CN110647102B - Intelligent safe output module - Google Patents
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- CN110647102B CN110647102B CN201910999018.XA CN201910999018A CN110647102B CN 110647102 B CN110647102 B CN 110647102B CN 201910999018 A CN201910999018 A CN 201910999018A CN 110647102 B CN110647102 B CN 110647102B
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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
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- G—PHYSICS
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- 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
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1103—Special, intelligent I-O processor, also plc can only access via processor
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Abstract
An intelligent safety output module comprises a submodule A, a submodule B, a fault rejection module and a two-out-of-two voting module which are identical and independent, wherein the submodule A comprises a first logic processing module and a first output module; the sub-module B comprises a second logic processing module and a second output module; the first logic processing module and the second logic processing module respectively output driving signals to the first output module and the second output module, the fault rejection module receives dynamic pulse signals output by the first logic processing module and the second processing module, and the input of the two-out-of-two voting module is respectively connected with the output of the first output module and the output of the second output module. The intelligent processing means enhances the means of system drive control and fault detection, and shortens the response time of fault rejection. The independent fault rejection circuit avoids the influence on the whole system when software and hardware of the output module have faults, and ensures the fault safety guidance of the module.
Description
Technical Field
The invention relates to the field of computer security and technology, in particular to an intelligent security output module.
Background
The safety output module is an important component of a safety computer system, is an interface for outputting a control instruction by the system, and is a basis for ensuring the safe and reliable operation of the system. In addition to high reliability, usability and maintainability, the safety of module function implementation is also important in the design and implementation of the safety output module, and the safety of the module function is a main characteristic that the safety output module is different from a non-safety output module. By correctly using high-quality elements and reasonably planning the architecture of the system, the module is highly reliable and basically does not need maintenance, but the module still does not have the characteristic of functional safety, and in order to meet the relevant requirements of functional safety, the module also has an effective detection and diagnosis mechanism and can take corresponding actions and responses according to the nature of faults to ensure the fault safety of the module.
The non-safety output module only considers the output driving time and the driving capability, but does not consider the driving state after the module fault, and the safety output module must consider the normal working state of the module and also ensure the safety guidance when the module fault occurs, such as braking and stopping after the module fault, traction force removal and the like.
The realization of the safety output module generally needs to meet the requirements of three aspects, namely, the physical, functional and flow sufficient independence; the effectiveness of the failure detection and rejection mechanism; the method has good protection effect on any static faults of software and hardware including error retention. The drawbacks of the design implementation of the safety output module are also commonly manifested in the above three aspects: physical or electromagnetic coupling connection exists among all sub items, and external common mode interference is introduced without effective protection; the coverage rate of fault detection is insufficient, and the rejection circuit cannot ensure that the system is effectively guided to the safety side due to self failure; and a static driving mode is used, so that static faults of software and hardware cannot be effectively protected, and the like.
Disclosure of Invention
In order to solve the problems, the invention provides an intelligent safety output module.
The object of the invention is achieved in the following way:
an intelligent safety output module comprises a submodule A, a submodule B, a fault rejection module and a two-out-of-two voting module which are identical and independent, wherein the submodule A comprises a first logic processing module and a first output module; the sub-module B comprises a second logic processing module and a second output module; the first logic processing module and the second logic processing module communicate through an isolated synchronous check channel and respectively communicate with the control layer; the first logic processing module and the second logic processing module respectively output driving signals to the first output module and the second output module, and respectively perform return detection on output signals output by the first output module and the second output module to obtain return detection signals; the fault rejection module receives the dynamic pulse signals output by the first logic processing module and the second processing module and is used for outputting power control to the first output module and the second output module; the input of the two-out-of-two voting module is respectively connected with the output of the first output module and the output of the second output module, and the output of the two-out-of-two voting module is connected with the load.
The first logic processing module comprises a CPU-1 sub-processing unit, a first communication driving isolation module, a first fault detection module and a first output signal driving module which are connected with the CPU-1 sub-processing unit; the second logic processing module comprises a CPU-2 sub-processing unit and a CPU-2 sub-processing unit
The first communication driving isolation module and the second communication driving isolation module respectively comprise a network controller and a network transformer connected with the network controller; the CPU-1 sub-processing unit and the CPU-2 sub-processing unit are connected with a network controller through RMII interfaces, and the network controller is connected with a network transformer; the CPU-1 sub-processing unit and the CPU-2 sub-processing unit are isolated by the network transformer and then communicate with the control layer to receive the control layer command; meanwhile, after CAN control signals of the CPU-1 sub-processing unit and the CPU-2 sub-processing unit are isolated by the isolated CAN transceiver, the verification and check of data between the sub-modules are realized.
The first fault detection module and the second fault detection module respectively comprise a CPU self-detection module and a power management chip for detecting IO power supply voltage, CPU core power supply voltage and a clock of the CPU, LTC2991 is used for monitoring circuit voltage and current, an MAX31826 chip is used for detecting temperature, and the CPU self-detection module comprises RAM, FLASH, voltage and clock monitoring.
The fault rejection module comprises a first photoelectric isolation connected with the CPU-1 sub-processing unit and a second photoelectric isolation connected with the CPU-2 sub-processing unit, wherein the output of the first photoelectric isolation is connected with the input of a third rectifying circuit, the output of the third rectifying circuit is connected with the second photoelectric isolation to provide a power supply for the third photoelectric isolation, the output of the second photoelectric isolation is connected with a fault relay K1, when the CPU-1 sub-processing unit and the CPU-2 sub-processing unit output dynamic pulse signals, the fault relay K1 is electrified and attracted, and controls a normally open contact of a fault relay K1 connected with the power supplies of the first output module and the second output module respectively to control the on-off of the power supply.
The first output module comprises a first isolation circuit, a first output driving circuit and a first output signal return detection circuit; the second output module comprises a second isolation circuit, a second output driving circuit and a second output signal return test; the first isolation circuit and the second isolation circuit are respectively connected with the output ends of the first output driving circuit and the second output driving circuit and the output ends of the first output signal return detection circuit and the second output signal return detection circuit, and are used for carrying out isolation conversion on the driving signals output by the first output driving circuit and the second output driving circuit and the return detection signals; the input ends of the first output signal return detection circuit and the second output signal return detection circuit are respectively connected with the output ends of the first output driving circuit and the second output driving circuit.
The first output driving circuit and the second output driving circuit adopt Schmitt trigger 74HC14 chips to shape and drive the output pulse of the CPU, the first isolation circuit and the second isolation circuit adopt photoelectric isolation, and the first output driving circuit and the second output driving circuit comprise a first rectifying circuit, a second rectifying circuit and a relay circuit; the rectification circuit converts the isolated pulse signal into a direct current power supply to drive a relay circuit, and the relay circuit comprises a first relay J1 connected with the output end of the first rectification circuit and a second relay J2 connected with the output end of the second rectification circuit; the two-out-of-two voting module is characterized in that normally open contacts of a first relay J1 and a second relay J2 are connected in series and then connected with an output load to realize two-out-of-two output; the first output signal rechecking and the second output signal rechecking are that the normally closed contacts of the first relay J1 and the second relay J2 are respectively connected with the CPU-1 sub-processing unit and the CPU-2 sub-processing unit after being subjected to photoelectric isolation.
The two-out-of-two voting module outputs a signal to a load through the EMC protection circuit.
The invention has the beneficial effects that: the intelligent processing means enhances the means of system drive control and fault detection, and shortens the response time of fault rejection.
The independent fault rejection circuit avoids the influence on the whole system when software and hardware of the output module have faults, and ensures the fault safety guidance of the module.
And by means of comprehensive fault detection, the fault detection coverage rate is improved.
Drawings
Fig. 1 is a schematic block diagram of the present invention.
Fig. 2 is a schematic block diagram of an embodiment of the present invention.
Fig. 3 is a flow chart of the operation of the present invention.
Fig. 4 is a circuit diagram of an output module of the present invention.
Fig. 5 is a circuit diagram of a fault rejection module.
Fig. 6 is a circuit diagram of a fault detection module.
Fig. 7 is an EMC protection circuit diagram.
Fig. 8 is a circuit diagram of a communication drive isolation module.
Fig. 9 is a circuit diagram of a rectifier circuit.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
An intelligent safety output module, as shown in fig. 1, includes two identical and independent sub-modules a and B, a failure rejection module and a two-out-of-two voting module, where the sub-module a includes a first logic processing module and a first output module; the sub-module B comprises a second logic processing module and a second output module; the first logic processing module and the second logic processing module communicate through an isolated synchronous check channel, and respectively communicate with the control layer to be responsible for safety communication, drive output and control with the control layer; the first logic processing module and the second logic processing module respectively output driving signals to the first output module and the second output module, and respectively perform return detection on output signals output by the first output module and the second output module to obtain return detection signals; the fault rejection module receives the dynamic pulse signals output by the first logic processing module and the second processing module and is used for outputting power control to the first output module and the second output module; the input of the two-out-of-two voting module is respectively connected with the output of the first output module and the output of the second output module, and the output of the two-out-of-two voting module is connected with the load.
As shown in fig. 2, the first logic processing module includes a CPU-1 sub-processing unit, and a first communication driving isolation module, a first fault detection module, and a first output signal driving module connected thereto; the second logic processing module comprises a CPU-2 sub-processing unit, and a second communication driving isolation module, a second fault detection module and a second output signal driving module which are connected with the CPU-2 sub-processing unit.
The first communication driving isolation module and the second communication driving isolation module respectively comprise a network controller and a network transformer connected with the network controller; the CPU-1 sub-processing unit and the CPU-2 sub-processing unit are connected with a network controller (KSZ 8863) through RMII interfaces, and the network controller is connected with a network transformer (HX1198 NL); the CPU-1 sub-processing unit and the CPU-2 sub-processing unit are isolated by the network transformer and then communicate with the control layer, receive control layer commands and transmit collected data; meanwhile, after CAN control signals of the CPU-1 sub-processing unit and the CPU-2 sub-processing unit are isolated by an isolated CAN controller LTM2889, verification and verification of data among the sub-modules are realized, as shown in FIG. 8.
The first fault detection module and the second fault detection module adopt a power management chip TPS65381 to detect IO power supply voltage of a CPU, CPU core power supply voltage and a clock, adopt LTC2991 to monitor circuit voltage and current, and adopt an MAX31826 chip to detect temperature. The CPU selects a safe CPU chip TMS570LS3173, and also comprises CPU self detection which mainly depends on software to carry out self diagnosis, if the safe CPU chip TMS570LS3173 is selected, the inside of the chip provides a means of hardware detection, and the software can judge the fault state of the related module by using the fault detection mechanism thereof
The fault rejection module comprises two parts, wherein one part is an energy conversion part, a safety and circuit with inherent safety characteristics is adopted, when the system normally runs, a CPU-1 and a CPU-2 respectively output dynamic driving signals, the energy transmission and conversion are realized through a transformer isolation and rectification circuit, power is supplied to a fault relay, when any processing unit detects that the unit has a fault or a processing unit program is out of control, the dynamic output signals of the unit are actively removed or stopped to be output, the fault relay drops after power loss to cut off an output power supply, and the control system is guided to a safety side; the control circuit specifically comprises a first photoelectric isolation connected with the CPU-1 sub-processing unit and a second photoelectric isolation connected with the CPU-2 sub-processing unit, wherein the output of the first photoelectric isolation is connected with the input of a third rectifying circuit, the output of the third rectifying circuit is connected with the second photoelectric isolation to provide a power supply for the third rectifying circuit, the output of the second photoelectric isolation is connected with a fault relay K1, when the CPU-1 sub-processing unit and the CPU-2 sub-processing unit output dynamic pulse signals, the fault relay K1 is electrified and attracted, and controls a normally open contact of a fault relay K1 connected with the power supplies of the first output module and the second output module respectively to control the on-off of the power supply. The other part is a detection part for realizing the state check of the fault relay, and the residual nodes of the fault relay K1 are transmitted to the CPU-1 sub-processing unit and the CPU-2 sub-processing unit after being subjected to photoelectric isolation to confirm the relay state. As shown in fig. 5, power supply 1 and power supply 2 are input power supplies for submodule a and submodule B, and power supply V1 and power supply V2 are power supplies used by submodule a and the first output module and the second output module of the submodule.
The first output module comprises a first isolation circuit, a first output driving circuit and a first output signal return detection circuit; the second output module comprises a second isolation circuit, a second output driving circuit and a second output signal return test; the first isolation circuit and the second isolation circuit are respectively connected with the output ends of the first output driving circuit and the second output driving circuit and the output ends of the first output signal return detection circuit and the second output signal return detection circuit, and are used for carrying out isolation conversion on the driving signals output by the first output driving circuit and the second output driving circuit and the return detection signals; the input ends of the first output signal return detection circuit and the second output signal return detection circuit are respectively connected with the output ends of the first output driving circuit and the second output driving circuit.
The first output driving circuit and the second output driving circuit adopt Schmitt trigger 74HC14 chips to shape and drive the output pulse of the CPU, the first isolation circuit and the second isolation circuit adopt photoelectric isolation, and the first output driving circuit and the second output driving circuit comprise a first rectifying circuit, a second rectifying circuit and a relay circuit; the first rectifying circuit and the second rectifying circuit convert the isolated pulse signals into direct current power to drive a relay circuit, and the relay circuit comprises a first relay J1 connected with the output end of the first rectifying circuit and a second relay J2 connected with the output end of the second rectifying circuit; normally open contacts of the first relay J1 and the second relay J2 are connected in series and then connected with an output load to realize two-out-of-two output. The first output signal recheck and the second output signal recheck are that the normally closed contacts of the first relay J1 and the second relay J2 are respectively connected with the CPU-1 sub processing unit and the CPU-2 sub processing unit after being subjected to photoelectric isolation, as shown in fig. 4, a power supply V1 and a power supply V2 are controlled by a fault rejection circuit, a fault relay K1 is attracted in normal, and the power supply V1 and the power supply V2 are connected. Two before the output is made to the contact of utilizing first relay J1 and second relay J2 is two, only when two relay contacts are all closed, namely two CPUs all output drive, output load just can be driven, and any one does not drive, and the load all can lose the electricity and lead to safety.
The two-out-of-two voting module outputs signals to a load through an EMC protection circuit, and the signals at an output port inhibit interference signals through a voltage dependent resistor and a TVS (transient suppression diode), and are connected to a front-stage driving circuit through L1 and C3 filtering. The port is provided with EMC protection, so that external interference caused by electromagnetism, static electricity, a power supply, external input and output and the like is prevented.
The adopted rectifying circuit comprises a first rectifying circuit, a second rectifying circuit and a third rectifying circuit which have the same structure and comprise a transformer, a capacitor C1, a capacitor C2, a diode VD1 and a diode VD 2; one end of a capacitor C1 is connected with the cathode of a diode VD1 and the anode of a diode VD2 respectively, the cathode of a diode VD2 is connected with one end of a capacitor C2, the other end of a capacitor C2 is connected with the anode of a diode VD1, the anode of a diode VD1 is connected with one end of a secondary winding of the transformer, and the other end of the capacitor C1 is connected with the other end of the secondary winding of the transformer. As shown in fig. 9.
The work flow of the intelligent safety output module is as follows: the power-on-fault detection module detects the working state of voltage, current, temperature, clock, etc. -normal-CPU subunits (CPU-1 and CPU-2) are powered-CPU subunits detect their associated RAM, working state of communication-normal-detect output signal power supply state-normal-send dynamic pulse to fault rejection module-switch on the power of first output module and second output module-receive control layer command-output drive signal. And detecting the state of the circuit periodically during the period, carrying out return detection on the driving signal, sending the self fault state when the fault condition occurs, stopping sending dynamic pulses to the fault rejection circuit when the fault condition is serious, cutting off the power supply of the driving part, and guiding to a safe state.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the overall concept of the present invention, and these should also be considered as the protection scope of the present invention.
Claims (4)
1. An intelligent safe output module, its characterized in that: the system comprises two identical and independent sub-modules A and B, a fault rejection module and a two-out-of-two voting module, wherein the sub-module A comprises a first logic processing module and a first output module; the sub-module B comprises a second logic processing module and a second output module; the first logic processing module and the second logic processing module communicate through an isolated synchronous check channel and respectively communicate with the control layer; the first logic processing module and the second logic processing module respectively output driving signals to the first output module and the second output module, and respectively perform return detection on output signals output by the first output module and the second output module to obtain return detection signals; the fault rejection module receives the dynamic pulse signals output by the first logic processing module and the second processing module and is used for outputting power control to the first output module and the second output module; the input of the two-out-of-two voting module is respectively connected with the outputs of the first output module and the second output module, and the output of the two-out-of-two voting module is connected with the load;
the first logic processing module comprises a CPU-1 sub-processing unit, a first communication driving isolation module, a first fault detection module and a first output signal driving module which are connected with the CPU-1 sub-processing unit; the second logic processing module comprises a CPU-2 sub-processing unit, and a second communication driving isolation module, a second fault detection module and a second output signal driving module which are connected with the CPU-2 sub-processing unit;
the fault rejection module comprises a first photoelectric isolation connected with the CPU-1 sub-processing unit and a second photoelectric isolation connected with the CPU-2 sub-processing unit, the output of the first photoelectric isolation is connected with the input of a third rectifying circuit, the output of the third rectifying circuit is connected with the second photoelectric isolation to provide a power supply for the third rectifying circuit, the output of the second photoelectric isolation is connected with a fault relay (K1), when the CPU-1 sub-processing unit and the CPU-2 sub-processing unit both output dynamic pulse signals, the fault relay (K1) is electrified and attracted, the normally open contacts of the fault relay (K1) respectively connected with the power supplies of the first output module and the second output module are controlled, and the on-off of the power supply is controlled;
the first output module comprises a first isolation circuit, a first output driving circuit and a first output signal return detection circuit; the second output module comprises a second isolation circuit, a second output driving circuit and a second output signal return test; the first isolation circuit and the second isolation circuit are respectively connected with the output ends of the first output driving circuit and the second output driving circuit and the output ends of the first output signal return detection circuit and the second output signal return detection circuit, and are used for carrying out isolation conversion on the driving signals output by the first output driving circuit and the second output driving circuit and the return detection signals; the input ends of the first output signal return detection circuit and the second output signal return detection circuit are respectively connected with the output ends of the first output driving circuit and the second output driving circuit;
the first output driving circuit and the second output driving circuit adopt Schmitt trigger 74HC14 chips to shape and drive the output pulse of the CPU, the first isolation circuit and the second isolation circuit adopt photoelectric isolation, and the first output driving circuit and the second output driving circuit comprise a first rectifying circuit, a second rectifying circuit and a relay circuit; the rectification circuit converts the isolated pulse signal into a direct current power supply to drive a relay circuit, and the relay circuit comprises a first relay (J1) connected with the output end of the first rectification circuit and a second relay (J2) connected with the output end of the second rectification circuit; the two-out-of-two voting module is characterized in that normally open contacts of a first relay (J1) and a second relay (J2) are connected in series and then connected with an output load to realize two-out-of-two output; the first output signal rechecking and the second output signal rechecking are that the normally closed contacts of a first relay (J1) and a second relay (J2) are respectively connected with the CPU-1 sub processing unit and the CPU-2 sub processing unit after being isolated by photoelectricity.
2. The intelligent secure output module of claim 1, wherein: the first communication driving isolation module and the second communication driving isolation module respectively comprise a network controller and a network transformer connected with the network controller; the CPU-1 sub-processing unit and the CPU-2 sub-processing unit are connected with a network controller through RMII interfaces, and the network controller is connected with a network transformer; the CPU-1 sub-processing unit and the CPU-2 sub-processing unit are isolated by the network transformer and then communicate with the control layer to receive the control layer command; meanwhile, after CAN control signals of the CPU-1 sub-processing unit and the CPU-2 sub-processing unit are isolated by the isolated CAN transceiver, the verification and check of data between the sub-modules are realized.
3. The intelligent secure output module of claim 1, wherein: the first fault detection module and the second fault detection module respectively comprise a CPU self-detection module and a power management chip for detecting IO power supply voltage, CPU core power supply voltage and a clock of the CPU, LTC2991 is used for monitoring circuit voltage and current, an MAX31826 chip is used for detecting temperature, and the CPU self-detection module comprises RAM, FLASH, voltage and clock monitoring.
4. The intelligent secure output module of claim 1, wherein: the two-out-of-two voting module outputs a signal to a load through the EMC protection circuit.
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| CN114750161A (en) * | 2022-05-16 | 2022-07-15 | 深圳市大族机器人有限公司 | Robot control device and robot |
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| 基于二乘二取二的全电子计算机联锁系统;陈光武等;《中国铁道科学》;20100731;第138-144页 * |
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| CN110647102A (en) | 2020-01-03 |
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