CN108401560B - It is a kind of for submarine navigation device data, power supply and alarm signal three-bus structure - Google Patents
It is a kind of for submarine navigation device data, power supply and alarm signal three-bus structure Download PDFInfo
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- CN108401560B CN108401560B CN201218000569.XA CN201218000569A CN108401560B CN 108401560 B CN108401560 B CN 108401560B CN 201218000569 A CN201218000569 A CN 201218000569A CN 108401560 B CN108401560 B CN 108401560B
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Abstract
The present invention relates to a kind of for submarine navigation device data, the three-bus structure of power supply and alarm signal, it is characterised in that：The equipment coupled is each needed to be equipped with respective input connection port and output connection port, data/address bus, power bus and alarm bus pass through each input connection port and output connection port in a series arrangement；The data/address bus uses CAN industrial bus；The power bus passes sequentially through the connection port in all control system group parts from power-supply controller, each group parts draw required power supply from input connection port, and remaining power supply is drawn from output connection port and is coupled with the input connection port of other equipment；Fault test set of the alarm bus out of Underwater Vehicle Control System passes sequentially through the input connection port and output connection port of all devices after drawing.This three bus distributed control system connection type has the advantages that reliability is high, easy to connect, favorable expandability.
Description
Technical field
The present invention relates to submarine navigation device control technologies, and in particular to one kind being used for submarine navigation device data, power supply and alarm signal
Three-bus structure, belong to the distributed AC servo system equipment for submarine navigation device.
Background technology
Conventional Underwater Vehicle Control System, especially Autonomous Underwater Vehicle control system, mostly use centerized fusion mode,
Realized to the data acquisition of all sensing elements, executing agency and drive control by main control computer, that is, automatic pilot.Automatically
Pilot acquires the number of serial equipment by serial port circuit by analog signals such as A/D conversion circuit collection voltages, electric currents
According to after automatic pilot is handled these data, passing through D/A conversion circuit and export controlled quentity controlled variable and drive the execution such as steering engine
Mechanism controls equipment by digital quantity output circuit output switching signal.
Centralized control system has the following defects：
(1) automatic pilot undertakes all data acquisitions, mission planning, the work that control resolves, driving exports, and exploitation is surveyed
Try operational difficulties；
(2) system reliability is low, once automatic pilot breaks down, entire control system will paralyse, or even can not shut down
To ensure that submarine navigation device can float safely；
(3) system expandability is poor, data acquisition channel, interrupt resources, the register address of automatic pilot be all to determine and
It is limited, it must be redesigned when increasing equipment.
In power supply mode, in centralized control system, the power supply of the group parts such as automatic pilot, steering engine is all made of solely
Vertical cable is independently drawn by connector from instrument battery through power-supply controller, each group parts is connected in star structure, because
This has the power cable for much guiding aircraft head and tail portion into from power-supply controller of electric, and plug, cable are various, is group parts equipment
The risk that installation fixation with cable brings big inconvenience, while bringing misplug, leakage slotting.
And for emergency-stop signal, it is different to ultra-deep, leakage etc. by pressure switch and leakage sensor by security insurance controller
Normal state is detected, and directly to automatic pilot output digit signals, after automatic pilot detects emergency-stop signal,
Digital switch signal is exported to power-supply controller immediately, the relay controlled in power-supply controller powers off each equipment.But
It is whether the troubleshooting of this design automatic pilot that places one's entire reliance upon works normally, once and automatic pilot breaks down
(the reason of often causing ultra-deep) can not then complete detection and the processing action of emergency, even and if other group parts work
Normally it can not also detect emergency shutdown alarm signal and handle it, therefore can not ensure the safety of submarine navigation device.
In conclusion with sensor technology, the development of the communication technology, automatic control technology, to the carrying energy of submarine navigation device
Power, level of intelligence, reliability, maintainability are proposed higher challenge, and traditional centerized fusion method cannot be satisfied
The requirement of Underwater Vehicle Control System.
Invention content
In order to avoid the shortcomings of the prior art, the present invention proposes that one kind being used for submarine navigation device data, power supply and alarm signal
Three-bus structure, realize control system in group parts standardization, modularization connection, it is each including automatic pilot
Group parts are connected in series by three bus cables, the transmission using the data, alarm signal of unified standard implementation bus type and group
The power supply of component simplifies connection type to greatly reduce the connection plug of control system group parts, be easily installed, dismantle and
It safeguards.
It is a kind of for submarine navigation device data, power supply and alarm signal three-bus structure, it is characterised in that including data/address bus,
Power bus, alarm bus and multiple input connection port and output connection port；The equipment coupled is each needed to be equipped with respective
Input connection port and output connection port, data/address bus, power bus and alarm bus pass through each input in a series arrangement
Connection port and output connection port；The data/address bus uses CAN industrial bus；The power bus from power-supply controller according to
The secondary connection port by all control system group parts, each group parts draw required power supply from input connection port,
And remaining power supply is drawn from output connection port and is coupled with the input connection port of other equipment；The alarm bus is from underwater
Fault test set in aircraft control systems passes sequentially through the input connection port and output union end of all devices after drawing
Mouthful, alarm voltage is loaded into alarm bus, and each equipment is equipped with the sensor of detection alarm voltage, sensing in alarm bus
Alarm voltage signal is input to the control unit of this equipment by device.
It is proposed by the present invention a kind of for submarine navigation device data, the three-bus structure of power supply and alarm signal, it has the following advantages：
1, work efficiency is high for system, and exploitation test is easy：
Traditional centralized control system completes all data acquisitions by automatic pilot, control resolves and servo driving output is appointed
Business, computationally intensive, program structure is complicated, is unfavorable for developing and test.And dcs completes number by special node
According to acquisition and servo driving output, centerized fusion share tasks to each sensor and device node are completed in the form of bus,
To dramatically reduce the task of automatic pilot, system working efficiency is improved, the exploitation and test of automatic pilot are simplified.
2, autgmentability is strong：
Centralized control system is limited by hardware design and computer resource, it is difficult to extend new function module, it is necessary to set again
Count hardware system.And be easier to extend new functional node under distributed bus structure, when extension new equipment need to only be connected into
In three-bus structure, which can carry out data exchange with existing node, and can acquire alarm signal, and in power bus
In increase the supply lines of the equipment in the core wire reserved, so that it may in the feelings for not changing original power-supply controller and cell hardware line
Under condition, the power supply to the equipment is realized.
3, strong antijamming capability：
Multiple group parts use analog signal in original centralized control system, such as the output of depth transducer is analog voltage,
Servo driving signal is analog voltage, and transmission process is inevitably present decaying and by external electromagnetic interference.And use number
Word bus transfer data, the accuracy and interference free performance that signal transmits access guarantee.
Description of the drawings
Fig. 1：The hardware structure diagram of embodiment submarine navigation device dcs；
Fig. 2：The interface schema of embodiment automatic pilot；
Fig. 3：The interface schema of embodiment data logger；
Fig. 4：The interface schema of embodiment power-supply controller；
Fig. 5：The interface schema of embodiment steering engine controller；
Fig. 6：The interface schema of embodiment electric machine controller；
Fig. 7 is the interface schema of embodiment security insurance controller.
Specific implementation mode
In conjunction with embodiment, attached drawing, the invention will be further described：
Data/address bus uses core of the CAN industrial bus as distributed network, and CAN network node includes：Automatic pilot
Node, sensing element node, executing agency's node, power-supply controller node, fault test set node, and can be according to control
The demand of system work extends other functional nodes, such as data record node, backup node, total according to CAN between each node
Wire protocol completes the transmission and interaction of data.
Power bus is constituted using bus form, is divided into leading portion power bus and back segment power bus, i.e., is set from battery lead is all
Standby supply lines connects to power-supply controller, by switch controller from leading portion power bus output interface and the output of back segment power bus
Mouthful, respectively forwardly section equipment and the power supply of back segment equipment, power bus pass sequentially through all control system group parts, each group parts
Required power supply is drawn from power bus input interface, and remaining power supply is drawn from output interface, is used for other equipment.
Alarm bus is made of ground wire and alarm signal line, and the fault test set out of Underwater Vehicle Control System is (such as safety
Safety controller) draw after pass sequentially through all devices.When fault test set is detected under water using the detection sensor of configuration
When the operational configuration of aircraft is abnormal, in alarm bus plus alarm voltage, other group parts once detect alarm bus
On voltage signal, by scheduled program carry out fault condition processing, such as power-supply controller disconnect propeller electrical source of power, rudder
Upper rudder of machine controller behaviour etc..
The submarine navigation device dcs of the embodiment of the present invention uses CAN data/address bus, and control system interior joint includes：
Data logger, automatic pilot, power-supply controller, steering engine controller, electric machine controller, security insurance controller and detection
Equipment, as shown in Figure 2.Wherein, automatic pilot, data logger and detecting devices are located at the leading portion of submarine navigation device, connect
Enter leading portion power bus, steering engine controller, propeller control device, security insurance controller are located at the back segment of submarine navigation device, connect
Enter back segment power bus.On hardware, each group parts node includes that CAN and the input of alarm bus and input interface, power supply are total
Line outputs and inputs interface, and nodal function is realized by PC104 embedded computers, ARM microcontrollers or programmable controller.
On software, each network node includes CAN interface program and application program.
Each node is described in lower mask body.
1, automatic pilot node
Automatic pilot is the core node of submarine navigation device dcs, completes motion control, mission planning, data
The tasks such as reception, steering instruction output access bus network by CAN interface, and connection type is from CAN bus
Parallel connection accesses between accessing and picking out interface.Automatic pilot node further includes depth transducer component interface, orientation attitude reference
Component interface includes power supply and the communication interface of corresponding assembly.Automatic pilot shares 6 interfaces, as shown in Fig. 2, specifically
For：
(1) leading portion power bus input interface, including 5 groups of supply lines, i.e. VH1, VH2, VH3, VH4 and VH5.
Wherein, VH1 is autopilot computer power supply, and VH2 is data logger power supply, and VH3 is depth transducer
Power supply, VH4 are orientation attitude transducer power supply, and VH5 is detecting devices power supply.
(2) leading portion power bus output interface, including VH2 and VH5；
(3) CAN and alarm bus input interface, including bus signal line CANH, CANL and alarm signal line BJ+,
BJ-。
(4) CAN and alarm bus output interface, including bus signal line CANH, CANL and alarm signal line BJ+,
BJ-。
(5) depth transducer component interface, including depth transducer assembly power supply VH3+, VH3- and null modem cable TXS,
RXS、GNDS。
(6) orientation attitude transducer interface, including orientation attitude transducer power supply VH4+, VH4- and null modem cable TXF,
RXF、GNDF；
2, data logger
Data logger is second node of leading portion, and data/address bus and alarm bus are accessed from parallel between bus input/output interface,
Power bus input interface includes data logger power supply VH2 and detecting devices power supply two groups of supply lines of VH5, and power bus is defeated
Incoming interface is spare interface.All message datas transmitted in bus in the data logger recording control system course of work, and tie
The data of beam storage detection equipment output, after the completion of navigational duty, the data file of storage is uploaded to external inspection by data logger
Survey and commissioning device.It is made of data logging computers and CAN interface inside it.4 interfaces are shared, as shown in figure 3,
It is specific as follows：
(1) leading portion power bus input interface, including VH2 and VH5；
(2) CAN and alarm bus input interface, including bus signal line CANH, CANL and alarm signal line BJ+,
BJ-；
(3) underwater detection equipment interface, including 1 group of underwater detection equipment supply lines VH5 and null modem cable TXT, RXT,
GNDT；
(4) data record interface is the RJ45 network interfaces of data logging computers, including T+, T-, R+, R-4 root line
Cable, after the completion of navigational duty, external detection passes through the interface data collection with commissioning device.
3, power-supply controller
The power-supply controller switch between system group parts and supplying cell in order to control, it controls other groups by programmable controller
The power supply and power-off of component receive power supply, the cut-offing instruction of detection and commissioning device and automatic pilot node by CAN bus.
Power-supply controller shares 5 interfaces, as shown in figure 4, specific as follows：
(1) leading portion power bus output interface includes VH1, VH2, VH3, VH4, VH5 totally 5 groups of supply lines.Wherein,
VH1 is automatic pilot power supply, and VH2 is data logger power supply, and VH3 is depth transducer power supply,
VH4 is orientation attitude transducer power supply, and VH5 is detecting devices power supply；
(2) back segment power bus output interface includes：VD、VT1、VT2、VT3.Wherein VT1 is steering engine controller electricity
Source, VT2 are electric machine controller power supply, and VT3 is security insurance controller power supply, and VD is steering engine power supply；
(3) CAN and alarm bus input interface, including bus signal line CANH, CANL and alarm signal line BJ+,
BJ-；
(4) CAN and alarm bus output interface, including bus signal line CANH, CANL and alarm signal line BJ+,
BJ-；
(5) instrument battery supply input interface includes the power cable of all group parts, totally 9 groups, specifically includes：VH1Δ、
VH2 Δs, VH3 Δs, VH4 Δs, VH5 Δs, VD Δs, VT1 Δs, VT2 Δs, VT3 Δs, correspond to respectively VH1, VH2, VH3,
VH4, VH5 leading portion power supply and VD, VT1, VT2, VT3 back segment power supply.
4, steering engine controller
Steering engine controller receives the steering from automatic pilot by data/address bus and instructs, including hydroplane instruction, the instruction of upper rudder
It is instructed with lower rudder, by helm steering circuit and motor, drives steering engine component, carry out steering.It is defeated that steering engine controller shares 7 inputs
Outgoing interface, as shown in figure 5, specific as follows：
(1) back segment power bus input interface, including the control of steering engine power vd, steering engine controller power supply VT1, motor
Device power supply VT2, breakdown judge node power supply VT3；
(2) back segment power bus output interface, including electric machine controller power supply VT2, security insurance controller power supply VT3；
(3) CAN and alarm bus input interface, including bus signal line CANH, CANL and alarm signal line BJ+,
BJ-；
(4) CAN and alarm bus output interface, including bus signal line CANH, CANL and alarm signal line BJ+,
BJ-；
(5) horizontal steering engine interface, including hydroplane steering signal HCD+, HCD-, steering engine position sensor power supply VHW+,
VHW-, steering engine position signal SPDWZ；
(6) steering engine interface on, including UCD+, the upper steering engine steering signals of UCD-；VUW+, VUW- steering engine position sensor
Power supply；The upper steering engine position signals of UDWZ；
(7) steering engine interface under, including DCD+, steering engine steering signal under DCD-；VDW+, VDW- steering engine position sensor
Power supply；DDWZ lower rudder machine position signals.
5, electric machine controller
Electric machine controller receives the propeller rotary speed instruction from automatic pilot by data/address bus, with the propeller actually measured
Rotating speed compares, and output pulse width modulated signal adjusts the rotating speed of propeller.When electric machine controller detects alarm bus signals, control
Motor parking processed.Electric machine controller shares 6 interfaces, as shown in fig. 6, specific as follows：
(1) back segment power bus input interface, including electric machine controller power supply VT2, breakdown judge node power supply VT3；
(2) back segment power bus output interface, including breakdown judge node power supply VT3；
(3) CAN and alarm bus input interface, including bus signal line CANH, CANL and alarm signal line BJ+,
BJ-；
(4) CAN and alarm bus output interface, including bus signal line CANH, CANL and alarm signal line BJ+,
BJ-；
(5) electrical source of power interface, including VDL+ and VDL-, connect power battery pack, are the electrical source of power of propulsion electric machine；
(6) motor interface, including DJ+ and DJ-, connect propulsion electric machine, for the motor drive signal of electric machine controller output.
6, security insurance controller
Security insurance controller by pressure switch and apparatus for testing weeping, detect respectively submarine navigation device keel depth whether be more than
Whether leak occurs in safe range, shell, once the output voltage signal in alarm bus immediately is found, into control system
Other group parts are alarmed.Security insurance controller has 2 interfaces, as shown in fig. 7, being specially：
(1) back segment power bus input interface, including breakdown judge node power supply VT3；
(2) CAN and alarm bus input interface, including bus signal line CANH, CANL and alarm signal line BJ+,
BJ-。
In short, data transmission bus of the present invention using CAN as Underwater Vehicle Control System, by traditional with power-supply controller
For core, the star power supply mode for being connected to each equipment is changed into bus type parallel linkage, and increases independent report
Alert bus is so that each equipment can handle emergency.This three bus distributed control system connection type have reliability it is high,
The advantages of easy to connect, favorable expandability.
Claims (1)
1. a kind of for submarine navigation device data, the three-bus structure of power supply and alarm signal, it is characterised in that including number
According to bus, power bus, alarm bus and multiple input connection port and output connection port；Each need to join
The equipment connect is equipped with respective input connection port and output connection port, data/address bus, power bus and report
Alert bus passes through each input connection port and output connection port in a series arrangement；The data/address bus uses
CAN industrial bus；The power bus passes sequentially through the connection in all control system group parts from power-supply controller
Connect port, each group parts draw required power supply from input connection port, and by remaining power supply from output
Connection port extraction couples with the input connection port of other equipment；The alarm bus is controlled from submarine navigation device
Fault test set in system passes sequentially through the input connection port and output union end of all devices after drawing
Mouthful, alarm voltage is loaded into alarm bus, and each equipment is equipped with the biography of detection alarm voltage in alarm bus
Alarm voltage signal is input to the control unit of this equipment by sensor, sensor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201218000569.XA CN108401560B (en) | 2012-03-27 | 2012-03-27 | It is a kind of for submarine navigation device data, power supply and alarm signal three-bus structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201218000569.XA CN108401560B (en) | 2012-03-27 | 2012-03-27 | It is a kind of for submarine navigation device data, power supply and alarm signal three-bus structure |
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| Publication Number | Publication Date |
|---|---|
| CN108401560B true CN108401560B (en) | 2014-08-20 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107577226A (en) * | 2017-08-22 | 2018-01-12 | 西北工业大学 | A kind of portable underwater autonomous navigation device control device |
-
2012
- 2012-03-27 CN CN201218000569.XA patent/CN108401560B/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107577226A (en) * | 2017-08-22 | 2018-01-12 | 西北工业大学 | A kind of portable underwater autonomous navigation device control device |
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Granted publication date: 20140820 |