CN107168044A - A kind of underwater robot propeller tolerant system - Google Patents
A kind of underwater robot propeller tolerant system Download PDFInfo
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- CN107168044A CN107168044A CN201710463560.4A CN201710463560A CN107168044A CN 107168044 A CN107168044 A CN 107168044A CN 201710463560 A CN201710463560 A CN 201710463560A CN 107168044 A CN107168044 A CN 107168044A
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- servomotor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B9/00—Safety arrangements
- G05B9/02—Safety arrangements electric
- G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
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Abstract
The present invention relates to underwater robot technical field, it is desirable to provide a kind of underwater robot propeller tolerant system.The system includes electron speed regulator and two servomotors, and electron speed regulator connects central control system module and servomotor respectively；Servomotor is connected to one pair by the electromagnetic clutch each coordinated and enters singly go out and parallel operation gear boxes；It is respectively arranged to monitor the proximity switch of motor speed on servomotor, two proximity switches connect with electric machines test module；Electric machines test module is respectively connected to two electromagnetic clutch, and the power supply powered to two servomotors by wire；The proximity switch being arranged on auxiliary servomotor is also connected to emergent monitoring module by wire, and emergent monitoring module is connected by wire with reclaiming control module.The present invention has the advantages that workable, volume of compartment occupancy is small, arrangement is convenient, replicability is strong, can preferably realize the hostdown self-inspection, alarm and automatic fault tolerant function of hardware view.
Description
Technical field
, should the present invention relates to underwater robot technical field, more particularly to a kind of underwater robot propeller fault tolerant mechanism
Fault tolerant mechanism is a kind of automation, intelligentized underwater robot main frame fault tolerance facility.
Background technology
Currently, due to benthos operating mode complexity and be difficult to predictability, unmanned underwater robot in deep ocean work,
Once break down, it will underwater operation task can not be smoothly completed and the Tough questions such as itself can not reclaim by facing, and be water
The popularization and application of lower robot bring very big obstruction.Therefore, guaranteed reliability's research of underwater robot seems very crucial,
Its fault diagnosis and fault-tolerance study are exactly one of hot fields of underwater robot technical research, and it is to the autonomous of oneself state
Diagnosis and fault-tolerant ability are to embody the key factor of its level of intelligence, are also the powerful guarantee that AUV completes safely mission task.
The mark that faults-tolerant control thought is produced is propositions of the Niederlinski in 1971 to integrity control concept.It is being
When system breaks down, in addition to being repaired, the approach that can really improve security of system and reliability is Fault Tolerance Control Technology.
Wherein, redundancy is the most crucial means and method of realization of fault tolerance technology, is also to realize fault-tolerant premise ingredient, such as
What makes full use of redundancy to realize that fault-tolerant target is the key of Fault Tolerance Control Technology research, design.The design master of fault-tolerant controller
It is divided into hardware redundancy and software redundancy (Analysis design) two methods.Hardware redundancy is mainly increase system core part and event
Hinder the quantity for the part that takes place frequently, i.e., arrange to obtain fault-tolerant ability by the repetition of hardware.Software redundancy (Analysis design) is mainly
The parsing relation existed using internal system, the system mathematic model represented by analysis mode produces the signal of redundancy, or
Person performs same function using multiple different softwares, is realized using Software for Design difference fault-tolerant.
The advantage of hardware redundancy is easy for designing, realizes that simply still, excessive hardware redundancy can increase the cabin in cabin area
Hold size, not only influence layout, the floading condition adjustment of underwater robot, can also increase manufacture, maintenance cost.So, in order to coordinate
Hardware redundancy, high-grade underwater robot redundancy research should also be aided with software redundancy (Analysis design).The advantage of this mode is
Cost is low, but higher to the design requirement of fault-tolerant control algorithm.
The content of the invention
The technical problem to be solved in the present invention is to overcome that of the prior art not enough there is provided a kind of propulsion of underwater robot
Device tolerant system.
To solve technical problem, solution of the invention is：
A kind of underwater robot propeller tolerant system is provided, including electron speed regulator and for providing impeller driven power
Servomotor, electron speed regulator connects central control system module and servomotor respectively；The servomotor has two, respectively
For main servomotor and auxiliary servomotor；Main servo motor and auxiliary servomotor are connected to one by the electromagnetic clutch each coordinated
Individual pair enters singly go out and parallel operation gear boxes；It is respectively arranged to monitor connecing for motor speed on main servo motor and auxiliary servomotor
Nearly switch, two proximity switches connect with electric machines test module；Electric machines test module is respectively connected to two electromagnetism by wire
Clutch, and the power supply powered to two servomotors；The proximity switch being arranged on auxiliary servomotor is also connect by wire
To emergent monitoring module, emergent monitoring module is connected by wire with reclaiming control module.
In the present invention, the central control system module is single-chip microcomputer, central processing unit either Intelligent treatment terminal.
In the present invention, the electric machines test module also connects with fault alarm module.
Compared with prior art, the beneficial effects of the present invention are：
1st, have the advantages that workable, volume of compartment occupancy is small, arrangement is convenient, replicability is strong, can preferably realize
Hostdown self-inspection, alarm and the automatic fault tolerant function of hardware view.
2nd, the system carries out redundancy setting only for main thruster, effectively prevent the negative shadow that excessive hardware redundancy is brought
Ring, fault-tolerant relation is preferably cooperated while can be realized with the software redundancy system that the later stage is set on this basis.
Brief description of the drawings
Fig. 1 is propeller tolerant system flow chart in the present invention.
Fig. 2 is simultaneously parallel operation gear boxes schematic diagram.
Reference in Fig. 2：(primary input end) electromagnetic clutch 1, (auxiliary input) electromagnetic clutch 2, master are defeated
Enter end 3, auxiliary input 4, output end 5.
Embodiment
Firstly the need of, it is emphasized that each module of the present invention is the set of circuit logic, rather than virtual functions module.
It is this area common technique means that it, which is implemented, and those skilled in the art are by the reading to the present invention, according to its grasp
Conventional technical means can reproduce completely.Any method characteristic is not present in the present invention, even if on the basis of no circuit diagram
This area is also to implement.
As shown in figure 1, the underwater robot propeller tolerant system in the present invention, including electron speed regulator and for providing
The servomotor of impeller driven power, electron speed regulator connects central control system module and servomotor respectively.Center control system
System module can be any one in single-chip microcomputer, central processing unit either Intelligent treatment terminal, for realizing to machine under water
The control of device people's propeller running, can also further realize the control of underwater robot Job Operations.
Servomotor in the present invention has two, respectively main servo motor and auxiliary servomotor.Main servo motor and auxiliary
Servomotor is connected to one pair by the electromagnetic clutch each coordinated and enters singly go out and parallel operation gear boxes；In main servo motor and auxiliary
Be respectively arranged on servomotor monitor motor speed proximity switch, two proximity switches with electric machines test module phase
Connect；Electric machines test module is respectively connected to two electromagnetic clutch, and the electricity for being powered to two servomotors by wire
Source, electric machines test module also connects with fault alarm module.The proximity switch being arranged on auxiliary servomotor is also connect by wire
To emergent monitoring module, emergent monitoring module is connected by wire with reclaiming control module.
Simultaneously the structural representation of parallel operation gear boxes is as shown in Figure 2 in the present invention.The electromagnetic clutch 1 at primary input end and auxiliary input
Electromagnetic clutch 2 be arranged in parallel, by and the primary input end 3 of parallel operation gear boxes and auxiliary input 4 realize it is double enter singly to go out, by exporting
End 5 provides the driving force of propeller.
The function mode of underwater robot propeller tolerant system of the present invention is described in detail below：
During original state, after the instruction for the superstructure for coming from central control system module is received, by electronics
Speed governing command signal is transported to main servo motor and auxiliary servomotor by speed regulator simultaneously.Under normal operation, main servo electricity
Machine is in "on" position, and auxiliary servomotor is in off-position.Correspondingly, at the electromagnetic clutch being connected with main servo motor
In "on" position, and the electromagnetic clutch being connected with auxiliary servomotor is in off-position.In an initial condition, with main servo
The connected single-row structure normal operation of motor, the single-row structure being connected with auxiliary servomotor is in holding state.
After electron speed regulator sends non-zero signal to servomotor, electric machines test module is started working.Located at main servo
Proximity switch monitoring main servo motor speed on motor, and detection data are sent to electric machines test module progress residual error point
Analysis.When residual error numerical value reaches 3s higher than the duration of given threshold, electric machines test module sends command signal：Master is disconnected to watch
The power supply supply for taking motor, the electromagnetic clutch stopped corresponding to main servo motor are run；Meanwhile, turn on the electricity of auxiliary servomotor
Source supply, start electromagnetic clutch corresponding to auxiliary servomotor；And conducting failure alarm module, sends servomotor operation
Fault warning.
Hereafter, electric machines test module transfers to monitor the working order of auxiliary servomotor.When auxiliary servomotor brings into operation, and
When corresponding proximity switch monitors auxiliary servomotor rotating speed and exported first, the emergent monitoring module being connected with proximity switch is simultaneously
Bring into operation.Such as the failure of auxiliary servomotor, electric machines test module sends command signal, disconnects auxiliary servo motor power supply and supplies
The electromagnetic clutch operation corresponding to auxiliary servomotor, should be stopped.Meanwhile, emergent monitoring module sends letter to control module is reclaimed
Number, the recovery operation of underwater robot is carried out according to default operation program by recovery control module.
Claims (3)
1. a kind of underwater robot propeller tolerant system, including electron speed regulator and the servo for providing impeller driven power
Motor, electron speed regulator connects central control system module and servomotor respectively；Characterized in that, the servomotor has two
It is individual, respectively main servo motor and auxiliary servomotor；Main servo motor and auxiliary servomotor pass through the electromagnetic clutch that each coordinates
Device is connected to one pair and enters singly go out and parallel operation gear boxes；It is respectively arranged to monitor motor on main servo motor and auxiliary servomotor
The proximity switch of rotating speed, two proximity switches connect with electric machines test module；Electric machines test module is respectively connected to by wire
Two electromagnetic clutch, and the power supply for being powered to two servomotors；It is arranged on the proximity switch on auxiliary servomotor
Emergent monitoring module is also connected to by wire, emergent monitoring module is connected by wire with reclaiming control module.
2. tolerant system according to claim 1, it is characterised in that the central control system module be single-chip microcomputer, in
Central processor either Intelligent treatment terminal.
3. tolerant system according to claim 1, it is characterised in that the electric machines test module also with fault alarm module
Connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710463560.4A CN107168044A (en) | 2017-06-19 | 2017-06-19 | A kind of underwater robot propeller tolerant system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710463560.4A CN107168044A (en) | 2017-06-19 | 2017-06-19 | A kind of underwater robot propeller tolerant system |
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| Publication Number | Publication Date |
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| CN107168044A true CN107168044A (en) | 2017-09-15 |
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| CN201710463560.4A Pending CN107168044A (en) | 2017-06-19 | 2017-06-19 | A kind of underwater robot propeller tolerant system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110262214A (en) * | 2019-07-22 | 2019-09-20 | 北京航天发射技术研究所 | Play perpendicular control system |
| CN111275164A (en) * | 2020-01-13 | 2020-06-12 | 浙江大学 | Underwater robot propulsion system fault diagnosis method |
| CN112083645A (en) * | 2020-07-30 | 2020-12-15 | 上海航天控制技术研究所 | Thruster redundancy mode management and fault shielding and autonomous recovery method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110262214A (en) * | 2019-07-22 | 2019-09-20 | 北京航天发射技术研究所 | Play perpendicular control system |
| CN111275164A (en) * | 2020-01-13 | 2020-06-12 | 浙江大学 | Underwater robot propulsion system fault diagnosis method |
| CN112083645A (en) * | 2020-07-30 | 2020-12-15 | 上海航天控制技术研究所 | Thruster redundancy mode management and fault shielding and autonomous recovery method |
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Application publication date: 20170915 |