CN102706271A - Redundancy device for angle position sensors of control plane of steering engine and control method for device - Google Patents
Redundancy device for angle position sensors of control plane of steering engine and control method for device Download PDFInfo
- Publication number
- CN102706271A CN102706271A CN2012101763720A CN201210176372A CN102706271A CN 102706271 A CN102706271 A CN 102706271A CN 2012101763720 A CN2012101763720 A CN 2012101763720A CN 201210176372 A CN201210176372 A CN 201210176372A CN 102706271 A CN102706271 A CN 102706271A
- Authority
- CN
- China
- Prior art keywords
- remaining
- rudder face
- angle position
- sampling value
- angular position
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention discloses a redundancy device for angle position sensors of a control plane of a steering engine and a control method for the device. Double redundancy angle position sensors acquire the angle position of the control plane of the steering engine and output two paths of control plane angle position sampling values, the control plane angle position sampling values are conditioned by conditioning circuits to form voltage values which can be identified by an analog-digital (AD) module of a central processing unit (CPU), the voltage values are filtered by filtering circuits and input into the CPU to be processed, a redundancy signal is cut off when one redundancy angle position sensor fails, and the control plane angle position sampling value of the other redundancy angle position sensor is taken as the final position closed loop feedback data. By the device, the errors of the sensors are reduced, and the accuracy of the sensors is improved; the reliability of a system is improved; and convenience is provided for maintaining the device.
Description
Technical field
The present invention relates to a kind of angular position pick up redundant apparatus and management method, especially a kind of rudder face angular position pick up redundant apparatus and management method that is used for the redundancy actuator system.
Background technology
In the redundancy actuator system; The rudder face angular position pick up mainly is used for gathering in real time the position of rudder face; And handle through modulate circuit, send into CPU through filtering circuit afterwards and obtain the position and comprehensively export, so the rudder face angular position pick up is a very important part in the system; It provides position feed back signal for system, lets more effective, the stable operation of system.The reliability of angular position pick up is the directly collection of impact position signal then, thereby influences the safe operation of rudder system.
At present, in steering gear system, what mainly adopt is single remaining angular position pick up; If it breaks down; Can cause that then alliance feedback makes mistakes, total system error running even cause system crash is so mainly be devoted to the raising to its power electronic devices Performance And Reliability.The paper that the Haitao Zhang of Northwestern Polytechnical University is delivered " research of high precision double redundancy actuator servo-drive system " is exactly this technology of utilizing; Because material, reasons; Be difficult to increase substantially the Performance And Reliability of these electron devices, and can have significantly increased cost.
Summary of the invention
The present invention describes and provides a kind of rudder face angular position pick up redundant apparatus and management method; It can utilize the advantage of two remainings when the angular position pick up operate as normal, improve the precision of angular position pick up; And when a remaining breaks down; Can detect fault immediately, and fault remaining angular position pick up is isolated, switch to single remaining mode of operation; Utilize not fault remaining angular position pick up continuation that position, rudder face angle is gathered and handled, effectively raise the reliability of steering gear system rudder face angular position pick up.
The technical solution adopted for the present invention to solve the technical problems is: comprise CPU, filtering circuit, modulate circuit and two remaining angular position pick up.Wherein, two remaining angular position pick ups are gathered the position, angle of steering wheel rudder face, output two-way rudder face angle position sampling value; Respectively through a modulate circuit; Nurse one's health into the magnitude of voltage that the AD module of CPU can be discerned, more respectively through a filtering circuit filtering, input CPU handles.When a remaining breaks down, excise this remaining signal, and with the rudder face angle position sampling value of another remaining as final position closed loop feedback data, system still can accomplish appointed function.
Described pair of remaining angular position sensor is two electric independently pots, coaxial installation, and connect a modulate circuit respectively.
The present invention also provides the control method of said apparatus, may further comprise the steps:
The first step: gather the two-way rudder face angle position sampling value of steering wheel, nurse one's health respectively and filtering.
Second step: judge whether two-way rudder face angle position sampling value all exceeds setting threshold, if, decision maker fault and reporting an error then, position closed loop feedback data (being that positional value is comprehensively exported) equals 0; If not, got into for the 3rd step.
The 3rd step: whether the difference of judging two-way rudder face angle position sampling value exceeds setting threshold, if not the position closed loop feedback data equals two-way rudder face angle position sampling value sum divided by two; If got into for the 4th step.
The 4th step: judge the difference size of rudder face position set-point and two-way rudder face angle position sampling value, the position closed loop feedback data equals that corresponding rudder face angle, road position sampling value of less difference.
Second step, described setting threshold was-30 ° ~+30 °, and the 3rd step, described setting threshold was-3 ° ~+3 °.
The present invention is applied to steering wheel rudder face angle position monitoring and feedback, compares with feedback method with the conventional position sensor monitoring to have the following advantages:
1) adopts two remaining sensors, when two remaining normal operation of sensor, reduced sensor errors, improved the precision of sensor.
2) when a remaining sensor fault, system can continue operate as normal, has improved the reliability of system.
3) when a remaining sensor fault, corresponding trouble spot information is provided, safeguarding for device provides convenience.
Description of drawings
Fig. 1 is a steering wheel rudder face angular position pick up sensor redundant apparatus structural drawing.
Among the figure, 1-position sensor redundancy control module CPU, 2-remaining, 1 filtering circuit, 3-remaining, 2 filtering circuits, 4-remaining, 1 modulate circuit, 5-remaining, 2 modulate circuits, 6-two remaining position transducers.
Fig. 2 is two remaining position transducer structural drawing.
Among the figure, 7-remaining, 1 position transducer, 8-remaining, 2 position transducers.
Fig. 3 is a steering wheel rudder face angular position pick up redundant apparatus control method.
Embodiment
The present invention includes CPU, remaining 1 filtering circuit, remaining 1 modulate circuit, remaining 2 filtering circuits, remaining 2 modulate circuits, two remaining angular position pick up.Wherein, Two remaining angular position pick ups are gathered the position, angle of steering wheel rudder face; Output two-way rudder face angle positional value passes through remaining 1 modulate circuit and remaining 2 modulate circuits respectively, nurses one's health into the magnitude of voltage that the AD port of CPU can be discerned; Through remaining 1 filtering circuit and remaining 2 filtering circuit filtering, input CPU handles again.
The rudder face angular position sensor is the coaxial installation of two electric independently pots, and is connected to the remaining 1 and remaining 2 modulate circuits of control system respectively.Rudder face angular position pick up fault generally shows as the circuit loose contact, and the value of feedback that this moment, sampling obtained is the normal range of deviation position deflection angle corresponding voltage signal significantly.Through actual debugging, the voltage output signal of steering wheel rudder face location deflection angle when-30 ° ~+30 ° normal variation amplified nurse one's health 0.417 ~ 2.083V voltage that can supply AD module samples among the CPU; If the line short fault takes place; Then sampled value can perseverance shows as 0 or 3V (corresponding limit deflection position); Therefore can judge that this remaining pot breaks down; Should in time excise, and with the position sampling value of another remaining as final position closed loop feedback data, system still can accomplish appointed function.Control method is following:
The first step: remaining 1 and remaining 2 location feedback value are gathered.Got into for second step.
Second the step: judge whether remaining 1 location feedback value and remaining 2 location feedback value all exceed setting threshold, if, then positional value comprehensively export=0, plant failure also reports an error; If not, got into for the 3rd step.
The 3rd step: whether the absolute value of judging the difference of remaining 1 location feedback value and remaining 2 location feedback value exceeds setting threshold, if not comprehensively export=(remaining 1 location feedback value+remaining 2 location feedback value)/2 position; If got into for the 4th step.
The 4th step: judge the absolute value of the difference of whether given and remaining 1 location feedback value of the absolute value of the given difference with remaining 2 location feedback value in position, if comprehensively export=remaining 1 location feedback value the position greater than the position; If not comprehensively export=remaining 2 location feedback value the position.
The present invention improves on original angular position pick up structure and control method, has selected high precision, high performance pair of remaining position transducer, and control strategy and method are improved.This redundant apparatus is a hot-standby mode, and under normal circumstances promptly, two remainings are worked simultaneously; When a certain remaining breaks down; Immediately the fault remaining is isolated, intelligence switches to not that the position transducer of fault remaining carries out the collection and the processing of position signalling, gets into single remaining mode of operation.So this invention has improved the reliability of rudder face angular position pick up part, and can also carry out fault diagnosis and isolation, and then switches to normal remaining work, has guaranteed the normal operation of total system.
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
As shown in Figure 1, the present invention includes position sensor redundancy control module CPU1, remaining 1 filtering circuit 2, remaining 2 filtering circuits 3, remaining 1 modulate circuit 4, remaining 2 modulate circuits 5, two remaining position transducers 6.Wherein, Two remaining position transducers 6 are gathered position, steering wheel rudder face angle; Output two-way rudder face angle positional value passes through remaining 1 modulate circuit 2 and remaining 2 modulate circuits 3 (amplifying as utilizing AD620) respectively, nurses one's health into the magnitude of voltage that the AD port of CPU can be discerned; Respectively through remaining 1 filtering circuit 4 and remaining 2 filtering circuits, 5 filtering (like second-order active filter), input position sensor redundant control module CPU1.
Two remaining position transducers are as shown in Figure 2, and it is made up of with remaining 2 position transducers 8 remaining 1 position transducer 7, remaining each other, and electrical isolation each other.When a position transducer breaks down, but another position transducer operate as normal still.
As shown in Figure 3, be steering wheel rudder face angular position pick up redundant apparatus control method.
The first step: remaining 1 and remaining 2 location feedback value are gathered.Got into for second step.
Second step: judge whether remaining 1 location feedback value and remaining 2 location feedback value all exceed setting threshold (in this model machine be-30 ° ~ 30 °), if, then positional value comprehensively export=0, plant failure also reports an error; If not, got into for the 3rd step.
The 3rd step: whether the absolute value of judging the difference of remaining 1 location feedback value and remaining 2 location feedback value exceeds setting threshold (being-3 ° ~ 3 ° in this model machine), if not comprehensively export=(remaining 1 location feedback value+remaining 2 location feedback value)/2 position; If got into for the 4th step.
The 4th step: judge the absolute value of the difference of whether given and remaining 1 location feedback value of the absolute value of the given difference with remaining 2 location feedback value in position, if comprehensively export=remaining 1 location feedback value the position greater than the position; If not comprehensively export=remaining 2 location feedback value the position.
Claims (4)
1. a steering wheel rudder face angular position pick up redundant apparatus comprises CPU, filtering circuit, modulate circuit and two remaining angular position pick up, it is characterized in that: two remaining angular position pick ups are gathered the position, angle of steering wheel rudder face; Output two-way rudder face angle position sampling value; Respectively through a modulate circuit, nurse one's health into the magnitude of voltage that the AD module of CPU can be discerned, more respectively through a filtering circuit filtering; Input CPU handles; When a remaining breaks down, excise this remaining signal, and with the rudder face angle position sampling value of another remaining as final position closed loop feedback data.
2. steering wheel rudder face angular position pick up redundant apparatus according to claim 1 is characterized in that: described pair of remaining angular position sensor is two electric independently pots, coaxial installation.
3. the control method of the said steering wheel rudder face of claim 1 an angular position pick up redundant apparatus is characterized in that comprising the steps:
The first step: gather the two-way rudder face angle position sampling value of steering wheel, nurse one's health respectively and filtering;
Second step: judge whether two-way rudder face angle position sampling value all exceeds setting threshold, if, decision maker fault and reporting an error then, the position closed loop feedback data equals 0; If not, got into for the 3rd step;
The 3rd step: whether the difference of judging two-way rudder face angle position sampling value exceeds setting threshold, if not the position closed loop feedback data equals two-way rudder face angle position sampling value sum divided by two; If got into for the 4th step;
The 4th step: judge the difference size of rudder face position set-point and two-way rudder face angle position sampling value, the position closed loop feedback data equals that corresponding rudder face angle, road position sampling value of less difference.
4. the control method of steering wheel rudder face angular position pick up redundant apparatus according to claim 3 is characterized in that: second step, described setting threshold was-30 ° ~+30 °, and the 3rd step, described setting threshold was-3 ° ~+3 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101763720A CN102706271A (en) | 2012-05-31 | 2012-05-31 | Redundancy device for angle position sensors of control plane of steering engine and control method for device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101763720A CN102706271A (en) | 2012-05-31 | 2012-05-31 | Redundancy device for angle position sensors of control plane of steering engine and control method for device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102706271A true CN102706271A (en) | 2012-10-03 |
Family
ID=46899223
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012101763720A Pending CN102706271A (en) | 2012-05-31 | 2012-05-31 | Redundancy device for angle position sensors of control plane of steering engine and control method for device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102706271A (en) |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103064408A (en) * | 2012-12-21 | 2013-04-24 | 兰州飞行控制有限责任公司 | Airplane steering engine servo system fault detection method |
| CN103213673A (en) * | 2013-05-06 | 2013-07-24 | 西北工业大学 | Control method for double-Y-type brushless direct current electric steering engine and driving device |
| CN104697434A (en) * | 2013-12-10 | 2015-06-10 | 中国航空工业第六一八研究所 | Rotor zero-adjustment structure of double-redundancy angular displacement sensor and adjustment method of rotor zero-adjustment structure |
| CN104834210A (en) * | 2015-03-24 | 2015-08-12 | 上海新跃仪表厂 | Redundancy control method based on double position sensors |
| CN105083537A (en) * | 2015-08-05 | 2015-11-25 | 北京韦加航通科技有限责任公司 | Control surface control device and aircraft |
| CN105627903A (en) * | 2016-03-16 | 2016-06-01 | 北京天诚同创电气有限公司 | Displacement/angle measuring device and method |
| CN105644802A (en) * | 2014-11-28 | 2016-06-08 | 上海航空电器有限公司 | Flap zero-position self-adaptive identification method |
| CN105691633A (en) * | 2014-11-28 | 2016-06-22 | 上海航空电器有限公司 | Flap zero-position self-adaptive recognition device |
| CN105841719A (en) * | 2015-01-29 | 2016-08-10 | 株式会社电装 | Rotation angle detection apparatus |
| CN106227124A (en) * | 2016-10-09 | 2016-12-14 | 浙江中控技术股份有限公司 | A kind of control system |
| CN106643829A (en) * | 2017-02-24 | 2017-05-10 | 长春键坤联合科技发展有限公司 | Dual-redundancy circuit and encoder |
| CN107450519A (en) * | 2017-08-16 | 2017-12-08 | 广州海工船舶设备有限公司 | A kind of fault-tolerant handover control systems of the double PLC of full circle swinging oar |
| CN107707222A (en) * | 2017-09-29 | 2018-02-16 | 兰州飞行控制有限责任公司 | A kind of control surface position indicator drive circuit of double redundant sensors |
| CN109443314A (en) * | 2018-10-24 | 2019-03-08 | 庆安集团有限公司 | A kind of high-lift system slant detection method |
| CN109818455A (en) * | 2019-02-15 | 2019-05-28 | 湖北三江航天红峰控制有限公司 | A kind of parallel steering engine remaining angle feed-back system |
| CN109959407A (en) * | 2017-12-22 | 2019-07-02 | 深圳市优必选科技有限公司 | A kind of steering engine position sensor linearity rapid detection method and device |
| CN110471349A (en) * | 2019-08-23 | 2019-11-19 | 北京机械设备研究所 | A kind of steering gear system inert zone determination method |
| CN111190347A (en) * | 2018-11-14 | 2020-05-22 | 北京自动化控制设备研究所 | Fault-tolerant processing method for multi-position information of dual-redundancy electromechanical servo system |
| CN112389639A (en) * | 2020-11-10 | 2021-02-23 | 中国船舶重工集团公司第七一六研究所 | 270V dual-redundancy high-power electric steering engine |
| CN112762816A (en) * | 2020-12-25 | 2021-05-07 | 兰州飞行控制有限责任公司 | Redundancy angular displacement sensor with self-isolation blocking fault and use method |
| CN113044113A (en) * | 2021-02-24 | 2021-06-29 | 安徽合力股份有限公司 | Vehicle steering control method |
| CN114111874A (en) * | 2021-11-11 | 2022-03-01 | 中国航发沈阳发动机研究所 | Fault diagnosis and reconstruction method for dual-redundancy sensor |
| CN114253123A (en) * | 2021-11-29 | 2022-03-29 | 国家电网有限公司 | Main distribution feedback adjusting method of speed regulator |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10258757A (en) * | 1997-03-19 | 1998-09-29 | Toyota Motor Corp | Steering controller |
| WO2002020998A2 (en) * | 2000-09-07 | 2002-03-14 | Kelsey-Hayes Company | High reliability pressure sensor |
| JP2007190985A (en) * | 2006-01-18 | 2007-08-02 | Honda Motor Co Ltd | Steering device for vehicle |
| CN101718606A (en) * | 2009-11-27 | 2010-06-02 | 李维平 | Pressure sensor with double redundancies and high reliability |
-
2012
- 2012-05-31 CN CN2012101763720A patent/CN102706271A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10258757A (en) * | 1997-03-19 | 1998-09-29 | Toyota Motor Corp | Steering controller |
| WO2002020998A2 (en) * | 2000-09-07 | 2002-03-14 | Kelsey-Hayes Company | High reliability pressure sensor |
| JP2007190985A (en) * | 2006-01-18 | 2007-08-02 | Honda Motor Co Ltd | Steering device for vehicle |
| CN101718606A (en) * | 2009-11-27 | 2010-06-02 | 李维平 | Pressure sensor with double redundancies and high reliability |
Non-Patent Citations (1)
| Title |
|---|
| 孟晓风等: "双余度传感器的故障检测与识别", 《自动化学报》 * |
Cited By (34)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103064408B (en) * | 2012-12-21 | 2015-09-16 | 兰州飞行控制有限责任公司 | A kind of aircraft Rudder Servo System fault detection method |
| CN103064408A (en) * | 2012-12-21 | 2013-04-24 | 兰州飞行控制有限责任公司 | Airplane steering engine servo system fault detection method |
| CN103213673A (en) * | 2013-05-06 | 2013-07-24 | 西北工业大学 | Control method for double-Y-type brushless direct current electric steering engine and driving device |
| CN103213673B (en) * | 2013-05-06 | 2015-07-15 | 西北工业大学 | Control method for double-Y-type brushless direct current electric steering engine and driving device |
| CN104697434A (en) * | 2013-12-10 | 2015-06-10 | 中国航空工业第六一八研究所 | Rotor zero-adjustment structure of double-redundancy angular displacement sensor and adjustment method of rotor zero-adjustment structure |
| CN105691633B (en) * | 2014-11-28 | 2018-12-25 | 上海航空电器有限公司 | Wing flap zero-bit self-adapting estimation device |
| CN105644802B (en) * | 2014-11-28 | 2017-08-25 | 上海航空电器有限公司 | Wing flap zero-bit self-adaptive identification method |
| CN105644802A (en) * | 2014-11-28 | 2016-06-08 | 上海航空电器有限公司 | Flap zero-position self-adaptive identification method |
| CN105691633A (en) * | 2014-11-28 | 2016-06-22 | 上海航空电器有限公司 | Flap zero-position self-adaptive recognition device |
| CN105841719A (en) * | 2015-01-29 | 2016-08-10 | 株式会社电装 | Rotation angle detection apparatus |
| CN104834210A (en) * | 2015-03-24 | 2015-08-12 | 上海新跃仪表厂 | Redundancy control method based on double position sensors |
| CN104834210B (en) * | 2015-03-24 | 2017-09-19 | 上海新跃仪表厂 | A kind of redundancy control method based on two-position sensor |
| CN105083537A (en) * | 2015-08-05 | 2015-11-25 | 北京韦加航通科技有限责任公司 | Control surface control device and aircraft |
| CN105627903A (en) * | 2016-03-16 | 2016-06-01 | 北京天诚同创电气有限公司 | Displacement/angle measuring device and method |
| CN105627903B (en) * | 2016-03-16 | 2019-08-30 | 北京天诚同创电气有限公司 | displacement/angle measuring device and method |
| CN106227124A (en) * | 2016-10-09 | 2016-12-14 | 浙江中控技术股份有限公司 | A kind of control system |
| CN106227124B (en) * | 2016-10-09 | 2019-01-29 | 浙江中控技术股份有限公司 | A kind of control system |
| CN106643829A (en) * | 2017-02-24 | 2017-05-10 | 长春键坤联合科技发展有限公司 | Dual-redundancy circuit and encoder |
| CN107450519A (en) * | 2017-08-16 | 2017-12-08 | 广州海工船舶设备有限公司 | A kind of fault-tolerant handover control systems of the double PLC of full circle swinging oar |
| CN107707222A (en) * | 2017-09-29 | 2018-02-16 | 兰州飞行控制有限责任公司 | A kind of control surface position indicator drive circuit of double redundant sensors |
| CN109959407B (en) * | 2017-12-22 | 2021-07-23 | 深圳市优必选科技有限公司 | Method and device for quickly detecting linearity of steering engine position sensor |
| CN109959407A (en) * | 2017-12-22 | 2019-07-02 | 深圳市优必选科技有限公司 | A kind of steering engine position sensor linearity rapid detection method and device |
| CN109443314A (en) * | 2018-10-24 | 2019-03-08 | 庆安集团有限公司 | A kind of high-lift system slant detection method |
| CN111190347A (en) * | 2018-11-14 | 2020-05-22 | 北京自动化控制设备研究所 | Fault-tolerant processing method for multi-position information of dual-redundancy electromechanical servo system |
| CN111190347B (en) * | 2018-11-14 | 2023-01-17 | 北京自动化控制设备研究所 | Fault-tolerant processing method for multi-position information of dual-redundancy electromechanical servo system |
| CN109818455A (en) * | 2019-02-15 | 2019-05-28 | 湖北三江航天红峰控制有限公司 | A kind of parallel steering engine remaining angle feed-back system |
| CN110471349A (en) * | 2019-08-23 | 2019-11-19 | 北京机械设备研究所 | A kind of steering gear system inert zone determination method |
| CN112389639A (en) * | 2020-11-10 | 2021-02-23 | 中国船舶重工集团公司第七一六研究所 | 270V dual-redundancy high-power electric steering engine |
| CN112762816A (en) * | 2020-12-25 | 2021-05-07 | 兰州飞行控制有限责任公司 | Redundancy angular displacement sensor with self-isolation blocking fault and use method |
| CN112762816B (en) * | 2020-12-25 | 2022-07-05 | 兰州飞行控制有限责任公司 | Redundancy angular displacement sensor with self-isolation blocking fault and use method |
| CN113044113A (en) * | 2021-02-24 | 2021-06-29 | 安徽合力股份有限公司 | Vehicle steering control method |
| CN114111874A (en) * | 2021-11-11 | 2022-03-01 | 中国航发沈阳发动机研究所 | Fault diagnosis and reconstruction method for dual-redundancy sensor |
| CN114111874B (en) * | 2021-11-11 | 2023-11-28 | 中国航发沈阳发动机研究所 | Dual-redundancy sensor fault diagnosis and reconstruction method |
| CN114253123A (en) * | 2021-11-29 | 2022-03-29 | 国家电网有限公司 | Main distribution feedback adjusting method of speed regulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102706271A (en) | Redundancy device for angle position sensors of control plane of steering engine and control method for device | |
| CN102706505A (en) | Redundancy device for aircraft electric brake pressure sensor and method for controlling redundancy device | |
| CN202692976U (en) | Angle position sensor redundancy device of control plane of steering engine | |
| CN103963075B (en) | Robot system | |
| WO2014188507A1 (en) | Protection control system for process bus, merging unit, and computation device | |
| CN104020411A (en) | On-line monitoring system for high-voltage GIS | |
| CN209911778U (en) | Engineering machinery vehicle-mounted controller based on functional safety | |
| CN102082463A (en) | Method for realizing redundancy of 4-20-mA current output in distributed control system (DCS) and circuit | |
| CN205750492U (en) | A kind of lathe health status monitoring system | |
| CN103699003B (en) | A kind of distributed redundancy general purpose controller towards double remaining motors | |
| CN106483977A (en) | A kind of redundance flight control system and control method | |
| EP2498270A1 (en) | Security relay and security-oriented communication system | |
| CN206805287U (en) | Diagnostic device based on analog input | |
| CN103092186A (en) | Voting structure of two out of three secure output and voting method thereof | |
| CN102931629A (en) | Quick relay protection method and circuit for current type transmitting signal input channel | |
| CN202614450U (en) | Aircraft electric brake pressure transducer redundancy apparatus | |
| CN101126773A (en) | Electronic type transformer high voltage side redundant backup circuit and failure detection method | |
| CN104460465B (en) | A kind of controller of whole electric vehicle for recognizing vehicle driving state | |
| CN207557715U (en) | A kind of controller suitable for Complex spatial framework | |
| CN209945693U (en) | Steering wheel anomaly automatic detection system | |
| CN102535566A (en) | Control system of active fork lift truck | |
| CN204138119U (en) | The safety protective circuit of a kind of escalator or moving sidewalk | |
| CN212825427U (en) | Safety control hardware platform applied to robot control system | |
| CN205353340U (en) | Current transformer state monitoring system | |
| CN107046275A (en) | A kind of Medical Devices air pressure duplicate protection system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20121003 |