CN104597850A - Data exchange and synchronization method and data exchange and synchronization device for three-redundancy servo controller - Google Patents

Data exchange and synchronization method and data exchange and synchronization device for three-redundancy servo controller Download PDF

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Publication number
CN104597850A
CN104597850A CN201310524428.1A CN201310524428A CN104597850A CN 104597850 A CN104597850 A CN 104597850A CN 201310524428 A CN201310524428 A CN 201310524428A CN 104597850 A CN104597850 A CN 104597850A
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China
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module
data
synchronization
control
servo controller
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CN201310524428.1A
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Chinese (zh)
Inventor
刘嘉宇
仲悦
曹巳甲
张巍
陈庆浩
徐志书
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北京精密机电控制设备研究所
中国运载火箭技术研究院
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Priority to CN201310524428.1A priority Critical patent/CN104597850A/en
Publication of CN104597850A publication Critical patent/CN104597850A/en

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/18Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention belongs to the technical field of carrier rocket servo control, and particularly relates to a data exchange and synchronization method and a data exchange and synchronization device for a three-redundancy servo controller. The invention provides a data exchange and synchronization method and a data exchange and synchronization device for a three-redundancy servo controller, which are simple and effective, can realize the design of a multi-redundancy system under the condition of avoiding the introduction of complex redundant resources, and meet the demand of high-reliability aerospace application. The device comprises three sets of identical control driving paths which are sequentially connected by a communication network. Each set of control driving path comprises a processor, and a control power management module, an analog instruction and detection level signal interface, a 1553B communication control module, a communication SCLCAN, a three-redundancy potentiometer interface, a driving protection module, a three-phase bridge inverter module, a current detection module, and a speed sensor decoding module, which are communicated with the processor.

Description

For data interaction and the synchronous method and apparatus of triple redundance servo controller
Technical field
The invention belongs to carrier rocket technical field of servo control, be specifically related to a kind of data interaction for triple redundance servo controller and synchronous method and apparatus.
Background technology
Along with the swift and violent growth of the commercial Business Launch Market in the world and the flourish of China's aerospace industry, especially manned space flight proposes more harsh requirement to launcher reliability, and can the highly reliable supportability under high density launch mission becomes satisfy the demands vital condition under the new situation.
Servo controller is as the important component part of whole rocket/bullet, upwards with machine data on bullet alternately and resolve steering order, downward control, driving servo control mechanism, only have and improve the demand that its reliability could meet growing high density transmitting supportability further.Make a general survey of some astropowers in the world, morely carry out elevator system level reliability by redundance strategy, namely when partial function module breaks down, can by the scientific discovery such as redundancy management, system reconfiguration isolated fault source, reach that system level function did not lose efficacy, the object of system reliability service.Given this, the practical significance that the research with the redundance electromechanical servo control technology of degree of depth fault-tolerant ability has it far-reaching and wide application prospect.
Fault-tolerant technique tolerates mistake exactly, when it refers to that one or more key components of equipment break down, by taking corresponding measure, can maintain its predetermined function, or under acceptable performance index, guarantee equipment continues safety and completes its basic function.
Faults-tolerant control originated from for the 20 actual sixties, was applied to military field the earliest, and within 1967, under the advocating of NASA, USN research department ONZ takes the lead in launching the research of mechanical Failure Detection and Fault-Tolerent Control aspect.In aviation, the tolerant system in the large-scale science and technology such as Boeing-747, DC9, can utilize a large amount of aloft information carry out the fault at each position of analysis of aircraft and send the order eliminating fault, greatly improve flight safety.
Existing a kind of fault-tolerant technique utilizes increase cold standby hardware resource and fault detect to evaluate resource and realizes, its thought utilizes fault detect to evaluate hardware resource to monitor the running status of main equipment and to carry out health degree assessment to it, once main equipment breaks down, fault detect evaluating apparatus just stops its work and exports, start the work of stand-by equipment " adapter " main equipment simultaneously, reach the object of " fault/work/safety " successively.This method deposits deficiency both ways, and the first, resource backup, from starting to steady operation, also exists time delay more or less, and handoff procedure has certain instability; The second, the reliability as the equipment of fault detect and evaluation is a short slab of whole system, once it breaks down, whole system just breaks down.
Different from cold standby, existing another kind of fault-tolerant technique utilizes the mode increasing Hot Spare hardware resource fault-tolerant to realize, and active and standby resource is all in duty, when checkout equipment detects master-failure, just switches to alternate device.Although the method has certain lifting in the stability switched, the reliability short slab of checking and appraising resource still cannot be avoided.
In addition, utilize the mode of many mouthfuls of RAM to realize the technology of data interaction between redundant resource in existing technology in addition.This mode also needs to carry out integrated management to the data from different mouth write RAM, to ensure to there will not be different processor to occur the read-write operation of mistake to same a room.
In sum, in order to improve the reliability of system, can be upgraded by components and parts and increase the means such as backup is realized.But increase resource self and also there is certain crash rate, it is the problem being worth further investigation that the reduction how to maximize increases the negative effect of resource to system reliability.
Summary of the invention
Object of the present invention, not enough for prior art, provide a kind of succinct, effectively, can when avoiding introducing more complicated spare resources, realize the design of many redundant systems, meet a kind of data interaction for triple redundance servo controller of the demand of high reliability AEROSPACE APPLICATION and synchronous method and apparatus.
Technical scheme of the present invention is:
For data interaction and the synchronous device of triple redundance servo controller, comprise the identical control of three covers and drive path, three covers are controlled to drive between path and are connected by communication network successively.
Control power management module, dummy instruction that described often cover controls to drive path to comprise processor and be connected respectively at processor and detect level signal interface, 1553B communication control module, communication SCLCAN, 3 remaining pot interfaces, drive protection module, three-phase bridge inversion module, current detection module and speed pickup decoder module; Three-phase bridge inversion module is connected with motor, and the speed pickup on motor is connected with speed pickup decoder module, and 3 remaining pots on motor are connected with 3 remaining pot interfaces.
Often cover controls to drive path to have two HSSI Peripheral Interfaces, is respectively HSSIa and HSSIb, and three covers control to drive six hssi interfaces of path to form two contrary communication links of direction, a clockwise transmission, a counterclockwise transmission.
Described a kind of data interaction for triple redundance servo controller and synchronous method, comprise the following steps:
(4.1), after entering Interruption, first 2CPU reads the data received by DMA;
And according to time scale information carried out to data time calibration and use (4.2);
(4.3) after executing the steps such as servo calculating, at Interruption service routine last data packed and transfer to DMA to send.
The invention has the beneficial effects as follows:
1. triplex redundance servo controller has the sub-controller of three isomorphism hardware resources to form, and UNICOM between two between three sub-controllers, UNICOM's mode adopts full-duplex high-speed synchronous serial interface.Except adding communication channel and the interface resource of three full duplexs, not introducing any third party evaluation hardware, reducing the hidden danger that the increase failpoint brought introduced by device, being conducive to the reliability of raising system.
2. three Controlling vertex in systems in which equal, does not have active and standby point.The actuator that three nodes draw oneself up respectively, rear class merges output mechanically, utilizes the feature that physical construction is higher than electrical system reliability, effectively improves system reliability.
3. data interaction strategy adopts the mode of Double Data circulation, realizes the degree of depth knowledge sharing and alternation of three Controlling vertex data messages.Make data interaction itself have once fault/ability to work, improve system reliability.
4. utilize DMA(Direct Memory Access) transmission that technology realizes between data transmission channel, large high speed data transfer can be carried out when not taking CPU precious resources.Thus under the prerequisite paying less resource, greatly improve the bandwidth of data interaction between multi-control core, effectively improve the real-time of data transmission.
5. the mode that between three Controlling vertex, the synchronous employing markers of data is located, and the mode adopting comparatively loose event level synchronous.While guarantee system response characteristic, simplify Synchronization Design means, simple and effective algorithm effectively improves reliability.
6. there is no custom-designed hardware detection and evaluate resource, adopting the mode of pure software to carry out fusion and the faults-tolerant control of data, greatly improve system reliability
Accompanying drawing explanation
Fig. 1 is sub-controller composition frame chart;
Fig. 2 is the communications platform topological relation figure of triple redundance tolerant system;
Fig. 3 is alternative path schematic diagram under the failure condition of unipath;
Fig. 4 is that parallel computing platform receives, sends schematic diagram data;
Fig. 5 is that data send, accept process flow diagram.
Embodiment
A kind of data interaction for triple redundance servo controller proposed the present invention below in conjunction with accompanying drawing and embodiment and synchronous method and apparatus are further introduced:
Triplex redundance servo controller drives path (sub-controller) form by identical controls of three covers, three overlap sub-controllers via communication network interaction data, exchange each other's needs, form concurrent computational system.Each sub-controller comprises processor, controls the functional modules such as power management, driving power management, analog/digital instruction input, pot detection, current detecting, inversion output and power protection.Be illustrated in figure 1 sub-controller composition frame chart.
Utilize high-speed communication interface to form between three sub-controllers and can realize data interaction, share and synchronous parallel computing platform.Be illustrated in figure 2 the communications platform topological relation of triple redundance tolerant system, each control kernel have two HSSI (High-speed synchronous serial interface, high-speed synchronous serial line interface) Peripheral Interface, be called HSSIa and HSSIb.Six hssi interfaces of three sub-controllers connect according to the mode shown in Fig. 2, form two communication links that direction is contrary, a clockwise transmission, a counterclockwise transmission.Namely in this structure, the information of any one node is all delivered to other any one points by any link in these two links, and this communication structure flexibly adds the fault-tolerant ability of communication system undoubtedly.Even if in this communication structure when partial failure, this structure still can the unobstructed flow of guarantee information to greatest extent, to greatest extent " work/fault " ability of elevator system and " safety/fault " ability.Such as, when communication link 1 fault in Fig. 3 (broken line representation), the data being originally sent to left sibling by upper node just send via link 2,3, and the mode of this relaying can the once fault of tolerant of communication network itself, from system perspective, there is higher reliability.
Triple redundance servo-control system has three separate CPU, the key factor how keeping synchronometer to evaluate the good and bad and influential system of parallel algorithms at last between these three process cores effectively working.The method that the present invention adopts " event level " synchronous, that does not pursue on clock is completely the same, but " synchronously " is realized as much as possible in the process of instruction, sensor information data, the mode of aliging by calculating input data markers ensures " consistance " that export.
During servo calculates, the electric current loop bandwidth as inner ring is 10kHz, so inner ring computation period is 100us.Fig. 4 is that parallel computing platform receives, sends schematic diagram data.Because when three CPU can not power on and run in the mode of absolute synchronization simultaneously, deviation working time as shown in Figure 4 can be produced.In figure, Tservo is that servo calculates and drived control rate produces the timeslice calculating and need, and Tother represents that 100us timing cycle is shootd off sheet resource excess time of above-mentioned time.In figure, Tx1 represents that CPU1 sends to the transmission of other CPU in network to trigger signal, and Tx2, Tx3 are identical with it.Rx1.2 represents that the reception of data stream on CPU2 that CPU1 sends out triggers signal, and other statements are similar.In general, it is fixing for sending and triggering and receive the mistiming between triggering, but because the priority receiving the priority ratio system 100us Interruption triggered is low, receive triggering function to respond in Tother timeslice, this just causes illustrated situation, is namely triggered by being received in two 100us sheets break period of triggering of same transmission source.But macroscopic view, each Tother timeslice can receive two and receive triggering, and just these two are triggered the data of not same bat.
The present invention proposes a kind of effective synchronization processing method, namely think that two receptions in same Tother timeslice trigger " synchronously ", so servo-controlled data have at most up and down the error of " claps " (100us).But the data such as current sense are all gradual data, the sampling rate of its bandwidth ratio 10kHz is low, this characteristic, absorbs the impact on " synchronously " that " one clap " error brings preferably.In addition, then the time scale information of integrated data carries out filtering process to data, effectively can improve data reliability while guarantee synchronism.
Be illustrated in figure 5 the process flow diagram that single-node data in parallel computing platform sends and receives, after 1. entering Interruption, first 2CPU reads the data received by DMA, and carries out time calibration according to time scale information to data and use.3 then, after executing the steps such as servo calculating, to pack and transfer to DMA to send at Interruption service routine last to data.Utilize this transmitting-receiving structure succinctly, effective transmission of data between three Controlling vertex can be realized and share, and having higher reliability.

Claims (4)

1. for data interaction and the synchronous device of triple redundance servo controller, it is characterized in that: comprise the identical control of three covers and drive path, three covers are controlled to drive between path and connected by communication network successively.
2. a kind of data interaction for triple redundance servo controller and synchronous device as claimed in claim 1, is characterized in that: control power management module, dummy instruction that described often cover controls to drive path to comprise processor and be connected respectively at processor and detect level signal interface, 1553B communication control module, communication SCLCAN, 3 remaining pot interfaces, drive protection module, three-phase bridge inversion module, current detection module and speed pickup decoder module; Three-phase bridge inversion module is connected with motor, and the speed pickup on motor is connected with speed pickup decoder module, and 3 remaining pots on motor are connected with 3 remaining pot interfaces.
3. a kind of data interaction for triple redundance servo controller and synchronous device as claimed in claim 1, it is characterized in that: often cover controls to drive path to have two HSSI Peripheral Interfaces, be respectively HSSIa and HSSIb, three covers control to drive six hssi interfaces of path to form two contrary communication links of direction, a clockwise transmission, a counterclockwise transmission.
4. a kind of data interaction for triple redundance servo controller and synchronous method as claimed in claim 1, is characterized in that: comprise the following steps:
(4.1), after entering Interruption, first 2CPU reads the data received by DMA;
And according to time scale information carried out to data time calibration and use (4.2);
(4.3) after executing the steps such as servo calculating, at Interruption service routine last data packed and transfer to DMA to send.
CN201310524428.1A 2013-10-30 2013-10-30 Data exchange and synchronization method and data exchange and synchronization device for three-redundancy servo controller CN104597850A (en)

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CN106200479A (en) * 2016-08-01 2016-12-07 北京精密机电控制设备研究所 Realize the triple redundance servo controller that power amplification unit fault absorbs

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Publication number Priority date Publication date Assignee Title
CN106200479A (en) * 2016-08-01 2016-12-07 北京精密机电控制设备研究所 Realize the triple redundance servo controller that power amplification unit fault absorbs
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