CN114740792B - Wave glider control system with distributed architecture - Google Patents
Wave glider control system with distributed architecture Download PDFInfo
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- CN114740792B CN114740792B CN202210658785.6A CN202210658785A CN114740792B CN 114740792 B CN114740792 B CN 114740792B CN 202210658785 A CN202210658785 A CN 202210658785A CN 114740792 B CN114740792 B CN 114740792B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/50—Measures to reduce greenhouse gas emissions related to the propulsion system
- Y02T70/5218—Less carbon-intensive fuels, e.g. natural gas, biofuels
- Y02T70/5236—Renewable or hybrid-electric solutions
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Abstract
The invention relates to a wave glider control system with a distributed architecture, in particular to the technical field of wave glider control systems. The communication positioning node in the wave glider control system with the distributed architecture comprises a communication positioning subsystem and a communication positioning controller which are connected with each other; the sensor acquisition node comprises a sensor acquisition subsystem and a data acquisition controller which are connected with each other, and the motion control node comprises a motion control subsystem and a motion controller which are connected with each other; the auxiliary communication node comprises an auxiliary communication subsystem and an auxiliary communication controller which are connected with each other; the battery management node comprises a battery management subsystem and a battery management controller which are connected with each other; the solar panel management node comprises a solar panel management subsystem and a solar panel management controller which are connected with each other; the main control node is respectively connected with the controllers in the sub-nodes. The invention adopts a distributed architecture, and can reduce the overall influence of single node failure to the minimum by decentralized control.
Description
Technical Field
The invention relates to the technical field of wave glider control systems, in particular to a wave glider control system with a distributed architecture.
Background
The wave glider is a new type ocean moving observation platform, which is mainly composed of a floating body ship, an umbilical cable and a tractor. The wave energy is converted into forward power by using a multi-rigid-body structure consisting of the three parts, and the solar cell panel on the floating body ship is used for providing energy supply for modules of wave glider navigation, communication, motion control and the like. The wave glider can realize long-time, on a large scale, marine autonomous navigation, and wave glider control system functional module is many, only adopts the control task of a main control node centralized management all functional modules for main control node's control task is too complicated, can reduce whole control system's ageing and robustness, in case main control node trouble, whole control system shut down, and the fault diagnosis of the inconvenient submodule piece of centralized management.
Disclosure of Invention
The invention aims to provide a wave glider control system with a distributed architecture, which adopts the distributed architecture, disperses the control on the function and can reduce the overall influence of single-node faults to the minimum.
In order to achieve the purpose, the invention provides the following scheme:
a wave glider control system of distributed architecture, comprising:
the system comprises a main control node, and a communication positioning node, a sensor acquisition node, a motion control node, an auxiliary communication node, a battery management node and a solar cell panel management node which are respectively connected with the main control node;
the communication positioning node comprises a communication positioning subsystem and a communication positioning controller which are connected with each other; the sensor acquisition node comprises a sensor acquisition subsystem and a data acquisition controller which are connected with each other, and the motion control node comprises a motion control subsystem and a motion controller which are connected with each other; the auxiliary communication node comprises an auxiliary communication subsystem and an auxiliary communication controller which are connected with each other; the battery management node comprises a battery management subsystem and a battery management controller which are connected with each other; the solar panel management node comprises a solar panel management subsystem and a solar panel management controller which are connected with each other; the main control node is respectively connected with the communication controller, the data acquisition controller, the motion controller, the auxiliary communication controller, the battery management controller and the solar panel management controller.
Optionally, the communication positioning subsystem includes: an iridium satellite 9602 communication module, a positioning module and an attitude acquisition module which are respectively connected with the communication positioning controller.
Optionally, the auxiliary communication subsystem includes: and the skynet communication module and the iridium 9523 communication module are respectively connected with the auxiliary communication positioning controller.
Optionally, the motion control subsystem includes: and the electronic compass, the rudder machine control module and the propeller control module are respectively connected with the motion controller.
Optionally, the master control node includes: a first serial port switching gate circuit; and the first serial port switching gate circuit is used for switching the serial port of the communication positioning node to be connected with the auxiliary communication node.
Optionally, the communication positioning node includes: the second serial port switching gate circuit is connected with the communication positioning controller; the second serial port switching gate circuit is used for switching the serial port connected with the main control node to be connected with the sensor acquisition node when the main control node fails so as to directly transmit data acquired by the sensor acquisition node to the communication positioning subsystem; and the communication positioning subsystem is used for reporting the data, the alarm information and the beacon data packet acquired by the sensor acquisition node to a shore-based monitoring system when the main control node fails.
Optionally, the master control node, the communication positioning node, the sensor acquisition node, the motion control node, the auxiliary communication node, the battery management node, and the solar panel management node all include an RS-485 communication module.
Optionally, the communication positioning node, the sensor collecting node, the auxiliary communication node and the main control node further include an RS-232 communication module.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the invention provides a wave glider control system with a distributed architecture, which comprises: the system comprises a main control node, and a communication positioning node, a sensor acquisition node, a motion control node, an auxiliary communication node, a battery management node and a solar panel management node which are respectively connected with the main control node; the communication positioning node comprises a communication positioning subsystem and a communication positioning controller which are connected with each other; the sensor acquisition node comprises a sensor acquisition subsystem and a data acquisition controller which are connected with each other, and the motion control node comprises a motion control subsystem and a motion controller which are connected with each other; the auxiliary communication node comprises an auxiliary communication subsystem and an auxiliary communication controller which are connected with each other; the battery management node comprises a battery management subsystem and a battery management controller which are connected with each other; the solar panel management node comprises a solar panel management subsystem and a solar panel management controller which are connected with each other; the main control node is respectively connected with the communication controller, the data acquisition controller, the motion controller, the auxiliary communication controller, the battery management controller and the solar panel management controller, each sub-node is divided according to task functions, each sub-node is provided with the own controller, a distributed architecture is adopted, and the functions are controlled in a distributed mode, so that the influence of single-node faults on the whole is reduced to the minimum.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a general block diagram of a wave glider control system of distributed architecture provided by an embodiment of the present invention;
fig. 2 is a flow chart illustrating mode switching of a communication positioning node according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
The purpose of the wave glider control system with the distributed architecture of the invention is to divide each sub-node according to the task function, adopt the distributed architecture, control dispersedly on the function, each sub-node can finish its own task alone, let the fault of the control system disperse, improve the fault-tolerant ability of the whole, let the reliability of the system improve, the single node fault reduces the influence to the whole to the minimum specifically as shown in figure 1, the wave glider control system of the distributed architecture, comprising:
the system comprises a main control node, and a communication positioning node, a sensor acquisition node, a motion control node, an auxiliary communication node, a battery management node and a solar cell panel management node which are respectively connected with the main control node;
the communication positioning node comprises a communication positioning subsystem and a communication positioning controller which are connected with each other; the sensor acquisition node comprises a sensor acquisition subsystem and a data acquisition controller which are connected with each other, and the motion control node comprises a motion control subsystem and a motion controller which are connected with each other; the auxiliary communication node comprises an auxiliary communication subsystem and an auxiliary communication controller which are connected with each other; the battery management node comprises a battery management subsystem and a battery management controller which are connected with each other; the solar panel management node comprises a solar panel management subsystem and a solar panel management controller which are connected with each other; the main control node is respectively connected with the communication controller, the data acquisition controller, the motion controller, the auxiliary communication controller, the battery management controller and the solar panel management controller.
As an optional implementation manner, the master control node includes a plurality of address chip selection pins, the auxiliary communication node, the battery management node, the solar panel management node, the communication positioning node, the sensor acquisition node, and the motion control node respectively include at least one address chip selection pin, and the address chip selection pin of the communication positioning node is connected to a first pin of the master control node; an address chip selection pin of the sensor acquisition node is connected with a second pin of the main control node; an address chip selection pin of the motion control node is connected with a third pin of the main control node, and the sensor acquisition node is mainly used for analyzing, storing and reporting information of each external sensor; an address chip selection pin of the auxiliary communication node is connected with a fourth pin of the main control node; the address chip selection pin of the battery management node is connected with the fifth pin of the main control node, the battery management node mainly has the functions of charge and discharge management of a battery, high-efficiency charge and safe discharge are carried out through a series of hardware and software mechanisms, and state information, battery electric quantity, system power consumption and other information are reported in real time through RS-485 communication; the address chip selection pin of the solar panel management node is connected with the sixth pin of the main control node, the solar panel management node is used for transition between the solar panel and the battery management node, a series of hardware protection is carried out on the solar panel, power monitoring is carried out on the solar panel, and information is reported to the main control node in real time.
As an optional implementation manner, the communication positioning node includes: an iridium satellite 9602 communication module, a positioning module and an attitude acquisition module which are respectively connected with the communication positioning controller.
As an optional implementation manner, the auxiliary communication node includes: and the weather communication module, the iridium 9523 communication module and other big data communication modules are respectively connected with the auxiliary communication positioning controller, and provide a data transmission function for a big data transmission task.
As an optional implementation manner, the motion control node includes: the electronic compass, the steering engine control module and the propeller control module are respectively connected with the motion controller, interact with the main control node through RS485 communication, acquire information such as the heading attitude of the tractor in real time through the electronic compass and report the information to the main control node; the motion control task issued by the main control node is executed by a steering engine control module and a propeller control module of the motion control system.
As an optional implementation, the master control node includes: a first serial port switching gate circuit; the first serial port switching gate circuit is used for switching the serial port of the communication positioning node to be connected with the auxiliary communication node, specifically, the first serial port switching gate circuit is a gate circuit used for switching the serial port, the specific function is to switch the main control node serial port, the auxiliary communication node serial port and the sensor acquisition node serial port, and the specific execution flow is as follows: 1. the default main control node serial port is connected with the sensor acquisition node serial port, and when the sensor acquisition node small data volume information is reported, the sensor acquisition node small data volume information is reported to the communication positioning node through the main control node and is reported through the Iridium 9602 module; 2. when the large data volume information of the sensor acquisition node is reported and the iridium 9602 module cannot meet the requirement, the main control node switches the serial port to the sensor acquisition node through the gate circuit to be communicated with the auxiliary communication node, the two nodes directly carry out information interaction, and the large data information is reported through the Tiantong or iridium 9523 module.
As an optional implementation manner, the communication positioning node includes: a second serial port switching gate circuit; the second serial port switching gate circuit is used for switching the serial port connected with the main control node to be connected with the sensor acquisition node when the main control node fails so as to directly transmit data acquired by the sensor acquisition node to the communication positioning subsystem; and the communication positioning subsystem is used for reporting the data, the alarm information and the beacon data packet acquired by the sensor acquisition node to a shore-based monitoring system when the main control node fails. The specific second serial port switching gate circuit is used for switching serial ports, and has the specific function of switching between a main control serial port of a communication positioning node and a serial port of a main control node and a serial port of a sensor acquisition node, as shown in fig. 2, in a normal mode, the communication positioning node only performs data interaction with the main control node, and uploads the reported information of the node through an iridium 9602 module for satellite communication, wherein the reported information of the sensor acquisition node is also reported by the main control node, and meanwhile, the communication positioning node can provide real-time information for the main control node and other sub-nodes needing time, positioning, posture and other information; when the master control node fails (handshake is abnormal), the communication control node is switched to an autonomous beacon mode. The autonomous beacon mode specifically performs the actions of: 1. switching a master control serial port of the communication positioning node from a master control node serial port to a sensor acquisition node through a gate circuit, and uploading information reported by the sensor acquisition node directly through the communication control node; 2. the communication positioning node sends alarm information to inform a shore-based monitoring system, and reports beacon data packets at intervals of 10 minutes, wherein the beacon data packets comprise information such as the position of the wave glider, the attitude of the floating pontoon, fault codes and the like; 3. waiting for the shore-based system instruction to indicate, the uploading time interval of the beacon data packet can be changed through the instruction.
As an optional implementation manner, the master control node, the communication positioning node, the sensor acquisition node, the motion control node, the auxiliary communication node, the battery management node, and the solar panel management node all include RS-485 communication modules, and the master control node may monitor the state of each sub-node through RS-485 communication to perform overall management; the main control node collects the reported information of the motion control node and the communication positioning node in real time, performs navigation planning and indicates the motion control node to act; the master control node periodically reports the state of the whole machine through the communication positioning node, wherein the state of the whole machine comprises the acquisition information of a sensor acquisition node; the main control node and the communication positioning node have a handshake mechanism, and once the main control node fails, the communication control node is switched from a normal mode to an autonomous beacon mode to upload information such as the position of the wave glider, the posture of the floating pontoon, a fault code and the like in real time.
As an optional implementation manner, the communication positioning node, the sensor acquisition node, the auxiliary communication node and the main control node further include an RS-232 communication module, and the sensor acquisition node directly communicates with the communication positioning node or the auxiliary communication node through RS-232 communication and reports sensor information through a satellite.
The wave glider control system with a distributed architecture disclosed by the invention divides each sub-node according to task functions; a distributed architecture is adopted, each node is communicated through RS-485, a master control node is a master station, and the rest nodes are slave stations; the hardware circuit boards of other nodes except the main control node are provided with address chip selection pins, the address chip selection pins of each node are connected with the pins of the main control node, each sub-node of the main control node is provided with a fixed distribution address and is downloaded to each node circuit board along with a firmware program, the address pins of the sub-nodes are automatically set to be at a high level after the circuit boards are electrified, and the main control node can recognize that the node is in place; each node is provided with a voltage, current and other state detection function, and according to a pre-allocated address, state information of the child nodes is reported to the master station in sequence at regular time, so that the distributed control is realized in function, the influence of single-node faults on the whole is reduced, and the whole fault-tolerant capability is improved; the communication control node has an emergency autonomous beacon mode, uploads information such as the position of the wave glider, the posture of the floating pontoon, fault codes and the like in real time during fault, and has emergency processing capacity. The wave glider control system with the distributed layout can also be expanded to other vehicles with multi-body mechanisms similar to the wave glider structure.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principle and the embodiment of the present invention are explained by applying specific examples, and the above description of the embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (7)
1. A wave glider control system of distributed architecture, comprising:
the system comprises a main control node, and a communication positioning node, a sensor acquisition node, a motion control node, an auxiliary communication node, a battery management node and a solar cell panel management node which are respectively connected with the main control node;
the communication positioning node comprises a communication positioning subsystem and a communication positioning controller which are connected with each other; the sensor acquisition node comprises a sensor acquisition subsystem and a data acquisition controller which are connected with each other, and the motion control node comprises a motion control subsystem and a motion controller which are connected with each other; the auxiliary communication node comprises an auxiliary communication subsystem and an auxiliary communication controller which are connected with each other; the battery management node comprises a battery management subsystem and a battery management controller which are connected with each other; the solar panel management node comprises a solar panel management subsystem and a solar panel management controller which are connected with each other; the main control node is respectively connected with the communication controller, the data acquisition controller, the motion controller, the auxiliary communication controller, the battery management controller and the solar panel management controller; the communication positioning node comprises: the second serial port switching gate circuit is connected with the communication positioning controller; the second serial port switching gate circuit is used for switching the serial port connected with the main control node to be connected with the sensor acquisition node when the main control node fails so as to directly transmit data acquired by the sensor acquisition node to the communication positioning subsystem; and the communication positioning subsystem is used for reporting the data, the alarm information and the beacon data packet acquired by the sensor acquisition node to a shore-based monitoring system when the main control node fails.
2. The distributed wave glider control system of claim 1, wherein the communication positioning subsystem comprises: an iridium satellite 9602 communication module, a positioning module and an attitude acquisition module which are respectively connected with the communication positioning controller.
3. The wave glider control system of claim 1, wherein the auxiliary communication subsystem comprises: and the skynet communication module and the iridium 9523 communication module are respectively connected with the auxiliary communication controller.
4. The wave glider control system of distributed architecture of claim 1, wherein the motion control subsystem comprises: the electronic compass, the rudder machine control module and the propeller control module are respectively connected with the motion controller.
5. The distributed wave glider control system of claim 1, wherein the master control node comprises: a first serial port switching gate circuit; and the first serial port switching gate circuit is used for switching the serial port connected with the communication positioning node to be connected with the auxiliary communication node.
6. The wave glider control system of claim 1, wherein the master control node, the communication positioning node, the sensor collection node, the motion control node, the auxiliary communication node, the battery management node, and the solar panel management node each comprise an RS-485 communication module.
7. The wave glider control system of claim 6 wherein the communication positioning node, the sensor acquisition node, the auxiliary communication node, and the main control node further comprise an RS-232 communication module.
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| CN106394845A (en) * | 2016-11-17 | 2017-02-15 | 中国海洋大学 | Seaborne detection robot driven by both wave energy and wind energy |
| CN108287018B (en) * | 2018-01-25 | 2021-08-10 | 国家海洋技术中心 | Marine environment noise measuring device based on wave glider |
| CN109669467B (en) * | 2019-02-22 | 2022-05-06 | 天津工业大学 | Multi-node information fusion wave glider control system with fault-tolerant capability |
| CN111212146A (en) * | 2020-01-13 | 2020-05-29 | 天津工业大学 | Wave glider network management system |
| CN111200548A (en) * | 2020-02-20 | 2020-05-26 | 福建师范大学 | 485 protocol concentrator applied to ocean observation buoy RS485 bus |
| CN111591426A (en) * | 2020-06-01 | 2020-08-28 | 青岛海舟科技有限公司 | Wave glider communication system based on direct current carrier |
| CN114237132A (en) * | 2022-02-23 | 2022-03-25 | 中国海洋大学 | Redundant satellite positioning communication system for wave glider |
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