information obtained by the GPS antenna carried on iridium satellite processor, while Beidou communication module to monitoring client
Detailed wave glider status information is beamed back by with the communication protocol that monitoring client is reached an agreement on, is walked into third.
Third walks：After iridium communication module enters " tracking pattern ", current control computer continues real-time judge and integrates gas
As the GPS navigational speed informations that station is beamed back, the GPS speed of a ship or plane that such as integrated weather station is beamed back is less than the expection maximum speed of setting, then by gas
Increase by 1 as station GPS data restores normal number record variable a, the GPS speed of a ship or plane that such as integrated weather station is beamed back is more than the expection of setting
Weather station GPS data is then restored normal number record variable a and reset by maximum speed.
4th step：Current control computer judges whether the weather station normal number record variable a of GPS data recovery is more than
Restore to wait for number b in weather station GPS data.If a<B, then repeatedly third walks；If a is more than or equal to b, then it is assumed that weather station
GPS data restores normal, and current control computer wave glider iridium communication template pattern switches to " command mode ", iridium satellite
Communication module beams back detailed wave glider status information with Beidou communication module by with the communication protocol that monitoring client is reached an agreement on,
Into the first step.
Any time receives monitoring client END instruction or wave glider judgement completion task dispatching feelings when wave glider
When can shut down procedure operation under condition, which can terminate.
The switching of the main control computer tupe and redundant computer tupe, with integrated weather station GPS
Confidence ceases fault diagnosis and alternative functions, the two carry out parallel.At main control computer tupe or redundant computer
Under reason pattern, is executed by current control computer and integrate weather station GPS position information fault diagnosis and alternative functions.
Compared with prior art, advantage of the invention is that：
1. using main control computer and redundant computer parallel system, system is controlled when any control computer breaks down
System can still be run, and improve the reliability of system；
2. constituting handover module using single-pole double-throw relay group, stability is high, reliable for operation.Relay group controlling switch
To switch to redundant computer tupe when high level, relay group controlling switch is controlled by redundant computer, in host computer
Redundant computer tupe can be effectively switched to when machine failure, and its GPIO pin gives tacit consent to low electricity when redundant computer failure
Flat, control system will not accidentally switch to redundant computer tupe.
3. the interface of main control computer and redundant computer configures, handles data capability and computing capability is suitable, with periphery
The program of facility information interaction is identical, and the only main control computer that do not exist together needs timing to characterize itself to redundant computer transmission data
Normal operation, and redundant computer needs timing receipt to monitor main control computer state.Main control computer is identical with redundant computer
Type selecting, almost consistent development process effectively reduce the development difficulty of the control system.
4. integrated weather station GPS position information fault diagnosis is effectively utilized the redundancy of iridium communication module with alternative functions
Location information effectively increases the confidence level for the location information for being sent to monitoring client, mitigates monitoring client monitoring personnel burden.The control
System processed has high reliability, and significantly reducing control system failure leads to wave glider lost contact, missing risk.
Description of the drawings
Fig. 1 is high reliability wave glider control system architecture schematic diagram；
Fig. 2 is master control computer disposal pattern and redundant computer tupe switching flow figure；
Fig. 3 is integrated weather station GPS position information fault diagnosis and alternative flow.
Specific implementation mode
It illustrates below in conjunction with the accompanying drawings and the present invention is described in more detail：
In conjunction with Fig. 1, wave glider High-reliability Control System includes main control computer, redundant computer, handover module,
Peripheral equipment.The handover module is single-pole double-throw relay group.The peripheral equipment includes communication subsystem, sensor subsystem
System and actuator subsystem.The communication subsystem includes iridium communication module and Beidou communication module.The sensor subsystem
System provides GPS location and the GPS speed of a ship or plane comprising integrated weather station.The actuator subsystem includes steering engine.The iridium communication mould
Block includes iridium satellite processor, iridium satellite antenna and GPS antenna.
State handover module composition and handover module and control system other parts connection relation in detail in conjunction with Fig. 1.In Fig. 1
Handover module is single-pole double-throw relay group, wherein 1. marked as serial number, 2. serial number is each single-pole double throw with serial number circle N
Relay.In each single-pole double-throw relay, NO pins are normally opened pin, and NC pins are normally closed pin, and IN pins are public draw
Foot, GND pin are grounding pin, CTRL pins pin in order to control.Relative to GND pin, when CTRL pins are high level, NO
Pin is connected with IN pins, and NC pins are disconnected with IN pins；When CTRL pins are low level, NO pins are disconnected with IN pins,
NC pins are connected with IN pins.It is each relay in communications pins, with handover module that " C " pin is labeled as in peripheral equipment
Common pin IN connections.It is for the pin with peripheral communications, with handover module that " C " pin is labeled as in main control computer
In each relay normally closed port NC connections.Be labeled as in redundant computer " C " pin be for peripheral communications
Pin is connect with the normally opened port NO of each relay in handover module.Each relay controlling switch CTRL in handover module
Parallel connection, and connect with redundant computer GPIO pin.It is drawing for a transmittable signal that " T " pin is labeled as in main control computer
Foot, is labeled as the pin that " R " pin is a receivable signal in redundant computer, pin T and spare calculating in main control computer
Pin R is connected in machine.
Wherein, the interface of the main control computer and redundant computer configures, and handles data capability and computing capability is suitable,
Can complete independently whole peripheral system communication and control, including acquire and handle sensor subsystem and communication subsystem
The calculating tasks such as data, completion path planning motion control, control steering engine etc..
The main control computer, redundant computer are parallel-connection structures, both pass through relay group and peripheral equipment phase
Even, indirect to carry out data interaction with peripheral equipment." C " pin is labeled as in peripheral equipment for being communicated with computer
Pin is connect with the common pin " IN " of each relay in handover module.
Control system has two kinds of operating modes of main control computer tupe and redundant computer tupe.Described two
Kind operating mode is automatically switched by redundant computer according to main control computer whether normal operation.In main control computer processing
Under pattern, monitoring computer transmission data of the main control computer according to communication protocol as defined in elder generation into redundant computer is spare
Just whether the monitoring computer in computer judge master control system working condition according to the case where reading data in the time of regulation
Often.The case where when monitoring computer in redundant computer reads data at the appointed time includes：(1) it reads less than data；
(2) data are read, but data do not meet communication protocol requirements；(3) data are read, but data are lasting constant；(4) it reads
Data, and data are normal.When persistently appearance (1)-(3) situation is arbitrary or several at the appointed time, in redundant computer
Monitoring computer thinks master control system exception, into redundant computer tupe.Into after redundant computer tupe,
Occur situation (4) in stipulated time and continue for some time, the monitoring computer in redundant computer thinks master control system just
Often, into main control computer tupe.
The feature of main control computer tupe and redundant computer tupe respectively is illustrated in detail below：In master control meter
In calculation machine tupe, GPIO pin is low level by redundant computer, and the normally closed port of each relay is closed in handover module
It closes, normally opened port disconnects, and each communication line carries out information exchange, redundant computer real time monitoring with firmly computer in peripheral equipment
Main control computer operating status；In redundant computer tupe, GPIO pin is high level by redundant computer, switches mould
The normally closed port of each relay disconnects in block, and normally opened port is closed, in peripheral equipment each communication line and redundant computer into
Row information interacts, under redundant computer and peripheral device information Processing Algorithm and main control computer tupe main control computer with
Peripheral device information Processing Algorithm is completely the same, and redundant computer monitors main control computer operating status in real time.
In conjunction with Fig. 2, the handoff procedure of the main control computer tupe and redundant computer tupe is：
The first step：Main control computer is according to communication protocol as defined in prior to redundant computer transmission data, spare calculating
Machine in real time according to read data the case where judge whether main control computer operating status normal, if redundant computer monitors to lead
It is normal to control computer single data, then enables frequency of abnormity record variable n in redundant computer reset, as redundant computer monitors
Main control computer single is abnormal, then frequency of abnormity record variable n is enabled to increase by 1.
Second step：It is maximum abnormal that redundant computer judges whether main control computer frequency of abnormity record variable n is more than or equal to
Number m.If n<M, the then repeatedly first step；If n is more than or equal to m, then it is assumed that master control system failure, redundant computer is by wave
Glider operational mode switches to redundant computer tupe, and enters third and walk.
Third walks：Into after redundant computer tupe, redundant computer substitutes main control computer and peripheral equipment number
According to interaction, and the case where continuing in real time according to read data, judges whether main control computer operating status is normal.If spare meter
Calculation machine monitors that main control computer single data are normal, then the main control computer stored in redundant computer is enabled to restore normal number
Record variable u increases by 1, if redundant computer monitors that main control computer single is abnormal, then main control computer is enabled to restore normal time
Number record variable u is reset.
4th step：Redundant computer judges that main control computer restores whether number record variable u is more than or equal to recovery waiting
Number w.If u<W, then repeatedly third walks；If u is more than or equal to w, then it is assumed that master control system restores normal, and redundant computer will
Wave glider operational mode switches to main control computer tupe, and enters the first step.
It does not indicate in fig. 2 " end ", any time receives monitoring client END instruction or wave when wave glider
When can shut down procedure operation in the case of unrestrained glider judgement completion task dispatching, which can terminate.
High reliability wave glider control system provided by the invention also has integrated weather station GPS position information event
Barrier diagnosis and alternative functions.In main control computer tupe and redundant computer tupe, current control computer is adopted
Collection integrates the GPS navigational speed informations that weather station is beamed back, if the GPS speed of a ship or plane is more than the expection maximum speed of setting and continues for some time,
Then think that integrated weather station GPS position information breaks down, current control computer sends operating mode to iridium satellite processor and cuts
Instruction is changed, so that iridium communication module is entered " tracking pattern ", iridium communication module is beamed back to monitoring client by being taken on iridium satellite processor
The GPS position information that the GPS antenna of load obtains, while Beidou communication module is beamed back in detail by with the communication protocol that monitoring client is reached an agreement on
Wave glider status information；Current control computer acquisition integrates the GPS navigational speed informations that weather station is beamed back, such as the GPS speed of a ship or plane
It in the expection maximum speed of setting and continues for some time, then it is assumed that integrated weather station GPS position information is normal, current to control
Computer sends operating mode switching command to iridium satellite processor, so that iridium communication module is entered " command mode ", iridium communication
Module beams back detailed wave glider status information with Beidou communication module by with the communication protocol that monitoring client is reached an agreement on.Its
In, it is contemplated that maximum speed is empirically chosen, such as is taken as 5m/s.
In conjunction with Fig. 3, the operational process of the integrated weather station GPS position information fault diagnosis and alternative functions is：
The first step：In main control computer tupe or redundant computer tupe, as integrated weather station is beamed back
The GPS speed of a ship or plane is less than the expection maximum speed of setting, then resets weather station GPS data frequency of abnormity record variable p, such as integrated gas
The GPS speed of a ship or plane beamed back as station is less than the expection maximum speed of setting, then increases weather station GPS data frequency of abnormity record variable p
Add 1.
Second step：Current control computer judges whether weather station GPS data frequency of abnormity record variable p is more than or equal to most
Main Meteorological Office GPS data frequency of abnormity q.If p<Q, the then repeatedly first step；If p is more than or equal to q, then it is assumed that weather station GPS
Wave glider iridium communication template pattern is switched to " tracking pattern ", iridium communication by the system failure, current control computer
Module beams back the GPS position information obtained by the GPS antenna carried on iridium satellite processor, while Beidou communication module to monitoring client
Detailed wave glider status information is beamed back by with the communication protocol that monitoring client is reached an agreement on, is walked into third.
Third walks：After iridium communication module enters " tracking pattern ", current control computer continues real-time judge and integrates gas
As the GPS navigational speed informations that station is beamed back, the GPS speed of a ship or plane that such as integrated weather station is beamed back is less than the expection maximum speed of setting, then by gas
Increase by 1 as station GPS data restores normal number record variable a, the GPS speed of a ship or plane that such as integrated weather station is beamed back is more than the expection of setting
Weather station GPS data is then restored normal number record variable a and reset by maximum speed.
4th step：Current control computer judges whether the weather station normal number record variable a of GPS data recovery is more than
Restore to wait for number b in weather station GPS data.If a<B, then repeatedly third walks；If a is more than or equal to b, then it is assumed that weather station
GPS data restores normal, and current control computer wave glider iridium communication template pattern switches to " command mode ", iridium satellite
Communication module beams back detailed wave glider status information with Beidou communication module by with the communication protocol that monitoring client is reached an agreement on,
Into the first step.
It does not indicate in figure 3 " end ", any time receives monitoring client END instruction or wave when wave glider
When can shut down procedure operation in the case of unrestrained glider judgement completion task dispatching, which can terminate.
The switching of the main control computer tupe and redundant computer tupe, with integrated weather station GPS
Confidence ceases fault diagnosis and alternative functions, the two carry out parallel.At main control computer tupe or redundant computer
Under reason pattern, is executed by current control computer and integrate weather station GPS position information fault diagnosis and alternative functions.
Claims (5)
1. a kind of high reliability wave glider control system, it is characterised in that：Including main control computer, redundant computer is cut
Mold changing block, peripheral equipment, wherein：
The interface of the main control computer and redundant computer configures, and handles data capability and computing capability is suitable, can be only
The vertical communication and control for completing whole peripheral systems；
The handover module is single-pole double-throw relay group, and in each single-pole double-throw relay, NO pins are normally opened pin, and NC draws
Foot is normally closed pin, and IN pins are common pin, and GND pin is grounding pin, CTRL pins pin in order to control, relative to GND
Pin, when CTRL pins are high level, NO pins are connected with IN pins, and NC pins are disconnected with IN pins；When CTRL pins are
When low level, NO pins are disconnected with IN pins, and NC pins are connected with IN pins；
The peripheral equipment includes communication subsystem, sensor subsystem and actuator subsystem, and wherein communication subsystem includes
Iridium communication module and Beidou communication module, sensor subsystem include that integrated weather station provides GPS location and the GPS speed of a ship or plane, are held
Row device subsystem includes steering engine, and iridium communication module includes iridium satellite processor, iridium satellite antenna and GPS antenna；
Each communications pins of main control computer are connect with the normally closed port of each relay in handover module, redundant computer
Each communications pins are connect with the normally opened port of each relay in handover module, each relay controlling switch in handover module
Parallel connection, and being connect with redundant computer GPIO pin, a communication port of main control computer and one of redundant computer it is logical
Believe that port connects, each communication line is connect with the common pin of each relay in handover module in peripheral equipment.
2. a kind of high reliability wave glider control system according to claim 1, it is characterised in that：The switching
Module and the connection relation of main control computer, redundant computer and peripheral equipment are specific as follows, and " C " is labeled as in peripheral equipment and is drawn
Foot is communications pins, is connect with the common pin IN of each relay in handover module；" C " pin is labeled as in main control computer
For the pin with peripheral communications, to be connect with the normally closed port NC of each relay in handover module；Redundant computer
In be labeled as " C " pin be for the pin with peripheral communications, the normally opened port NO with each relay in handover module
Connection；Each relay controlling switch CTRL is in parallel in handover module, and is connect with redundant computer GPIO pin；Master control calculates
The pin that " T " pin is a transmittable signal is labeled as in machine, it is a receivable signal that " R " pin is labeled as in redundant computer
Pin, pin T is connected with pin R in redundant computer in main control computer.
3. a kind of high reliability wave glider control system according to claim 1, it is characterised in that：The height can
There are two kinds of operating modes of main control computer tupe and redundant computer tupe by property wave glider control system,
Two kinds of operating modes are automatically switched by redundant computer according to main control computer whether normal operation, and redundant computer is sentenced
Disconnected process is as follows：
Under main control computer tupe, monitoring of the main control computer according to communication protocol as defined in elder generation into redundant computer
Computer transmission data, the monitoring computer in redundant computer judge master control according to the case where reading data in the time of regulation
Whether working state of system is normal, and when the monitoring computer in redundant computer reads data at the appointed time the case where wraps
It includes：
(1) it reads less than data；
(2) data are read, but data do not meet communication protocol requirements；
(3) data are read, but data are lasting constant；
(4) data are read, and data are normal；
When persistently occurring any one or a few situation in (1), (2), (3) at the appointed time, the prison in redundant computer
Control computer thinks master control system exception, into redundant computer tupe, into after redundant computer tupe, and rule
Fix time it is interior there is situation (4) and continue for some time, monitoring computer i.e. think that master control system is normal, into main control computer
Tupe.
4. a kind of high reliability wave glider control system according to claim 3, it is characterised in that：The master control
The handoff procedure of two kinds of operating modes of computer disposal pattern and redundant computer tupe is as follows,
The first step：For main control computer according to prior defined communication protocol to redundant computer transmission data, redundant computer is real
When according to read data the case where judge whether main control computer operating status normal, if redundant computer monitors master control meter
Calculation machine single data are normal, then enable frequency of abnormity record variable n in redundant computer reset, as redundant computer monitors master control
Computer single is abnormal, then frequency of abnormity record variable n is enabled to increase by 1；
Second step：Redundant computer judges whether main control computer frequency of abnormity record variable n is more than or equal to maximum frequency of abnormity
m.If n<M, the then repeatedly first step；If n is more than or equal to m, then it is assumed that master control system failure, redundant computer glide wave
Device operational mode switches to redundant computer tupe, and enters third and walk；
Third walks：Into after redundant computer tupe, redundant computer substitutes main control computer and is handed over peripheral data
Mutually, and the case where continuation in real time according to read data judge whether main control computer operating status is normal, if redundant computer
It monitors that main control computer single data are normal, then the main control computer stored in redundant computer is enabled to restore normal number record
Variable u increases by 1, if redundant computer monitors that main control computer single is abnormal, then main control computer is enabled to restore normal number scale
Variable u is recorded to reset；
4th step：Redundant computer judges that main control computer restores whether number record variable u is more than or equal to recovery waiting number
W, if u<W, then repeatedly third walks；If u is more than or equal to w, then it is assumed that master control system restores normal, and redundant computer is by wave
Glider operational mode switches to main control computer tupe, and enters the first step；
When can shut down procedure operation in the case of wave glider judges completion task dispatching at any time, which can tie
Beam.
5. a kind of high reliability wave glider control system according to claim 1 or 3, it is characterised in that：Described
Integrating the operational process of weather station GPS position information fault diagnosis and alternative functions is：
The first step：In main control computer tupe or redundant computer tupe, the GPS that such as integrated weather station is beamed back navigates
Speed is less than the expection maximum speed of setting, then resets weather station GPS data frequency of abnormity record variable p, such as integrated weather station
The GPS speed of a ship or plane beamed back is less than the expection maximum speed of setting, then weather station GPS data frequency of abnormity record variable p is increased by 1；
Second step：Current control computer judges whether weather station GPS data frequency of abnormity record variable p is more than or equal to most air
As the GPS data frequency of abnormity q that stands, if p<Q, the then repeatedly first step；If p is more than or equal to q, then it is assumed that weather station GPS system
Wave glider iridium communication template pattern is switched to " tracking pattern ", iridium communication module by failure, current control computer
Beam back the GPS position information obtained by the GPS antenna that is carried on iridium satellite processor to monitoring client, at the same Beidou communication module press with
The communication protocol of monitoring client agreement beams back detailed wave glider status information, is walked into third；
Third walks：After iridium communication module enters " tracking pattern ", current control computer continues real-time judge and integrates weather station
The GPS navigational speed informations beamed back, the GPS speed of a ship or plane that such as integrated weather station is beamed back is less than the expection maximum speed of setting, then by weather station
GPS data restores normal number record variable a and increases by 1, and the GPS speed of a ship or plane that such as integrated weather station is beamed back is more than the expected maximum of setting
Weather station GPS data is then restored normal number record variable a and reset by the speed of a ship or plane；
4th step：Current control computer judges that weather station GPS data restores whether normal number record variable a is more than or equal to gas
As station GPS data recovery waiting number b, if a<B, then repeatedly third walks；If a is more than or equal to b, then it is assumed that weather station GPS
Data restore normal, and current control computer wave glider iridium communication template pattern switches to " command mode ", and iridium satellite is logical
Letter module beams back detailed wave glider status information with Beidou communication module by with the communication protocol that monitoring client is reached an agreement on, into
Enter the first step；
When any time can shut down procedure operation in the case of wave glider judges completion task, which can terminate.
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