CN104669268B - A kind of redundancy underwater robot self-control system based on Hot Spare and method - Google Patents
A kind of redundancy underwater robot self-control system based on Hot Spare and method Download PDFInfo
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Abstract
The invention belongs to underwater robot Autonomous Control technical field, specifically a kind of underwater robot redundancy self-control system and control method thereof, system is to be made up of the bus network controlling computer, the power supply control interface of redundancy and information sharing of redundancy.The intercomputer that controls being mutually redundant mutually monitors the state of the other side, when respective state is all normal time, two control computers control the functional unit of respective next stage by the bus network of redundant power supply control interface and information sharing, the most also receive the information of the other side's next stage functional unit；When controlling computer mode exception for a certain when, sending takeover request to another control computer immediately, another control computer receives whole controls of request rear tube the other side's next stage functional unit.The present invention utilizes the main control unit of Hot Spare and control link to realize seamless switching control, can improve the reliability controlling platform, thus increase the reliability service time of system.
Description
Technical field
The invention belongs to underwater robot Autonomous Control technical field, 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 performance demand, more and more underwater robots that task is polynary, mission is complicated are developed, and they have the features such as longevity of service, distance to go be remote, the thing followed, is that the requirement to operational reliability and fault-tolerant ability is greatly improved.
The reliability model of underwater robot mostly was series model in the past, lack link in parallel, mostly the measure improving reliability is to utilize the credit rating of raising parts or abundant emergency processing mode, but a certain link goes wrong, whole task will be unable to continue, the raising limitation of mission reliability, it is impossible to meet the requirement of higher reliability.Therefore need a kind of method that Fault Tolerance can be greatly improved, meet longevity of service, mission requirements that complexity is high.
Summary of the invention
In order to meet the underwater robot long-play demand to high reliability, increase the reliability service time further, the invention provides a kind of Autonomous Control method increasing Parallel Control link, the ability the most fault-tolerant to promote underwater robot control platform.
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 includes identical control computer a and controls computer b under water,
Described control computer a controls interface by redundant power supply and connects all next stage functional units, in normal operation, controls the power switch state of the next stage functional unit of its management；When described control computer b occurs abnormal, control the power switch state of the next stage functional unit of computer b management；Connect all next stage functional units by bus network and all next stage functional units are carried out data monitoring；The status information of all next stage functional units is gathered by bus network；
Described control computer b controls interface by redundant power supply and connects all next stage functional units, in normal operation, controls the power switch state of the next stage functional unit of its management；When described control computer a occurs abnormal, control the power switch state of the next stage functional unit of computer a management；Connect all next stage functional units by bus network and all next stage functional units are carried out data monitoring.The status information of all next stage functional units is gathered by bus network.
A kind of redundancy underwater robot Autonomous Control method based on Hot Spare, comprises the following steps:
In normal operation, control computer a and control computer b and gathered the status information of all next stage functional units by bus network；
According to the status information of next stage functional unit, control computer a and control computer b according to identical execution logic, through computing and judgement, form the execution sequence of all next stage functional units；
The execution sequence controlling the next stage functional unit that computer a is managed is assigned to this next stage functional unit；The execution sequence controlling the next stage functional unit that computer b is managed is assigned to this next stage functional unit；
When the control computer controlled in computer a and control computer b occurs abnormal, another control computer is taken over the other side and is managed its next stage functional unit managed, thus realizes controlling the Hot Spare of platform.
The invention have the advantages that and advantage:
1. underwater robot is significantly improved in terms of controlling fault-tolerant ability, thus improves system total reliability.
2. by the Hot Spare mode of controlling unit, it is ensured that the seriality of switching control after a certain control unit fault.
Accompanying drawing explanation
Fig. 1 is the composition schematic diagram of the present invention；
Fig. 2 is the redundant hardware power supply control interface of the present invention；
Fig. 3 is the Autonomous Control schematic flow sheet of the present invention；
Fig. 4 is that the failover of the present invention controls schematic diagram.
In Fig. 1,1 is underwater robot, and 2 is bus network, and 3 for controlling computer a, and 4 is the next stage functional unit controlling computer a, and 5 control interface for redundant power supply, and 6 for controlling computer b, and 7 is the next stage functional unit controlling computer b.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment the present invention is described in further detail.
As it is shown in figure 1, in underwater robot, a set of Redundant Control platform is mainly controlled computer by two same-interfaces, redundant power supply controls interface and information sharing bus network forms.The control computer being mutually redundant can realize power supply control by redundant hardware power supply control interface to lower functional units, can have access to the equipment in all buses by bus network, and set up communication.
As shown in Figure 2, redundant power supply controls interface and is made up of two relays, two relay parallel connections, power supply loop is formed the on and off switch of parallel connection, any one relay Guan Bi or two relays are closed at all can realizing the connection of electric power loop, and 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 comes respectively to the control computer being mutually redundant, outfan after two relay parallel connections is connected to the power input of next stage functional unit, and the redundant power supply state of next stage control unit is controlled by the computer that controls that can realize being mutually redundant.
In Redundant Control platform, information transmission is to be completed by bus network, the bus network used can work with multiple host pattern, on network, any one node all can send information by the node of other on network the most on one's own initiative, and regardless of principal and subordinate, communication mode flexibly can point-to-point, point-to-multipoint (in groups) and the overall situation broadcast mode send and receive data；Nodal information on network is divided into different priority to meet different requirement of real times；Possesses non-destructive bus arbitration mechanism, i.e. when two nodes send data on network simultaneously, the node that priority is low actively stops data and sends, and the high node of priority can continue to transmit data insusceptibly, greatly reduce the conflict time of bus arbitration, in the case of offered load is the heaviest, does not also have network failure or paralysis.These are all for ensureing that the network information sends/receive the autonomous adaptation of order and the unobstructed and continuous of communication channel.
The idiographic flow of present embodiment is: after Redundant Control working platform starts, be mutually redundant controls computer workflow the most as shown in Figure 3, open the power switch of the next stage functional unit controlled, set up communication connection, gather information, judge the state of each functional unit, and the result that will determine that is sent to the control computer of redundancy.
If it is determined that the state of each functional unit controlled is the most normal, and checked whether takeover request, if there being 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, are assigned to the functional unit execution of all next stage, after otherwise forming given output controlled quentity controlled variable, the functional unit being only assigned to the machine next stage performs.Repeatedly run with this flow process.
If it is determined that to the abnormal state of some functional unit controlled, contrast the result that the redundant control computer received is judged simultaneously, if state outcome is abnormal equally, then this exception is carried out troubleshooting；If the result that redundant control computer is judged is normal, then it is assumed that the machine fault, sending takeover request and run to the other side, the program terminating the machine, i.e. formation is such as Fig. 4 state.
Claims (2)
1. a redundancy underwater robot self-control system based on Hot Spare, it is characterised in that: the inside of robot includes identical control computer a and controls computer b under water,
Described control computer a controls interface by redundant power supply and connects all next stage functional units, in normal operation, controls the power switch state of the next stage functional unit of its management；When described control computer b occurs abnormal, control the power switch state of the next stage functional unit of computer b management；Connect all next stage functional units by bus network and all next stage functional units are carried out data monitoring；The status information of all next stage functional units is gathered by bus network；
Described control computer b controls interface by redundant power supply and connects all next stage functional units, in normal operation, controls the power switch state of the next stage functional unit of its management；When described control computer a occurs abnormal, control the power switch state of the next stage functional unit of computer a management；Connect all next stage functional units by bus network and all next stage functional units are carried out data monitoring；The status information of all next stage functional units is gathered by bus network；
Described bus network works with multiple host pattern, and on network, any one node all can send information, regardless of principal and subordinate by the node of other on network the most on one's own initiative；The communication mode sending and receiving data includes point-to-point, point-to-multipoint and overall situation broadcast；Nodal information on network meets different requirement of real times with different priority.
2. a redundancy underwater robot Autonomous Control method based on Hot Spare, it is characterised in that: comprise the following steps:
In normal operation, control computer a and control computer b and gathered the status information of all next stage functional units by bus network；
According to the status information of next stage functional unit, control computer a and control computer b according to identical execution logic, through computing and judgement, form the execution sequence of all next stage functional units；
The execution sequence controlling the next stage functional unit that computer a is managed is assigned to this next stage functional unit；The execution sequence controlling the next stage functional unit that computer b is managed is assigned to this next stage functional unit；
When the control computer controlled in computer a and control computer b occurs abnormal, another control computer is taken over the other side and is managed its next stage functional unit managed, thus realizes controlling the Hot Spare of platform；
Described bus network works with multiple host pattern, and on network, any one node all can send information, regardless of principal and subordinate by the node of other on network the most on one's own initiative；The communication mode sending and receiving data includes point-to-point, point-to-multipoint and overall situation broadcast；Nodal information on network meets different requirement of real times with different priority.
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