CN108897248A - A kind of self―tuning control and mobile robot - Google Patents
A kind of self―tuning control and mobile robot Download PDFInfo
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- CN108897248A CN108897248A CN201810580124.XA CN201810580124A CN108897248A CN 108897248 A CN108897248 A CN 108897248A CN 201810580124 A CN201810580124 A CN 201810580124A CN 108897248 A CN108897248 A CN 108897248A
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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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24125—Watchdog, check at timed intervals
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Abstract
The invention discloses a kind of self―tuning control and mobile robots, including non real-time control CPU, for sending data packet to real-time control CPU every the first preset time；Real-time control CPU, if so, determining that non real-time control CPU is abnormal CPU, generates the first reset instruction for when not receiving data packet, judging whether the difference between current time and initial time is greater than preset value；It is also used to when receiving data packet, judges whether the difference between at the time of current time and last time receive data packet is greater than preset value, if so, determining that non real-time control CPU is abnormal CPU, generate the first reset instruction；The power module connecting with abnormal CPU is restarted again for after receiving the first reset instruction, controlling exception CPU and being first turned off.The present invention is at low cost, solves the problems, such as to fall into the non real-time control cpu function disorder of endless loop bring due to program, improves the reliability of self―tuning control.
Description
Technical field
The present invention relates to controller fields, more particularly to a kind of self―tuning control and mobile robot.
Background technique
With the development of control technology and the diversification of field demand, the controller application based on multiple CPU designs
Field is more extensive, and the advantage of self―tuning control is, can be by heterogeneity, different desired task deployments different
On CPU, to realize that function decouples, exploitation complexity is reduced.In general, non real-time behaviour can will be run in self―tuning control
A kind of CPU for making system is known as non real-time control CPU, and a kind of CPU for running real time operating system is known as real-time control CPU.Mesh
Before, in Industry Control, real-time control CPU needed when completing certain tasks it is non real-time control CPU auxiliary, if but some
At runtime, there are sporadic bug or by external disturbance, running program may send out operation program non real-time control CPU
Raw phenomena such as falling into endless loop, if will result in the non real-time control cpu function disorder not as good as processing, leading to real-time control
The task of CPU is also unable to complete, and reduces the reliability of self―tuning control.
Therefore, how to provide a kind of scheme of solution above-mentioned technical problem is that those skilled in the art need to solve at present
Problem.
Summary of the invention
The object of the present invention is to provide a kind of self―tuning control and mobile robots, and cost is relatively low, solve due to program
The problem of falling into non real-time control cpu function disorder brought by endless loop, improves the reliability of self―tuning control.
In order to solve the above technical problems, the present invention provides a kind of self―tuning controls, including：
Non real-time control CPU, for sending data packet to real-time control CPU every the first preset time；
The real-time control CPU, for when not receiving the data packet that the non real-time control CPU is sent, judgement to be worked as
Whether the difference between preceding moment and initial time is greater than preset value, if so, determining that the non real-time control CPU is exception
CPU, and generate the first reset instruction；It is also used to when receiving the data packet that the non real-time control CPU is sent, judgement is current
It is described pre- whether the difference between at the time of moment and the last data packet for receiving the non real-time control CPU transmission is greater than
If value, if so, determining that the non real-time control CPU is the exception CPU, and first reset instruction is generated；
The power module being connect with the exception CPU, for controlling described different after receiving first reset instruction
Normal CPU is first turned off restarts again.
Preferably, the non real-time control CPU includes monitoring thread；
The monitoring thread, for monitoring other threads in the non real-time control CPU, when other described threads are located
When normal condition, the data packet is sent to the real-time control CPU every first preset time, when other described lines
There are any one thread is when in an abnormal state in journey, stop sending the data packet to the real-time control CPU.
Preferably, each non real-time control CPU is specifically used for：
The data packet is sent to real-time control CPU by Ethernet or serial ports or CAN bus every the first preset time.
Preferably, the non real-time control CPU is the CPU for disposing linux system or Windows system or Android system.
Preferably, the power module is the power module to connect one to one with the exception CPU.
Preferably, the power module is the power module for including multiple switch port, the exception CPU and the power supply
Any one switch port of module connects；
The then power module, for passing through what is connect with the exception CPU after receiving first reset instruction
Switch port controls the exception CPU and is first turned off restarts again.
Preferably, which further includes：
The watchdog module being connect with the real-time control CPU, for whether monitoring the real-time control CPU every second
Predetermined period removes house dog flag bit, if it is not, reset signal is sent to the reseting pin of the real-time control CPU, with control
The real-time control CPU is restarted.
Preferably, which further includes：
The power module being connect with the real-time control CPU, for controlling the reality after receiving the second reset instruction
When control CPU be first turned off after restart；
The watchdog module being connect respectively with the enable end of the real-time control CPU and the power module, for monitoring
Whether the real-time control CPU resets every the second predetermined period removing house dog flag bit if it is not, generating described second
Instruction.
Preferably, the watchdog circuit module includes the watchdog chip of model SP706.
In order to solve the above technical problems, the present invention also provides a kind of mobile robots, including such as above-mentioned any one institute
The self―tuning control stated.
The present invention provides a kind of self―tuning control, including non real-time control CPU, for every the first preset time to
Real-time control CPU sends data packet；Real-time control CPU, for do not received it is non real-time control CPU send data packet when,
Judge whether the difference between current time and initial time is greater than preset value, if so, determining that non real-time control CPU is exception
CPU, and generate the first reset instruction；It is also used to judge current time when receiving the data packet that non real-time control CPU is sent
Whether the difference between at the time of receiving the data packet of non real-time control CPU transmission with the last time is greater than preset value, if so,
Determine non real-time control CPU for abnormal CPU, and generate the first reset instruction；The power module connecting with abnormal CPU is used for
After receiving the first reset instruction, control exception CPU is first turned off restarts again.
As it can be seen that in practical applications, self―tuning control provided by the present invention can pass through its internal real-time control
CPU is monitored with the presence or absence of abnormal non real-time control CPU in the self―tuning control and is resetted wherein exception by power module
Non real-time control CPU, self―tuning control provided by the present invention do not need to increase additional monitoring device, and cost is relatively low, and will
Abnormal cpu reset can fundamentally solve to fall into non real-time control cpu function disorder brought by endless loop as program
Problem, to improve the reliability of self―tuning control.
The present invention also provides a kind of mobile robots, have beneficial effect identical with above-mentioned self―tuning control.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to institute in the prior art and embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of structural schematic diagram of self―tuning control provided by the present invention；
Fig. 2 is the structural schematic diagram of another self―tuning control provided by the present invention；
Fig. 3 is the structural schematic diagram of another self―tuning control provided by the present invention；
Fig. 4 is the structural schematic diagram of another self―tuning control provided by the present invention；
Fig. 5 is the structural schematic diagram of another self―tuning control provided by the present invention.
Specific embodiment
Core of the invention is to provide a kind of self―tuning control and mobile robot, and cost is relatively low, solves due to program
The problem of falling into non real-time control cpu function disorder brought by endless loop, improves the reliability of self―tuning control.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Fig. 1 is please referred to, Fig. 1 is a kind of structural schematic diagram of self―tuning control provided by the present invention, including：
Non real-time control CPU 1, for sending data packet to real-time control CPU 2 every the first preset time；
Embodiment as one preferred, each non real-time control CPU 1 are specifically used for：
Data packet is sent to real-time control CPU 2 by Ethernet or serial ports or CAN bus every the first preset time.
Embodiment as one preferred, non real-time control CPU 1 are deployment linux system or Windows system or peace
The CPU of tall and erect system.
Specifically, include multiple non real-time control CPU 1 and multiple real-time control CPU 2 in self―tuning control,
In, linux system or Windows system or Android system or WinCE system are generally disposed in non real-time control CPU 1, in real time
Control the general not deployment operation system of CPU 2 or deployment real time operating system.One is arbitrarily selected in multiple real-time control CPU 2
A real-time control CPU 2 come monitor it is each it is non real-time control CPU 1 operating status.Each non real-time control CPU 1 is every
One preset time sends data packet to the real-time control CPU 2 for monitoring, for different non real-time control CPU 1,
First preset time may also be different, such as non real-time control CPU 1a is sent out every 10s to the real-time control CPU 2 for monitoring
Data packet is sent, non real-time control CPU 1b sends data packet to the real-time control CPU 2 for monitoring every 20s.Again with non-reality
When control CPU 1a for, the first preset time be 10s, when self―tuning control starting when, non real-time control CPU 1a start to
Real-time control CPU2 for monitoring sends data packet, then a data packet is sent every 10s, for non real-time control CPU
For 1a, respectively initial time at the time of sending data packet, 10s, 20s, 30s ... and so on.It is each non-
Real-time control CPU 1 sends data to the real-time control CPU 2 for monitoring by the internal communication bus of self―tuning control
Packet, internal communication bus can be Ethernet or serial ports or CAN bus etc..
Real-time control CPU 2, for do not received it is non real-time control CPU 1 send data packet when, when judging current
Whether the difference carved between initial time is greater than preset value, if so, determining that non real-time control CPU 1 is exception CPU, and raw
At the first reset instruction；It is also used to judge current time and upper one when receiving the data packet that non real-time control CPU1 is sent
Whether the difference between at the time of the secondary data packet for receiving non real-time control CPU 1 transmission is greater than preset value, if so, determining
Non real-time control CPU 1 is exception CPU, and generates the first reset instruction；
Specifically, including non-reality in the data packet that non real-time control CPU 1 is sent to the real-time control CPU 2 for monitoring
When control the identity tag of CPU 1, identity tag here can be to be IP that each non real-time control CPU 1 is distributed in advance
Location, since when self―tuning control starts, each non real-time control CPU 1 is begun to the real-time control CPU 2 for monitoring
Send data packet, so for monitoring real-time control CPU 2 since 0 moment timing, the stopping when receiving data packet
This timing and the timing for starting a new round, if the real-time control CPU 2 for monitoring, the timing since 0 moment, when timing
Between do not receive the data packet that a certain non real-time control CPU 1 is sent when reaching preset value also, illustrate the non real-time control CPU 1
Operating status is abnormal, determines that it is abnormal CPU, generates the first reset instruction, and the first reset instruction is sent to and exception CPU
The power module 3 of connection, the time difference of timing time i.e. current time and initial time here；In the reality for monitoring
When control CPU 2 received data packet that the non real-time control CPU 1 is sent in the case where, from being opened at the time of receiving data packet
Beginning timing, when timing time reaches above-mentioned preset value, if do not receive the data that the non real-time control CPU 1 is sent yet next time
Packet then illustrates that non real-time 1 operating status of control CPU is abnormal, determines that it is abnormal CPU, and generate the first reset instruction, and
First reset instruction is sent to the power module 3 connecting with exception CPU, timing time i.e. current time here and upper
Once receive time difference at the time of data packet.It is understood that the real-time control CPU 2 for monitoring is according to receiving
Data packet in identity information, so that it may determine exception CPU identity information, and according to the identity information of abnormal CPU generation
First reset instruction.
It is understood that preset value needs to be greater than the first preset time, it is assumed that the first preset time is 10s, then in advance
If value can be set to 50s.
Certainly, each non real-time control CPU 1 is in addition to can be by Ethernet or serial ports or CAN bus to real-time control
CPU 2 send data packet, can also by SPI (Serial Peripheral Interface, Serial Peripheral Interface (SPI)) bus,
IIC (Inter-Integrated Circuit, IC bus) bus, dual port RAM (Random-Access Memory,
Random access memory), the modes such as I/O pin to real-time control CPU 2 send data packet, which is not limited by the present invention.
The power module 3 being connect with abnormal CPU, for after receiving the first reset instruction, control exception CPU to be first turned off
Restart again.
Specifically, each non real-time control CPU 1 has corresponding power module 3, when power module 3 does not receive
When the first reset instruction, power for non real-time control CPU 1 connected to it.The power module 3 connecting with abnormal CPU, is connecing
After receiving the first reset instruction, by its own shutdown and restart, control exception CPU be first turned off after restart, completion to exception
The reset of CPU operates.Abnormal cpu reset can fundamentally be solved it since program falls into CPU function brought by endless loop
The problem of energy disorder, to improve the reliability of self―tuning control.
In conclusion the real-time control CPU2 for monitoring passes through reception in self―tuning control provided by the present invention
Whether the operation that the mode of data packet monitors non real-time control CPU 1 is normal, is operating abnormally when monitoring non real-time control CPU 1
When, the reflex by way of restarting the power module 3 connecting with the non real-time control CPU 1 after being first turned off of real-time control CPU 2
The position non real-time control CPU 1.
The present invention provides a kind of self―tuning control, including non real-time control CPU, for every the first predetermined period to
Real-time control CPU sends data packet；Real-time control CPU, for do not received it is non real-time control CPU send data packet when,
Judge whether the difference between current time and initial time is greater than preset value, if so, determining that non real-time control CPU is exception
CPU, and generate the first reset instruction；It is also used to judge current time when receiving the data packet that non real-time control CPU is sent
Whether the difference between at the time of receiving the data packet of non real-time control CPU transmission with the last time is greater than preset value, if so,
Determine non real-time control CPU for abnormal CPU, and generate the first reset instruction；The power module connecting with abnormal CPU is used for
After receiving the first reset instruction, control exception CPU is first turned off restarts again.
As it can be seen that in practical applications, self―tuning control provided by the present invention can pass through its internal real-time control
CPU is monitored with the presence or absence of abnormal non real-time control CPU in the self―tuning control and is resetted wherein exception by power module
Non real-time control CPU, self―tuning control provided by the present invention do not need to increase additional monitoring device, and cost is relatively low, and will
Abnormal cpu reset can fundamentally solve to fall into non real-time control cpu function disorder brought by endless loop as program
Problem, to improve the reliability of self―tuning control.
On the basis of the above embodiments：
Embodiment as one preferred, non real-time control CPU 1 include monitoring thread；
Monitoring thread, for monitoring other threads in non real-time control CPU 1, when other threads are in normal condition
When, data packet is sent to real-time control CPU 2 every the first preset time, when there are any one threads to be in other threads
When abnormality, stop sending data packet to real-time control CPU 2.
Specifically, including a monitoring thread in non real-time control CPU 1, other in non real-time control CPU 1 are monitored
Thread is sent out every the first preset time to real-time control CPU 2 when the operating status of other threads is normal from monitoring thread
Data packet is sent, if not there are the thread that any one is in abnormal operating condition in real-time control CPU 1, monitoring thread just stops
Data packet is sent to real-time control CPU 2.
By taking the non real-time control CPU 1 for deploying Windows system as an example, monitoring thread, that is, task manager, other lines
Journey is the program opened, and can see the operating status for the programs that other are opened from task manager, if program operation is just
Often, show that the program is currently running in task manager, it is pre- every first by monitoring thread when the equal normal operation of all programs
If the time sends data packet to real-time control CPU 2；If a certain program is operating abnormally, the program is shown on task manager
Without response, when there is the program without response on task manager, task manager just no longer sends number to real-time control CPU 2
According to packet.
Embodiment as one preferred, power module 3 are the power module to connect one to one with abnormal CPU.
Specifically, referring to shown in Fig. 2, the corresponding power module 3 of a non real-time control CPU 1, when some non-reality
When control CPU 1 when being exception CPU, real-time control CPU 2 is found by the identity tag of exception CPU and a pair of exception CPU mono-
The power module 3 that should be connected, resets abnormal CPU by restarting the power module 3 after being first turned off, power module 3 and non real-time
Control CPU 1 is one-one relationship, improves the precision of reset, while improving the reliability of self―tuning control.
Embodiment as one preferred, power module 3 are the power module for including multiple switch port, abnormal CPU with
Any one switch port of power module 3 connects；
Then power module 3, for passing through the switch port control connecting with abnormal CPU after receiving the first reset instruction
System exception CPU is first turned off restarts again.
Specifically, saving development cost to reduce the volume of self―tuning control, referring to shown in Fig. 3, the present invention may be used also
To select the power module for including multiple switch port, multiple non real-time control CPU 1 are switched with the difference of power module 3 respectively
Interface connection, the identity tag in data packet that non real-time control CPU 1 is sent at this time can be switch port connected to it
Number, when some non real-time control CPU 1 is exception CPU, real-time control CPU 2 passes through the corresponding switch port of exception CPU
It number determines the switch port that connect with exception CPU, recloses the switch of the switch port by first disconnecting and reset abnormal CPU.
Embodiment as one preferred, the self―tuning control further include：
The watchdog module being connect with real-time control CPU 2, it is whether default every second for monitoring real-time control CPU 2
Period removes house dog flag bit, if it is not, reset signal is sent to the reseting pin of real-time control CPU 2, to control control in real time
CPU 2 processed is restarted.
Embodiment as one preferred, the self―tuning control further include：
The power module 3 being connect with real-time control CPU 2, for after receiving the second reset instruction, controlling control in real time
CPU 2 processed is restarted after being first turned off；
The watchdog module being connect respectively with the enable end of real-time control CPU 2 and power module 3, for monitoring real-time control
Whether CPU processed 2 every the second predetermined period removes house dog flag bit, if it is not, generating the second reset instruction.
Specifically, the present invention also monitors the operating status of real-time control CPU 2, watchdog module by watchdog module
The operating status of monitoring real-time control CPU 2 that can be direct or indirect, direct monitoring system is as shown in figure 4, by house dog mould
Block is connected with the reseting pin of real-time control CPU 2, when detecting that real-time control CPU 2 is abnormal, directly to real-time control CPU
2 reseting pin sends reset signal, to control the reset of real-time control CPU 2；Indirect monitoring system is as shown in figure 5, house dog
Module and power module 3 connect, power module 3 and the connection of real-time control CPU 2, when detecting that real-time control CPU 2 is abnormal,
Watchdog module generates the second reset instruction, by being first turned off 3 reflex of power module restarted connect with real-time control CPU 2 again
Position real-time control CPU 2, wherein reset signal can be pulse signal.
It is understood that the reset speed of real-time control CPU 2 will be far faster than the reset speed of non real-time control CPU 1
Degree, therefore, during resetting to real-time control CPU 2, does not interfere with real-time control CPU 2 to non real-time control CPU 1
Monitoring.
Embodiment as one preferred, watchdog circuit module include the watchdog chip of model SP706.
Specifically, SP706 watchdog chip is that low-power consumption, highly reliable, low price the MCU reset that Exar company releases are supervised
Chip is controlled, the present invention uses SP706 watchdog chip, reduces the power consumption of self―tuning control to a certain extent, saved more
The development cost of cpu controller.
Correspondingly, the present invention also provides a kind of mobile robot, the self―tuning control including such as above-mentioned any one.
Above-described embodiment please referred to for a kind of introduction of mobile robot provided by the present invention, the present invention is herein no longer
It repeats.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of self―tuning control, which is characterized in that including：
Non real-time control CPU, for sending data packet to real-time control CPU every the first preset time；
The real-time control CPU, for do not received it is described it is non real-time control CPU send data packet when, when judging current
Whether the difference carved between initial time is greater than preset value, if so, determine that the non real-time control CPU is abnormal CPU, and
Generate the first reset instruction；Be also used to received it is described it is non real-time control CPU send data packet when, judge current time with
Whether the difference between at the time of the last time receives the data packet that the non real-time control CPU is sent is greater than the preset value,
If so, determining that the non real-time control CPU is the exception CPU, and generate first reset instruction；
The power module being connect with the exception CPU, for controlling the exception after receiving first reset instruction
CPU is first turned off restarts again.
2. self―tuning control according to claim 1, which is characterized in that the non real-time control CPU includes monitoring line
Journey；
The monitoring thread, for monitoring other threads in the non real-time control CPU, when other described threads are in just
When normal state, the data packet is sent to the real-time control CPU every first preset time, when in other described threads
There are any one thread is when in an abnormal state, stop sending the data packet to the real-time control CPU.
3. self―tuning control according to claim 1, which is characterized in that each non real-time control CPU is specific
For：
The data packet is sent to real-time control CPU by Ethernet or serial ports or CAN bus every the first preset time.
4. self―tuning control according to claim 1, which is characterized in that the non real-time control CPU is deployment Linux
The CPU of system or Windows system or Android system.
5. self―tuning control according to claim 1, which is characterized in that the power module be and the exception CPU mono-
One power module being correspondingly connected with.
6. self―tuning control according to claim 1, which is characterized in that the power module be include multiple switch end
The power module of mouth, the exception CPU are connect with any one switch port of the power module；
The then power module, for passing through the switch connecting with the exception CPU after receiving first reset instruction
Exception CPU is first turned off described in port controlling restarts again.
7. self―tuning control described in -6 any one according to claim 1, which is characterized in that the self―tuning control also wraps
It includes：
The watchdog module being connect with the real-time control CPU, it is whether default every second for monitoring the real-time control CPU
Period removes house dog flag bit, if it is not, reset signal is sent to the reseting pin of the real-time control CPU, described in control
Real-time control CPU is restarted.
8. self―tuning control described in -6 any one according to claim 1, which is characterized in that the self―tuning control also wraps
It includes：
The power module being connect with the real-time control CPU, for controlling the real-time control after receiving the second reset instruction
CPU processed is restarted after being first turned off；
The watchdog module being connect respectively with the enable end of the real-time control CPU and the power module, it is described for monitoring
Whether real-time control CPU refers to every the second predetermined period removing house dog flag bit if it is not, generating described second and resetting
It enables.
9. self―tuning control according to claim 8, which is characterized in that the watchdog circuit module includes model
The watchdog chip of SP706.
10. a kind of mobile robot, which is characterized in that including self―tuning control as described in any one of claims 1-9.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111830889A (en) * | 2019-04-16 | 2020-10-27 | 中车大连电力牵引研发中心有限公司 | Power supply control device and power supply |
| CN113904882A (en) * | 2021-09-24 | 2022-01-07 | 广东汇天航空航天科技有限公司 | Communication control system and communication control method of multiple MCU units |
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