CN112147880B - Remote control instruction selection control method - Google Patents
Remote control instruction selection control method Download PDFInfo
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- CN112147880B CN112147880B CN202010867911.XA CN202010867911A CN112147880B CN 112147880 B CN112147880 B CN 112147880B CN 202010867911 A CN202010867911 A CN 202010867911A CN 112147880 B CN112147880 B CN 112147880B
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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
Abstract
The invention discloses a remote control instruction selection control method, which is realized in a remote control instruction selection control system, the system comprises a remote control module and a computer module which are electrically connected, the remote control module comprises a remote control-master and a remote control-backup, the remote control-master and the remote control-backup work in a hot backup mode, simultaneously receive a ground remote control instruction, and send a remote control instruction to a computer module of a rear-stage circuit after the remote control instruction selection control, wherein the computer module comprises a computer-master and a computer-backup, and the computer-master and the computer-backup work in a cold backup mode; the invention realizes remote control instruction selection control by taking a mechanical switch as a core, two relay contacts are connected in series and in parallel, the remote control master circuit and the backup circuit adopt the same control signal, and the control signal only has the output state of the remote control master circuit and the output state of the remote control backup circuit, thereby effectively avoiding the risk that two remote control instructions cannot be output or are simultaneously output to a post-stage circuit.
Description
Technical Field
The invention belongs to the technical field of satellite remote control and remote measurement, and particularly relates to a remote control instruction selection control method.
Background
At present, a remote control instruction receiving circuit on a spacecraft receives a remote control instruction sent from the ground to realize manual control of the spacecraft, and in order to ensure that the remote control instruction is normally received, the remote control instruction receiving circuit works in a hot backup mode, namely, a remote control instruction receiving master circuit and a backup circuit simultaneously receive the ground remote control instruction, a selection switch is needed to select one remote control instruction to send to a post-stage for processing.
Chinese patent CN107426016A specifically relates to a method for designing a high-reliability ground measurement and control link for satellite emission area electrical test, which comprises the following steps: step one, two pairs of ground measurement and control antennas are erected on a tower fixing platform, uplink and downlink branches are carried out through a plurality of circulators, the two pairs of ground measurement and control antennas are respectively connected to a main interface and a backup interface of a base RF optical fiber forwarding system, and when the ground surface measurement and control antenna of the main interface is shielded or unstable, base personnel are directly switched to the backup antenna through a switch matrix of the optical fiber forwarding system. The invention can fully utilize the existing equipment resources to carry out redundant hot backup design on the ground measurement and control link and reduce the failure solving time as much as possible. CN201510865036.0 concretely relates to a control and information processing system and method for double-machine cold and hot backup autonomous switching, wherein the system comprises a host machine, a standby machine, a power supply control module, a power supply input interface, a power supply output interface, a network exchange module, a serial interface module, an external function module interface, a remote communication interface and a man-machine interaction interface. The control and information processing system and method for dual-computer cold-hot backup autonomous switching can realize dual-computer cold-hot backup autonomous switching, and have the advantages of high reliability, strong independence, interface sharing and the like. CN201711431312.8 concretely relates to a high orbit satellite integrated electronic computer system and a control method, the invention adopts a fault-tolerant SRAM module to realize the local storage and recovery of important data, the storage space of the important data is increased from 2KB to 512KB, and the storage period is reduced from 60 seconds to 4 seconds. The invention optimizes the power supply design of the satellite-borne computer system and solves the problem of homologous power supply of the CPU system and the fault-tolerant generator tripping circuit by adding the independent fault-tolerant power supply. The design idea of unidirectional design and independent power on and off of the fault-tolerant circuit of the cutting machine is adopted, and the design hidden danger of frequent cutting machines between the main machine and the standby machine is solved. The invention adopts multi-clock source input control logic, and the satellite-borne computer system can adopt any one of the CPU minimum system crystal oscillator, the temperature compensation crystal oscillator and the precise clock source to realize time management. The invention designs a Spacewire bus node module, realizes the interconnection and intercommunication of a satellite-borne computer system and a satellite Spacewire bus network, provides 2 independent full-duplex data interfaces, and the maximum rate of the bus interface reaches 200 Mbps.
However, in the above prior art, the trigger is used as a core to realize the selection of the remote control instruction switch, and the trigger, as an active electronic component, is easily affected by a single particle in a space environment, resulting in an error in an output state, and in addition, the trigger does not have a memory characteristic, and is restored to an initial state after power failure restart, and cannot maintain a switch selection state before power failure, and furthermore, the remote control instruction receiving master circuit and the backup circuit respectively comprise selection switches formed by respective triggers, so that there are four states logically: 1. the remote control master copy does not output and the remote control backup does not output; 2. the remote control master copy does not output and the remote control backup outputs; 3. remote control master copy output and remote control backup non-output; 4. remote control master output, remote control backup output, where 2 and 3 are expected states and 1 and 4 are unexpected states. In the failure mode, there is a risk that neither of the two remote control commands can be output or output to the subsequent circuit at the same time.
Disclosure of Invention
In view of the above, the present invention provides a method for selecting and controlling a remote control command, which is implemented by using the following technical solutions:
a remote control instruction selection control method is realized in a remote control instruction selection control system, which comprises a remote control module and a computer module which are electrically connected, wherein the remote control module comprises a remote control-master and a remote control-backup, the remote control-master and the remote control-backup work in a hot backup mode and simultaneously receive a ground remote control instruction, and after the remote control instruction selection control, one remote control instruction is sent to the computer module of a rear-stage circuit, wherein the computer module comprises a computer-master and a computer-backup, and the computer-master and the computer-backup work in a cold backup mode.
Preferably, after receiving the ground remote control instruction, the remote control-master outputs the ground remote control instruction to a remote control master RS422 interface circuit 1 and a remote control master RS422 interface circuit 2 which are respectively and electrically connected with the remote control-master; after receiving a ground remote control instruction, the remote control-backup interface circuit is transmitted to a remote control backup RS422 interface circuit 1 and a remote control backup RS422 interface circuit 2 which are respectively and electrically connected with the remote control-backup interface circuit;
the remote control instruction selection circuit controls the output of one of the remote control master RS422 interface circuit 1 and the remote control backup RS422 interface circuit 1, and the remote control instruction selection circuit controls the output of one of the remote control master RS422 interface circuit 2 and the remote control backup RS422 interface circuit 2;
the remote control main part RS422 interface circuit 1 is kneaded with the output end of the remote control backup RS422 interface circuit 1 and output to a post-stage circuit; the remote control main part RS422 interface circuit 2 is kneaded with the output end of the remote control backup RS422 interface circuit 2 and output to a post-stage circuit.
Preferably, the control switch is connected with the circuit where the remote control-master is located and the circuit where the remote control-backup is located.
Preferably, the remote control-master interface circuit 1 of the remote control module is electrically connected with the computer master RS422 interface circuit contained in the computer module, the remote control-backup interface circuit 1 of the remote control module is electrically connected with the computer master RS422 interface circuit contained in the computer module, and the computer master RS422 interface circuit is electrically connected with the computer master.
Preferably, the remote control-master interface circuit 2 of the remote control module is electrically connected to a second computer backup RS422 interface circuit included in the computer module, the remote control-backup interface circuit 2 of the remote control module is electrically connected to the second computer backup RS422 interface circuit included in the computer module, and the second computer backup RS422 interface circuit is electrically connected to the computer-backup.
Preferably, the two relays KA6 and KB6 are magnetic latching relays, and after respective contacts are connected in series, the two relays form a parallel circuit to form a control switch.
Preferably, pins 3 and 9 of the relay are connected to the ground, a reliable control signal is generated, the selection of the injection instruction switch is not influenced when any relay fails, and when any two relays fail, one remote control module can be ensured to send the injection instruction to a computer-master or a computer-backup;
two instructions are used for controlling the on-off of the relays, wherein one instruction simultaneously controls the on-off of the two relays, the other instruction simultaneously controls the off-off of the two relays and is controlled by a ground remote control instruction, and the remote control-master and the remote control-backup can output the two instructions.
Preferably, DA6 is RS422 differential driver 26C 31;
a +5V and B +5V are respectively a remote control-main backup and a remote control-backup independent power supply, diodes V53-V60 are used for preventing the remote control main backup power supply from being in series connection, and V55, V56, V59 and V60 are Schottky diodes;
resistors R86 and R91 are high impedance resistors, R84, R85, R89 and R90 are pull-up resistors, R84 and R85 are pulled up to an A +5V power supply, and R89 and R90 are pulled up to a B +5V power supply;
r83, R87, R88 and R92 are all latch-up resistance prevention.
Preferably, when any relay is effectively closed, the point B is connected with the point A, the point C and the point D are both low level, the remote control-master cannot output a remote control instruction to the rear-stage circuit, and the remote control-backup outputs the remote control instruction to the rear-stage circuit;
the control switch controls the remote-backup injection command output interface 26C31 to control the G terminal thereof, and the low level enables the output.
Preferably, when both relays are disconnected, the point B is not communicated with the point A, the point C and the point D are both high levels, the remote control master outputs a remote control instruction to the rear-stage circuit, and the remote control-backup cannot output the remote control instruction to the rear-stage circuit;
the control switch controls the remote control-master injection command output interface 26C31 to control the G terminal thereof, and the high level enables the output.
The technical scheme of the invention at least has the following advantages and beneficial effects:
1. the invention uses the mechanical switch as the core to realize the remote control instruction selection control, and two relay contacts are connected in series and in parallel to generate a reliable control signal, and any relay has a fault (a double fault) without influencing the selection of the remote control instruction switch.
2. The remote control master circuit and the backup circuit adopt the same control signal, and the control signal only has two states, namely the output state of the remote control master circuit and the output state of the remote control backup circuit, thereby effectively avoiding the risk that two remote control instructions cannot be output or are simultaneously output to a post-stage circuit.
3. The invention can still ensure that a remote control instruction is sent to a post-stage circuit under the fault mode of the remote control instruction selection switch;
the remote control instruction selection switch has the memory characteristic, and can still keep the switch selection state before power failure after the remote control circuit is powered off and restarted;
the switch is not influenced by single particles in a space environment, and the single particles cannot cause the selection state error of the switch.
Drawings
FIG. 1 is a block diagram of a system component;
FIG. 2 is a circuit diagram of the command output switch and the output interface of the remote control module;
Detailed Description
The invention is described below with reference to the accompanying drawings and specific embodiments.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments.
Thus, the following detailed description of the embodiments of the invention is not intended to limit the scope of the invention as claimed, but is merely representative of some embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "back", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are usually placed in when used. Such terms are merely used to facilitate describing the invention and to simplify the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
It should also be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1, a remote control command selection control method is implemented in a remote control command selection control system, which includes a remote control module and a computer module electrically connected to each other, where the remote control module includes a remote control-master and a remote control-backup, the remote control-master and the remote control-backup operate in a hot backup mode and simultaneously receive a ground remote control command, and after the remote control command selection control, send a remote control command to a computer module of a subsequent circuit, where the computer module includes a computer-master and a computer-backup, and the computer-master and the computer-backup operate in a cold backup mode;
further, after receiving the ground remote control instruction, the remote control-master outputs the ground remote control instruction to a remote control master RS422 interface circuit 1 and a remote control master RS422 interface circuit 2 which are respectively and electrically connected with the remote control-master; after receiving a ground remote control instruction, the remote control-backup interface circuit is transmitted to a remote control backup RS422 interface circuit 1 and a remote control backup RS422 interface circuit 2 which are respectively and electrically connected with the remote control-backup interface circuit;
the remote control instruction selection circuit controls the output of one of the remote control master RS422 interface circuit 1 and the remote control backup RS422 interface circuit 1, and the remote control instruction selection circuit controls the output of one of the remote control master RS422 interface circuit 2 and the remote control backup RS422 interface circuit 2;
the remote control main part RS422 interface circuit 1 is kneaded with the output end of the remote control backup RS422 interface circuit 1 and output to a post-stage circuit; the remote control main part RS422 interface circuit 2 is kneaded with the output end of the remote control backup RS422 interface circuit 2 and output to a post-stage circuit.
As a preferred embodiment of the present invention, the control switch is connected to the circuit in which the remote-master resides and the circuit in which the remote-backup resides.
As a preferred embodiment of the present invention,
the remote control-master interface circuit 1 of the remote control module is electrically connected with a computer master RS422 interface circuit contained in the computer module, the remote control-backup interface circuit 1 of the remote control module is electrically connected with the computer master RS422 interface circuit contained in the computer module, and the computer master RS422 interface circuit is electrically connected with the computer master;
the remote control-master interface circuit 2 of the remote control module is electrically connected with a second computer backup RS422 interface circuit contained in the computer module, the remote control-backup interface circuit 2 of the remote control module is electrically connected with the second computer backup RS422 interface circuit contained in the computer module, and the second computer backup RS422 interface circuit is electrically connected with the computer backup;
the remote control module command output switch and the output interface circuit are shown in fig. 2.
In fig. 2, DA6 belongs to the interface circuit 1 of the remote control master RS422 in fig. 1, and DA7 belongs to the interface circuit 2 of the remote control master RS422 in fig. 1; DB6 remote control backup RS422 interface circuit 1, DB7 belongs to remote control backup RS422 interface circuit 2 in FIG. 1.
As a preferred embodiment of the present invention,
the two relays KA6 and KB6 are magnetic latching relays, and after respective contacts are connected in series, the two relays form a parallel circuit to form a control switch in the figure 1;
furthermore, pins 3 and 9 of the relays are connected to the ground, a reliable control signal is generated, any relay fails (one fault) without influencing the selection of the injection instruction switch, and when any two relays fail (two faults), one remote control module can be ensured to send the injection instruction to a computer-master or a computer-backup.
Two instructions are used for controlling the on-off of the relays, wherein one instruction simultaneously controls the on-off of the two relays, the other instruction simultaneously controls the off-off of the two relays and is controlled by a ground remote control instruction, and the remote control-master and the remote control-backup can output the two instructions.
In a preferred embodiment of the present invention, a model of the RS422 differential driver 26C31 is taken as an example, the G terminal and the high-level enable output of the remote control-master injection command output interface 26C31 are controlled, and the remote control-backup injection command output interface 26C31 is controlled
The low level enables the output. 26C31 in the circuit is an anti-radiation four-way differential driver, is specially designed for digital signal transmission on a symmetrical transmission line, meets the requirements of EIA standard RS-422, receives CMOS digital signals, and converts the CMOS digital signals into RS-422 compatible output.
Point a is the remote control-master and remote control-backup common ground, which is low level;
as a preferred embodiment of the present invention, a remote control instruction selection control method according to the present invention includes the following two cases:
1) when any relay is effectively closed, the point B is connected with the point A, the points C and D are both low level, the remote control-master cannot output a remote control instruction to the rear-stage circuit, and the remote control-backup outputs the remote control instruction to the rear-stage circuit;
2) when the two relays are disconnected, the point B is not connected with the point A, the point C and the point D are both high level, the remote control master outputs a remote control command to the rear-stage circuit, and the remote control-backup can not output the remote control command to the rear-stage circuit.
Further, A +5V and B +5V are respectively a remote-master and a remote-backup independent power supply, and diodes V53-V60 are used for preventing the remote-master backup power supply from being in series connection, wherein V55, V56, V59 and V60 are Schottky diodes;
further, the resistors R86 and R91 are high impedance resistors, R84, R85, R89, and R90 are pull-up resistors, R84 and R85 are pulled up to the a +5V power supply, and R89 and R90 are pulled up to the B +5V power supply.
R83, R87, R88 and R92 are all latch-up resistance prevention.
Further, when at least one of the two relays KA6 and KB6 is in a normally closed state, the remote control-backup outputs a remote control command to the subsequent circuit;
when the two relays KA6 and KB6 are in a normally open state, the remote control master outputs a remote control command to the rear-stage circuit.
When the contacts 3 and 4, 7 and 9 of the relay are closed, the relay is closed and conducted, and in other cases, the relay is in an open mode.
The above embodiments are merely illustrative and not restrictive of the technical solutions of the present invention. Any modification or partial replacement without departing from the spirit of the present invention should be covered in the scope of the claims of the present invention.
Claims (1)
1. A remote control instruction selection control method is characterized in that: the remote control instruction selection control system is realized in a remote control instruction selection control system, which comprises a remote control module and a computer module which are electrically connected, wherein the remote control module comprises a remote control-master and a remote control-backup, the remote control-master and the remote control-backup work in a hot backup mode, simultaneously receive a ground remote control instruction, and send a remote control instruction to the computer module of a later-stage circuit after the remote control instruction selection control, the computer module comprises a computer-master and a computer-backup, and the computer-master and the computer-backup work in a cold backup mode; after receiving the ground remote control instruction, the remote control-master outputs the ground remote control instruction to a remote control master RS422 interface circuit 1 and a remote control master RS422 interface circuit 2 which are respectively and electrically connected with the remote control-master; after receiving a ground remote control instruction, the remote control-backup interface circuit is transmitted to a remote control backup RS422 interface circuit 1 and a remote control backup RS422 interface circuit 2 which are respectively and electrically connected with the remote control-backup interface circuit;
the remote control instruction selection circuit controls the output of one of the remote control master RS422 interface circuit 1 and the remote control backup RS422 interface circuit 1, and the remote control instruction selection circuit controls the output of one of the remote control master RS422 interface circuit 2 and the remote control backup RS422 interface circuit 2;
the remote control main part RS422 interface circuit 1 is kneaded with the output end of the remote control backup RS422 interface circuit 1 and output to a post-stage circuit; the remote control main part RS422 interface circuit 2 is kneaded with the output end of the remote control backup RS422 interface circuit 2 and is output to a post-stage circuit; the control switch is connected with the circuit where the remote control-master is located and the circuit where the remote control-backup is located; the remote control-master interface circuit 1 of the remote control module is electrically connected with a computer master RS422 interface circuit contained in the computer module, the remote control-backup interface circuit 1 of the remote control module is electrically connected with the computer master RS422 interface circuit contained in the computer module, and the computer master RS422 interface circuit is electrically connected with the computer master; the remote control-master interface circuit 2 of the remote control module is electrically connected with a second computer backup RS422 interface circuit contained in the computer module, the remote control-backup interface circuit 2 of the remote control module is electrically connected with the second computer backup RS422 interface circuit contained in the computer module, and the second computer backup RS422 interface circuit is electrically connected with the computer backup; the two relays KA6 and KB6 are magnetic latching relays, and after respective contacts are connected in series, the two relays form a parallel circuit to form a control switch; no. 3 pins of the relays are all connected to the ground, No. 9 pins of the relays are connected together to generate a reliable control signal, the selection of an injection instruction switch is not influenced when any relay fails, and when any two relays fail, one remote control module can be ensured to send an injection instruction to a computer-master or a computer-backup;
two instructions are used for controlling the on-off of the relays, wherein one instruction simultaneously controls the on-off of the two relays, the other instruction simultaneously controls the off-off of the two relays and is controlled by a ground remote control instruction, and the remote control-master and the remote control-backup can both output the two instructions; DA6 is RS422 differential driver 26C 31;
a +5V and B +5V are respectively a remote control-main backup and a remote control-backup independent power supply, diodes V53-V60 are used for preventing the remote control main backup power supply from being in series connection, and V55, V56, V59 and V60 are Schottky diodes;
resistors R86 and R91 are high impedance resistors, R84, R85, R89 and R90 are pull-up resistors, R84 and R85 are pulled up to an A +5V power supply, and R89 and R90 are pulled up to a B +5V power supply;
r83, R87, R88 and R92 are all latch-up resistance prevention;
when any relay is effectively closed, the point B is connected with the point A, the points C and D are both low level, the remote control-master cannot output a remote control instruction to the rear-stage circuit, and the remote control-backup outputs the remote control instruction to the rear-stage circuit;
at this time, the control switch controls the remote control-backup injection instruction output interface 26C31 to control the G end thereof, and low level enables output;
when the two relays are disconnected, the point B is not communicated with the point A, the point C and the point D are both high level, the remote control master outputs a remote control instruction to the rear-stage circuit, and the remote control-backup can not output the remote control instruction to the rear-stage circuit;
the control switch controls the remote control-master injection command output interface 26C31 to control the G terminal thereof, and the high level enables the output.
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| CN114326473A (en) * | 2021-11-30 | 2022-04-12 | 中国科学院长春光学精密机械与物理研究所 | Program control instruction circuit for on-track operation of space optical remote sensor |
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