CN104669268A - System and method for independent control of redundant underwater robot based on hot backup - Google Patents
System and method for independent control of redundant underwater robot based on hot backup Download PDFInfo
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- CN104669268A CN104669268A CN201310614348.5A CN201310614348A CN104669268A CN 104669268 A CN104669268 A CN 104669268A CN 201310614348 A CN201310614348 A CN 201310614348A CN 104669268 A CN104669268 A CN 104669268A
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Abstract
The invention belongs to the technical field of independent control of underwater robots, and specifically provides system and method for independent control of a redundant underwater robot based on hot backup. The system comprises redundant control computers, a redundant power supply control interface and an information sharing bus network; the control computers redundant to each other are used for monitoring the state of each other; when both are in normal state, the two control computers control each functional unit at the next grade through the redundant power supply control interface and the information sharing bus network as well as receiving the information of the functional unit at the next grade of the opposite side; in case that one control computer is in abnormal state, a handover request is sent to another control computer, and the another control computer accepts all control rights for the functional unit at the next grade of the opposite side after receiving the request. According to the system and method, the seamless switch control is performed through a main control unit of the hot backup and a control link, thus the reliability of a control platform can be improved, and as a result, the reliable operation time of the system can be increased.
Description
Technical field
The invention belongs to the autonomous control technology field of underwater robot, specifically a kind of underwater robot redundancy self-control system and control method thereof.
Background technology
In marine field, along with the increase to underwater operation demand, more and more underwater robot that task is polynary, mission is complicated is developed, and they have the features such as longevity of service, distance to go be far away, the thing followed greatly improves the requirement of operational reliability and fault-tolerant ability.
The reliability model of underwater robot mostly was series model in the past, lack link in parallel, mostly the measure improving reliability is utilize the credit rating of raising parts or enrich emergency processing mode, but a certain link goes wrong, whole task cannot continue, the raising limitation of mission reliability, cannot meet the requirement of higher reliability.Therefore need a kind of method that significantly can improve Fault Tolerance, meet longevity of service, mission requirements that complexity is high.
Summary of the invention
In order to meet the demand of underwater robot long-play to high reliability, increasing the reliability service time further, the invention provides a kind of autonomous control method increasing Parallel Control link, to promote the independently fault-tolerant ability of underwater robot parametric controller.
To achieve these goals, the technical solution adopted in the present invention is: a kind of redundancy underwater robot self-control system based on Hot Spare, and the inside of robot comprises identical computer for controlling a and computer for controlling b under water,
Described computer for controlling a connects all next stage functional units by redundant power supply control interface, in normal operation, controls the power switch state of the next stage functional unit of its management; When described computer for controlling b occurs abnormal, control the power switch state of the next stage functional unit of computer for controlling b management; Connect all next stage functional units by bus network and data monitoring is carried out to all next stage functional units; The status information of all next stage functional units is gathered by bus network;
Described computer for controlling b connects all next stage functional units by redundant power supply control interface, in normal operation, controls the power switch state of the next stage functional unit of its management; When described computer for controlling a occurs abnormal, control the power switch state of the next stage functional unit of computer for controlling a management; Connect all next stage functional units by bus network and data monitoring is carried out to all next stage functional units.The status information of all next stage functional units is gathered by bus network.
Based on the autonomous control method of redundancy underwater robot of Hot Spare, comprise the following steps:
In normal operation, computer for controlling a and computer for controlling b gathers the status information of all next stage functional units by bus network;
According to the status information of next stage functional unit, computer for controlling a and computer for controlling b, according to identical actuating logic, through computing and judgement, form the execution sequence of all next stage functional units;
The execution sequence of the next stage functional unit that computer for controlling a is managed is assigned to this next stage functional unit; The execution sequence of the next stage functional unit that computer for controlling b is managed is assigned to this next stage functional unit;
When a computer for controlling in computer for controlling a and computer for controlling b occurs abnormal, another computer for controlling is taken over the other side and is managed the next stage functional unit that it manages, thus realizes the Hot Spare of parametric controller.
The present invention has following beneficial effect and advantage:
1. underwater robot is significantly improved in control fault-tolerant ability, thus improves entire system reliability.
2., by the Hot Spare mode of controlling unit, after ensure that a certain control unit fault, switch the continuity of control.
Accompanying drawing explanation
Fig. 1 is composition schematic diagram of the present invention;
Fig. 2 is redundant hardware power supply control interface of the present invention;
Fig. 3 is autonomous control flow schematic diagram of the present invention;
Fig. 4 is that failover of the present invention controls schematic diagram.
In Fig. 1,1 is underwater robot, and 2 is bus network, and 3 is computer for controlling a, and 4 is the next stage functional unit of computer for controlling a, and 5 is redundant power supply control interface, and 6 is computer for controlling b, and 7 is the next stage functional unit of computer for controlling b.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail.
As shown in Figure 1, in underwater robot, a set of Redundant Control platform forms primarily of two same-interface computer for controlling, redundant power supply control interface and information sharing bus network.The computer for controlling of redundancy realizes power supply control by redundant hardware power supply control interface to lower functional units each other, has access to the equipment in all buses by bus network, and sets up communication.
As shown in Figure 2, redundant power supply control interface is made up of two relays, two relay parallel connections, power supply loop is formed on-off switch in parallel, any one relay closes or two relay closed connections that all can realize electric power loop simultaneously, the closed and disconnected of relay switch is realized by respective power supplying control signal.When redundant hardware power supply control interface uses in Redundant Control platform, the power supplying control signal of two relays carrys out the computer for controlling of extremely redundancy each other respectively, output after two relay parallel connections is connected to the power input of next stage functional unit, and the computer for controlling that can realize redundancy each other controls the redundant power supply state of next stage control unit.
In Redundant Control platform, information transmission has been come by bus network, the bus network used can multiple host pattern work, on network, any one node all can send information to other node on network at any time on one's own initiative, and regardless of principal and subordinate, communication mode can point-to-point, point-to-multipoint (in groups) and overall broadcast mode transmit and receive data flexibly; Nodal information on network can be divided into different priority to meet different requirement of real times; Possesses non-destructive bus arbitration mechanism, namely when two nodes send data on network simultaneously, the node that priority is low initiatively stops data sending, and the high node of priority can continue to transmit data insusceptibly, greatly reduce the conflict time of bus arbitration, also there will not be network failure or paralysis when offered load is very heavy.These are all for ensureing the network information sending/receiving autonomous adaptation of order and the unobstructed and continuous of information channel.
The idiographic flow of present embodiment is: after Redundant Control working platform starts, the computer for controlling of redundancy is all by the workflow shown in Fig. 3 each other, open the power switch of the next stage functional unit controlled, establish a communications link, Information Monitoring, judge the state of each functional unit, and the result judged is sent to the computer for controlling of redundancy.
If judge that the state of each functional unit controlled is all normal, and look into and see if there is takeover request, if there is takeover request, then take over the functional unit of the other side's next stage, the data utilizing collection carry out computing, form given output controlled quentity controlled variable, assign and perform to the functional unit of all next stage, otherwise after forming given output controlled quentity controlled variable, only assign and perform to the functional unit of the machine next stage.Repeatedly run with this flow process.
If determine the abnormal state of controlled some functional units, contrast the result that the redundant control computer that receives judges simultaneously, if state outcome is abnormal equally, then troubleshooting is carried out to this exception; If the result that redundant control computer judges is normal, then think and the machine fault send takeover request to the other side, the program terminating the machine is run, and is namely formed as Fig. 4 state.
Claims (2)
1. based on a redundancy underwater robot self-control system for Hot Spare, it is characterized in that: the inside of robot comprises identical computer for controlling a and computer for controlling b under water,
Described computer for controlling a connects all next stage functional units by redundant power supply control interface, in normal operation, controls the power switch state of the next stage functional unit of its management; When described computer for controlling b occurs abnormal, control the power switch state of the next stage functional unit of computer for controlling b management; Connect all next stage functional units by bus network and data monitoring is carried out to all next stage functional units; The status information of all next stage functional units is gathered by bus network;
Described computer for controlling b connects all next stage functional units by redundant power supply control interface, in normal operation, controls the power switch state of the next stage functional unit of its management; When described computer for controlling a occurs abnormal, control the power switch state of the next stage functional unit of computer for controlling a management; Connect all next stage functional units by bus network and data monitoring is carried out to all next stage functional units.The status information of all next stage functional units is gathered by bus network.
2., based on the autonomous control method of redundancy underwater robot of Hot Spare, it is characterized in that: comprise the following steps:
In normal operation, computer for controlling a and computer for controlling b gathers the status information of all next stage functional units by bus network;
According to the status information of next stage functional unit, computer for controlling a and computer for controlling b, according to identical actuating logic, through computing and judgement, form the execution sequence of all next stage functional units;
The execution sequence of the next stage functional unit that computer for controlling a is managed is assigned to this next stage functional unit; The execution sequence of the next stage functional unit that computer for controlling b is managed is assigned to this next stage functional unit;
When a computer for controlling in computer for controlling a and computer for controlling b occurs abnormal, another computer for controlling is taken over the other side and is managed the next stage functional unit that it manages, thus realizes the Hot Spare of parametric controller.
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Cited By (10)
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| CN105807761A (en) * | 2015-09-02 | 2016-07-27 | 南京乐朋电子科技有限公司 | Control system of bionic intelligent robotic fish |
| CN106584467A (en) * | 2017-02-28 | 2017-04-26 | 深圳市笨笨机器人有限公司 | Intelligent robot system |
| CN107085439A (en) * | 2017-03-01 | 2017-08-22 | 江苏国电铁塔有限公司 | Photovoltaic tracking support array redundancy control method and control device |
| CN107901036A (en) * | 2017-10-25 | 2018-04-13 | 深圳市朗驰欣创科技股份有限公司 | A kind of redundancy control system and control method for robot |
| CN109782578A (en) * | 2018-12-24 | 2019-05-21 | 中国船舶重工集团公司第七一0研究所 | A kind of high reliability deep-sea autonomous underwater vehicle control method |
| WO2019100227A1 (en) * | 2017-11-22 | 2019-05-31 | 贵州智慧能源科技有限公司 | Control system and protection device |
| CN111824092A (en) * | 2019-04-15 | 2020-10-27 | 中车株洲电力机车研究所有限公司 | Multi-master real-time hot standby redundant braking force distribution method and system |
| CN113093518A (en) * | 2021-04-07 | 2021-07-09 | 广州中国科学院沈阳自动化研究所分所 | Unmanned ship redundant energy monitoring system and monitoring method |
| CN114326365A (en) * | 2021-11-25 | 2022-04-12 | 宜昌测试技术研究所 | AUV redundancy control device |
| CN114625098A (en) * | 2020-12-10 | 2022-06-14 | 中国科学院沈阳自动化研究所 | Preemptive fault processing method for underwater robot |
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| CN105807761B (en) * | 2015-09-02 | 2019-07-12 | 南京乐朋电子科技有限公司 | A kind of control system of bionic intelligence machine fish |
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| CN106584467A (en) * | 2017-02-28 | 2017-04-26 | 深圳市笨笨机器人有限公司 | Intelligent robot system |
| CN107085439A (en) * | 2017-03-01 | 2017-08-22 | 江苏国电铁塔有限公司 | Photovoltaic tracking support array redundancy control method and control device |
| CN107901036A (en) * | 2017-10-25 | 2018-04-13 | 深圳市朗驰欣创科技股份有限公司 | A kind of redundancy control system and control method for robot |
| WO2019100227A1 (en) * | 2017-11-22 | 2019-05-31 | 贵州智慧能源科技有限公司 | Control system and protection device |
| CN109782578A (en) * | 2018-12-24 | 2019-05-21 | 中国船舶重工集团公司第七一0研究所 | A kind of high reliability deep-sea autonomous underwater vehicle control method |
| CN111824092A (en) * | 2019-04-15 | 2020-10-27 | 中车株洲电力机车研究所有限公司 | Multi-master real-time hot standby redundant braking force distribution method and system |
| CN111824092B (en) * | 2019-04-15 | 2021-12-28 | 湖南中车智行科技有限公司 | Multi-master real-time hot standby redundant braking force distribution method and system |
| CN114625098A (en) * | 2020-12-10 | 2022-06-14 | 中国科学院沈阳自动化研究所 | Preemptive fault processing method for underwater robot |
| CN114625098B (en) * | 2020-12-10 | 2023-10-20 | 中国科学院沈阳自动化研究所 | Preemptive fault processing method for underwater robot |
| CN113093518A (en) * | 2021-04-07 | 2021-07-09 | 广州中国科学院沈阳自动化研究所分所 | Unmanned ship redundant energy monitoring system and monitoring method |
| CN114326365A (en) * | 2021-11-25 | 2022-04-12 | 宜昌测试技术研究所 | AUV redundancy control device |
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