CN104834210B - A kind of redundancy control method based on two-position sensor - Google Patents
A kind of redundancy control method based on two-position sensor Download PDFInfo
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Abstract
A kind of redundancy control method based on two-position sensor, redundancy judging module carries out extreme value fault distinguishing to the output valve of two position sensors of servo-drive system, the output valve for not occurring extreme value location of fault sensor is selected to be exported, if two position sensors all do not occur extreme value failure, then carry out two-way feedback consistency discrimination, if two-way feedback is consistent, keep the output of current position sensor constant, if two-way feedback is inconsistent, then carry out null value fault distinguishing, the output valve for not occurring null value location of fault sensor is selected to be exported, if two position sensors all do not occur null value failure, feedback is then carried out with command error to differentiate, the output valve of the output valve position sensor small with the absolute value of the error amount of instruction is exported.The present invention realizes that simply failure compatibility is good, and reliability is high.
Description
Technical field
The present invention relates to a kind of redundancy control method based on two-position sensor.
Background technology
Servo-drive system is the important rail control executive subsystem of carrier rocket, by gathering position feed back signal in real time, and
Compared with position command signal, constitute position-force control, realize the position tracking of load.Position sensor is used as servo-drive system
The important component of position output, its reliability is most important.
The crash rate of usual position sensor is higher, and in order to improve reliability, redundancy is mostly employed at present, such as existing
The mode of " two-way position sensor output end simultaneously connects " that is used on labour carrier rocket, this mode for feeding back breaking event all the way
Barrier is effective, but when open circuit fault occurs in feedback power supply all the way, deviation occurs in actual feedback output valve.New generation's carrier rocket
On used integral type triple redundance position sensor, take the redundancy of " two from three " to adjudicate mode, but for volume, weight demands
Strict small servo system, existing triple redundance position sensor is difficult to the small form factor requirements for reaching volume.
The content of the invention
The present invention provides a kind of redundancy control method based on two-position sensor, realizes that simply failure compatibility is good, can
It is high by property.
In order to achieve the above object, the present invention provides a kind of redundancy control method based on two-position sensor, comprising with
Lower step：
Step A, redundancy judging module carry out extreme value fault distinguishing to the output valve of two position sensors of servo-drive system：
If the absolute value of the output valve of two position sensors is both greater than extreme value failure decision threshold Uy1, illustrate two
Position sensor all occurs in that extreme value failure, then by the control output quantity zero setting of actual control servo control mechanism action, prevents stall
Damage servo control mechanism；If the absolute value of the output valve of any one position sensor in two position sensors is more than extreme value
The absolute value of another output valve, then be less than extreme value failure decision threshold Uy1 position sensor by failure decision threshold Uy1
Output valve as position sensor output valve Uf；If the absolute value of the output valve of two position sensors is both less than extreme value event
Hinder decision threshold Uy1, then carry out two-way feedback consistency discrimination；
It is consistent that step B, redundancy judging module carry out two-way feedback to the output valve of two position sensors of servo-drive system
Property differentiate：
If the absolute value of the difference of the output valve of two position sensors, which is less than two-way feedback signal uniformity, adjudicates threshold
Value Uy3, illustrates that two-way feedback is consistent, keeps the output of current position sensor constant；
If the absolute value of the difference of the output valve of two position sensors, which is more than two-way feedback signal uniformity, adjudicates threshold
Value Uy3, illustrates that two-way feedback is inconsistent, then carries out null value fault distinguishing；
Step C, redundancy judging module carry out null value fault distinguishing to the output valve of two position sensors of servo-drive system：
If the absolute value of the output valve of any one position sensor in two position sensors is less than null value failure
Decision threshold Uy2, illustrates to occur in that null value failure, then the absolute value of another output valve is more than into null value failure decision threshold
The output valve of Uy2 position sensor as position sensor output valve Uf；
If the absolute value of the output valve of two position sensors is both greater than null value failure decision threshold Uy2, carry out anti-
Feedback differentiates with command error.
Step D, redundancy judging module carry out feedback to the output valve of two position sensors of servo-drive system and instruct mistake
Difference differentiates：
Compare the output valve and the size of the absolute value of the error amount of instruction of two position sensors, by output valve and instruction
Error amount the small position sensor of absolute value output valve as position sensor output valve Uf.
Described extreme value failure decision threshold Uy1 is more than the maximum pendulum angle value Ub of servo-drive system, and less than failure extreme value Uj.
Described null value failure decision threshold Uy2=0.2V.
The Δ Uf of described two-way feedback signal uniformity decision threshold Uy3 >=1.5, wherein, Δ Uf is two-way feedback level
The maximum deflection difference value of device.
The present invention has advantages below：
1st, redundancy judging module is independent software module, and is logic judgment sentence, is not related to complex calculation, is realized
Simply, it is applicable substantially for configuring the servo-drive system of two-way position sensor on hardware, while expansible be applied to three tunnels of outfit
And with the system of upper position sensor；
2nd, the fault mode covered is wider, and typical position sensor fault mode can be covered substantially, failure compatibility
It is good；
3rd, two-way position sensor channels allow multiple switching, can effectively prevent the mistake brought when single switches from switching wind
Danger, causes position feedback channel to switch to another road (reality all the way by certain such as when outlier occurs in the numerical value of a certain bat or a few bats
Current road is still exported normally), if another road failure afterwards, still can switchback again, further increase position sensor anti-
It is fed back to the reliability on road.
Brief description of the drawings
Fig. 1 is the output schematic diagram of position sensor.
Fig. 2 is a kind of embodiment flow chart for redundancy control method based on two-position sensor that the present invention is provided
Fig. 3 is test case curve when null value failure is injected separately into the feedback of position sensor and secondary position sensing
Figure.
Embodiment
Below according to Fig. 1~Fig. 3, presently preferred embodiments of the present invention is illustrated.
The servo-drive system of certain new generation's carrier rocket is according to space layout requirement, using existing resource, employs two solely
Vertical small-sized position sensor (single weight 15g), two position sensors 101 are distributed in the both sides of servo motor output shaft,
The pivot angle output of servo control mechanism can be detected simultaneously.
As shown in figure 1, the structure type of described position sensor 101 is similar to slide rheostat, the position sensor
101 have the negative feeder ear 1 of feedback, feed back positive feeder ear 3 and feedback output end 2, the negative feeder ear 1 of feedback and feedback output end 2 it
Between be section A-B resistance base body, feed back between positive feeder ear 3 and feedback output end 2 for B-C sections of resistance base bodies.
According to the structure type of position sensor, the fault mode and every kind of fault mode for enumerating position sensor are produced
Fail result, see the table below 1.
The feedback potentiometer fault mode of table 1 and result
It can be seen from Table 1 that, although fault mode is more (not considering line 1,3 short troubles and line 1,4 short troubles),
But only following 2 kinds of typical fail results：
1st, extreme value fail result：Feedback output valve is positive or negative maximum；
2nd, null value fail result：Feedback output valve is that the determination value in the range of -0.1V~0.1V (is fed back suspension voltage, led to
Cross and pull down resistor is set on hardware circuit, it is ensured that output voltage range when feedback output end is suspended is in feedback suspension
In voltage range).
For extreme value failure, the general voltage range far beyond effective angle f obliquity of output result is hindered for some reason, thus is easy to judge；
For null value failure, because it is in the range of effective voltage, the relative difficulty that gets up is judged, redundancy control method focuses on this.
Output of the position sensor in the case of normal and failure has following 3 kinds of situations：
1st, during fault-free, feedback output valve can be the arbitrary value in the range of effective angle f obliquity；
When the 2nd, there is extreme value failure, feedback output valve is positive or negative maximum；
When the 3rd, there is null value failure, feedback output valve is to fall the steady state value in -0.1V~+0.1V intervals.
However, even if feedback output valve falls in -0.1V~+0.1V intervals, there is also two kinds of situations：
3.1st, feedback does not break down, but feedback process -0.1V~+0.1V region or feedback are maintained at the region
It is interior；
3.2nd, feedback occurs in that null value failure.
As shown in Fig. 2 the present invention provides a kind of redundancy control method based on two-position sensor, the redundancy control method
For the position sensor and the output control of secondary position sensor of servo-drive system, UfaFor the output valve of position sensor,
UfbFor the output valve of secondary position sensor, efa is the output valve and the error amount of instruction of position sensor, and efb is secondary position
The output valve of sensor and the error amount of instruction, Uf are the selected position sensor output valve for participating in closed-loop control, and setting is current
Output valve be position sensor output valve.
The described redundancy control method based on two-position sensor is comprised the steps of：
Step S1, redundancy judging module setting extreme value failure decision threshold Uy1, null value failure decision threshold Uy2 and two-way
Feedback signal uniformity decision threshold Uy3；
Described extreme value failure decision threshold Uy1 is adjudicated for extreme value failure, and the threshold value is between servo-drive system maximum pendulum angle
Between value Ub and failure extreme value Uj (positive or negative maximum), i.e. Ub<Uy1<Uj；
Described null value failure decision threshold Uy2 is adjudicated for null value failure, and the value leaves 2 on the basis of 0.1V boundary values
Times surplus, i.e. Uy2=0.2V；
The uniformity that described two-way feedback signal uniformity decision threshold Uy3 is used for two-way feedback signal is adjudicated, because of two
Road feedback potentiometer is separate, and the two linearity in the range of given pivot angle is there is also difference, and the value is fed back in two-way
Leave at least 0.5 times surplus on the basis of potentiometer maximum deflection difference value Δ Uf again, i.e. the Δ Uf of Uy3 >=1.5；
When being related to the logic judgment compared with threshold value Uy1, Uy2, Uy3, because threshold value has certain surplus in itself, it can not examine
Consider the equal situation of judged result；
Step S2, redundancy judging module judge whether to meet | Ufa | ＞ Uy1, and | Ufb | ＞ Uy1；If so, explanation two-way
There is extreme value failure (i.e. feedback output absolute value is more than threshold value Uy1) in feedback, will control the control output quantity of position sensor
The torque of servo control mechanism (is exported zero setting) by zero setting, prevents servo control mechanism beat to maximum machine spacing place and occurs stall,
Step S2 is then back to, continues to judge；If it is not, then carrying out step S3；
Step S3, redundancy judging module judge whether to meet | Ufa | ＜ Uy1, and | Ufb | ＞ Uy1；If so, explanation is current
Value of feedback is normal, and extreme value failure occurs in another road value of feedback, is still exported from current feedback, return to step S2；If it is not, then carrying out
Step S4；
Step S4, redundancy judging module judge whether to meet | Ufa | ＞ Uy1, and | Ufb | ＜ Uy1；If so, explanation is current
There is extreme value failure in value of feedback, and another road value of feedback is normal, is changed to feed back output, return to step S2 from another road；If it is not, then
Carry out step S5；
Step S5, redundancy judging module judge whether to meet | Ufa-Ufb | ＜ Uy3；If so, explanation two-way feedback output one
(Error Absolute Value i.e. between two-way feedback is less than threshold value Uy3) is caused, is still exported from current feedback, return to step S2；If it is not,
Illustrate that two-way feedback is inconsistent, then carry out step S6；
Step S6, redundancy judging module judge whether to meet | Ufb | ＜ Uy2；If so, illustrating that this feeds back null value occur all the way
(i.e. feedback output absolute value is less than Uy2), then feed back output, return to step S2 from another road；If it is not, then carrying out step S7；
Step S7, redundancy judging module judge whether to meet | Ufa | ＜ Uy2；If so, there is null value in explanation current feedback,
Then output, return to step S2 are fed back from another road；If it is not, then carrying out step S8；
Step S8, redundancy judging module judge whether meet (| efa |-| efb |) ＞ 0；If so, explanation primary feedback and instruction
Error it is bigger than secondary feedback and the error of instruction, then feed back output, return to step S2 from another road；If it is not, explanation is main anti-
Present smaller than secondary feedback and the error of instruction with the error instructed, still exported from current feedback, return to step S2.
Step S2- steps S4 is used for the judgement of extreme value failure, and step S5 is used for two-way feedback uniformity judgement, step S6-
Step S7 is used for the judgement to null value failure, and step S8 is used to feed back two-way the judgement with command error.
For null value failure, two kinds of typical fault results of extreme value failure, by " extreme value fault distinguishing → two-way feeds back uniformity
Differentiation → null value fault distinguishing → feedback and command error differentiate " flow devise feedback redundancy strategy, current feedback returns
Road (the i.e. current loop for participating in closed-loop control) is initially set main feedback loop, it is allowed to the multiple switching of two-way feedback, prevents list
It is secondary to switch the mistake risk of handover brought.
By outside injection typical fault pattern, the redundancy control method based on two-position sensor provided the present invention
The test of 3 kinds of situations is carried out, test result is as follows：
1st, during the equal fault-free of two-way position sensor, all the time from the feedback of position sensor, do not occur switching by mistake；
2nd, the feedback fault-free of position sensor, during the feedback failure of secondary position sensor, all the time from the status of a sovereign
The feedback of sensor is put, does not occur switching by mistake；
3rd, the feedback failure of position sensor, during the feedback fault-free of secondary position sensor, is passed when to master site
During the feedback channel injection extreme value failure of sensor, quick feedback channel switching can be achieved；When injecting null value failure, system exists
Fuctuation within a narrow range in short-term occurs in handoff procedure, returns afterwards normal.On this basis again by the feedback of position sensor
Output recovers normal, and to the feedback output injection failure of secondary position sensor, then system can switch to primary feedback again.
Test case when Fig. 3 is major and minor feedback null value failure, null value failure is injected at the T1 moment to primary feedback,
Servo-drive system occurs switching to secondary feedback output after oscillation on small scale in short-term after direct fault location；Primary feedback is recovered normal afterwards,
At the T2 moment to secondary feedback null value failure, servo-drive system occurs switching to after oscillation on small scale in short-term main anti-after direct fault location
Feedback output.
It is logic judgment language in the module invention increases a redundancy judging module (program is no more than 30 rows)
Sentence, the computing of complexity is not related to, therefore will not increase the operation burden of software.Redundant Control algorithm realizes that simply, compatibility is good,
The typical fault pattern of position position sensor can be effectively recognized and reject, when the output of current road position sensor is normal not
Switching occurs, when current road position sensor exports failure and normal another road, effectively switching can be achieved, the present invention is applicable
In having two-way position sensor, and the servo-drive system or similar higher to position backfeed loop reliability requirement in hardware configuration
System (product).
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (5)
1. a kind of redundancy control method based on two-position sensor, it is characterised in that comprise the steps of：
Step A, redundancy judging module carry out extreme value fault distinguishing to the output valve of two position sensors of servo-drive system：
If the absolute value of the output valve of two position sensors is both greater than extreme value failure decision threshold Uy1, illustrate two positions
Sensor all occurs in that extreme value failure, then by the control output quantity zero setting of actual control servo control mechanism action, prevents stall from damaging
Servo control mechanism；If the absolute value of the output valve of any one position sensor in two position sensors is more than extreme value failure
The absolute value of another output valve, then be less than the output of extreme value failure decision threshold Uy1 position sensor by decision threshold Uy1
It is worth the output valve Uf as position sensor；Sentence if the absolute value of the output valve of two position sensors is both less than extreme value failure
Certainly threshold value Uy1, then carry out two-way feedback consistency discrimination；
Step B, redundancy judging module carry out two-way feedback uniformity to the output valve of two position sensors of servo-drive system and sentenced
Not：
If the absolute value of the difference of the output valve of two position sensors is less than two-way feedback signal uniformity decision threshold
Uy3, illustrates that two-way feedback is consistent, keeps the output of current position sensor constant；
If the absolute value of the difference of the output valve of two position sensors is more than two-way feedback signal uniformity decision threshold
Uy3, illustrates that two-way feedback is inconsistent, then carries out null value fault distinguishing；
Step C, redundancy judging module carry out null value fault distinguishing to the output valve of two position sensors of servo-drive system：
If the absolute value of the output valve of any one position sensor in two position sensors is adjudicated less than null value failure
Threshold value Uy2, illustrates to occur in that null value failure, then the absolute value of another output valve is more than into null value failure decision threshold Uy2's
The output valve of position sensor as position sensor output valve Uf；
If the absolute value of the output valve of two position sensors is both greater than null value failure decision threshold Uy2, carry out feedback with
Command error differentiates.
2. the redundancy control method as claimed in claim 1 based on two-position sensor, it is characterised in that described based on double
The redundancy control method of position sensor also includes step D, and step D is performed after step c；
Step D, redundancy judging module carry out feedback to the output valve of two position sensors of servo-drive system and sentenced with command error
Not：
Compare the output valve and the size of the absolute value of the error amount of instruction of two position sensors, by output valve and the mistake of instruction
The output valve of the small position sensor of the absolute value of difference as position sensor output valve Uf.
3. the redundancy control method as claimed in claim 1 based on two-position sensor, it is characterised in that described extreme value event
Hinder the maximum pendulum angle value Ub that decision threshold Uy1 is more than servo-drive system, and less than failure extreme value Uj.
4. the redundancy control method as claimed in claim 1 based on two-position sensor, it is characterised in that described null value event
Hinder decision threshold Uy2=0.2V.
5. the redundancy control method as claimed in claim 1 based on two-position sensor, it is characterised in that described two-way is anti-
The Δ Uf of feedback signal uniformity decision threshold Uy3 >=1.5, wherein, Δ Uf is the maximum deflection difference value of two-way feedback potentiometer.
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| 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 |
| CN107387859B (en) * | 2017-08-02 | 2019-06-18 | 杭州澎康自动化科技有限公司 | A kind of intelligence is double to select valve position feedback control method |
| CN107942245A (en) * | 2017-10-24 | 2018-04-20 | 中车大连机车车辆有限公司 | Locomotive traction motor temperature redundancy monitoring method |
| CN108037677B (en) * | 2017-11-30 | 2020-12-18 | 中国科学院国家天文台南京天文光学技术研究所 | Latent fault self-healing semi-physical simulation platform for Antarctic astronomical telescope |
| CN109240074B (en) * | 2018-08-02 | 2021-07-16 | 中国航空工业集团公司西安飞行自动控制研究所 | Method for switching main and standby work of actuator in dual-redundancy control mode |
| CN108827207A (en) * | 2018-08-06 | 2018-11-16 | 南京磁谷科技有限公司 | Using the magnetic suspension bearing radial displacement transducer component and its control method of triplex redundance control |
| CN109143839A (en) * | 2018-09-04 | 2019-01-04 | 广西质量技术工程学校 | A kind of sensor redundancy control method highly fault tolerant |
| CN109633506B (en) * | 2018-11-12 | 2021-07-16 | 许继电气股份有限公司 | Data acquisition and checking method and monitoring control system in direct current transmission system |
| CN109932890B (en) * | 2019-03-12 | 2022-03-04 | 中铝瑞闽股份有限公司 | Sensor redundancy control system of movable equipment and control method thereof |
| CN113959630A (en) * | 2020-07-21 | 2022-01-21 | 何强 | Differential pressure detection method and system for preventing misoperation |
| CN113324505B (en) * | 2021-04-23 | 2022-06-14 | 上海卫星工程研究所 | Method and system for judging consistency of displacement sensors between double-super-satellite cabins |
| CN116149295A (en) * | 2022-12-13 | 2023-05-23 | 上海航天控制技术研究所 | Double-redundancy position sensor fault diagnosis method based on dynamic time warping |
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