CN109683467A - A kind of Dynamic Positioning Control System voting system and its method - Google Patents
A kind of Dynamic Positioning Control System voting system and its method Download PDFInfo
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- CN109683467A CN109683467A CN201811580117.6A CN201811580117A CN109683467A CN 109683467 A CN109683467 A CN 109683467A CN 201811580117 A CN201811580117 A CN 201811580117A CN 109683467 A CN109683467 A CN 109683467A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- 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
The invention discloses a kind of Dynamic Positioning Control System voting system and its methods, the described method includes: by the first control of identical control data input computer, the second control computer, third control computer, first control computer, the second control computer, the synchronous progress dynamic positioning resolving of third control computer, generate voting input data and input in voter arrangement；First voting machine, the second voting machine and third voting machine execute identical voting procedure and back up voting result mutually；The voting result output of main voting machine is control instruction, and control instruction is sent in thruster system.
Description
Technical field
The present invention relates to Naval Architecture and Ocean Engineering field more particularly to a kind of Dynamic Positioning Control System voting system and its sides
Method.
Background technique
Dynamic positioning (DP) is a kind of localization method of ocean engineering ship, using sensor position finding, then passes through ship
On automatic control system issue instruction, the advantages of control installation propeller aboard ship fixes accommodation, Dynamic Positioning is
It is not limited by the depth of water, is suitable for deep water sea area use.
Currently, dynamic positioning (DP) system has many applications, such as ocean operation ship in all kinds of offshore equipments
(oceanographic vessel, drill ship), underwater hiding-machine, naval ship and it is all kinds of can operation at sea and mobile platform (such as from rising
Formula drilling platforms).Dynamic positioning (DP) system is that by the whole set of system of automatic Pilot, and the intelligence with height
Change, relevant analytical calculation can be carried out in unmanned situation, controls the course and position of ship.Since people provide ocean
The demand in source is higher and higher, and operation on the sea becomes more and more frequently, this makes people for dynamic positioning reliability and safety
Requirement it is higher and higher, International Maritime Organization gives dynamic positioning system stringent ranking norm, all kinds of ship's classification thus
Society is also such.
However, current driving force positioning control system use single voting system, the reliability of dynamic positioning system with
Availability is poor, it is difficult to realize accurate control.
Summary of the invention
In order to overcome the deficiencies of the prior art, the problems mentioned above in the background art are solved, it is dynamic that the invention proposes one kind
Power location control voting system and its method.
The present invention adopts the following technical scheme:
A kind of Dynamic Positioning Control System voting system, including control computing device and voter arrangement, the control computing device include
First control computer, the second control computer and third control computer, and the first control computer, the second control calculate
Machine, third control computer are connected with each other, and the voter arrangement includes the first voting machine, the second voting machine and third voting machine,
First voting machine, the second voting machine and third voting machine are connected with each other, the first control computer or the second control meter
Calculation machine or third control computer are host computer, the first control computer, the second control computer, third control
Computer is connect with first voting machine, the second voting machine, third voting machine, and the host computer specifies described
One voting machine or the second voting machine or third voting machine are main voting machine.
Preferably, the first control computer, the second control computer and third control computer are identical control
Computer processed, first voting machine, the second voting machine, third voting machine are identical voting machine.
A kind of Dynamic Positioning Control System means of voting, which comprises by identical control data input first control
Computer processed, the second control computer, in third control computer, the first control computer, the second control computer, the
Three control computers are synchronous to carry out dynamic positioning resolving, generates voting input data and inputs in voter arrangement；First table
Certainly device, the second voting machine and third voting machine execute identical voting procedure and back up voting result mutually；The table of main voting machine
Certainly result output is control instruction, and control instruction is sent in thruster system.
Preferably, the method for generating voting input data are as follows: definitionRespectively three control meters
The dynamic positioning calculation result of calculation machine；Define threshold value, when threshold decision conditionShi Santai control calculates
Machine resolves unanimously, wherein, deciding by vote input data is, whereinIt is controlled for every
The weighted value of computer distribution processed；When the output of certain control computer is unsatisfactory for threshold decision condition, calculation result is by preceding
Primary voting input data replacement；When threshold decision condition is not satisfied in the output of three control computers, then weighted value
Highest control computer-solution result is voting input data, and system is alarmed and detected.
Preferably, when certain control computer-solution results abnormity and when more than 3 times, the control computer by automatically every
From system degradation is dual redundant mode, decides by vote input data by the dynamic positioning calculation result of remaining two control computers
It calculates:。
Preferably, when system under dual redundant mode, remaining certain control computer-solution results abnormity and surpass
When crossing 3 times, which is automatically isolated, and system degradation is single cpu mode, and voting input data is the highest control of weight
The calculation result of computer processed.
Preferably, control computer its calculation result continuous 3 times after maintenance meet threshold decision condition, then should
Control computer rejoins in system, and system upgrade is dual redundant or triplex level redundancy mode, and by the control computer
Exception history record is reset, and restarts new record.
Preferably, the main voting machine is the state that works online, another two voting machine is stand-by state, the main voting
Device and two spare voting machines are performed both by voting procedure and back up voting as a result, the voting result output of the main voting machine is control
System instruction, three voting machines mutually detect, and when detecting main voting machine failure, system automatically switches to spare voting machine and carries out
Voting output.
Preferably, the transfer sequence of first voting machine, the second voting machine, third voting machine is preset by system
Or host computer is specified.
The beneficial effects of the present invention are: obtaining voting input data by three control computers of setting, three voting machines
And control instruction, avoid asking of causing system not export normally due to single control computer or voting machine failure
Topic, improves the reliability and availability of dynamic positioning system.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the flow chart that voting result is exported in the present invention；
Fig. 3 be in the present invention under triplex level redundancy mode when host computer failure the degradation of system and restore schematic diagram；
Fig. 4 be in the present invention under triplex level redundancy mode from control computer glitch when system degradation and restore schematic diagram；
Fig. 5 be in the present invention under dual redundant mode when host computer failure the degradation of system and restore schematic diagram；
Fig. 6 be in the present invention under dual redundant mode from control computer glitch when system degradation and restore schematic diagram；
Fig. 7 is online, offline voting machine switching schematic diagram in the present invention.
In Fig. 1-7: 1, controlling computing device, the 10, first control computer, the 11, second control computer, 12, third control
Computer processed, 2, voter arrangement, the 20, first voting machine, the 21, second voting machine, 22, third voting machine, 3, voting input data,
4, data, 5, control instruction are controlled.
Specific embodiment
Below by specific embodiment, and in conjunction with attached drawing, technical scheme of the present invention is further described:
Embodiment: in conjunction with shown in attached drawing 1, a kind of Dynamic Positioning Control System voting system, including control computing device 1 and voter arrangement
2, the control computing device 1 includes that identical first control computer 10, second controls computer 11 and third control calculating
Machine 12, the first control computer 10, second controls computer 11, third control computer 12 is connected with each other, the voting
Device 2 includes identical first voting machine 20, the second voting machine 21 and third voting machine 22, first voting machine 20, second
Voting machine 21 and third voting machine 22 are connected with each other, and described first controls computer 10 or the second control computer 11 or third control
Computer 12 processed is host computer, and the first control computer 10, second controls computer 11, third controls computer
12 connect with first voting machine 20, the second voting machine 21, third voting machine 22, and the host computer is specified described
First voting machine 20 or the second voting machine 21 or third voting machine 22 are main voting machine, and the first control computer 10, second controls
Computer 11, third control computer 12 can constitute a complete triplication redundancy with any one voting machine and control computational chart
Certainly system exports to realize and control triplication redundancy the control for calculating voting system, and the first control computer 10, second controls
Computer 11, third control computer 12 input identical control data 4, synchronous to execute identical resolving task, and will solution
The result of calculation is sent to each voting machine as voting input data 3；First voting machine 20, the second voting machine 21, third table
Certainly device 22 executes identical voting task, and backs up voting result mutually；Having one in three control computers is main control meter
Calculation machine, main voting machine are specified by host computer, and the voting result of main voting machine is the final output of control system.
Wherein, host computer can control computer 11 in the first control computer 10, second, third control calculates
Automatically switch between machine 12, when host computer failure or other undesirable conditions, ownership switches to normal work
Control computer in；When main voting machine breaks down or when other undesirable conditions, can automatically switch main voting machine be it is other just
The voting machine often to work.
A kind of Dynamic Positioning Control System means of voting, which comprises identical control data 4 are inputted into first control
Computer 10, second processed controls computer 11, third controls in computer 12, and the first control computer 10, second controls
Computer 11, third control computer 12 are synchronous to carry out dynamic positioning resolving, and generation voting input data 3 simultaneously inputs voter arrangement
In 2；First voting machine 20, the second voting machine 21 and third voting machine 22 execute identical voting procedure and mutual backup table
Certainly result；The voting result output of main voting machine is control instruction 5, and control instruction 5 is sent in thruster system.
The step of showing output voting result in conjunction with attached drawing 2 positions event by the invalid mode of threshold decision and output
Barrier control computer, the process realizing system degradation operation and restoring: definitionRespectively three control computers
Dynamic positioning calculation result；Define threshold value, when threshold decision conditionShi Santai controls machine solution
It calculates unanimously, wherein, deciding by vote input data is, whereinIt is counted for every control
The weighted value of calculation machine distribution.
When being unsatisfactory for threshold decision condition in the presence of control computer, it is as follows to obtain the step of deciding by vote input data 3: when certain
The output of platform control computer is unsatisfactory for threshold decision condition, and calculation result is replaced by previous voting input data 3；When
When threshold decision condition is not satisfied in the output of three control computers, then weighted value it is highest control computer calculation result
To decide by vote input data 3, system is alarmed, and when three control computers are continuously unsatisfactory for threshold decision condition three times, is
System alarms and carries out relevant detection.
When invalid or abnormal in the presence of control computer output, it is as follows to obtain the step of deciding by vote input data 3: when certain controls
Computer-solution results abnormity processed and when more than 3 times, which is automatically isolated, and system degradation is dual redundant mould
Formula, voting input data 3 are calculated by the dynamic positioning calculation result of remaining two control computers:；When being
System is under dual redundant mode, remaining certain control computer-solution results abnormity and when more than 3 times, the control computer quilt
Automatism isolation, system degradation are single cpu mode, and voting input data 3 is the calculation result of the highest control computer of weight；When
Meet threshold decision condition control computer its calculation result continuous 3 times after maintenance, then rejoins the control computer
In system, system upgrade is dual redundant or triplex level redundancy mode, and the exception history of the control computer is recorded and is reset, weight
Newly start new record.
The degradation and recovery process of system when showing host computer failure under triplex level redundancy mode in conjunction with attached drawing 3,
When host computer breaks down, system degradation is dual redundant mode, and voter arrangement 2 exists according to three control computers
Calculation result in a period of time executes voting procedure, and voting algorithm logic shown in attached drawing 2 determines；When host computer event
Barrier, system automatism isolation host computer, system become dual redundant mode, and main control power be handed over to original two from
Any one in computer is controlled, the reparation situation of failure host computer is detected after each voting period, if detecting
Failure lives to control that computer is repaired finishes, then is reworked under triplex level redundancy mode after System reorganization, but original event
Barrier host computer becomes being incorporated to again in attached logic shown in Fig. 2 from control computer.
It show under triplex level redundancy mode in conjunction with attached drawing 4 from the degradation and recovery process of system when controlling computer glitch,
When breaking down from control computer, it is isolated in system, and system is reduced to dual redundant mode, host computer
Invariant position, and after each voting period detection from control computer repair situation, it is repaired after failure from control computer
Again it is incorporated in logic described in attached drawing 2, system upgrade is triplex level redundancy mode.
The degradation and recovery process of system when showing host computer failure under dual redundant mode in conjunction with attached drawing 5,
When the host computer under dual redundant mode breaks down, system is reduced to single cpu mode and continues to run, remaining from control
Computer processed automatically switches to host computer and works on, and the reparation shape of host computer is detected after each voting period
Condition, the failure host computer after reparation become being incorporated to again in the logic as described in attached drawing 2 from control computer, system liter
Grade is dual redundant mode.
It show under dual redundant mode in conjunction with attached drawing 6 from the degradation and recovery process of system when controlling computer glitch,
It breaks down when from control computer, system is reduced to single cpu mode operation, and a remaining host computer works on, each
Detection is incorporated to again after control computer reparation such as 2 institute of attached drawing from the reparation situation for controlling computer, failure after deciding by vote the period
In the logic stated, system upgrade is dual redundant mode.
Three online or offline handoff procedures of voting machine are shown in conjunction with attached drawing 7, the main voting machine is to work online
State, two spare voting machines are off-line state, and the main voting machine and two spare voting machines are performed both by voting procedure and standby
The voting result output of part voting result, the main voting machine is control instruction, and three voting machines mutually detect, when detecting master
When voting machine failure, system automatically switches to spare voting machine and puts to the vote output.
Three voting machines are carried out three by the situation that control instruction can not be exported in order to avoid the failure of single voting machine
Weight redundancy backup is arranged, and can automatically switch the reliability service to ensure voting procedure between active and standby voting machine.
First voting machine 20, the second voting machine 21, third voting machine 22 transfer sequence preset by system or
Host computer is specified.
Above-mentioned embodiment is only a preferred solution of the present invention, not the present invention is made in any form
Limitation, there are also other variations and modifications on the premise of not exceeding the technical scheme recorded in the claims.
Claims (9)
1. a kind of Dynamic Positioning Control System voting system, including control computing device and voter arrangement, characterized in that the control meter
Calculating device includes that the first control computer, the second control computer and third control computer, the first control computer, the
Two control computers, third control computer are connected with each other, and the voter arrangement includes the first voting machine, the second voting machine and the
Three voting machines, first voting machine, the second voting machine and third voting machine are connected with each other, the first control computer or the
Two control computers or third control computer be host computer, it is described first control computer, second control computer,
Third control computer is connect with first voting machine, the second voting machine, third voting machine, and the host computer refers to
Fixed first voting machine or the second voting machine or third voting machine are main voting machine.
2. a kind of Dynamic Positioning Control System voting system according to claim 1, characterized in that first control calculates
Machine, the second control computer and third control computer are identical control computer, first voting machine, the second voting
Device, third voting machine are identical voting machine.
3. Dynamic Positioning Control System means of voting described in a kind of -2 any one according to claim 1, characterized in that the method
It include: to control identical control data input the first control computer, the second control computer, third in computer,
The first control computer, the second control computer, the synchronous progress dynamic positioning resolving of third control computer, generate voting
Input data simultaneously inputs in voter arrangement；First voting machine, the second voting machine and third voting machine execute identical voting
Program simultaneously backs up mutually voting result；The voting result output of main voting machine is control instruction, and control instruction is sent to thruster
In system.
4. a kind of Dynamic Positioning Control System means of voting according to claim 3, characterized in that input data is decided by vote in the generation
Method are as follows: definitionThe dynamic positioning calculation result of respectively three control computers；Define threshold value,
When threshold decision conditionShi Santai control computer-solution is consistent, wherein, table
Certainly input data is, whereinFor the weighted value of every control computer distribution；When certain control computer
Output be unsatisfactory for threshold decision condition, calculation result is replaced by previous voting input data；When three controls calculate
When threshold decision condition is not satisfied in the output of machine, then the highest control computer-solution result of weighted value is voting input number
According to, and system is alarmed and detected.
5. a kind of Dynamic Positioning Control System means of voting according to claim 3, characterized in that when certain control machine solution
Calculate results abnormity and when more than 3 times, which is automatically isolated, and system degradation is dual redundant mode, and voting inputs
Data are calculated by the dynamic positioning calculation result of remaining two control computers:。
6. a kind of Dynamic Positioning Control System means of voting according to claim 5, characterized in that when system is in dual redundant mould
Under formula, remaining certain control computer-solution results abnormity and when more than 3 times, which is automatically isolated, system
It is downgraded to single cpu mode, voting input data is the calculation result of the highest control computer of weight.
7. a kind of Dynamic Positioning Control System means of voting according to claim 5 or 6, characterized in that control after maintenance
Meet threshold decision condition its calculation result of computer continuous 3 times, then rejoins the control computer in system, system liter
Grade is dual redundant or triplex level redundancy mode, and the exception history of the control computer is recorded and is reset, and restarts new note
Record.
8. a kind of Dynamic Positioning Control System means of voting according to claim 3, characterized in that the main voting machine is online
Working condition, two spare voting machines are off-line state, and the main voting machine and two spare voting machines are performed both by voting procedure
And voting is backed up as a result, the voting result output of the main voting machine is control instruction, three voting machines mutually detect, and work as detection
When to main voting machine failure, system automatically switches to spare voting machine and puts to the vote output.
9. a kind of Dynamic Positioning Control System means of voting according to claim 8, characterized in that first voting machine,
Two voting machines, third voting machine transfer sequence preset by system or host computer is specified.
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| CN201811580117.6A CN109683467A (en) | 2018-12-24 | 2018-12-24 | A kind of Dynamic Positioning Control System voting system and its method |
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| CN201811580117.6A CN109683467A (en) | 2018-12-24 | 2018-12-24 | A kind of Dynamic Positioning Control System voting system and its method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111198545A (en) * | 2019-12-24 | 2020-05-26 | 重庆特斯联智慧科技股份有限公司 | Intelligent building indoor air environment maintenance system and method |
| CN114200853A (en) * | 2021-11-05 | 2022-03-18 | 河北汉光重工有限责任公司 | Distributed redundancy control system |
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| CN105005232A (en) * | 2015-05-28 | 2015-10-28 | 孙军 | Degradable triple redundancy synchronous voting computer control system and method |
| CN105045164A (en) * | 2015-05-28 | 2015-11-11 | 谭龙飞 | Degradable triple-redundant synchronous voting computer control system and method |
| CN205068032U (en) * | 2015-05-28 | 2016-03-02 | 孙军 | Computer control system is decided by vote to synchronization that can demote |
| CN107247644A (en) * | 2017-07-03 | 2017-10-13 | 上海航天控制技术研究所 | A kind of reconstruct down method of triple redundance computer system |
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| CN102929157A (en) * | 2012-11-15 | 2013-02-13 | 哈尔滨工程大学 | Triple-redundancy dynamic positioning control computer system for vessel |
| CN105005232A (en) * | 2015-05-28 | 2015-10-28 | 孙军 | Degradable triple redundancy synchronous voting computer control system and method |
| CN105045164A (en) * | 2015-05-28 | 2015-11-11 | 谭龙飞 | Degradable triple-redundant synchronous voting computer control system and method |
| CN205068032U (en) * | 2015-05-28 | 2016-03-02 | 孙军 | Computer control system is decided by vote to synchronization that can demote |
| CN107247644A (en) * | 2017-07-03 | 2017-10-13 | 上海航天控制技术研究所 | A kind of reconstruct down method of triple redundance computer system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111198545A (en) * | 2019-12-24 | 2020-05-26 | 重庆特斯联智慧科技股份有限公司 | Intelligent building indoor air environment maintenance system and method |
| CN114200853A (en) * | 2021-11-05 | 2022-03-18 | 河北汉光重工有限责任公司 | Distributed redundancy control system |
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