CN105863851B - A kind of hot redundancy actuator method for handover control of two-node cluster hot backup electron speed regulator twin coil - Google Patents
A kind of hot redundancy actuator method for handover control of two-node cluster hot backup electron speed regulator twin coil Download PDFInfo
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- CN105863851B CN105863851B CN201610293269.2A CN201610293269A CN105863851B CN 105863851 B CN105863851 B CN 105863851B CN 201610293269 A CN201610293269 A CN 201610293269A CN 105863851 B CN105863851 B CN 105863851B
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D1/00—Controlling fuel-injection pumps, e.g. of high pressure injection type
- F02D1/02—Controlling fuel-injection pumps, e.g. of high pressure injection type not restricted to adjustment of injection timing, e.g. varying amount of fuel delivered
- F02D1/08—Transmission of control impulse to pump control, e.g. with power drive or power assistance
- F02D1/12—Transmission of control impulse to pump control, e.g. with power drive or power assistance non-mechanical, e.g. hydraulic
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D1/00—Controlling fuel-injection pumps, e.g. of high pressure injection type
- F02D1/02—Controlling fuel-injection pumps, e.g. of high pressure injection type not restricted to adjustment of injection timing, e.g. varying amount of fuel delivered
- F02D1/08—Transmission of control impulse to pump control, e.g. with power drive or power assistance
- F02D2001/082—Transmission of control impulse to pump control, e.g. with power drive or power assistance electric
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/06—Electromagnets; Actuators including electromagnets
- H01F7/08—Electromagnets; Actuators including electromagnets with armatures
- H01F7/16—Rectilinearly-movable armatures
- H01F2007/1692—Electromagnets or actuators with two coils
Abstract
The present invention relates to a kind of hot redundancy actuator method for handover control of two-node cluster hot backup electron speed regulator twin coil.A kind of hot redundancy actuator method for handover control of two-node cluster hot backup electron speed regulator twin coil, it include speed probe 1, speed probe 2, controller A, controller B including two-node cluster hot backup electron speed regulator composition, CAN1 and CAN2 communication bus, twin coil proportion electro-magnet actuator, the driving of coil 1 and coil 2 drive, the controller A acquires revolving speed by speed probe 1 and controls driving coil 1, and the controller B acquires revolving speed by speed probe 2 and controls driving coil 2；The CAN1 and CAN2 realizes the communication and data sharing between two-shipper；Coil 1 and 2 self contained function of coil complete control function.Diesel engine no shutdown stable and continuous is run in the case that two-node cluster hot backup electron speed regulator ensure that one-of-a-kind system failure, improves the reliability of electron speed regulator.
Description
Technical field
The present invention relates to a kind of hot redundancy actuator method for handover control of two-node cluster hot backup electron speed regulator twin coil.
Technical background
Diesel engine development have upper a century history, because its higher thermal efficiency, wide power bracket, preferably fit
The advantages that answering property and be widely used.Diesel engine speed regulator is the highly important component of diesel engine, diesel engine electronic
The reliability of governor is an important ring for Diesel Engine Complete Machine reliability, and reliability is the important of Digital Governor for Diesel Engine design
One of performance indicator.Usually there are two types of methods for the reliability of raising control system, first is that in electron speed regulator design process
Fault avoidance, it may be necessary to increasing some fault-tolerant links in one-of-a-kind system, to some system most common failures have tolerance energy
Power.Second method i.e. control system Redundancy Design.The control of the hot redundancy ratio electromagnet actuator of twin coil is then bavin
The key link of oil machine electron speed regulator.The hot redundancy ratio electromagnet actuator of twin coil is as its name suggests by two coil groups
At wherein each coil can work independently.Two coils in two-node cluster hot backup electron speed regulator are by two controller independences
Control, two coils work at the same time when two-shipper is all working properly, and when two coils break down all the way, failure road coil stops
Work, normal coil work on, the diesel engine no shutdown continuous operation under Guarantee control system fault condition.Troubleshooting
It requires the revolving speed of diesel engine to control in the process and meets certain index, this must just design specific control strategy and can protect
Card.The present invention relates to a kind of control method of the hot redundancy proportion electro-magnet of twin coil, specifically a kind of guarantee actuator is steady
The fixed control method that unicoil work is switched to by twin coil work.There are many patents and paper to mention in the document having disclosed
And the concept of two-node cluster hot backup, but do not refer to about twin coil actuator handoff procedure control method, more without text
Offer the stability control method for referring to and being controlled from twin coil and controlling switching to unicoil.
Summary of the invention
The purpose of the present invention is to provide one kind to be applied to two-node cluster hot backup electron speed regulator, realizes that event occurs in a coil
Twin coil in the case of barrier, which is controlled, controls steady excessive, diesel engine no shutdown stable and continuous under realization fault condition to unicoil
Operation improves the two-node cluster hot backup electron speed regulator twin coil hot redundancy actuator switching control side of system reliability and availability
Method.
The object of the present invention is achieved like this:
A kind of hot redundancy actuator method for handover control of two-node cluster hot backup electron speed regulator twin coil, including two-node cluster hot backup
Electron speed regulator composition include speed probe 1, speed probe 2, controller A, controller B, CAN1 and CAN2 communication bus,
Twin coil proportion electro-magnet actuator, the driving of coil 1 and coil 2 drive, and the controller A is turned by the acquisition of speed probe 1
Speed and control driving coil 1, the controller B acquires revolving speed by speed probe 2 and controls driving coil 2；It is described
CAN1 and CAN2 realize two-shipper between communication and data sharing；Coil 1 and 2 self contained function of coil complete control function；
The switching control of the hot redundancy ratio electromagnet actuator of two-node cluster hot backup electron speed regulator twin coil is realized in
: when coil 1 and the corresponding entire control loop of coil 2 all working properly, two coils of control system are all in work shape
State, controller A driving coil 1 work, and controller B driving coil 2 works, and pass through CAN bus between controller A and controller B
Transmitting real-time information, when open circuit or short trouble occur for one of two coils, system failure detection module is detected accordingly
Failure notifies another controller, fault loop coil to stop working by CAN bus, and the corresponding controller of normal coil is first
Control amount is handled, guarantee system does not occur big position by the output pull rod that twin coil control is switched to actuator when unicoil controls
Fluctuation is set, the continuity of control amount is guaranteed by CAN bus communication-cooperation in handoff procedure.
The beneficial effects of the present invention are:
1, two-node cluster hot backup electron speed regulator ensure that diesel engine no shutdown stable and continuous in the case where one-of-a-kind system failure
Operation, improves the reliability of electron speed regulator.
2, for two coils all for working condition, single controller is downgraded to unicoil work when breaking down under normal circumstances
Make, handoff procedure is excessively steady.
3, the process that twin coil work is switched to unicoil work is completed by software completely, is easy to implement.
Detailed description of the invention
Fig. 1 is two-node cluster hot backup electron speed regulator schematic diagram；
Fig. 2 is proportion electro-magnet working principle and force analysis figure；
Fig. 3 is twin coil proportion electro-magnet actuator handoff procedure flow chart.
Specific embodiment
The present invention is described further with reference to the accompanying drawing.
A kind of hot redundancy actuator method for handover control of two-node cluster hot backup electron speed regulator twin coil, two-node cluster hot backup electronics
Governor composition includes speed probe 1, speed probe 2, controller A, controller B, CAN1 and CAN2 communication bus, two-wire
Proportion electro-magnet actuator, the driving of coil 1 and coil 2 is enclosed to drive.The controller A acquires revolving speed simultaneously by speed probe 1
And control driving coil 1, the controller B acquire revolving speed by speed probe 2 and control driving coil 2；Described
CAN1 and CAN2 realizes the communication and data sharing between two-shipper；Coil 1 and coil 2 being capable of self contained function completion control functions.
The switching control of the hot redundancy ratio electromagnet actuator of two-node cluster hot backup electron speed regulator twin coil is realized in
: when two coils 1 and the corresponding entire control loop of coil 2 all working properly, two coils of control system are all in work
Make state, controller A driving coil 1 works, and controller B driving coil 2 works, and passes through CAN between controller A and controller B
Bus transmitting real-time information, when open circuit or short trouble occur for one of two coils, system failure detection module is detected
Corresponding failure notifies another controller, fault loop coil to stop working by CAN bus, the corresponding control of normal coil
Device first handles control amount, and guarantee system is not occurred greatly by the output pull rod that twin coil control is switched to actuator when unicoil controls
Positional fluctuation, the continuity of control amount is guaranteed by CAN bus communication-cooperation in handoff procedure.
Two-node cluster hot backup electron speed regulator further include:
1, two controllers respectively connected two independent diesel engine speed sensors, being capable of independent acquisition diesel engine
Revolving speed.Executing agency of the twin coil proportion electro-magnet actuator as two-node cluster hot backup electron speed regulator, its main feature is that having two
Road coil, two-way coil can independent driving actuator pull rods.The actuator driven port of two controllers respectively drives
One coil thus constitutes two sets of control loops.
2, CAN bus communication is the core in twin coil handoff procedure, greatly improves system using dual CAN bus communication
Reliability.
3, when actuator is worked at the same time by twin coil and is switched to list in a circuit in two control loops when something goes wrong
Coil working, it is former to be that continuity works according to Maxwell's electromagnetic force calculation method and actuator for actuator position in handoff procedure
Reason guarantees.
Following part is specifically included in conjunction with Fig. 1 two-node cluster hot backup electron speed regulator:
Controller A respectively connected two revolution speed sensings with the controller that controller B is as two, two controllers
Device, can independent measurement diesel engine speed, twin coil proportion electro-magnet actuator is as two-node cluster hot backup electron speed regulator
Executing agency, its main feature is that having two-way coil, two-way coil, which can work independently, drives actuator pull rod.Controller A drives
Moving winding 1 works, and controller B driving coil 2 works, and thus constitutes the control loop of two sets of equities.
In the corresponding trouble-free situation of control loop of two controllers, two coils of actuator are all in work shape
State, controller A control coil 1, controller B control coil 2.It is communicated between two controllers by the CAN bus of redundancy, CAN
Bus guarantees the data sharing between two-shipper.When a controller breaks down, system is switched to single cpu mode by Dual OMU Servers Mode,
Only coil working all the way, the continuity of control amount is communicated by CAN bus according to Maxwell's electromagnetic force meter in handoff procedure
Calculation method guarantees.
It is as follows in conjunction with Fig. 3 twin coil proportion electro-magnet switching method specific work process: controller A and controller B operation
Identical program, controller A acquire engine current rotating speed by speed probe 1, and controller A is held by calculating drive control
The coil 1 of row device, and acquire the displacement of actuator and the electric current of flowing through coil 1；Controller B is acquired by speed probe 2
Engine current rotating speed, controller B acquire actuator displacement and flow through and hold by calculating drive control actuator coil 2
The electric current of row device coil 2.Controller acquire engine rotational speed signal and actuator displacement and current signal, and according to revolving speed, hold
Row device is displaced, the electric current of flowing through coil carries out actuator fault diagnosis, and specific method for diagnosing faults is threshold diagnostic method.When holding
The AD sampled value of row device displacement is then subjected to displacement sensor disconnection fault when being less than certain threshold value, when actuator electric current is greater than electric current
Upper limit threshold is then diagnosed as actuator and short trouble occurs.1) detect that any one in two above failure is then further sentenced
It is disconnected, if current system is in single cpu mode or CAN bus receives failed request frame, then it is assumed that event all occurs for system two-shipper
Barrier, system stalls；If 2) current system works in Dual OMU Servers Mode and CAN bus does not receive failed request frame,
Think that system single coil breaks down, failure coil stops working, and CAN bus sends failed request frame.Failed request frame is wanted
It is sent in two-way CAN bus in turn, just stops CAN bus failed request until receiving failed request acknowledgement frame, controller stops
Only work.
If fault detection link does not detect that short circuit or open circuit fault, system continue to execute PID calculation procedure,
CAN bus sends normal frame, and judge the current working status of system later: 1) current system works in Dual OMU Servers Mode.In order to control
Device processed can timely receive the failed request frame sent to square controller, need to judge whether again before control amount exports
Failed request frame is received, if not receiving failed request frame, dual systems is working properly, exports control amount, is prepared to enter into
Subsequent work circulation；If receiving failed request frame, CAN bus sends failed request acknowledgement frame first, assert the single line of system
Circle breaks down, single-unit operation mode flags position position, and exports again after exporting progress continuity processing to control amount；2) when
Preceding system works in single cpu mode, then no longer detects failed request frame, and system can be constantly in single-unit operation mode until control
The next time of device re-powers reset.
About the control amount continuity processing in handoff procedure.Two-shipper from Dual OMU Servers Mode be switched to single cpu mode during it is real
Controller B is stopped using on border, and actuator is worked by twin coil switches unicoil work, in order to guarantee diesel engine in control system
It runs smoothly in work-mode switching process, speed adjusting performance meets the performance indicator of diesel generator group second cascade hydropower station, it is necessary to
The continuity processing of control amount is carried out, to guarantee that actuator pull rod does not occur greatly when twin coil works and is switched to unicoil work
Variation.
According to the working principle diagram of Maxwell's Theory of Electromagnetic Field and proportion electro-magnet actuator such as Fig. 2, actuator is in work
Mainly by electromagnetic force Fe, the elastic force and damping force of spring during making, therefore there is electromagnetic actuator equilibrium equation are as follows:
An inductance can be equivalent to plus resistance (see Fig. 2), so the voltage of actuator is flat by the coil of actuator again
Weigh equation are as follows:
Wherein k is spring rate；C is damped coefficient；M is armature quality；KmFor electromagnetism force coefficient；KeFor counter electromotive force system
Number；L is coil inductance；R is coil resistance.
By Maxwell's electromagnetic force calculation formula
Wherein it is magnetic flux, is space permeability, S is the corresponding magnetic pole area of working gas gap.
Have again
Wherein Z is coil turn, and R1-Rn is each section magnetic resistance in magnetic circuit system.Under mechanical structure unanimous circumstances
R1-Rn, μ 0 is constant, electromagnetic force size and I2It is directly proportional.
PWM duty cycle under unicoil operating mode is the certain multiple of duty ratio under original twin coil operating mode
Guarantee that the pull rod of actuator in handoff procedure does not occur big fluctuation.
Claims (1)
1. a kind of hot redundancy actuator method for handover control of the twin coil of two-node cluster hot backup electron speed regulator, two-node cluster hot backup electronics
Governor includes speed probe 1, speed probe 2, controller A, controller B, CAN1 and CAN2 communication bus, twin coil heat
Redundancy ratio electromagnet actuator, coil 1 and coil 2, the controller A acquire revolving speed by speed probe 1 and control
Driving coil 1, the controller B acquire revolving speed by speed probe 2 and control driving coil 2；The CAN1 and
CAN2 realizes the communication and data sharing between two-shipper；Coil 1 and 2 self contained function of coil complete control function；It is characterized by:
The switching control of the hot redundancy ratio electromagnet actuator of two-node cluster hot backup electron speed regulator twin coil, which is achieved in that, works as
When coil 1 and the corresponding entire control loop of coil 2 all working properly, two coils of control system are all in working condition, control
Device A driving coil 1 processed works, and controller B driving coil 2 works, and is transmitted in fact between controller A and controller B by CAN bus
When information lead to when open circuit occurs for one of two coils or when short trouble, system failure detection module detects corresponding failure
Crossing CAN bus notifies another controller, fault loop coil to stop working, and the corresponding controller of normal coil first handles control
Amount, guarantee system do not occur big positional fluctuation by the output pull rod that twin coil control is switched to actuator when unicoil controls,
The continuity of control amount is guaranteed by CAN bus communication-cooperation in handoff procedure；PWM duty cycle under unicoil operating mode is
Originally under twin coil operating mode duty ratio certain multiple be can guarantee handoff procedure in actuator pull rod do not occur it is big
Fluctuation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610293269.2A CN105863851B (en) | 2016-05-06 | 2016-05-06 | A kind of hot redundancy actuator method for handover control of two-node cluster hot backup electron speed regulator twin coil |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610293269.2A CN105863851B (en) | 2016-05-06 | 2016-05-06 | A kind of hot redundancy actuator method for handover control of two-node cluster hot backup electron speed regulator twin coil |
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| CN105863851A CN105863851A (en) | 2016-08-17 |
| CN105863851B true CN105863851B (en) | 2019-02-01 |
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| CN113346610B (en) * | 2021-04-10 | 2022-07-15 | 上海昱章电气股份有限公司 | Redundant topological structure of power supply system |
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| CN1715956A (en) * | 2004-06-30 | 2006-01-04 | 上海神开科技工程有限公司 | Double collecting machine system and it double collecting method for double machine hot back-up |
| CN103793300A (en) * | 2014-01-29 | 2014-05-14 | 浙江网新技术有限公司 | Fast active-standby switching device in hot-standby system and active-standby switching method |
| CN103840961A (en) * | 2012-11-23 | 2014-06-04 | 景幂机械（上海）有限公司 | Dual-computer hot backup system |
| CN103912388A (en) * | 2014-04-02 | 2014-07-09 | 大连理工大学 | Double-control electronic speed regulator and speed regulation method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01213096A (en) * | 1988-02-22 | 1989-08-25 | Nec Corp | Switch control circuit for hot standby |
| JPH05291983A (en) * | 1992-04-10 | 1993-11-05 | Fujitsu Ltd | Operation detecting system for hot standby type radio equipment system |
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- 2016-05-06 CN CN201610293269.2A patent/CN105863851B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1715956A (en) * | 2004-06-30 | 2006-01-04 | 上海神开科技工程有限公司 | Double collecting machine system and it double collecting method for double machine hot back-up |
| CN103840961A (en) * | 2012-11-23 | 2014-06-04 | 景幂机械（上海）有限公司 | Dual-computer hot backup system |
| CN103793300A (en) * | 2014-01-29 | 2014-05-14 | 浙江网新技术有限公司 | Fast active-standby switching device in hot-standby system and active-standby switching method |
| CN103912388A (en) * | 2014-04-02 | 2014-07-09 | 大连理工大学 | Double-control electronic speed regulator and speed regulation method |
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